CN107574772B - Parking spot lock device based on laser ranging and ranging method thereof - Google Patents
Parking spot lock device based on laser ranging and ranging method thereof Download PDFInfo
- Publication number
- CN107574772B CN107574772B CN201710862459.6A CN201710862459A CN107574772B CN 107574772 B CN107574772 B CN 107574772B CN 201710862459 A CN201710862459 A CN 201710862459A CN 107574772 B CN107574772 B CN 107574772B
- Authority
- CN
- China
- Prior art keywords
- parking
- vehicle
- unit
- main control
- control box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Traffic Control Systems (AREA)
- Devices For Checking Fares Or Tickets At Control Points (AREA)
Abstract
The invention provides a parking spot lock device based on laser ranging and a ranging method thereof, comprising a main control box, a motor control box and a lock body, wherein the main control box is internally provided with a main control unit, a rotatable laser ranging unit, a wireless communication unit and a call button, and the main control unit is respectively connected with the rotatable laser ranging unit, the wireless communication unit and the call button; the motor control box is internally provided with a motor control unit, a direct-current gear motor, a worm gear device and a power supply unit, wherein the motor control unit is connected with the direct-current gear motor, and the direct-current gear motor is connected with the worm gear device; the lock body comprises a transmission shaft, a reversible wheel baffle and a supporting seat, the supporting seat is positioned below the transmission shaft, and the transmission shaft is connected with the reversible wheel baffle; according to the invention, by introducing a low-cost laser ranging technology, whether the parking space occupation state and the parking position are normal or not is detected, and the problems that the operation cost is high and unmanned charging cannot be realized due to the lack of parking position normalization detection of the existing parking space lock are solved.
Description
Technical Field
The invention relates to a parking spot lock device and a distance measuring method thereof, in particular to a parking spot lock device based on laser distance measurement and a distance measuring method thereof, which are mainly applied to open road parking lots and belong to the technical field of intelligent traffic.
Background
With the rapid increase in the number of motor vehicles, parking difficulties have become a serious problem in cities, particularly large cities. Due to the limitation of urban central area history planning, the resources of the matched parking lots are few, the problem of difficult parking is more remarkable, a certain number of parking spaces are opened up beside roads, and the problem of difficult parking in urban central areas is relieved, so that the method has become an important measure for each city. However, in a relatively closed parking lot, the road parking lot has no clear entrance and exit, and the parking spaces are distributed in parallel, so that the management and charging of the road parking spaces cannot be carried out along the closed parking lot based on the entrance and exit gateway management and charging system.
Since 90 s of the last century, various cities in China have continuously introduced a meter widely used in Europe and America to carry out roadside self-service payment, but the phenomenon of fee evasion is serious and has been abandoned gradually.
The open outdoor parking lot in japan adopts a management and charging system based on parking space locks, and when a vehicle is parked in a corresponding parking space, the parking space locks automatically rise to lock the vehicle after the occupancy of the parking space is detected by a built-in geomagnetic sensor or a ground induction coil. Only after paying, the parking space lock is automatically unlocked, and the vehicle can move out of the parking space, so that the malicious fee escaping phenomenon is effectively avoided. However, due to lack of technical means for specifying parking position, a large number of guiding personnel are required to assist and guide drivers to park, and the operation cost is high.
In recent years, a geomagnetic sensor or a ground induction coil widely used for traffic flow statistics in the intelligent transportation field is used for management of an open road parking lot, but unmanned charging cannot be realized only by detecting the parking space state. With the maturation of license plate recognition technology, a road parking lot management system based on single-space license plate recognition expands test points in a plurality of cities, but cannot realize forced payment, and can only solve the problem of malicious fee escaping through a post-payment mode.
Disclosure of Invention
Aiming at the management and charging requirements of the existing open road parking lot, the invention provides a parking space lock device based on laser ranging and a ranging method thereof, which are used for detecting whether the parking space occupation state and the parking position are normal or not by introducing a low-cost laser ranging technology, so that the problems that the operation cost is high and unmanned charging cannot be realized due to the lack of parking position normalization detection of the existing parking space lock are solved.
In order to achieve the technical purpose, the technical scheme of the invention is as follows: the parking spot lock device based on laser ranging comprises a main control box, a motor control box and a lock body, and is characterized in that a main control unit, a rotatable laser ranging unit, a wireless communication unit and a call button are arranged in the main control box, and the main control unit is respectively connected with the rotatable laser ranging unit, the wireless communication unit and the call button; the motor control box is internally provided with a motor control unit, a direct-current gear motor, a worm gear device and a power supply unit, wherein the motor control unit is connected with the direct-current gear motor, and the direct-current gear motor is connected with the worm gear device; the lock body comprises a transmission shaft, a reversible wheel baffle plate and a supporting seat, wherein the supporting seat is positioned below the transmission shaft and is connected with the transmission shaft, and the transmission shaft is connected with the reversible wheel baffle plate; the main control unit is connected with the motor control unit through an RS485 serial port, and the worm gear device is connected with a transmission shaft in the lock body.
