CN107134147B - Method, device and system for managing parking spaces under pole based on camera and sensor - Google Patents
Method, device and system for managing parking spaces under pole based on camera and sensor Download PDFInfo
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- CN107134147B CN107134147B CN201710531355.7A CN201710531355A CN107134147B CN 107134147 B CN107134147 B CN 107134147B CN 201710531355 A CN201710531355 A CN 201710531355A CN 107134147 B CN107134147 B CN 107134147B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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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
- G08G1/147—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 within an open public zone, e.g. city centre
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Abstract
The invention relates to a method, a device and a system for managing a parking space under a rod based on a camera and a sensor, which are used for managing the parking space under the roadside parking rod, wherein the method comprises the following steps: judging whether a vehicle stops in a blind area parking space or not; if the vehicle stops at the blind area parking place, acquiring a vehicle monitoring image and vehicle track information, and judging that the vehicle enters or leaves the parking place according to the license plate information and the displacement change of the license plate in the monitoring image; and then the vehicle entrance/exit information is sent to the cloud platform, and the invention has the advantages that: the blind area camera and the distance sensor can better acquire an accurate monitoring image of a monitoring blind area covering a parking area and accurately identify a license plate, so that a complete parking event is formed, and great convenience is brought to dispute evidence collection of the later-stage parking event; based on the system simple to operate of parking stall under camera and the sensor management pole, avoided the reliance to other equipment and to infrastructure's destruction etc. especially avoided earth magnetism and video stake to the too much destruction of road surface.
Description
Technical Field
The invention relates to a post lower parking space management system, which is used for managing post lower blind area parking spaces in roadside parking, in particular to a method, a device and a system for managing post lower parking spaces based on a camera and a sensor.
Background
In an urban intelligent transportation system, the management of parking lots is a significant percentage. Along with the continuous increase of urban motor vehicle occupancy, the parking area has not only been limited to original mode, and the roadside parking area has undertaken more and more important role, and the requirement of the intelligent management in roadside parking area is also more and more accurate, swift thereupon. At present, the main technical realization of roadside parking management is based on a pure geomagnetic intelligent management system or an intelligent management system based on pure video monitoring.
The intelligent management system based on the pure geomagnetism has the advantages that all parking spaces can be managed, and has the disadvantages of high cost caused by installation and maintenance of the geomagnetism, the road surface needs to be damaged in the installation process due to the particularity of the geomagnetism, and the road of the road section needs to be blocked in the later maintenance process; and the geomagnetism cannot identify the vehicle information, so that the implementation of the scheme depends on the conscious adherence of the driver to the rules and the real-time supervision of on-site manual management personnel, which undoubtedly brings great inconvenience to the driver.
An intelligent management system based on pure video monitoring, for example, a roadside parking management device based on multi-camera image joint processing of patent No. 201720450962.6, wherein video monitoring cameras include panoramic cameras and a plurality of parking space cameras, all of which are deployed on a roadside monitoring rod, the maximum angle of a single video monitoring camera is generally 85 degrees, that is, the camera is directly in front of the roadside, up and down, left and right, and can be basically seen in the range of 85 degrees, the visible angle can be enlarged through the combination of the panoramic cameras and the plurality of parking space cameras, so that the driving track of a target vehicle in a detection area in front of the roadside is monitored, and then license plate information and position information are obtained, but the right below the video monitoring camera is still a blind area, even if a fisheye panoramic camera or a fisheye high-speed dome is used, the problems that the license plate is easily blocked when a vehicle enters or leaves the parking space, the accuracy of the license plate is not high, the vehicle entering or leaving space is inaccurate, and the accuracy of the capture of the entering and leaving record is difficult to control are still existed, so that the parking event information cannot be accurately monitored and the parking area covered by the parking is not determined; therefore, much inconvenience is brought to dispute evidence collection of later parking events.
In view of the above-mentioned drawbacks, the present designer has made active research and innovation to create a method, device and system for managing parking space under a parking lot based on a camera and a sensor, so that the method, device and system have industrial application value.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a method, a device and a system for managing parking spaces under a pole based on a camera and a sensor, which can accurately acquire monitoring image information of parking spaces with monitoring blind areas covering blind areas.
