CN107316464A - The vehicle identification system based on optical imagery for intelligent garage - Google Patents
The vehicle identification system based on optical imagery for intelligent garage Download PDFInfo
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- CN107316464A CN107316464A CN201710586623.5A CN201710586623A CN107316464A CN 107316464 A CN107316464 A CN 107316464A CN 201710586623 A CN201710586623 A CN 201710586623A CN 107316464 A CN107316464 A CN 107316464A
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- vehicle
- parking area
- parking
- coordinate
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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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
Abstract
The invention discloses a kind of vehicle identification system based on optical imagery for intelligent garage, it obtains the outline data for being located at vehicle in parking area using the image documentation equipment above parking area in intelligent garage, and handles the outline data of vehicle in parking area to obtain position coordinates of the vehicle in parking area by data processing equipment；Pick-up manipulator on intelligent garage captures vehicle storage according to above-mentioned vehicle location coordinate and deposited.The present invention by intelligent garage by setting parking area and obtaining the position coordinates parked cars so as to control pick-up manipulator to access vehicle as the equipment of IMAQ by using industrial camera, the low technical problem of parking difficulty, parking efficiency in the prior art is efficiently solved, simplifies parking skill and improves parking efficiency.
Description
Technical field
The present invention relates to a kind of vehicle identification system based on fixed radar and vehicle storage method, belong to intelligent garage skill
A kind of art field, and in particular to vehicle identification system based on optical imagery for intelligent garage.
Background technology
Current intelligent parking garage on the market, in the parking requirement to driver, one kind is to reach car on pallet；It is a kind of
It is to reach car in one region more bigger than general park position.Requirement of both modes to skill of stopping is all higher.Afterwards
A kind of mode has an improvement compared with former, but in face of it is more come car when, efficiency is still not enough.In increasingly serious city parking environment
Under, urgently there is the problem of efficient intelligent three-dimensional garage is to solve parking difficulty in us.
Disclose a kind of intelligent parking robot in Chinese invention patent CN105937323A specification, including along vertical
The horizontal rail of the lateral length direction arrangement in body garage and the horizontal moving frame being arranged in horizontal rail, it is described to move horizontally
Frame along what it was slided up and down provided with frame is vertically moved, and described vertically move is connected with pick-up manipulator on frame.The invention is main
A kind of structure for the robot that stops is disclosed, but does not fail to disclose how to realize the rapidly and efficiently storage of vehicle.
The content of the invention
In view of the above-mentioned drawbacks of the prior art, present invention aim to solve the deficiency of above-mentioned background technology,
A kind of vehicle identification system and vehicle storage method based on optical imagery for intelligent garage is provided, it can be effectively real
The quick storage of existing vehicle.
In order to solve the above technical problems, the invention discloses a kind of vehicle storage method, it stops using in intelligent garage
Image documentation equipment above area obtains the outline data for being located at vehicle in parking area, and handles parking area by data processing equipment
The outline data of interior vehicle are so as to obtain position coordinates of the vehicle in parking area；Pick-up manipulator root on intelligent garage
According to the crawl vehicle storage storage of above-mentioned vehicle location coordinate.
In a kind of preferred embodiment of the present invention, the image documentation equipment is industrial camera, the data processing equipment
For industrial computer and host computer；The outline data for being located at vehicle in parking area are obtained by the industrial camera above parking area；It is logical
Cross industrial computer and above-mentioned outline data are transferred to the position coordinates that host computer processing obtains vehicle；Picked up the car by PC control
Manipulator captures vehicle.
In a kind of preferred embodiment of the present invention, according to imaging surface of the industrial camera in the codeization pattern of ground
Product and the air line distance of the industrial camera to ground obtain the imaging scale of the industrial camera；Will be described according to imaging scale
The vehicle image dimension conversion being located in parking area that each industrial camera is photographed is vehicle full size.
In a kind of preferred embodiment of the present invention, coordinate identification system is provided with each industrial camera；In parking area
It is provided with garage coordinate system；Each point coordinate value in coordinate identification system is converted into garage coordinate system after being handled by host computer conversion
Interior each point coordinate value.