Further, the wireless communication unit is responsible for the data interaction of parking stall lock and parking area management system, be provided with a plurality of different fixed rotation angle in the rotatable laser rangefinder unit for detect whether the parking stall is taken up and whether the vehicle parks the standard, call button is used for when the car owner does not install the mobile payment software, call the scene and patrol personnel and pay the fee manually on site, the management and the control of whole parking stall lock are responsible for to the main control unit, control rotatable laser rangefinder unit adjustment rotation angle carries out laser rangefinder, and control motor control unit through the RS485 serial ports, carry out parking stall lock and rise and fall the instruction, motor control unit is according to the control command of main control unit, control direct current gear motor's rotation and rotation direction, direct current gear motor is through the transmission shaft motion in the worm gear device drive lock body, the transmission shaft drives but the upset wheel baffle and rises or fall.
Further, the upper surface printing of master control box has two-dimensional code and the parking stall serial number that the parking stall corresponds for the car owner scans the parking fee of paying, and highly is 0.5 meters apart from setting up on road surface, links to each other with motor control box through the pole setting of inside wiring, motor control box deploys at parking stall road edge area, and fixes on the road surface, the lock body is disposed in the middle part of parking stall and is back the region, and is located between the front and back wheels of vehicle, lock body length is more than 0.8 meters and does not exceed the width of automobile body, horizontal perpendicular to parking direction, and installs on the parking stall road surface, but the maximum height that the wheel baffle of overturning can rise is not less than 30cm.
Further, the main control box and the motor control box can be placed in the same waterproof box and mounted in the road edge area of the parking space.
Further, a power supply unit is further installed in the motor control box, the power supply unit is respectively connected with the main control box, the motor control unit and the direct current gear motor and is responsible for providing a working power supply for the whole parking spot lock, and the power supply unit is a high-capacity storage battery with 24V DC working voltage or a 220V AC-24V DC power supply conversion module.
Further, the distance measurement range of the rotatable laser distance measurement unit is not less than 5 meters, and the measurement error is not more than 5mm.
In order to further achieve the technical purpose, the invention also provides a distance measuring method of the parking spot lock device based on laser distance measurement, which is characterized by comprising the following steps:
step one, parking spot lock standby: when the vehicle does not drive into the parking space, the parking space lock is in a standby state, and the laser test angle of the rotatable laser ranging unit of the main control box is set to be horizontal and perpendicular to the parking direction and is in a periodic ranging working state;
step two, when a vehicle drives into a parking space, the rotatable laser ranging unit of the main control box measures that the distance value is smaller than the distance threshold value and continuously measures for N times;
step three, when the continuous N times of measurement results are basically the same, judging that the vehicle has driven into the parking space, and setting the corresponding parking space state as an occupied state;
and step four, the main control unit of the main control box adjusts the rotation angle of the rotatable laser ranging unit and respectively measures the vehicle body distances corresponding to M-1 preset angles.
Fifthly, according to M-1 vehicle body distance measurement values of different angles and a master control box and vehicle body horizontal and vertical distance measurement value, calculating the inclination of the vehicle body relative to a parking space and the distance between the vehicle tail and the master control box along the parking direction based on M-1 different angle values, and judging whether the detected vehicle is parked in a parking line or not according to a calculation result;
step six, when the vehicle is not parked in the parking line, the parking space lock sends a parking non-standard alarm message to the parking lot management system through the wireless communication unit of the main control box, and the on-site patrol personnel arrive at the site to conduct manual guidance or issue a ticket after receiving the message;
step seven, after the vehicle is parked normally, the parking space lock sends a parking start timing message to the parking lot management system through the wireless communication unit of the main control box, the rotatable laser ranging unit is closed, meanwhile, a parking space lock lifting command is issued to the motor control unit through the main control unit, the motor control unit outputs driving current to drive the direct-current gear motor to rotate positively, the direct-current gear motor drives a transmission shaft in the lock body to move through the worm gear device, and the transmission shaft drives the reversible wheel baffle to lift;
step eight, when the driving current value output by the motor control unit is greater than a threshold value, indicating that the reversible wheel baffle of the lock body is propped against the chassis for parking the vehicle, and stopping the rotation of the direct-current gear motor; otherwise, stopping the rotation of the direct-current gear motor when the reversible wheel baffle is lifted to the highest position;
step nine, when the car owner prepares to drive and leave, the corresponding payment software is required to be opened, the two-dimensional code or the parking space number on the upper surface of the main control box is scanned and identified, the parking lot management system calculates the parking cost and then sends the parking cost to the car owner, and after the car owner confirms the parking cost, self-service payment is realized in a mobile payment mode;
step ten, if the owner does not install the corresponding payment software, the calling button of the main control box is required to be pressed, after the main control unit receives the calling message of the calling button, the parking payment message is sent to the parking lot management system through the wireless communication unit, and the on-site patrol personnel arrive at the site to carry out manual charge after receiving the message;
and step eleven, after the payment is completed, the parking lot management system sends an unlocking instruction to the parking space lock through the wireless communication unit, the main control unit of the main control box controls the motor control unit to execute the parking space lock falling operation, and the parking space lock enters the standby on duty state again.