The technical scheme of the invention is as follows: the utility model provides a method for managing parking stall under pole based on camera and sensor which characterized in that includes: if vehicles stop at the blind area parking places, acquiring a monitoring image and vehicle track information of the vehicles entering the parking place, acquiring license plate information and corresponding parking numbers of the vehicles entering the parking place according to the monitoring image of the vehicles, and acquiring displacement change of the license plate in the monitoring image according to the vehicle track information;
judging the vehicle entering according to the information of the license plate of the vehicle entering and the displacement change of the license plate in the monitoring image;
if the vehicle drives out of the blind area parking space, acquiring a monitoring image and track information of the vehicles leaving the parking space, acquiring license plate information and a corresponding parking number of the vehicles leaving the parking space according to the monitoring image, and acquiring displacement change of the license plate in the monitoring image according to the track information of the vehicles;
judging that the vehicle leaves according to the information of the license plate of the vehicle leaving the place and the displacement change of the license plate in the monitoring image;
and sending the entrance/exit information of the vehicle and the license plate information to a cloud platform for parking management of the cloud platform, wherein the license plate information comprises license plate character information and license plate image information.
Further, the method further comprises the steps of obtaining panoramic image information of the blind area parking space, and further obtaining license plate information of vehicles parked at the blind area parking space according to the panoramic image information;
the acquiring of the panoramic image information comprises acquiring blind area parking space parking information, entrance and exit information of vehicles stopping in the blind area parking space, license plate information and vehicle information of the surrounding area of the blind area parking space.
Further, key point picture information of the vehicles entering/leaving the parking lot is obtained according to the vehicle monitoring image, and license plate information is obtained according to the key point picture information of the vehicles entering/leaving the parking lot.
Further, the step of obtaining the entering vehicle track information comprises the step of sequentially obtaining vehicle side entering track information, backing entering track information and forward entering track information.
Further, the method of determining vehicle entry further includes: when a vehicle is detected to stop at the blind area parking space, the monitoring image and the key point picture information in the side parking track of the vehicle are traced once, and the vehicle is determined to enter the parking space according to the license plate recognition result in the traced information once and the displacement change of the license plate in the key point picture information.
Further, if the license plate information cannot be determined according to the primary backtracking information, performing secondary backtracking on the monitoring image and the key point image information in the vehicle backing track;
and determining the vehicle to enter the field according to the license plate recognition result in the secondary backtracking information and the displacement change of the license plate in the key point picture information.
Further, if the license plate information and the image information of the parked vehicle of the license plate in the key point picture information cannot be identified according to the primary backtracking information and the secondary backtracking information, performing tertiary backtracking on the monitoring image and the key point picture information in the forward docking track of the vehicle;
and determining the vehicle to enter the field according to the license plate recognition result in the three-time backtracking information and the displacement change of the license plate in the key point picture information.
Further, if the license plate information and the image information of the parked vehicle with the license plate displacement change in the key point picture information cannot be identified according to the three-time backtracking information, the panoramic image information is backtracked for four times, and the vehicle is determined to enter the field according to the license plate identification result in the four-time backtracking information and the license plate displacement change in the key point picture information.
A device for managing the lower parking space of a rod based on a camera and a sensor comprises an equipment control module, a distance sensor module, a main control module and a network communication module,
the equipment control module is used for controlling the blind area camera to acquire vehicle monitoring images and vehicle track information;
the distance sensor module is used for controlling the distance sensor to determine whether vehicles stop in the blind area parking spaces;
the main control module is used for judging whether the vehicle enters or leaves a field according to the license plate information and the displacement change of the license plate in the monitoring image;
and the network communication module is used for uploading license plate information of vehicles entering/leaving the field to the cloud platform.