In a kind of preferred embodiment of the present invention, coordinate system mark, the industrial phase are provided with the parking area
Machine directly obtains vehicle position information (wherein, coordinate system mark by the vehicle outline in parking area and coordinate system mark
It can be the entities coordinate mark for being arranged at parking area surrounding to know, and such as length and width size or be arranged inside host computer
Virtual parking area coordinate system mark).
In a kind of preferred embodiment of the present invention, the coordinate system, which is designated, is layed in parking area two dimension on ground
Code, the point coordinates or the coordinate system that each Quick Response Code is represented in a parking area coordinate system is designated to be located at and is identified in
Parking head of district side and the reference axis of broadside.
In a kind of preferred embodiment of the present invention, vehicle commander of the vehicle location coordinate including vehicle, overall width, parking stall
Angle and autocentre coordinate.
In a kind of preferred embodiment of the present invention, vehicle full size=vehicle image size * imaging scales.
In a kind of preferred embodiment of the present invention, its specific steps includes：Step one, driver will treat that parking is put
Drive into the parking area with code pattern and arbitrarily park, when parking area is driven into parking, number plate machine obtains number plate of vehicle；Step
Rapid two, vehicle comes to a complete stop after driver leaves, industrial camera shoot in parking area parking cars acquisition vehicle image size and on
Reach host computer；Step 3, host computer obtains vehicle full size simultaneously according to the imaging scale of vehicle image size * industrial cameras
The coordinate value of each point of the vehicle in parking area coordinate system is obtained, to above-mentioned vehicle full size and the coordinate each put
Obtain parking cars position coordinates and parking stall angle in parking area after value processing；Step 4, host computer driving pick-up machine
Tool hand, which is moved to, to park cars position and rotates corresponding parking stall angle, and pick-up manipulator, which declines, realizes that vehicle is captured；Step 5,
During pick-up manipulator declines, single line laser radar is scanned, checked simultaneously the centre coordinate of pick-up manipulator to full car
Overlapped with vehicle center coordinate, the angle of pick-up manipulator and parking stall angle is consistent and overall width is without departing from pick-up Robot actions model
Enclose, clamping, which parks cars, makes it be put in storage safely.
In a kind of preferred embodiment of the present invention, in step one, when not having number plate when parking cars, host computer is assigned
The unique vehicle code name that parks cars.
Present invention employs such a vehicle identification system based on optical imagery for intelligent garage, it includes vertical
Body garage and pick-up manipulator；Also including the parking area for parking cars, for obtaining vehicle location coordinate in parking area
Industrial camera and for controlling the host computer of pick-up robot work and single line for checking vehicle location coordinate in parking area
Laser radar；The parking area is arranged at by the multi-storied garage and is located at the same side with the pick-up manipulator；The parking
The code pattern for strengthening contrast is provided with ground in region；The top of the multi-storied garage is provided with multiple outstanding
Arm, the end of each cantilever is provided with the industrial camera；The industrial camera is located above the parking area；The pick-up machine
Tool, which is at hand held, has been arranged symmetrically four single line laser radars.
In a kind of preferred embodiment of the present invention, the code pattern includes Quick Response Code or bar code or gridiron pattern.
In a kind of preferred embodiment of the present invention, each industrial camera can be at least photographed in the parking area
One section of region and all industrial cameras can photograph the whole parking area.
In a kind of preferred embodiment of the present invention, obtained and be located in parking area by the industrial camera above parking area
The outline data of vehicle；Above-mentioned outline data are transferred to by the position seat that host computer processing obtains vehicle by industrial computer
Mark；Vehicle is captured by PC control pick-up manipulator.
In a kind of preferred embodiment of the present invention, there is one between the scanning plane of the single line laser radar and ground
Angle theta, 15 °<θ<90°.
The beneficial effects of the invention are as follows：The present invention by intelligent garage by setting parking area and by using industrial camera
The position coordinates parked cars is obtained so as to control pick-up manipulator to access vehicle as the equipment of IMAQ, is efficiently solved
The low technical problem of parking difficulty, parking efficiency, simplifies parking skill and improves parking efficiency in the prior art.