Further, the distance threshold value in the second step is 0.5 meter, and the continuous measurement frequency N is 3.
Further, among M preset angles of the rotatable laser ranging unit, the 1 st angle is horizontally perpendicular to the parking direction, the M-2 th angle corresponds to the tail of a vehicle (such as a small two-compartment vehicle) with the shortest front tangent plane of a right rear wheel of the vehicle and the tail of the vehicle, the M th angle corresponds to the rear parking line of a parking space, and the number M of the preset angles is not less than 4.
Further, the algorithm for detecting whether the vehicle is parked in the parking line in the fifth step includes the following steps:
1) When the rotatable laser ranging unit is positioned at the 1 st angle, obtaining a vehicle body distance measurement value of the 1 st angle, and calculating vehicle body distance estimation values of the remaining M-1 fixed angles based on the known remaining M-1 fixed angles on the assumption of vehicle parking standards;
2) The rotatable laser ranging unit sequentially rotates M-2 angles towards the tail direction, obtains vehicle body distance measurement values corresponding to the M-2 angles, and compares the vehicle body distance measurement values with a pre-calculated vehicle body distance estimation value:
a) If the measured value of the vehicle body distance corresponding to the M-2 angle is far greater than the estimated value of the vehicle body distance, judging that the vehicle is parked too far ahead, and cannot ensure that the lock body of the parking spot lock is positioned between the front wheel and the rear wheel of the vehicle;
b) If the absolute value of the difference between the corresponding vehicle body distance measurement value and the vehicle body distance estimation value at each angle is larger than a threshold value, judging that the vehicle is not parallel to the parking space for parking;
3) And when the rotatable laser ranging unit rotates to the Mth angle, obtaining a vehicle body distance measurement value of the Mth angle, and judging that the vehicle is too parked backwards if the absolute value of the difference between the vehicle body distance measurement value and the vehicle body distance estimation value is smaller than a threshold value.
Compared with the traditional open type outdoor parking lot charge management, the invention has the following advantages:
1) Compared with a single-vehicle license plate recognition scheme, the method has the advantages of avoiding disputes caused by post-supplement traffic, along with low operation cost and the like;
2) Compared with the traditional parking space lock management scheme, the rotatable laser ranging unit is introduced, so that real-time detection of whether the parking space is occupied and the parking is in a standard state or not is realized at low cost, the parking order can be standardized, on-site guiding personnel are reduced, and the operation cost is reduced.
Drawings
FIG. 1 is a schematic diagram of the composition of the present invention.
FIG. 2 is a deployment diagram of the present invention.
Fig. 3 is a flow chart of the operation of the present invention.
Fig. 4 is a schematic diagram of the detection parking normalization of the present invention.
Reference numerals illustrate: 1-master control box, 101-master control unit, 102-rotatable laser ranging unit, 103-wireless communication unit, 104-call button, 2-motor control box, 201-motor control unit, 202-direct current gear motor, 203-worm gear device, 204-power supply unit, 3-lock body, 301-transmission shaft, 302-reversible wheel baffle, 303-supporting seat.
Detailed Description
The invention will be further described with reference to the following specific drawings and examples.
The present invention is not limited to the following embodiments, and the drawings referred to in the following description are provided to make it possible to understand the content of the present invention, that is, the present invention is not limited to the examples of the drawings.
