CN107558775A - The vehicle identification system and storage method based on fixed radar for intelligent garage - Google Patents
The vehicle identification system and storage method based on fixed radar for intelligent garage Download PDFInfo
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- CN107558775A CN107558775A CN201710586624.XA CN201710586624A CN107558775A CN 107558775 A CN107558775 A CN 107558775A CN 201710586624 A CN201710586624 A CN 201710586624A CN 107558775 A CN107558775 A CN 107558775A
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- parking
- intelligent garage
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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
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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
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
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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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Finance (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of storage method and vehicle identification system based on fixed radar for intelligent garage, the altitude data of the point cloud of its vehicle using the point cloud of whole parking area and in parking area relatively show that vehicle is located at the position coordinates of parking area；Pick-up manipulator on intelligent garage captures vehicle storage storage according to above-mentioned vehicle location coordinate.The present invention by intelligent garage by setting parking area and obtaining the positional information to park cars by radar scanner so as to control pick-up manipulator to access vehicle, the technical problem that parking difficulty, parking efficiency are low 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 and storage method based on fixed radar for intelligent garage.
Background technology
Intelligent parking garage on the market at present, 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 insufficient.In increasingly serious city parking environment
Under, urgently there is efficient intelligent three-dimensional garage to solve the problems, such as 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 is provided with along what it was slided up and down and vertically moves frame, 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 disclose and meets the rapidly and efficiently storage for realizing 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 fixed radar 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 utilizes the point of whole parking area
Cloud and in parking area vehicle point cloud altitude data relatively show that vehicle is located at the position coordinates of parking area；Intelligent garage
On pick-up manipulator according to above-mentioned vehicle location coordinate capture vehicle storage storage.
In a kind of preferred embodiment of the present invention, the acquisition methods positioned at the vehicle location coordinate of parking area are as follows：
Multiple radar scanners collaboration scanning on intelligent garage obtains the outline cloud data of whole parking area and positioned at parking
The outline cloud data of vehicle in area, and send data processing equipment to；Data processing equipment is according to comparing the outer of parking area
Profile cloud data and in parking area vehicle outline cloud data by above-mentioned all data be divided into ground data and
Non- ground data；Data processing equipment by more non-ground data whether meets vehicle outline so that it is determined that vehicle is positioned at stopping
The position coordinates in car area.
In a kind of preferred embodiment of the present invention, data processing equipment includes host computer and industrial computer；Host computer connects
Receive the outline cloud data for the whole parking area that industrial computer transmits and in parking area vehicle outline point cloud
After data and judgement, it is rectangular in horizontal plane so as to obtain one that non-ground data is projected as into ground data first
Shape；The position coordinates of vehicle is determined by the cornerwise intersection point of rectangle；By rectangular central axis with being sat in parking area
The angle of mark system determines the parking stall angle of vehicle；The position that vehicle is located in parking area is determined by the position coordinates and parking stall angle of vehicle
Put；Industrial computer will handle the obtained vehicle location coordinate, parking stall angle is sent to host computer；PC control pick-up manipulator is grabbed
Pick-up.
In a kind of preferred embodiment of the present invention, the seat of each tire of vehicle is obtained by single line radar scanner
Cursor position；Cooperated by multiple single line radar scanners and obtain the projection that tire is vertically projected to horizontal plane；It is projected as
One line segment；The midpoint of the line segment is the position coordinates that tire central point is located at parking area.
In a kind of preferred embodiment of the present invention, its specific steps includes：Step 1, driver will treat that parking is put
Drive into parking area and arbitrarily park, when parking area is driven into parking, number plate machine obtains number plate of vehicle；Step 2, vehicle come to a complete stop,
After driver certifying parking, the vehicle for having number plate confirms target by number plate, and the vehicle of no number plate allows car owner to confirm by photo
Afterwards, radar scanner scans whole parking area, obtains cloud data, and industrial computer extracts the outline of the vehicle and handled
Position coordinates and parking stall angle to the vehicle；Step 3, industrial computer will handle the obtained vehicle location coordinate, parking stall angle is sent out
Give host computer；Step 4, host computer driving pick-up manipulator are moved to park cars position and the corresponding parking stall angle of rotation,
Clamping, which parks cars, makes it be put in storage safely.
The present invention a kind of preferred embodiment in, in step 1, when park cars there is no number plate when, host computer assign
The unique vehicle code name that parks cars.
Present invention employs such a vehicle identification system based on fixed radar for intelligent garage, and it includes vertical
Body garage and pick-up manipulator；Vehicle location seat in parking area is obtained also including the parking area for parking cars, for scanning
Target radar scanner, the number plate machine for obtaining car plate in parking area and for controlling the upper of pick-up robot work
Machine；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 area along its
Length direction is provided at both ends with the radar scanner；The number plate machine is fixed on the multi-storied garage.