Further, the main control module is further configured to:
when a vehicle stops at a parking space in a blind area, carrying out primary backtracking on a side parking track of the vehicle, a monitoring image and key point picture information, and determining that the vehicle enters the parking space according to a license plate identification result in the primary backtracking information and the displacement change of the license plate in the key point picture information;
or the vehicle can not be determined to enter the field according to the license plate information in the primary backtracking information and the displacement change of the license plate in the key point picture information, the vehicle backing entering track, the monitoring image and the key point picture information are subjected to secondary backtracking, and the vehicle is determined to enter the field according to the license plate recognition result in the secondary backtracking information and the displacement change of the license plate in the key point picture information;
or if the vehicle fails to enter the field according to the primary backtracking information and the secondary backtracking information, performing tertiary backtracking on the forward entering track of the vehicle, the monitoring image and the key point picture information, and determining that the vehicle enters the field according to the license plate identification result in the tertiary backtracking information and the displacement change of the license plate in the key point picture information;
or if the vehicle is not judged to enter the field according to the three pieces of backtracking information, performing four pieces of backtracking on the panoramic image information, and determining the vehicle to enter the field according to the license plate recognition result in the four pieces of backtracking information and the displacement change of the license plate in the key point picture information.
A system for managing the lower parking space of a rod based on a camera and a sensor comprises a blind area camera, a distance sensor, a device for managing the lower parking space of the rod based on the camera and the sensor, a storage device and a cloud platform, wherein the blind area camera and the distance sensor are arranged on a roadside monitoring rod,
the distance sensor is used for acquiring the blind area parking space use information, and the blind area camera is used for acquiring the license plate information of the vehicles entering/leaving the parking space, the corresponding parking space number and the displacement change of the license plate in the monitoring image; the device for managing the lower parking space of the post based on the camera and the sensor is communicated with the blind area camera, the distance sensor and the cloud platform; the storage device is used for storing the vehicle monitoring images and the vehicle track information acquired by the blind area cameras.
And further, whether the vehicle stops in the blind area parking space is determined by determining whether the distance value between the distance sensor and the vehicle body is stable, and if the measurement result of the distance sensor is within the preset threshold distance between the distance sensor and the vehicle body and the value is stable, the vehicle is determined to stop in the blind area parking space.
And if the measuring result of the distance sensor is within the preset threshold distance between the distance sensor and the ground and the value is stable, judging that the vehicle has driven out of the blind area parking space.
Further, the system further comprises a blind area panoramic camera, wherein the blind area panoramic camera is used for acquiring panoramic image information of the blind area parking spaces, and the acquiring of the panoramic image information comprises acquiring parking space information of the blind area parking spaces, license plate information of parking spaces, entrance and exit information of vehicles parking in the blind area parking spaces and vehicle information of the peripheral areas of the blind area parking spaces.
In the invention, the key point picture refers to a snapshot of the vehicle entering or leaving and the entering and leaving processes.
In the invention, the monitoring image is not limited to the monitoring video and also comprises a monitoring picture.
In the invention, the storage device can be a storage module arranged in the main control board or an external storage device, such as a hard disk video recorder.
By the scheme, the invention at least has the following advantages: (1) Through the arrangement of the blind area camera and the distance sensor, accurate monitoring images of the monitoring blind area covering the parking area can be better obtained, license plates can be accurately identified, complete parking events are formed, and great convenience is brought to later-stage parking event dispute evidence collection; (2) Based on the system installation convenience of parking stall under camera and the sensor management pole, avoided the reliance to other equipment and to infrastructure etc. especially avoided the destruction of earth magnetism to the road surface.
The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention.