According to the illustration in fig. 1, a parking space lock device based on laser ranging comprises a main control box 1, a motor control box 2 and a lock body 3, and is characterized in that a main control unit 101, a rotatable laser ranging unit 102, a wireless communication unit 103 and a call button 104 are arranged in the main control box 1, and the main control unit 101 is respectively connected with the rotatable laser ranging unit 102, the wireless communication unit 103 and the call button 104; a motor control unit 201, a direct-current gear motor 202, a worm gear device 203 and a power supply unit 204 are arranged in the motor control box 2, the motor control unit 201 is connected with the direct-current gear motor 202, and the direct-current gear motor 202 is connected with the worm gear device 203; the lock body 3 comprises a transmission shaft 301, a reversible wheel baffle 302 and a supporting seat 303, wherein the supporting seat 303 is positioned below the transmission shaft 301 and is connected with the transmission shaft 301, the lock body is mainly used for guaranteeing the horizontal stability of the transmission shaft 301, and the transmission shaft 301 is connected with the reversible wheel baffle 302; the main control unit 101 is connected with the motor control unit 201 through an RS485 serial port, the power supply unit 204 is respectively connected with the main control box 1, the motor control unit 201 and the direct current gear motor 202, and the worm gear device 203 is connected with the transmission shaft 301 in the lock body 3;
the wireless communication unit 103 is responsible for the data interaction of parking space locks and a parking lot management system, a plurality of different fixed rotation angles are arranged in the rotatable laser ranging unit 102 and used for detecting whether a parking space is occupied and whether a vehicle is parked normally, the call button 104 is used for calling a field inspection personnel to carry out field manual payment when a vehicle owner does not install mobile payment software, the main control unit 101 is responsible for the management and control of the whole parking space lock and controls the rotatable laser ranging unit 102 to adjust the rotation angle for laser ranging, the ranging range of the rotatable laser ranging unit 102 is not less than (exceeds) 5m, the measuring error is not more than 5mm, the motor control unit 201 is controlled through an RS485 serial port and the parking space lock lifting and falling instructions are executed, the motor control unit 201 controls the rotation and the rotation direction of the direct current gear motor 202 according to the control instruction of the main control unit 101, meanwhile, the main control unit 101 is internally provided with a direct current gear motor 202 driving current monitoring function, when the driving current of the direct current gear motor 202 exceeds a threshold value, the motor is stopped to rotate, the direct current gear motor 202 is protected, the parking space lock is prevented from damaging the parked vehicle ground due to overlarge lifting force, the direct current gear motor 202 drives a transmission shaft 301 in the lock body 3 to move through a worm gear device 203, the transmission shaft 301 drives a reversible wheel baffle 302 to lift or fall, the power supply unit 204 is responsible for providing a working power supply for the whole parking space lock, and the power supply unit 204 is a large-capacity storage battery with 24V DC working voltage or a 220V AC-24V DC power supply conversion module.
According to the illustration shown in fig. 2, in this embodiment, the erection height of the main control box 1 from the road surface is defaulted to 0.5 m, and the upper surface is printed with a two-dimensional code and a parking space number corresponding to the parking space, which are used for the vehicle owner to scan and pay the parking fee, and the motor control box 2 is connected with the upright rod of the internal wiring, the motor control box 2 is deployed in the road edge area of the parking space and is fixed on the road surface, the lock body 3 is deployed in the middle rear area of the parking space, so that when the vehicle is normally parked, the lock body 3 is positioned between the front wheel and the rear wheel of the vehicle, the length of the lock body is more than 0.8 m and does not exceed the width of the vehicle body, the lock body is horizontally perpendicular to the parking direction, and is installed on the road surface of the parking space, and the maximum height of the liftable wheel baffle 302 is not less than 30cm;
in the embodiment, the height of the main control box 1 from the road surface is set to be 0.5 meter, on one hand, because the height of the metal body part of the vehicle is larger than 0.5 meter, the distance measurement accuracy cannot be affected by vehicle windows and the like, and on the other hand, the height of the main control box is set to be 0.5 meter, so that splash or slurry splashed during parking in rainy and snowy weather can be avoided from affecting the laser distance measurement accuracy; in addition, from the man-machine interaction point of view, the code scanning payment and the pressing of the call button 104 by the car owner are facilitated.
The main control box 1 in the present invention may also be placed in the same waterproof box as the motor control box 2 and installed in the road edge area of the parking space, not limited to the deployment position in fig. 2.
The invention provides a distance measuring method of a parking spot lock device based on laser distance measurement, which is characterized by comprising the following steps:
step one, parking spot lock standby: when the vehicle does not drive into the parking space, the parking space lock is in a standby state, and the laser test angle of the rotatable laser ranging unit 102 of the main control box 1 is set to be horizontal and perpendicular to the parking direction and is in a periodic ranging working state;
step two, when a vehicle drives into a parking space, the rotatable laser ranging unit 102 of the main control box 1 measures that the distance value is smaller than a distance threshold value and continuously measures N times, wherein the distance threshold value defaults to 0.5 meter, and the continuous measuring times defaults to N3;
step three, when the continuous N times of measurement results are basically the same, judging that the vehicle has driven into the parking space, and setting the corresponding parking space state as an occupied state;
and step four, the main control unit 101 of the main control box 1 adjusts the rotation angle of the rotatable laser ranging unit 102, and respectively measures the vehicle body distances corresponding to M-1 preset angles.