Brief description of the drawings
Fig. 1 is a kind of main view of vehicle identification system based on optical imagery for intelligent garage of the embodiment of the present invention
Figure；
Fig. 2 is a kind of vertical view of vehicle identification system based on optical imagery for intelligent garage of the embodiment of the present invention
Figure；
Fig. 3 is a kind of vertical view of vehicle identification system based on optical imagery for intelligent garage of the embodiment of the present invention
Figure；
Fig. 4 is a kind of single work of vehicle identification system based on optical imagery for intelligent garage of the embodiment of the present invention
Industry camera working state schematic representation；
Fig. 5 is a kind of single work of vehicle identification system based on optical imagery for intelligent garage of the embodiment of the present invention
Industry camera working state schematic representation；
Fig. 6 is a kind of side view of vehicle identification system based on optical imagery for intelligent garage of the embodiment of the present invention
Figure；
Fig. 7 is a kind of pick-up machine of vehicle identification system based on optical imagery for intelligent garage of the embodiment of the present invention
Tool hand schematic diagram；
Fig. 8 is that a kind of single line of vehicle identification system based on optical imagery for intelligent garage of the embodiment of the present invention swashs
Optical radar structural representation；
Fig. 9 is a kind of industrial phase of vehicle identification system based on optical imagery for intelligent garage of the embodiment of the present invention
Machine shooting area schematic diagram；
In figure：1- multi-storied garages, 2- pick-up manipulators, 3- parking areas, 4- industrial cameras, 5- number plate machines, 6- single line lasers
Radar, A1- parking stalls angle, C1- front treads, D1- rear tread, (X1, Y1)-vehicle coordinate.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
Shown as a kind of structure of vehicle identification system based on optical imagery for intelligent garage shown in Fig. 1 to Fig. 2
It is intended to understand, the present invention includes multi-storied garage 1 and pick-up manipulator 2；Also including the parking area 3 for parking cars, for obtaining
Take the industrial camera 4 of vehicle location coordinate in parking area 3 and for controlling the host computer of the work of pick-up manipulator 2 and for checking
The single line laser radar 6 of vehicle location coordinate in parking area 3；Parking area 3 be arranged at the side of multi-storied garage 1 and with pick-up manipulator 2
Positioned at the same side；The code pattern for strengthening contrast is provided with ground in the region of parking area 3；The top of multi-storied garage 1
End is provided with multiple cantilevers, and the end of each cantilever is provided with industrial camera 4；Industrial camera 4 is located at the top of parking area 3；Pick up the car
The bottom of manipulator 2 has been arranged symmetrically four single line laser radars 6, there is one between the scanning plane of single line laser radar 6 and ground
Angle theta, 15 °<θ<90°.Codeization pattern includes Quick Response Code or bar code or gridiron pattern, when the code pattern of the present invention uses bar shaped
When code or gridiron pattern, its main function is in order to strengthen contrast, so that improving industrial camera catches vehicle outline coordinate
The accuracy of point, when the code pattern of the present invention during Quick Response Code, is paved with Quick Response Code in parking area 3 first, and by each
Quick Response Code assigns the coordinate that necessarily given coordinate value corresponds to the coordinate system of parking area 3, stops when industrial camera work shoots to be located at
In car area 3 when parking cars, can obtain vehicle periphery one circle Quick Response Code, by being scaled single coordinate value to Quick Response Code
And intend turning to the outline of vehicle obtaining the data such as actual coordinate and vehicle commander, overall width, the parking stall angle of vehicle, Quick Response Code
Using the accuracy of vehicle position information in industrial camera acquisition parking area 3 can be effectively improved, consequently facilitating pick-up manipulator 2
Capture storage of cars；Each industrial camera 4 can at least photograph one section of region in parking area 3 and all industrial cameras 4 can
Photograph whole parking area 3.When being equipped with bar code or gridiron pattern in parking area 3, coordinate system mark is provided with parking area 3
Know, the industrial camera 4 directly obtains vehicle location by the vehicle outline in parking area 3 and coordinate system mark to be believed
Breath, coordinate system is designated is provided with identification in the reference axis for being identified in the long side in parking area 3 and broadside, each industrial camera 4
Coordinate system；Garage coordinate system is provided with parking area 3；After each point coordinate value in coordinate identification system is handled by host computer conversion
It is converted into each point coordinate value in garage coordinate system.