In a kind of preferred embodiment of the present invention, it is disposed with the long side of the parking area multiple for obtaining vehicle
The single line radar scanner of tire central point.
In a kind of preferred embodiment of the present invention, the laser emission point of the single line radar scanner is apart from ground
Height be less than 100 millimeters；The Laser emission line of the single line radar scanner is parallel to level ground.
In a kind of preferred embodiment of the present invention, the radar scanner includes support, motor and laser
Radar；The motor is vertically fixed in the pedestal upper end；The output end of the motor connects with the laser radar
Connect.
The beneficial effects of the invention are as follows：The present invention by intelligent garage by setting parking area and passing through radar scanner
The position coordinates to park cars is obtained so as to control pick-up manipulator to access vehicle, efficiently solves and stops in the prior art
Technical problem difficult, parking efficiency is low, simplify parking skill and improve parking efficiency.
Brief description of the drawings
Fig. 1 is a kind of main view of vehicle identification system based on fixed radar 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 fixed radar for intelligent garage of the embodiment of the present invention
Figure；
Fig. 3 is a kind of parking area of vehicle identification system based on fixed radar for intelligent garage of the embodiment of the present invention
Schematic diagram；
Fig. 4 is a kind of parking area of vehicle identification system based on fixed radar for intelligent garage of the embodiment of the present invention
Single line radar scanner position view；
Fig. 5 is a kind of parking area of vehicle identification system based on fixed radar for intelligent garage of the embodiment of the present invention
Coordinate Conversion principle；
Fig. 6 is that a kind of radar of vehicle identification system based on fixed radar for intelligent garage of the embodiment of the present invention is swept
Imaging apparatus front view；
Fig. 7 is that a kind of radar of vehicle identification system based on fixed radar for intelligent garage of the embodiment of the present invention is swept
Imaging apparatus top view；
In figure：1- multi-storied garages, 2- pick-up manipulators, 3- parking areas, 4- radar scanners, 5- number plate machines, 6- single lines
Radar scanner, 4.1- supports, 4.2- motors, 4.3- laser radars, A1- parking stalls angle, B1- position of rear view mirror, before C1-
Take turns position, L1- vehicle commander, D1- rear wheel positions, W1- overall width, W- pick-up Robot actions region, (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 fixed radar 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 sweeping
Retouch and obtain the radar scanner 4 of vehicle location coordinate and the host computer for controlling pick-up manipulator 2 to work in parking area 3；
Parking area 3 is arranged at the side of multi-storied garage 1 and is located at the same side with pick-up manipulator 2；The both ends of parking area 3 along its length are set
It is equipped with radar scanner 4；Multiple single line radars for being used to obtain vehicle tire central point are disposed with the long side of parking area 3 to sweep
Imaging apparatus 6；Height of the laser emission point of single line radar scanner 6 apart from ground is less than 100 millimeters；Single line radar scanning fills
6 Laser emission line is put parallel to level ground；Radar scanner 4 includes support 4.1, motor 4.2 and laser radar
4.3；Motor 4.2 is vertically fixed in the upper end of support 4.1；The output end of motor 4.2 is connected with laser radar 4.3；It is vertical
The number plate machine 5 for obtaining automotive license plate in parking area 3 is also connected with body garage 1.