Of the M preset angles of the rotatable laser ranging unit 102, the 1 st angle is horizontally perpendicular to the parking direction, the M-2 nd angle corresponds to the tail of the vehicle (such as a small two-compartment vehicle) with the shortest front section distance from the right rear wheel of the vehicle to the tail, the M th angle corresponds to the rear parking line of the parking space, and the number M of preset angles in the embodiment defaults to 6;
fifthly, according to M-1 vehicle body distance measurement values of different angles and the master control box 1 and vehicle body horizontal and vertical distance measurement values, calculating the inclination of the vehicle body relative to a parking space and the distance between the tail of the vehicle and the master control box 1 along the parking direction based on M-1 different angle values, and judging whether the detected vehicle is parked in a parking line or not according to a calculation result;
according to the algorithm shown in fig. 4, in particular, the algorithm for detecting whether a vehicle is parked in a parking line comprises the following steps:
1) When the rotatable laser ranging unit 102 is at the 1 st angle, obtaining a vehicle body distance measurement value of the 1 st angle, and calculating vehicle body distance estimation values of the remaining M-1 fixed angles based on the known remaining M-1 fixed angles on the assumption of a vehicle parking specification;
2) The rotatable laser ranging unit 102 sequentially rotates M-2 angles toward the tail direction to obtain the vehicle body distance measurement values corresponding to the M-2 angles, and compares the vehicle body distance measurement values with the pre-calculated vehicle body distance estimation values:
a) If the measured value of the vehicle body distance corresponding to the M-2 angle is far greater than the estimated value of the vehicle body distance, judging that the vehicle is parked too far ahead, and cannot ensure that the lock body 3 of the parking spot lock is positioned between the front wheel and the rear wheel of the vehicle;
b) If the absolute value of the difference between the corresponding vehicle body distance measurement value and the vehicle body distance estimation value at each angle is larger than a threshold value, judging that the vehicle is not parallel to the parking space for parking;
3) When the rotatable laser ranging unit 102 rotates to the Mth angle, obtaining a vehicle body distance measurement value of the Mth angle, and judging that the vehicle is parked too far back if the absolute value of the difference between the vehicle body distance measurement value and the vehicle body distance estimation value is smaller than a threshold value;
step six, when the vehicle is not parked in the parking line, the parking space lock sends a parking non-standard alarm message to the parking lot management system through the wireless communication unit 103 of the main control box 1, and the on-site patrol personnel arrive at the site to conduct manual guidance or issue a ticket after receiving the message;
step seven, after the vehicle is parked normally, the parking space lock sends a parking start timing message to a parking lot management system through the wireless communication unit 103 of the main control box 1, and the rotatable laser ranging unit 102 is closed, so that the power consumption of the parking space lock is reduced; meanwhile, a parking space lock lifting command is issued to the motor control unit 201 through the main control unit 101, the motor control unit 201 outputs driving current to drive the direct-current gear motor 202 to rotate positively, the direct-current gear motor 202 drives a transmission shaft 301 in the lock body 3 to move through the worm gear device 203, and the transmission shaft 301 drives the reversible wheel baffle 302 to lift;
step eight, when the driving current value output by the motor control unit 201 is greater than the threshold value, it is indicated that the reversible wheel baffle 302 of the lock body 3 has propped against the chassis of the parked vehicle, in order to protect the dc reduction motor 202, to avoid damaging the parked vehicle, to stop the rotation of the dc reduction motor 202; otherwise, stopping the rotation of the direct-current gear motor 202 when the reversible wheel-blocking plate 302 is raised to the highest position;
step nine, when a vehicle owner prepares to drive away, the corresponding payment software is required to be opened, the two-dimensional code or the parking space number on the upper surface of the main control box 1 is scanned and identified, the parking lot management system calculates the parking cost and then sends the parking cost to the vehicle owner, and the vehicle owner confirms the parking cost and then realizes self-service payment in a mobile payment mode;
step ten, if the owner does not install the corresponding payment software, the call button 104 of the main control box 1 is required to be pressed, after the main control unit 101 receives the call message of the call button 104, the parking payment message is sent to the parking lot management system through the wireless communication unit 103, and the on-site patrol personnel arrive at the site to carry out manual charge after receiving the message;
step eleven, after the payment is completed, the parking lot management system sends an unlocking instruction to the parking space lock through the wireless communication unit 103, and the main control unit 101 of the main control box 1 controls the motor control unit 201 to execute the parking space lock falling operation and reenters the standby on duty state.
Specifically, the motor control unit 201 receives a parking space lock falling command issued by the main control unit 101, the motor control unit 201 outputs driving current to drive the direct-current gear motor 202 to reversely rotate, the direct-current gear motor 202 drives a transmission shaft 301 in the lock body 3 to reversely move through the worm gear device 203, and the transmission shaft 301 drives a reversible wheel baffle 302 to fall;
the invention and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the invention as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present invention.