During using the present invention, first, every camera can do a demarcation after installing.According to it to code ground
Imaging and distance between the two, the imaging scale of ground in the camera can be drawn by image-forming principle.According to ratio, figure
As size can just be converted into the size of material object.We set up a coordinate to image, then every bit can all have one in image
Individual coordinate value, also according to image-forming principle and ratio, you can converse the coordinate of every bit in parking area coordinate system.Again,
To the vehicle photographic of entrance, split by feature extraction, edge, the automobile is selected in computer software center, then according to car
Height, we take this value of 0.75m to correct the distance between camera and made thing.If ground is pressed in the imaging of car in the camera
Converted with the distance between camera, obtained size can be relatively larger than automobile actual size.We take in computer software
This value of 0.75m carrys out corrected range, the blue line in the frame such as accompanying drawing 4 that finally obtain.The length and width of the rectangle frame can be approximate
In the actual length of automobile and width；The midpoint for choosing blue rectangle frame again is used as the coordinate of automobile.
The invention also discloses a kind of vehicle of the vehicle identification system based on optical imagery based on for intelligent garage
Storage method, it obtains the outline data for being located at vehicle in parking area 3 by the industrial camera 4 of the top of parking area 3；Pass through work
Above-mentioned outline data are transferred to the position coordinates that host computer processing obtains vehicle by control machine；It is mechanical to be picked up the car by PC control
Hand 2 captures vehicle；According to imaging area of the industrial camera 4 in the codeization pattern of ground and the industrial camera 4 to ground
Air line distance obtain the imaging scale of the industrial camera 4；Each industrial camera 4 is photographed according to imaging scale
Vehicle image dimension conversion in parking area 3 is for vehicle full size so as to obtain vehicle location coordinate；Vehicle location is sat
Mark includes vehicle commander, overall width, parking stall angle and the autocentre coordinate of vehicle；Vehicle full size=vehicle image size * imagings ratio
Example * 0.8.
Specific implementation step includes：Step one, driver will treat that parking is put and drive into the parking area 3 with code pattern simultaneously
Arbitrarily park, when parking area 3 is driven into parking, number plate machine 5 obtains number plate of vehicle；It is upper when there is no number plate when parking cars
Machine assigns the unique vehicle code name that parks cars；
Step 2, vehicle comes to a complete stop after driver leaves, and industrial camera 4 shoots the acquisition vehicle that parks cars in parking area 3
Picture size is simultaneously uploaded to host computer；
Step 3, host computer obtains vehicle full size according to the imaging scale * 0.8 of vehicle image size * industrial cameras 4
And the coordinate value of each point of the vehicle in parking area coordinate system is obtained, to above-mentioned vehicle full size and the seat each put
Obtain parking cars position coordinates and parking stall angle in parking area 3 after scale value processing；
Step 4, host computer driving pick-up manipulator 2, which is moved to, to park cars position and rotates corresponding parking stall angle, takes
Vehicle device tool subordinate drop realizes that vehicle is captured；
Step 5, during pick-up manipulator declines, single line laser radar 6 is scanned to full car simultaneously, checks pick-up
The centre coordinate of manipulator and vehicle center coordinate are overlapped, the angle of pick-up manipulator and parking stall angle is consistent and overall width is without departing from taking
Car manipulator opereating specification, clamping, which parks cars, makes it be put in storage safely.
Parking area, which is one, in technical scheme can accommodate several the even region of tens automobiles, for this
One region of sample, when driver drives car into the region, can arbitrarily be parked.The top in the region have industrial camera coordinate stop
Code pattern in car area is obtained into length, parking stall angle, wheel position, position of rear view mirror of vehicle etc..And in car
During into the region, number plate chance is obtained to number plate of vehicle, if without number plate, host computer can assign a code name, generation for it
Number it is unique in the entire system.