Drawings
FIG. 1 is a flow chart of a method for managing a pole-off location based on a camera and a sensor in accordance with the present invention;
FIG. 2 is a schematic plan view of the camera and sensor based under-pole parking space management system of the present invention;
FIG. 3 is a schematic plan view of the camera and sensor based under-pole parking space management system of the present invention;
FIG. 4 is a schematic view of the camera and sensor based off-stick parking system of the present invention;
FIG. 5 is a schematic view of a camera and sensor based off-pole parking position management apparatus of the present invention;
FIG. 6 is a schematic view of the camera and sensor based actual view of the under-pole parking space management system of the present invention;
FIG. 7 is a schematic view of the actual viewing angle of the present invention used in combination with a roadside parking management unit based on the joint processing of multiple camera images.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1, a method for managing parking spaces under a pole based on a camera and a sensor specifically includes:
101: judging whether a vehicle stops at a blind area parking space or not, and further acquiring license plate information of the vehicle entering the blind area parking space according to the judged blind area parking space information;
102: if vehicles stop at the blind area parking space, acquiring an entering vehicle monitoring image and vehicle track information, acquiring entering vehicle key point picture information according to the vehicle monitoring image, performing license plate recognition according to the entering vehicle key point picture information, further acquiring accurate license plate information, and acquiring displacement change of a license plate in the monitoring image according to the vehicle track information;
103: judging the vehicle to enter the field and recording the time point of entering the field according to the information of the number plate entering the field and the displacement change of the number plate in the monitoring image, specifically, identifying the number plate by the monitoring image in the identification area and the key point image information, acquiring the displacement change of the number plate in the monitoring image according to the entrance track of the vehicle, and further judging the vehicle to be an entering vehicle if the displacement change occurs; the driving track comprises backing track information, side track information and forward track information;
104: if the vehicle exits from the blind area parking space, acquiring an exiting vehicle monitoring image and exiting vehicle track information, acquiring license plate information and a corresponding parking number of the vehicle exiting from the blind area parking space according to the vehicle monitoring image, and acquiring displacement change of the license plate in the monitoring image according to the vehicle track information;
105: judging the vehicle to leave according to the information of the vehicle license plate and the displacement change of the vehicle license plate in the monitoring image, and recording the time point of leaving; specifically, picture information of key points of vehicles leaving a field is obtained from a monitoring image of the vehicles leaving the field for license plate recognition, displacement change of a license plate in the monitoring image is obtained according to the vehicle leaving track information, and when the displacement change of the license plate in the monitoring image is displayed, the vehicles leaving the field is confirmed;
106: and sending the license plate information and the entrance/exit information of the vehicle to a cloud platform for parking management of the cloud platform, wherein the license plate information comprises license plate character information and license plate image information.
Specifically, during execution, as shown in fig. 2, when a vehicle is detected to stop at the blind spot parking space 1, a vehicle side entering track, that is, a monitoring image of the vehicle in the identification area C in the image and key point picture information are traced back once, if vehicle license plate information entering the identification area C is identified within a specified time (the specific time is set according to actual needs, for example, a vehicle can normally enter the parking space within three minutes is set), and it is determined that the vehicle enters the parking space and the time point of entering the parking space is recorded; sending the entrance information and the license plate information of the vehicle to a cloud platform;
if the image information of the parked vehicle cannot be identified according to the primary backtracking information and the displacement change of the license plate in the key point picture information, backing the vehicle into the parking track, namely performing secondary backtracking on the monitored image of the vehicle in the identification area B and the key point picture information in the image, and if the vehicle license plate information entering the identification area B is identified within the specified time (the specific time is set according to the actual requirement, for example, a vehicle can normally enter the parking position within three minutes) and the displacement change of the license plate in the key point picture information is determined, judging that the vehicle enters the parking space and recording the time point of the vehicle entering the parking space; sending the entrance information and the license plate information of the vehicle to the cloud platform;
if the image information of the parked vehicle cannot be identified according to the primary backtracking information and the secondary backtracking information and the displacement change of the license plate in the key point picture information, performing tertiary backtracking on the forward entering track of the vehicle, the monitoring image and the key point picture information, namely performing tertiary backtracking on the monitoring image and the key point picture information of the vehicle in the identification area A in the picture, and if the license plate of the vehicle entering the identification area A is identified and the displacement change of the license plate in the key point picture information is determined within the specified time (the specific time is set according to the actual requirement, for example, a vehicle can normally enter the position within three minutes), determining that the vehicle enters the field and recording the time point of entering the field; and sending the entrance information and the license plate information of the vehicle to the cloud platform.
If the license plate information and the image information of the parked vehicles with the license plate displacement change in the key point picture information cannot be identified according to the three backtracking information, performing four backtracking on the panoramic image information; the method comprises the steps of backtracking using information of the blind area parking spaces, image information of vehicles driving in/out of the blind area parking spaces and image information of vehicles in the peripheral area of the blind area, namely backtracking the vehicle information of an identification area A, an identification area B, an identification area C, an identification area D and the vehicle information of the peripheral area, further confirming the image information of the vehicles entering the blind area parking spaces, and sending the image information of the parked vehicles to a cloud platform through a network transmission module.