Claims (9)
1. The ranging method of the parking spot lock device based on laser ranging realizes ranging through the parking spot lock device based on laser ranging, and is characterized in that the parking spot lock device based on laser ranging comprises a main control box (1), a motor control box (2) and a lock body (3), wherein a main control unit (101), a rotatable laser ranging unit (102), a wireless communication unit (103) and a call button (104) are arranged in the main control box (1), and the main control unit (101) is respectively connected with the rotatable laser ranging unit (102), the wireless communication unit (103) and the call button (104); a motor control unit (201), a direct-current gear motor (202) and a worm gear device (203) are arranged in the motor control box (2), the motor control unit (201) is connected with the direct-current gear motor (202), and the direct-current gear motor (202) is connected with the worm gear device (203); the lock body (3) comprises a transmission shaft (301), a reversible wheel baffle plate (302) and a supporting seat (303), wherein the supporting seat (303) is positioned below the transmission shaft (301) and is connected with the transmission shaft (301), and the transmission shaft (301) is connected with the reversible wheel baffle plate (302); the main control unit (101) is connected with the motor control unit (201) through an RS485 serial port, and the worm gear device (203) is connected with a transmission shaft (301) in the lock body (3);
the ranging method of the parking spot lock device based on laser ranging comprises the following steps:
step one, parking spot lock standby: when a vehicle does not drive into a parking space, the parking space lock is in a standby state, and the laser test angle of the rotatable laser ranging unit (102) of the main control box (1) is set to be horizontal and perpendicular to the parking direction and is in a periodic ranging working state;
step two, when the vehicle drives into the parking space, the rotatable laser ranging unit (102) of the main control box (1) measures that the distance value is smaller than the distance threshold value and continuously measures for N times;
step three, when the continuous N times of measurement results are basically the same, judging that the vehicle has driven into the parking space, and setting the corresponding parking space state as an occupied state;
step four, a main control unit (101) of the main control box (1) adjusts the rotation angle of a rotatable laser ranging unit (102) and respectively measures the vehicle body distances corresponding to M-1 preset angles;
fifthly, according to M-1 vehicle body distance measurement values at different angles and a master control box (1) and vehicle body horizontal and vertical distance measurement value, calculating the inclination of the vehicle body relative to a parking space and the distance between the tail of the vehicle and the master control box (1) along the parking direction based on M-1 different angle values, and judging whether the detected vehicle is parked in a parking line or not according to a calculation result;
step six, when the vehicle is not parked in the parking line, the parking space lock sends a parking non-standard alarm message to the parking lot management system through the wireless communication unit (103) of the main control box (1), and the on-site patrol personnel arrive at the site to conduct manual guidance or issue a ticket after receiving the message;
step seven, after the vehicle is parked normally, a parking spot lock sends a parking start timing message to a parking lot management system through a wireless communication unit (103) of a main control box (1), a rotatable laser ranging unit (102) is closed, a parking spot lock lifting command is issued to a motor control unit (201) through the main control unit (101), the motor control unit (201) outputs driving current to drive a direct-current gear motor (202) to rotate positively, the direct-current gear motor (202) drives a transmission shaft (301) in a lock body (3) to move through a worm gear device (203), and the transmission shaft (301) drives a reversible wheel baffle (302) to lift;
step eight, when the driving current value output by the motor control unit (201) is greater than a threshold value, the reversible wheel baffle plate (302) of the lock body (3) is indicated to be propped against the chassis of the parked vehicle, and the direct-current gear motor (202) is stopped rotating; otherwise, stopping the rotation of the direct-current gear motor (202) when the reversible wheel baffle (302) is lifted to the highest position;
step nine, when a vehicle owner prepares to drive away, corresponding payment software is required to be opened, a two-dimensional code or a parking space number on the upper surface of the main control box (1) is scanned and identified, the parking lot management system calculates parking cost and then sends the parking cost to the vehicle owner, and the vehicle owner confirms the parking cost and then realizes self-service payment in a mobile payment mode;
step ten, if the owner does not install the corresponding payment software, the calling button (104) of the main control box (1) is required to be pressed, after the main control unit (101) receives the calling message of the calling button (104), the parking payment message is sent to the parking lot management system through the wireless communication unit (103), and the on-site patrol personnel arrive at the site to carry out manual charge after receiving the message;
and step eleven, after the payment is completed, the parking lot management system sends an unlocking instruction to the parking space lock through the wireless communication unit (103), and the main control unit (101) of the main control box (1) controls the motor control unit (201) to execute the parking space lock falling operation and reenter the standby on duty state.
2. The ranging method of the parking spot lock device based on laser ranging according to claim 1, wherein the method comprises the following steps: and in the second step, the distance threshold value is 0.5 meter, and the continuous measurement times N are 3.
3. The ranging method of the parking spot lock device based on laser ranging according to claim 1, wherein the method comprises the following steps: among M preset angles of the rotatable laser ranging unit (102), the 1 st angle is horizontally perpendicular to the parking direction, the M-2 th angle corresponds to the tail of a vehicle with the shortest front tangent plane of a right rear wheel of the vehicle and the tail of the vehicle, the M th angle corresponds to a rear parking line of a parking space, and the number M of the preset angles is not less than 4.