It should be appreciated that the foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not
Be confined to this, any those skilled in the art disclosed herein technical scope in, the change that can be readily occurred in
Or replace, it should all be included within the scope of the present invention.
Claims (10)
1. a kind of vehicle storage method of the vehicle identification system based on optical imagery, it is characterised in that：Using in intelligent garage
Image documentation equipment above parking area (3) obtains the outline data positioned at parking area (3) interior vehicle, and passes through data processing equipment
The outline data of parking area (3) interior vehicle are handled to obtain position coordinates of the vehicle in parking area (3)；Intelligent garage
On pick-up manipulator (2) according to above-mentioned vehicle location coordinate capture vehicle storage deposit.
2. a kind of vehicle storage method of vehicle identification system based on optical imagery according to claim 1, its feature
It is：The image documentation equipment is industrial camera (4), and the data processing equipment is industrial computer and host computer；Pass through parking area (3)
The industrial camera (4) of top obtains the outline data positioned at parking area (3) interior vehicle；By industrial computer by above-mentioned outline number
The position coordinates of vehicle is obtained according to host computer processing is transferred to；Vehicle is captured by PC control pick-up manipulator (2).
3. a kind of vehicle storage method of vehicle identification system based on optical imagery according to claim 2, its feature
It is：Coordinate identification system is provided with each industrial camera (4)；Garage coordinate system is provided with parking area (3)；Coordinate identification system
Interior each point coordinate value is converted into each point coordinate value in garage coordinate system after being handled by host computer conversion.
4. a kind of vehicle storage method of vehicle identification system based on optical imagery according to claim 2, its feature
It is：Coordinate system mark is provided with the parking area (3), the industrial camera (4) passes through the vehicle in parking area (3)
Outline and coordinate system mark directly obtain vehicle position information.
5. a kind of vehicle storage method of vehicle identification system based on optical imagery according to claim 4, its feature
It is：The coordinate system, which is designated, is layed in Quick Response Code on parking area (3) interior ground, and each Quick Response Code represents a parking
Point coordinates or the coordinate system in area (3) coordinate system are designated positioned at the coordinate for being identified in parking area (3) long side and broadside
Axle.
6. a kind of vehicle storage method of vehicle identification system based on optical imagery according to claim 1, its feature
It is：Its specific steps includes：
Step one, driver will treat that parking is put and drive into the parking area (3) with code pattern and arbitrarily park, and treat that parking is sailed
When entering parking area (3), number plate machine (5) obtains number plate of vehicle；When not having number plate when parking cars, host computer assigns this and parked cars
One unique vehicle code name；
Step 2, vehicle comes to a complete stop after driver leaves, and industrial camera (4) shoots the acquisition vehicle that parks cars in parking area (3)
Picture size is simultaneously uploaded to host computer；
Step 3, host computer obtains vehicle full size according to the imaging scale of vehicle image size * industrial cameras (4) and obtained
Vehicle is located at the coordinate value of each point in parking area coordinate system, at above-mentioned vehicle full size and the coordinate value each put
Obtain parking cars position coordinates and parking stall angle in parking area (3) after reason；
Step 4, host computer driving pick-up manipulator (2), which is moved to, to park cars position and rotates corresponding parking stall angle, picks up the car
Manipulator, which declines, realizes that vehicle is captured；
Step 5, during pick-up manipulator declines, single line laser radar (6) to full car while being scanned, checking pick-up machine
The centre coordinate of tool hand and vehicle center coordinate are overlapped, the angle of pick-up manipulator and parking stall angle is consistent and overall width is without departing from pick-up
Robot actions scope, clamping, which parks cars, makes it be put in storage safely.
7. a kind of vehicle identification system based on optical imagery for intelligent garage, including multi-storied garage (1) and machinery of picking up the car
Hand (2)；It is characterized in that：
Also including the parking area (3) for parking cars, the industrial camera for obtaining the interior vehicle location coordinate in parking area (3)
(4) and for controlling the host computer and single line for checking the interior vehicle location coordinate in parking area (3) that pick-up manipulator (2) works
Laser radar (6)；
The parking area (3) is arranged at the multi-storied garage (1) side and is located at the same side with the pick-up manipulator (2)；It is described
The code pattern for strengthening contrast is provided with ground in parking area (3) region；The top of the multi-storied garage (1) is set
Multiple cantilevers are equipped with, the end of each cantilever is provided with the industrial camera (4)；The industrial camera (4) is located at the parking
Above area (3)；Pick-up manipulator (2) bottom has been arranged symmetrically four single line laser radars (6).
8. a kind of vehicle identification system based on optical imagery for intelligent garage according to claim 7, its feature
It is：The code pattern includes Quick Response Code or bar code or gridiron pattern.
9. a kind of vehicle identification system based on optical imagery for intelligent garage according to claim 7, its feature
It is：Each industrial camera (4) can at least photograph one section of region in the parking area (3) and all industry
Camera (4) can photograph the whole parking area (3).
10. a kind of vehicle identification system based on optical imagery for intelligent garage according to claim 7, its feature
It is：There is an angle theta, 15 ° between the scanning plane of the single line laser radar (6) and ground<θ<90°.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586623.5A CN107316464A (en) | 2017-07-18 | 2017-07-18 | The vehicle identification system based on optical imagery for intelligent garage |
| PCT/CN2018/094866 WO2019015493A1 (en) | 2017-07-18 | 2018-07-06 | Optical image-based vehicle recognition system for smart parking garage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586623.5A CN107316464A (en) | 2017-07-18 | 2017-07-18 | The vehicle identification system based on optical imagery for intelligent garage |
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| Publication Number | Publication Date |
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| CN107316464A true CN107316464A (en) | 2017-11-03 |
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| CN201710586623.5A Pending CN107316464A (en) | 2017-07-18 | 2017-07-18 | The vehicle identification system based on optical imagery for intelligent garage |
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| Country | Link |
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| WO (1) | WO2019015493A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108005451A (en) * | 2017-11-30 | 2018-05-08 | 秦皇岛玥朋科技有限公司 | A kind of safety detecting system and detection method of the multi-storied garage based on machine vision |
| WO2019015493A1 (en) * | 2017-07-18 | 2019-01-24 | 武汉智象机器人有限公司 | Optical image-based vehicle recognition system for smart parking garage |
| CN111873837A (en) * | 2020-08-07 | 2020-11-03 | 蒋志祥 | Electric automobile's multi-functional electric pile structure that fills |
| CN112037528A (en) * | 2020-09-11 | 2020-12-04 | 江苏小白兔智造科技有限公司 | Intelligent parking system without parking hall based on vehicle type |
| CN112037575A (en) * | 2020-09-11 | 2020-12-04 | 江苏小白兔智造科技有限公司 | Intelligent parking method without parking hall based on ultrasonic range finder |
| CN112037530A (en) * | 2020-09-11 | 2020-12-04 | 江苏小白兔智造科技有限公司 | Vehicle position confirmation method and device based on camera device |
| CN112037525A (en) * | 2020-09-11 | 2020-12-04 | 江苏小白兔智造科技有限公司 | Intelligent parking method without parking hall based on camera device |
| CN112037531A (en) * | 2020-09-11 | 2020-12-04 | 江苏小白兔智造科技有限公司 | Intelligent parking method without parking hall based on vehicle type |
| CN112053585A (en) * | 2020-09-11 | 2020-12-08 | 江苏小白兔智造科技有限公司 | Intelligent parking method without parking hall based on laser radar |
| CN112053586A (en) * | 2020-09-11 | 2020-12-08 | 江苏小白兔智造科技有限公司 | Vehicle position confirmation method and device based on infrared distance meter |
| CN112065125A (en) * | 2020-09-11 | 2020-12-11 | 江苏小白兔智造科技有限公司 | Intelligent parking method without parking hall based on infrared distance meter |
| CN112114316A (en) * | 2020-09-11 | 2020-12-22 | 江苏小白兔智造科技有限公司 | Vehicle position confirmation method and device based on ultrasonic distance meter |
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| TWI742723B (en) * | 2020-06-15 | 2021-10-11 | 英業達股份有限公司 | Smart garage management system and method thereof |
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