When detecting that a vehicle drives out of a parking space in a blind area, acquiring picture information of key points of vehicles on the spot from any one of an identification area B, an identification area C and an identification area A in a monitoring image of the vehicle on the spot for license plate identification, acquiring displacement change of a license plate in the monitoring image according to the vehicle track information on the spot, confirming the vehicle on the spot when displaying the displacement change of the license plate in the monitoring image, recording the time point of the vehicle on the spot, and sending the information on the vehicle on the spot and the license plate information to a cloud platform.
In a conventional situation, a vehicle generally enters and leaves a vehicle through the identification area A, the identification area B or the identification area C, and a monitoring image in the identification area D can be used as a supplement of vehicle information missed by other areas.
Therefore, the information of the vehicle entering and leaving and the license plate number information can be clearly obtained no matter the vehicle is in the side parking position, the forward parking position or the reverse parking position.
Similarly, as shown in fig. 3, when a vehicle is detected to stop at the blind spot parking space 2, a vehicle side entering track, that is, a monitoring image of the vehicle in the identification area C1 in the figure and key point picture information are traced back once, if the vehicle license plate information entering the identification area C1 is identified within a specified time (the specific time is set according to actual needs, for example, a vehicle can normally enter the parking space within three minutes is set), and it is determined that the vehicle enters the parking space and the time point of entering the parking space is recorded; and sending the entrance information and the license plate information of the vehicle to the cloud platform.
If the image information of the parked vehicle cannot be identified according to the primary backtracking information and the displacement change of the license plate in the key point picture information, backing the vehicle into the parking track, namely performing secondary backtracking on the monitored image of the vehicle in the identification area B1 in the image and the key point picture information, and if the vehicle license plate information entering the identification area B1 is identified and the displacement change of the license plate in the key point picture information is determined within the specified time (the specific time is set according to the actual requirement, for example, a vehicle can normally enter the parking space within three minutes), judging the time point of the vehicle entering the parking space and recording the time point of the vehicle entering the parking space; and sending the entrance information and the license plate information of the vehicle to the cloud platform.
If the license plate information cannot be identified according to the primary backtracking information and the secondary backtracking information and the image information of the parked vehicle of which the license plate is changed in the key point picture information, performing tertiary backtracking on a forward docking track, a monitoring image and the key point picture information of the parked vehicle, namely performing tertiary backtracking on the monitoring image and the key point picture information of the parked vehicle in the identification area A1 in the image, and if the license plate of the parked vehicle is identified and the displacement of the license plate in the key point picture information is determined to be changed within specified time (the specific time is set according to actual needs, for example, a vehicle can be normally docked within three minutes), determining that the parked vehicle enters the identification area A1 and recording the time point of the parked vehicle; and sending the entrance information and the license plate information of the vehicle to the cloud platform.
If the license plate information and the image information of the parked vehicles with the license plate displacement change in the key point picture information cannot be identified according to the three backtracking information, performing four backtracking on the panoramic image information; the method comprises the steps of backtracking the use information of the blind area parking spaces, the image information of vehicles driving in/out the blind area parking spaces and the image information of vehicles in the surrounding area of the blind area, namely backtracking the information of the vehicles in the identification area A1, the identification area B1, the identification area C1, the identification area D1 and the information of the vehicles in the surrounding area, further confirming the image information of the vehicles entering the blind area parking spaces, and sending the image information of the parked vehicles to a cloud platform through a network transmission module.
Similarly, when a vehicle is detected to run out of a parking space in a blind area, picture information of key points of the vehicle is obtained from any one of the identification areas B1, C1 and A1 in a monitored image of the vehicle which is on the spot to carry out license plate identification, displacement change of the license plate in the monitored image is obtained according to the vehicle track information, when the displacement change of the license plate in the monitored image is displayed, the vehicle is confirmed to run out of the spot, the time point of the vehicle running out of the spot is recorded, and the vehicle information and the license plate information are sent to the cloud platform.
In a conventional situation, a general entrance and exit of the vehicle pass through the identification area A1, the identification area B1 or the identification area C1, and the monitoring image in the identification area D1 can be used as a supplement to the missing information of other areas.
As shown in fig. 5, a device for managing parking spaces under a pole based on a camera and a sensor is used for executing the method, and specifically includes: the system comprises an equipment control module 204, a distance sensor module 201, a main control module 203 and a network communication module 202, wherein the distance sensor module 201 is used for controlling a distance sensor to determine whether a vehicle stops in the blind area parking space; the equipment control module is used for controlling the blind area camera to acquire a vehicle monitoring image and vehicle track information; the main control module is used for judging whether the vehicle enters or leaves the field according to the license plate information and the displacement change of the license plate in the monitoring image; and the network communication module is used for uploading license plate information of vehicles entering/leaving the field to the cloud platform.
The network communication module 203 is further configured to upload parking information, time for entering and exiting a parking lot, image information required by a cloud platform, and device state information; and receiving configuration information, image calling information and uploading feedback information of the cloud platform.
Preferably, the main control module is further used for judging whether the vehicle enters or leaves the parking lot under different conditions, and mainly comprises the following four acquisition modes, the detection of parking of the vehicle in the dead zone parking lot, the primary backtracking of the vehicle side entering track, the monitoring image and the key point picture information are performed, the vehicle entering is determined according to the license plate recognition result in the primary backtracking information and the displacement change of the license plate in the key point picture information, and the time point of the vehicle entering is recorded; sending the entrance information and the license plate information of the vehicle to a cloud platform;
or the vehicle entering is not determined according to the license plate information in the primary backtracking information and the displacement change of the license plate in the key point picture information, the vehicle backing entering track, the monitoring image and the key point picture information are subjected to secondary backtracking, the vehicle entering is determined according to the license plate recognition result in the secondary backtracking information and the displacement change of the license plate in the key point picture information, and the time point of the vehicle entering is recorded; sending the entrance information and the license plate information of the vehicle to a cloud platform;
or the vehicle cannot enter the field according to the primary backtracking information and the secondary backtracking information, the vehicle forward entering track, the monitoring image and the key point picture information are subjected to tertiary backtracking, the vehicle can be determined to enter the field according to the license plate identification result in the tertiary backtracking information and the displacement change of the license plate in the key point picture information, and the time point of entering the field is recorded; sending the entrance information and the license plate information of the vehicle to a cloud platform;
or if the vehicle is not judged to enter the field according to the three pieces of backtracking information, performing four pieces of backtracking on the panoramic image information, determining the vehicle to enter the field according to the license plate identification result in the four pieces of backtracking information and the displacement change of the license plate in the key point picture information, and recording the time point of the vehicle entering the field; and sending the entrance information and the license plate information of the vehicle to the cloud platform.
As shown in fig. 4, the system for managing the parking space under the pole based on the camera and the sensor is used for executing the above method, and specifically includes a blind area camera 4, a distance sensor 5, a parking space device under the pole based on the camera and the sensor, a storage device 6, and a cloud platform 3, wherein the blind area cameras are two groups, which are respectively a first blind area camera 401 and a second blind area camera 402, the distance sensor 5 is respectively a first distance sensor 501 and a second distance sensor 502, the blind area camera 4 and the distance sensor 5 are disposed on a roadside T-shaped monitoring pole, and the distance sensor is used for confirming whether a vehicle stops in the blind area parking space; the blind area camera is used for acquiring license plate information of vehicles entering/leaving the parking lot, corresponding parking numbers and displacement changes of the license plates in the monitoring images; managing the off-pole position device to communicate with a first blind zone camera 401 and a second blind zone camera 402, the first blind zone camera 401, the second blind zone camera 402, and the cloud platform 3 based on the cameras and the sensors; the storage device 6 is used for storing monitoring images of vehicles entering/leaving the parking lot and vehicle track information so as to facilitate the main control module to backtrack historical data; meanwhile, the data can be stored when the network communication module can not work normally, and the data is uploaded after the network communication is recovered.
Wherein: the distance sensor is used for determining whether a vehicle stops at the blind area parking space, in the specific implementation process, the using information of the blind area parking space is determined by determining whether the distance value between the distance sensor and the vehicle body is stable, if the measuring result of the distance sensor is that the distance between the sensor and the ground is within a preset threshold distance and the value is stable, it is indicated that no vehicle drives into the blind area parking space, when the measuring result of the distance sensor is that the distance between the sensor and the vehicle body is within the preset threshold distance and the value is stable, it is indicated that the vehicle drives out of the blind area parking space, when the measuring result of the distance sensor is that the distance between the sensor and the vehicle body is within the preset threshold distance and the value is stable, it is indicated that the vehicle stops in the blind area parking space, and when the preset threshold distance is restored to be that the distance between the sensor and the ground is within the preset threshold distance, and the value is stable, it is determined that the vehicle has driven out of the blind area parking space.
If the measurement result of the distance sensor is unstable, the vehicle is considered to enter/exit/slowly pass through the corresponding parking space or be interfered by other objects, and the fact that no vehicle stays in the parking space is judged.
When the vehicle is determined to stop in the blind area parking space, the blind area camera shoots from the angle of the tail of the vehicle to acquire the information of the license plate of the parking space which enters the blind area, and when the vehicle is poured into the parking space from the driving track B or the driving track C, the information of the entrance and exit of the vehicle and the information of the license plate of the vehicle can be clearly acquired.
The system is further optimized, and further comprises a blind area panoramic camera 4, wherein the blind area panoramic camera is used for acquiring panoramic image information of blind area parking places and is used for carrying out information leakage repairing on vehicles parked at the blind area parking places. The optical axis of blind area panoramic camera is fixed with the optical axis contained angle of blind area camera.
As shown in fig. 6, the blind area panoramic camera shoots the blind area right below the monitoring rod, and can monitor the blind area parking space 1 and the blind area parking space 2, but due to the limitation of shooting angles, there is a certain probability that the license plate detection of the parked vehicles cannot be obtained, so that the panoramic camera can accurately determine the license plate information of the vehicles parked in the blind area parking spaces by combining the distance sensor and the two sets of blind area cameras.
As a variable embodiment, the distance sensor includes, but is not limited to, an ultrasonic sensor, an infrared sensor, a laser sensor, and the like.
In the invention, the license plate information comprises license plate character information and license plate image information.
The system for managing the parking space based on the camera and the sensor management rod can be independently arranged and is used for managing the blind area of the parking space monitored by the camera image. As shown in fig. 7, the system can also be used together with a roadside parking management device (application number 201720450962.6) based on multi-camera image joint processing, and can be used for uniformly managing parking spaces in parking places.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a method for managing parking stall under pole based on camera and sensor which characterized in that includes:
judging whether a vehicle stops in a blind area parking space or not;
if vehicles stop at the blind area parking places, acquiring a monitoring image and vehicle track information of an entering vehicle, acquiring license plate information of the entering vehicle and a corresponding parking number according to the vehicle monitoring image, and acquiring displacement change of the license plate in the monitoring image according to the vehicle track information; the method comprises the steps of obtaining entrance vehicle track information, including obtaining vehicle side entrance track information, backing entrance track information and forward entrance track information in sequence;
judging the vehicle to enter the field according to the information of the license plate of the vehicle entering the field and the displacement change of the license plate in the monitoring image;
if the vehicle drives out of the blind area parking space, acquiring a monitoring image and track information of the vehicle, acquiring license plate information and a corresponding parking number of the vehicle according to the monitoring image, and acquiring displacement change of the license plate in the monitoring image according to the track information;
judging that the vehicle leaves according to the information of the license plate of the vehicle leaving the place and the displacement change of the license plate in the monitoring image;
sending the entrance/exit information of the vehicle and the license plate information to a cloud platform for parking management of the cloud platform, wherein the license plate information comprises license plate character information and license plate image information;
the method of determining vehicle entry further includes: when a vehicle is detected to stop in the blind area parking space, the monitoring image and the key point picture information in the side parking track of the vehicle are traced back once,
determining the vehicle to enter the field according to the license plate recognition result in the primary backtracking information and the displacement change of the license plate in the key point picture information;
if the license plate information cannot be determined according to the primary backtracking information, performing secondary backtracking on the monitoring image and the key point picture information in the vehicle backing track;
and determining the vehicle to enter the field according to the license plate recognition result in the secondary backtracking information and the displacement change of the license plate in the key point picture information.
2. The camera and sensor based method for managing parking spaces under a pole of claim 1, wherein: the method further comprises the steps of obtaining panoramic image information of the blind area parking spaces, and obtaining license plate information of vehicles parked at the blind area parking spaces according to the panoramic image information;
the acquiring of the panoramic image information comprises acquiring blind area parking space parking information, entrance and exit information of vehicles stopping in the blind area parking space, license plate information and vehicle information of the surrounding area of the blind area parking space.
3. The camera and sensor based method for managing slots below a pole of claim 1, wherein: and acquiring key point picture information of the vehicles entering/leaving the parking lot according to the vehicle monitoring image, and acquiring license plate information according to the key point picture information of the vehicles entering/leaving the parking lot.
4. The camera and sensor based method for managing slots below a pole of claim 3, wherein:
if the license plate information and the image information of the parked vehicle with the license plate displacement change in the key point picture information cannot be identified according to the primary backtracking information and the secondary backtracking information, performing tertiary backtracking on the monitoring image and the key point picture information in the forward entering track of the vehicle;
and determining the vehicle to enter the field according to the license plate recognition result in the three-time backtracking information and the displacement change of the license plate in the key point picture information.
5. The camera and sensor based method for managing slots below a pole of claim 4, wherein: if the license plate information and the image information of the parked vehicle with the license plate displacement change in the key point picture information cannot be identified according to the three times of backtracking information, performing four times of backtracking on the panoramic image information, and determining that the vehicle enters the field according to the license plate identification result in the four times of backtracking information and the displacement change of the license plate in the key point picture information.
6. A device for managing parking spaces under a pole based on a camera and a sensor, which is used for realizing the method for managing parking spaces under the pole based on the camera and the sensor in any one of claims 1 to 5, and is characterized in that: comprises an equipment control module, a distance sensor module, a main control module and a network communication module,
the equipment control module is used for controlling the blind area camera to acquire a vehicle monitoring image and vehicle track information;
the distance sensor module is used for controlling the distance sensor to determine whether vehicles stop at the blind area parking spaces;
the main control module is used for judging whether the vehicle enters or leaves the field according to the license plate information and the displacement change of the license plate in the monitoring image;
and the network communication module is used for uploading license plate information of vehicles entering/leaving the field to the cloud platform.
7. The utility model provides a system based on parking stall under camera and the sensor management pole which characterized in that: comprising a blind area camera, a distance sensor, the device of claim 6, a storage device, and a cloud platform, the blind area camera and the distance sensor being deployed on a roadside monitoring pole,
the distance sensor is used for confirming whether a vehicle stops in the blind area parking space; the blind area camera is used for acquiring license plate information of vehicles entering/leaving the parking lot, corresponding parking numbers and displacement changes of the license plates in the monitoring images; the device of claim 6 in communication with a blind zone camera, a distance sensor, and a cloud platform; the storage device is used for storing the vehicle monitoring images and the vehicle track information acquired by the blind area cameras.
8. The camera and sensor based system for managing parking spaces under a pole according to claim 7, wherein: whether the vehicles stop in the blind area parking spaces is determined by determining whether the distance value between the distance sensor and the vehicle body is stable, and if the distance measurement result of the distance sensor is within the preset threshold distance between the distance sensor and the vehicle body and the value is stable, the vehicles stop in the blind area parking spaces is determined;
and if the measuring result of the distance sensor is within the preset threshold distance between the distance sensor and the ground and the numerical value is stable, judging that the vehicle has driven out of the blind area parking space.
9. The camera and sensor based system for managing the space below the pole according to claim 8, wherein: the system further comprises a blind area panoramic camera, wherein the blind area panoramic camera is used for acquiring panoramic image information of the blind area parking spaces, and the acquiring of the panoramic image information comprises acquiring parking space information of the blind area parking spaces, license plate information of parking spaces, parking space entering and exiting information of vehicles parking in the blind area parking spaces and vehicle information of the peripheral area of the blind area parking spaces.
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