4. The ranging method of the parking spot lock device based on laser ranging according to claim 1, wherein the method comprises the following steps: the algorithm for detecting whether the vehicle is parked in the parking line in the fifth step comprises the following steps:
1) When the rotatable laser ranging unit (102) is positioned at the 1 st angle, obtaining a vehicle body distance measurement value of the 1 st angle, and calculating vehicle body distance estimation values of the remaining M-1 fixed angles based on the known remaining M-1 fixed angles on the assumption of vehicle parking standards;
2) The rotatable laser ranging unit (102) sequentially rotates M-2 angles towards the tail direction, obtains vehicle body distance measurement values corresponding to the M-2 angles, and compares the vehicle body distance measurement values with a pre-calculated vehicle body distance estimation value:
a) If the measured value of the vehicle body distance corresponding to the M-2 angle is far greater than the estimated value of the vehicle body distance, judging that the vehicle is parked too far ahead, and not ensuring that the lock body (3) of the parking spot lock is positioned between the front wheel and the rear wheel of the vehicle;
b) If the absolute value of the difference between the corresponding vehicle body distance measurement value and the vehicle body distance estimation value at each angle is larger than a threshold value, judging that the vehicle is not parallel to the parking space for parking;
3) When the rotatable laser ranging unit (102) rotates to the Mth angle, a vehicle body distance measurement value of the Mth angle is obtained, and if the absolute value of the difference between the vehicle body distance measurement value and the vehicle body distance estimation value is smaller than a threshold value, the vehicle is judged to be parked too far back.
5. The ranging method of the parking spot lock device based on laser ranging according to claim 1, wherein the method comprises the following steps: the wireless communication unit (103) is responsible for data interaction of parking space lock and parking area management system, be provided with a plurality of different fixed rotation angles in rotatable laser rangefinder unit (102) for whether detect the parking stall and park and whether standardize, call button (104) are arranged in car owner to call and patrol personnel and pay on-the-spot manual work, master control unit (101) is responsible for management and control of whole parking space lock, and control rotatable laser rangefinder unit (102) adjustment rotation angle carries out laser rangefinder, and control motor control unit (201) through RS485 serial ports, carry out parking space lock and rise and fall instruction, motor control unit (201) is according to the control instruction of master control unit (101), rotation and rotation direction of direct current gear motor (202), direct current gear motor (202) drive transmission shaft (301) motion in lock body (3) through worm gear device (203), transmission shaft (301) drive reversible wheel baffle (302) or fall.
6. The ranging method of the parking spot lock device based on laser ranging according to claim 1, wherein the method comprises the following steps: the upper surface printing of master control box (1) has two-dimensional code and parking stall number that the parking stall corresponds for the car owner scans the parking fee of paying, and erects highly being 0.5 meters apart from the road surface, links to each other with motor control box (2) through the pole setting of inside wiring, motor control box (2) are disposed in parking stall road marginal area, and fix on the road surface, lock body (3) are disposed in the middle part of parking stall and are back the region, and lie in between the front and back wheels of vehicle, lock body length is more than 0.8 meters and does not exceed the width of automobile body, and horizontal perpendicular to parking direction, and installs on the road surface of parking stall, but maximum height that wheel baffle (302) can rise is not less than 30cm.
7. The ranging method of the parking spot lock device based on laser ranging according to claim 6, wherein the method comprises the following steps: the main control box (1) and the motor control box (2) can be placed in the same waterproof box and are arranged in the road edge area of the parking space.
8. The ranging method of the parking spot lock device based on laser ranging according to claim 1, wherein the method comprises the following steps: the motor control box (2) is internally provided with a power supply unit (204), the power supply unit (204) is respectively connected with the main control box (1), the motor control unit (201) and the direct current gear motor (202) and is responsible for providing a working power supply for the whole parking space lock, and the power supply unit (204) is a high-capacity storage battery with 24V DC working voltage or a 220V AC-24V DC power supply conversion module.