The invention also discloses a kind of vehicle of vehicle identification system based on fixed radar for intelligent garage storage
Method, the altitude data of the point cloud of its vehicle using the point cloud of whole parking area 3 and in parking area 3 relatively draw vehicle position
Position coordinates in parking area 3；Pick-up manipulator 2 on intelligent garage captures vehicle according to above-mentioned vehicle location coordinate and enters stock
Put.Acquisition methods positioned at the vehicle location coordinate of parking area 3 are as follows：2 radar scanners 4 collaboration on intelligent garage is swept
Retouch the outline cloud data that obtains whole parking area 3 and in parking area 3 vehicle outline cloud data (parking area 3
Outline cloud data height value not equal to the outline cloud data of vehicle height value), and send data processing to
Equipment；The outline point of data processing equipment vehicle according to the outline cloud data for comparing parking area 3 and in parking area 3
Above-mentioned all data are divided into ground data and non-ground data by the high level of cloud data, and non-ground data is projected into ground
Using Shadow marks, (being because of the ground for when vehicle is in parking area, just necessarily there is a panel region can not be by laser scanning
Arrive, and when laser is crossed vehicle and scanned again to ground, it is equivalent to vehicle and forms a shade on the ground
Region)；Data processing equipment by more non-ground data project to ground shadow shapes whether meet vehicle outline from
And determine vehicle and be located at the position coordinates of parking area 3 (while using effective cloud data in vehicle region, to the length and width of vehicle
High data are modified)；Data processing equipment includes host computer and industrial computer；Host computer receives what industrial computer transmitted
It is first after the whole outline cloud data of parking area 3 and the outline cloud data positioned at vehicle in parking area 3 and judgement
Non- ground data is first projected as ground data (shade) so as to obtain a rectangle in horizontal plane；Pass through rectangle
Cornerwise intersection point determines the position coordinates of vehicle；It is true by rectangular central axis and the angle of the internal coordinate system of parking area 3
Determine the parking stall angle of vehicle；The position that vehicle is located in parking area 3 is determined by the position coordinates and parking stall angle of vehicle；Industrial computer will
Handle the obtained vehicle location coordinate, parking stall angle is sent to host computer；PC control pick-up manipulator 2 captures vehicle；
During using the present invention, it is obtained positioned at vehicle in parking area 3 by the collaborative work of two radar scanners 4
Outline data；Above-mentioned outline data are transferred into host computer by industrial computer to handle to obtain the position coordinates of vehicle；Pass through
PC control pick-up manipulator 2 captures vehicle；After host computer receives the outline data for the vehicle that industrial computer transmits,
Outline data projection is intended first to turn to the rectangle in horizontal plane, the position of vehicle is determined by cornerwise tell somebody what one's real intentions are of rectangle
Put coordinate；The parking stall angle of vehicle is determined by the angle of the central axis of rectangle along its length and the broadside of parking area 3；It is logical
Cross the position coordinates of vehicle and parking stall angle determines the position that vehicle is located in parking area 3；Obtained by single line radar scanner 6
The coordinate position of each tire of vehicle；The projection of horizontal plane is vertically projected to by the acquisition tire of single line radar scanner 6；Throw
Shadow is a rectangle；Cornerwise tell somebody what one's real intentions are of rectangle is located at the position coordinates of parking area 3 for tire central point；Its specific steps bag
Include：Step 1, driver will treat that parking is put and drive into parking area 3 and arbitrarily park, when parking area 3 is driven into parking, number plate
Machine 5 obtains number plate of vehicle；Step 2, vehicle come to a complete stop after driver leaves, and the motor 4.2 of radar scanner 4, which drives, to swash
The scanning of optical radar 4.3 obtains the outline data to park cars and sends the data to host computer by industrial computer；Step 3,
Host computer obtains parking cars position coordinates and parking stall angle in parking area 3 after handling the outline data；
Step 4, host computer driving pick-up manipulator 2 are moved to park cars position and the corresponding parking stall angle of rotation, clamp and park car
Its is set to be put in storage safely；When park cars there is no number plate when, host computer assigns the unique vehicle code name that parks cars.
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 it park.There are two fixed laser radars at the both ends in the region
The region is not stopped to scan under the cooperation of motor, come obtain the length into vehicle, parking stall angle, wheel position, after
Visor position etc., as shown in Figure 3.And when car enters the region, number plate chance obtains to number plate of vehicle, if nothing number
Board, host computer can be that it assigns a code name, and code name is unique in the entire system.
In accompanying drawing 5, J points are laser radar, drive the Plane of rotation for the motor that it rotates back and forth to swash parallel to WJV planes
The scanning plane of optical radar is perpendicular to WJV planes.Rotation forms scanning plane to laser radar at a high speed, and motor driven radar rotary is paired
The scanning of solid space.In figure, Data Point are arrived in laser radar J scannings, and obtaining laser radar J according to time flight theory arrives
Data Point distance R.Data Point to plane UJV intersection point is point A.Converted according to triangle, JA length is：JA=
R*COS(ω)；Coordinate values of the Data Point in UVW coordinate systems be respectively：U1=R*COS (ω) * SIN；V1=R*COS
(ω)*COS；W1=R*SIN (ω).In accompanying drawing 5, XYZ coordinate system is parking area coordinate system, is when grabbing car device crawl vehicle
The coordinate system of use.And to be coordinate system XYZ translated to come coordinate system UVW by vectorial OJ, pass through conversion, you can try to achieve Data
Coordinates of the Point in coordinate system XYZ.All pip data acquisition systems can obtain the 3-D view of parking area.Industrial computer G1 is counted
The length of vehicle, parking stall angle, wheel position, position of rear view mirror etc. are calculated, is then forwarded to host computer, host computer is to being grabbed car
Device, which is sent, grabs car instruction；During work, first, radar J itself has a coordinate system UVW, and the radar can be 0 to 360 degree rotations
Turn, have single line radar, also have a multi-thread radar, when the motor of single line radar does not drive it to rotate, it scan when one it is limited
Solid space, single line radar scanning are exactly a face.Motor rotation is formed a solid space.The scanning theory of radar is just
It is the time to reach principle, launches laser, run into object and reflect, it is very accurately that this transmission, which receives the time, then should
Pip precisely calculates to radar apart from can.And motor is with encoder, motor have rotated how many degree, and accurately
Positioning.Radar scanning point distance, R and angle ω is just obtained in figure.Radar is not a scanning vehicle, and it is scanning range
The interior pip scanned all obtains, and extracts vehicle by algorithm further according to the feature of car, the two radars are like people
Eyes, its data can be sent to an industrial computer, and industrial computer handles the data that it sends.The two radars are synchronous
Work.
In order to strengthen the positioning to automobile tire, fixed single line laser radar is distributed with the long side of parking area, its
Laser emission point terrain clearance is less than 100 millimeters, and Laser emission line is parallel to level ground.Before single line radar scanner 6
There is vehicle entrance side, and the other parts that we simulate car are only left tire.The scanning of single line radar scanner 6 arrives the one of automobile
Individual tire, according to time flight theory, each pip can be calculated to the distance of single line radar scanner 6.We can
To be nearly a rectangle the overhead view image of automobile tire, i.e. tire is vertically projected to the projection of level ground.Laser light
The laser of source transmitting can only at most touch rectangular two sides, in different size according to the distance of every measured,
The length on this two sides can be obtained.Then the central point of the tire is calculated., can after obtaining the central point of four tires of automobile
To calculate the parking stall angle of automobile, during grabbing car device and declining, ultrasonic sensor, laser sensor etc. send report
When police has collision possible, the parking stall angle adjustment that system obtains according to ground laser radar grabs the anglec of rotation of car device.Radar
During 4 scanning car 2 of scanning means, radar scanner 4 can only get a line of tire, but beside radar scanner 4
Radar scanner 4 and single line radar scanner 6 radar scanner 4 can be cooperateed with to complete the scanning to the automobile tire,
So as to obtain the central point of tire.
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 readily occur in
Or replace, it should all be included within the scope of the present invention.
Claims (10)
- A kind of 1. vehicle storage method of vehicle identification system based on fixed radar for intelligent garage, it is characterised in that： The altitude data of point cloud using whole parking area (3) and the point cloud positioned at parking area (3) interior vehicle relatively show that vehicle is located at The position coordinates of parking area (3)；Pick-up manipulator (2) on intelligent garage captures vehicle storage according to above-mentioned vehicle location coordinate Storage.
- 2. a kind of vehicle of vehicle identification system based on fixed radar for intelligent garage according to claim 1 enters Storehouse method, it is characterised in that：Acquisition methods positioned at the vehicle location coordinate of parking area (3) are as follows：It is multiple on intelligent garage Radar scanner (4) collaboration scanning obtains the outline cloud data of whole parking area (3) and positioned at parking area (3) interior vehicle Outline cloud data, and send data processing equipment to；Data processing equipment is according to the outline point for comparing parking area (3) Above-mentioned all data are divided into ground data and non-by cloud data and outline cloud data positioned at parking area (3) interior vehicle Face data；Whether data processing equipment meets vehicle outline so that it is determined that vehicle is located at parking area by more non-ground data (3) position coordinates.
- 3. a kind of vehicle of vehicle identification system based on fixed radar for intelligent garage according to claim 2 enters Storehouse method, it is characterised in that：Data processing equipment includes host computer and industrial computer；Host computer receives what industrial computer transmitted The whole outline cloud data of parking area (3) and the outline cloud data positioned at parking area (3) interior vehicle simultaneously judge to finish Afterwards, non-ground data is projected as ground data first so as to obtain a rectangle in horizontal plane；Pass through rectangle Cornerwise intersection point determines the position coordinates of vehicle；Pass through rectangular central axis and the angle of parking area (3) internal coordinate system Determine the parking stall angle of vehicle；The position that vehicle is located in parking area (3) is determined by the position coordinates and parking stall angle of vehicle；Industry control Machine will handle the obtained vehicle location coordinate, parking stall angle is sent to host computer；PC control pick-up manipulator (2) captures car .
- 4. a kind of vehicle of vehicle identification system based on fixed radar for intelligent garage according to claim 3 enters Storehouse method, it is characterised in that：The coordinate position of each tire of vehicle is obtained by single line radar scanner (6)；By multiple Single line radar scanner (6), which cooperates, obtains the projection that tire is vertically projected to horizontal plane；It is projected as a line segment；It is described The midpoint of line segment is the position coordinates that tire central point is located at parking area (3).
- 5. a kind of vehicle of vehicle identification system based on fixed radar for intelligent garage according to claim 1 enters Storehouse method, it is characterised in that：Its specific steps includes：Step 1, driver will treat that parking is put and drive into parking area (3) and arbitrarily park, when parking area (3) are driven into parking, Number plate machine (5) obtains number plate of vehicle；Step 2, vehicle come to a complete stop, and after driver certifying parking, the vehicle for having number plate confirms target, the car of no number plate by number plate After allowing car owner to confirm by photo, radar scanner (4) scans whole parking area, obtains cloud data, and industrial computer carries Take the outline of the vehicle and processing obtains position coordinates and the parking stall angle of the vehicle；Step 3, industrial computer will handle the obtained vehicle location coordinate, parking stall angle is sent to host computer；Step 4, host computer driving pick-up manipulator (2) are moved to park cars position and the corresponding parking stall angle of rotation, clamping Parking cars makes it be put in storage safely.
- 6. a kind of vehicle of vehicle identification system based on fixed radar for intelligent garage according to claim 5 enters Storehouse method, it is characterised in that：In step 1, when park cars there is no number plate when, host computer assign this park cars one it is unique Vehicle code name.
- 7. a kind of vehicle identification system based on fixed radar for intelligent garage, including multi-storied garage (1) and machinery of picking up the car Hand (2)；It is characterized in that：The radar that parking area (3) interior vehicle location coordinate is also obtained including the parking area (3) for parking cars, for scanning is swept Imaging apparatus (4) and the host computer for controlling pick-up manipulator (2) to work；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 Parking area (3) along its length be provided at both ends with the radar scanner (4).
- 8. a kind of vehicle identification system based on fixed radar for intelligent garage according to claim 7, its feature It is：Multiple single line radar scanners for being used to obtain vehicle tire central point are disposed with the long side of the parking area (3) (6)。
- 9. a kind of vehicle identification system based on fixed radar for intelligent garage according to claim 8, its feature It is：Height of the laser emission point of the single line radar scanner (6) apart from ground is less than 100 millimeters；The single line thunder Up to scanning means (6) Laser emission line parallel to level ground.
- 10. a kind of vehicle identification system based on fixed radar for intelligent garage according to claim 7, its feature It is：The radar scanner (4) includes support (4.1), motor (4.2) and laser radar (4.3)；The driving electricity Machine (4.2) is vertically fixed in the support (4.1) upper end；The output end of the motor (4.2) and the laser radar (4.3) connect；The number plate machine (5) for obtaining parking area (3) interior automotive license plate is also connected with the multi-storied garage (1).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586624.XA CN107558775A (en) | 2017-07-18 | 2017-07-18 | The vehicle identification system and storage method based on fixed radar for intelligent garage |
| PCT/CN2018/094871 WO2019015498A1 (en) | 2017-07-18 | 2018-07-06 | Fixed radar-based vehicle recognition system for smart parking garage and parking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586624.XA CN107558775A (en) | 2017-07-18 | 2017-07-18 | The vehicle identification system and storage method based on fixed radar for intelligent garage |
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| Publication Number | Publication Date |
|---|---|
| CN107558775A true CN107558775A (en) | 2018-01-09 |
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|---|---|---|---|
| CN201710586624.XA Pending CN107558775A (en) | 2017-07-18 | 2017-07-18 | The vehicle identification system and storage method based on fixed radar for intelligent garage |
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| Country | Link |
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| CN (1) | CN107558775A (en) |
| WO (1) | WO2019015498A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108364359A (en) * | 2018-03-30 | 2018-08-03 | 深圳市金溢科技股份有限公司 | Parking charge method, server, system and the mobile terminal for parking charge |
| CN108399731A (en) * | 2018-02-05 | 2018-08-14 | 苏州科技大学 | A kind of secure parking area that saves land stops pick-up method |
| WO2019015498A1 (en) * | 2017-07-18 | 2019-01-24 | 武汉智象机器人有限公司 | Fixed radar-based vehicle recognition system for smart parking garage and parking method |
| CN109581414A (en) * | 2019-01-30 | 2019-04-05 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of laser radar setting method and parking lot |
| CN109739243A (en) * | 2019-01-30 | 2019-05-10 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of vehicle positioning method, automatic Pilot control method and related system |
| CN112567101A (en) * | 2018-08-06 | 2021-03-26 | 克拉克设备公司 | Augmented loader control |
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