9. The ranging method of the parking spot lock device based on laser ranging according to claim 1, wherein the method comprises the following steps: the distance measurement range of the rotatable laser distance measurement unit (102) is not less than 5 meters, and the measurement error is not more than 5mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710862459.6A CN107574772B (en) | 2017-09-22 | 2017-09-22 | Parking spot lock device based on laser ranging and ranging method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710862459.6A CN107574772B (en) | 2017-09-22 | 2017-09-22 | Parking spot lock device based on laser ranging and ranging method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107574772A CN107574772A (en) | 2018-01-12 |
| CN107574772B true CN107574772B (en) | 2023-05-23 |
Family
ID=61035567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710862459.6A Active CN107574772B (en) | 2017-09-22 | 2017-09-22 | Parking spot lock device based on laser ranging and ranging method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107574772B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108399754B (en) * | 2018-03-09 | 2020-11-03 | 上海畅停信息科技有限公司 | Intelligent detection method for vehicles in shared parking spot lock |
| CN108797453A (en) * | 2018-07-26 | 2018-11-13 | 广州开能智慧城市技术有限公司 | A kind of berth lock with security protection performance |
| CN109141926B (en) * | 2018-10-09 | 2021-03-16 | 温州任和文化创意有限责任公司 | New energy automobile chassis load testing arrangement |
| CN110700745B (en) * | 2019-08-27 | 2020-10-30 | 义乌市思淇工业设计有限公司 | Driving mechanism of two-dimensional code device |
| CN111028518B (en) * | 2019-12-25 | 2021-07-06 | 深圳人人停技术有限公司 | ETC-based parking space management method, device, equipment and readable storage medium |
| CN113643450B (en) * | 2021-08-16 | 2023-04-07 | 张文献 | Intelligent parking charging system and method for urban traffic |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201011171Y (en) * | 2007-02-14 | 2008-01-23 | 张劲时 | Parking space limiting device |
| CN104700653A (en) * | 2015-02-10 | 2015-06-10 | 西安交通大学 | Laser scanning parking space recognition method |
| CN205388835U (en) * | 2015-12-29 | 2016-07-20 | 天津中科先进技术研究院有限公司 | Indoor parking stall detection bootstrap system based on laser |
| CN106157634A (en) * | 2016-07-19 | 2016-11-23 | 中原工学院 | Parking stall, parking lot parking detector |
| CN206289560U (en) * | 2016-11-16 | 2017-06-30 | 燕山大学 | The anti-escape berth lock in city roadside |
| CN207419310U (en) * | 2017-09-22 | 2018-05-29 | 南京维智感网络科技有限公司 | Locker of parking position based on laser ranging |
-
2017
- 2017-09-22 CN CN201710862459.6A patent/CN107574772B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201011171Y (en) * | 2007-02-14 | 2008-01-23 | 张劲时 | Parking space limiting device |
| CN104700653A (en) * | 2015-02-10 | 2015-06-10 | 西安交通大学 | Laser scanning parking space recognition method |
| CN205388835U (en) * | 2015-12-29 | 2016-07-20 | 天津中科先进技术研究院有限公司 | Indoor parking stall detection bootstrap system based on laser |
| CN106157634A (en) * | 2016-07-19 | 2016-11-23 | 中原工学院 | Parking stall, parking lot parking detector |
| CN206289560U (en) * | 2016-11-16 | 2017-06-30 | 燕山大学 | The anti-escape berth lock in city roadside |
| CN207419310U (en) * | 2017-09-22 | 2018-05-29 | 南京维智感网络科技有限公司 | Locker of parking position based on laser ranging |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107574772A (en) | 2018-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107574772B (en) | Parking spot lock device based on laser ranging and ranging method thereof | |
| CN102999947B (en) | A kind of card machine and parking charge system | |
| CN101839081A (en) | Car lift control method and system for parking garage | |
| CN108252241B (en) | A kind of stopping charging system and charging method | |
| CN213173462U (en) | Anti-following lane brake | |
| CN212000749U (en) | High-speed barrier gate device capable of reminding driving at night | |
| CN207419310U (en) | Locker of parking position based on laser ranging | |
| CN209212006U (en) | A kind of berth lock applied to mechanical solid parking stall | |
| CN110689633A (en) | Unattended road occupation parking charging system | |
| CN109356415A (en) | A kind of electric vehicle road parking system | |
| CN108612374B (en) | Mechanical stereo garage above residential community traffic lane and use method thereof | |
| CN210918418U (en) | Auxiliary device for side parking | |
| CN206591889U (en) | A kind of public parking space management system | |
| CN210706925U (en) | Wireless charging system of electric automobile | |
| CN107575069B (en) | Garage for solving resident parking difficulty | |
| CN205172077U (en) | Pavement parking charging frame | |
| CN219175088U (en) | Intelligent parking area vehicle access control equipment that passes | |
| CN210561857U (en) | A stake position of charging prevents encroaching and occupies device for electric vehicle charging station | |
| CN108961831B (en) | Parking stall indicating system based on park fast | |
| CN220795911U (en) | Intelligent parking unmanned on duty machine | |
| CN217404918U (en) | Barrier gate system for inclined parking lot exit | |
| CN215168547U (en) | Automatic charging parking space for parking lot | |
| CN115323958B (en) | Portable intelligent car locking device and intelligent car locking method for parking charge | |
| CN220789520U (en) | Intelligent unattended parking lot barrier gate | |
| CN211928186U (en) | Shared electric vehicle parking positioning locking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |