CN107730985A - A kind of unmanned plane seeks stall system and its control method - Google Patents
A kind of unmanned plane seeks stall system and its control method Download PDFInfo
- Publication number
- CN107730985A CN107730985A CN201710975985.3A CN201710975985A CN107730985A CN 107730985 A CN107730985 A CN 107730985A CN 201710975985 A CN201710975985 A CN 201710975985A CN 107730985 A CN107730985 A CN 107730985A
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- Prior art keywords
- vehicle
- unmanned plane
- parking stall
- stall
- communication module
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of unmanned plane to seek stall system and its control method,Including unmanned plane and it is arranged at the shutdown platform on car body for depositing unmanned plane,Also include the vehicle control syetem being arranged in car body and the navigator display for showing parking space information and parking stall navigation way to driver,Also include being used for the vehicle-carrying communication module being communicatively coupled with unmanned plane,The navigator display,Vehicle-carrying communication module is connected with vehicle control syetem,User need to only be detected using the unmanned plane shut down on platform to the parking stall of du vehicule,Shoot the image near Current vehicle,Analysis judgement parking stall and can be marked on map,Generate Current vehicle to this can parking stall path,Shown on navigator display,Driver need not get off or drive vehicle and find parking stall,It is not only fuel-efficient to save time,And the clogging due to stopping with other vehicles and occurring can be avoided.
Description
Technical field
The present invention relates to unmanned air vehicle technique, particularly a kind of unmanned plane seeks stall system and its control method.
Background technology
With the increase of car ownership, parking stall day is becoming tight, and no matter in cell or in parking lot, user needs to spend
Take substantial amounts of time searching parking stall.Particularly driver sits in the car, it is more difficult to determines where is it empty parking space, such driver needs
Drive vehicle and find parking stall around multi-turn in cell or parking lot, not only oil consumption and consuming energy, and easily scratch
And cause the phenomenon of blocking because other cars come in and go out.
The content of the invention
To solve the above problems, it is an object of the invention to provide empty parking space in a kind of Automatic-searching cell or parking lot,
Save time, cost and avoid the unmanned plane of parking lot congestion from seeking stall system and its control method.
Technical scheme is used by the present invention solves its problem：
A kind of unmanned plane seeks stall system, including unmanned plane is put down with the shutdown being arranged on car body for depositing unmanned plane
Platform, in addition to the vehicle control syetem that is arranged in car body and for showing parking space information and parking stall navigation way to driver
Navigator display, it is the navigator display, vehicle-mounted in addition to for the vehicle-carrying communication module that is communicatively coupled with unmanned plane
Communication module is connected with vehicle control syetem；The unmanned plane includes unmanned aerial vehicle (UAV) control device, for controlling unmanned plane during flying route
Flight drive mechanism, in addition to for the camera that is shot to ground and for being communicated with vehicle-carrying communication module
UAV Communication module, the unmanned aerial vehicle (UAV) control device are connected with flight drive mechanism, camera and UAV Communication module respectively,
The flight driving mechanisms control unmanned plane fly in the air, shoot Current vehicle near image, analysis judgement can parking stall simultaneously
Be marked on map, generation Current vehicle to this can parking stall path, shown on navigator display.
Further, the shutdown platform is arranged in the trunk of vehicle, and is provided with to shut down in platform and is risen to outside car
Shutdown drive mechanism.
Further, the drive mechanism of shutting down includes being used for the rack of support shutdown platform and for driving gear rack elevating
Gear.
Further, it is described to shut down the power supply interface being provided with platform for being charged for unmanned plane, the unmanned plane
On be provided with charging inlet corresponding with the power supply interface, the power supply interface is connected with vehicle control syetem, the charging
Interface is connected with unmanned aerial vehicle (UAV) control device.
Specifically, the camera is made up of optical camera and infrared camera.
Preferably, the UAV Communication module and vehicle-carrying communication module are 4G communication modules.
A kind of control method that stall system is sought using above-mentioned unmanned plane, it is characterised in that comprise the following steps：
Image near step 1, camera shooting Current vehicle；
Step 2, the region in image with vehicle characteristics is identified, rectangle is generated to the outline scope for being identified vehicle
Pattern；
Step 3, judge the distance between adjacent rectangle pattern, when the vertical range between adjacent rectangle be more than etc. compare vehicle
Overall width when, further identify those spaces as vehicle space can be accommodated；
Step 4, continuous striped spatial in wagon control is identified as to vehicle to run passage, connection vehicle to run passage
Projection is identified as vacant parking stall space, if the length in vacant parking stall space is more than vehicle commander than vehicle is waited, being judged as can
Parking stall；
Step 5, mark can parking stall the coordinate on map, and by coordinate and shooting image on navigator display show
Show；
Step 6, according to Current vehicle coordinate and can parking stall generation seek car guidance path；
Step 7, if do not identify can parking stall, unmanned plane extended flight scope, recall order until receiving, find
Can parking stall or beyond search area, at this moment unmanned plane, which returns, shuts down platform.
The beneficial effects of the invention are as follows：A kind of unmanned plane that the present invention uses seeks stall system and its control method, including
Unmanned plane and it is arranged on car body and is used to deposit the shutdown platform of unmanned plane, in addition to the vehicle control syetem being arranged in car body
With the navigator display for showing parking space information and parking stall navigation way to driver, include being used for and unmanned plane progress
The vehicle-carrying communication module of communication connection, the navigator display, vehicle-carrying communication module are connected with vehicle control syetem, and user only needs
The parking stall of du vehicule is detected using the unmanned plane shut down on platform, shoots the image near Current vehicle, analysis
Judge parking stall and to be marked on map, generation Current vehicle to this can parking stall path, on navigator display
It has been shown that, driver need not get off or drive vehicle find parking stall, it is not only fuel-efficient to save time, and can avoid due to other cars
Stop and occur clogging.
Brief description of the drawings
The invention will be further described with example below in conjunction with the accompanying drawings.
Fig. 1 is the system construction drawing of the present invention；
Fig. 2 is the systematic schematic diagram of unmanned plane of the present invention；
Fig. 3 is the systematic schematic diagram of onboard system of the present invention.
Embodiment
Shown in reference picture 1- Fig. 3, a kind of unmanned plane of the invention seeks stall system, including unmanned plane 1 and is arranged at car body
The upper shutdown platform 2 for being used to deposit unmanned plane 1, in addition to the vehicle control syetem that is arranged in car body and for showing to driver
Show the navigator display of parking space information and parking stall navigation way, in addition to it is vehicle-mounted for being communicatively coupled with unmanned plane 1
Communication module, the navigator display, vehicle-carrying communication module are connected with vehicle control syetem；The unmanned plane 1 includes unmanned plane
Controller, the flight drive mechanism for controlling the flight path of unmanned plane 1, in addition to the camera for being shot to ground
With the UAV Communication module for being communicated with vehicle-carrying communication module, the unmanned aerial vehicle (UAV) control device respectively with flight driving machine
Structure, camera are connected with UAV Communication module, and the flight driving mechanisms control unmanned plane 1 is flown in the air, shoots current vehicle
Image near, analysis judgement parking stall and can be marked on map, generation Current vehicle to this can parking stall road
Footpath, shown on navigator display.
Shown in reference picture 1, the shutdown platform 2 is arranged in the trunk of vehicle, and is provided with to shut down in platform 2 and is risen
Shutdown drive mechanism 3 outside to car.The release unmanned plane 1 in use, user need not get off, it is only necessary to by shutting down drive mechanism 3
Platform 2 will be shut down to stretch out from trunk, you can allow unmanned plane 1 smoothly to go up to the air, without getting off.Wherein described shutdown driving machine
Structure 3 includes being used to support the rack 31 for shutting down platform 2 and the gear 32 for lifting with carry-over bar 31.
It is described to shut down the power supply interface being provided with platform 2 for being charged for unmanned plane 1, institute shown in reference picture 2,3
To state and charging inlet corresponding with the power supply interface is provided with unmanned plane 1, the power supply interface is connected with vehicle control syetem,
The charging inlet is connected with unmanned aerial vehicle (UAV) control device.When unmanned plane 1, which is parked in, shuts down on platform 2, you can by power supply interface and
Charging inlet is charged automatically, exempts the worry of charging.
Preferably, the camera is made up of optical camera and infrared camera.
Preferably, the UAV Communication module and vehicle-carrying communication module are 4G communication modules.
A kind of control method that stall system is sought using above-mentioned unmanned plane, it is characterised in that comprise the following steps：
Image near step 1, camera shooting Current vehicle；
Step 2, the region in image with vehicle characteristics is identified, rectangle is generated to the outline scope for being identified vehicle
Pattern；
Step 3, judge the distance between adjacent rectangle pattern, when the vertical range between adjacent rectangle be more than etc. compare vehicle
Overall width when, further identify those spaces as vehicle space can be accommodated；
Step 4, continuous striped spatial in wagon control is identified as to vehicle to run passage, connection vehicle to run passage
Projection is identified as vacant parking stall space, if the length in vacant parking stall space is more than vehicle commander than vehicle is waited, being judged as can
Parking stall；
Step 5, mark can parking stall the coordinate on map, and by coordinate and shooting image on navigator display show
Show；
Step 6, according to Current vehicle coordinate and can parking stall generation seek car guidance path；
Step 7, if do not identify can parking stall, the extended flight scope of unmanned plane 1, recall order until receiving, look for
To can parking stall or beyond search area, at this moment unmanned plane 1, which returns, shuts down platform 2.
A kind of unmanned plane that the present invention uses seeks stall system and its control method, including unmanned plane 1 and is arranged at car body
The upper shutdown platform 2 for being used to deposit unmanned plane 1, in addition to the vehicle control syetem that is arranged in car body and for showing to driver
Show the navigator display of parking space information and parking stall navigation way, in addition to it is vehicle-mounted for being communicatively coupled with unmanned plane 1
Communication module, the navigator display, vehicle-carrying communication module are connected with vehicle control syetem, and user need to only utilize and shut down platform 2
On unmanned plane 1 parking stall of du vehicule is detected, shoot Current vehicle near image, analysis judgement can parking stall
And be marked on map, generation Current vehicle to this can parking stall path, shown on navigator display, driver without
It need to get off or drive vehicle and find parking stall, it is not only fuel-efficient to save time, and can avoid occurring due to other vehicles stopping
Clogging.
It is described above, simply presently preferred embodiments of the present invention, the invention is not limited in above-mentioned embodiment, as long as
It reaches the technique effect of the present invention with identical means, should all belong to protection scope of the present invention.
Claims (7)
1. a kind of unmanned plane seeks stall system, it is characterised in that：Including unmanned plane (1) and it is arranged on car body for depositing nobody
The shutdown platform (2) of machine (1), in addition to the vehicle control syetem that is arranged in car body and for showing parking stall letter to driver
The navigator display of breath and parking stall navigation way, in addition to the vehicle-carrying communication module for being communicatively coupled with unmanned plane (1),
The navigator display, vehicle-carrying communication module are connected with vehicle control syetem；The unmanned plane (1) include unmanned aerial vehicle (UAV) control device,
For controlling the flight drive mechanism of unmanned plane (1) flight path, in addition to the camera for being shot to ground and use
In the UAV Communication module to be communicated with vehicle-carrying communication module, the unmanned aerial vehicle (UAV) control device respectively with flight drive mechanism,
Camera is connected with UAV Communication module, and the flight driving mechanisms control unmanned plane (1) is flown in the air, shoots Current vehicle
Neighbouring image, analysis judgement parking stall and can be marked on map, generation Current vehicle to this can parking stall path,
Shown on navigator display.
2. a kind of unmanned plane according to claim 1 seeks stall system, it is characterised in that：The shutdown platform (2) is set
In the trunk of vehicle, and it is provided with to shut down in platform (2) and rises to the shutdown drive mechanism (3) outside car.
3. a kind of unmanned plane according to claim 2 seeks stall system, it is characterised in that：The shutdown drive mechanism (3)
Including shutting down the rack (31) of platform (2) and the gear (32) for being lifted with carry-over bar (31) for supporting.
4. a kind of unmanned plane according to claim 1 seeks stall system, it is characterised in that：Set on the shutdown platform (2)
The power supply interface for being charged for unmanned plane (1) is equipped with, is provided with the unmanned plane (1) corresponding with the power supply interface
Charging inlet, the power supply interface is connected with vehicle control syetem, and the charging inlet is connected with unmanned aerial vehicle (UAV) control device.
5. a kind of unmanned plane according to claim 1 seeks stall system, it is characterised in that：The camera is by optical camera
Head and infrared camera composition.
6. a kind of unmanned plane according to claim 1 seeks stall system, it is characterised in that：The UAV Communication module and
Vehicle-carrying communication module is 4G communication modules.
A kind of 7. control method that stall system is sought using any described unmanned planes of claim 1-7, it is characterised in that bag
Include following steps：
Image near step 1, camera shooting Current vehicle；
Step 2, the region in image with vehicle characteristics is identified, histogram is generated to the outline scope for being identified vehicle
Case；
Step 3, the distance between adjacent rectangle pattern is judged, when the vertical range between adjacent rectangle is more than the car waited than vehicle
When wide, those spaces are further identified as vehicle space can be accommodated；
Step 4, continuous striped spatial in wagon control is identified as to vehicle to run passage, connects the protrusion of vehicle to run passage
Part is identified as vacant parking stall space, if the length in vacant parking stall space is more than vehicle commander than vehicle is waited, is judged as stopping
Position；
Step 5, mark can parking stall the coordinate on map, and coordinate and shooting image are shown on navigator display；
Step 6, according to Current vehicle coordinate and can parking stall generation seek car guidance path；
Step 7, if do not identify can parking stall, unmanned plane extended flight scope, recall order until receiving, find and can stop
Platform is shut down in parking stall beyond search area, at this moment unmanned plane return.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710975985.3A CN107730985A (en) | 2017-10-18 | 2017-10-18 | A kind of unmanned plane seeks stall system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710975985.3A CN107730985A (en) | 2017-10-18 | 2017-10-18 | A kind of unmanned plane seeks stall system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107730985A true CN107730985A (en) | 2018-02-23 |
Family
ID=61210709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710975985.3A Pending CN107730985A (en) | 2017-10-18 | 2017-10-18 | A kind of unmanned plane seeks stall system and its control method |
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| Country | Link |
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| CN (1) | CN107730985A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347182A (en) * | 2019-07-23 | 2019-10-18 | 广汽蔚来新能源汽车科技有限公司 | Auxiliary driving device, system, unmanned plane and vehicle |
| CN111932693A (en) * | 2020-08-11 | 2020-11-13 | 杭州立方控股股份有限公司 | Management system for urban roadside parking lot |
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| CN1828689A (en) * | 2005-02-28 | 2006-09-06 | 阿尔卡特公司 | Parking space detection method |
| CN103434352A (en) * | 2013-09-09 | 2013-12-11 | 厦门大学 | Accompanying flight system arranged on land vehicle |
| CN103824474A (en) * | 2014-03-25 | 2014-05-28 | 宁波市江东元典知识产权服务有限公司 | Stall prompting system based on image recognition technology |
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| CN107025802A (en) * | 2017-05-08 | 2017-08-08 | 普宙飞行器科技（深圳）有限公司 | A kind of method and unmanned plane that parking stall is found based on unmanned plane |
| CN107065857A (en) * | 2016-02-11 | 2017-08-18 | 罗伯特·博世有限公司 | Method and unmanned vehicle for monitoring Parking Area |
| CN107195198A (en) * | 2017-07-31 | 2017-09-22 | 重庆酷贝科技发展有限公司 | A kind of curb parking management method and its system based on image recognition technology |
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| CN1828689A (en) * | 2005-02-28 | 2006-09-06 | 阿尔卡特公司 | Parking space detection method |
| CN103434352A (en) * | 2013-09-09 | 2013-12-11 | 厦门大学 | Accompanying flight system arranged on land vehicle |
| CN103824474A (en) * | 2014-03-25 | 2014-05-28 | 宁波市江东元典知识产权服务有限公司 | Stall prompting system based on image recognition technology |
| CN105517664A (en) * | 2014-05-30 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Systems and methods for uav docking |
| CN105471073A (en) * | 2015-12-30 | 2016-04-06 | 天津天瑞达自动化设备有限公司 | Intelligent charging apparatus |
| CN105654773A (en) * | 2016-01-07 | 2016-06-08 | 张文忠 | Intelligent guide system of vehicle-mounted flight-accompanying unmanned plane |
| CN107065857A (en) * | 2016-02-11 | 2017-08-18 | 罗伯特·博世有限公司 | Method and unmanned vehicle for monitoring Parking Area |
| CN106781660A (en) * | 2016-12-20 | 2017-05-31 | 山东国金汽车工程技术有限公司 | One kind is combined and shoots unmanned plane searching parking stall device |
| CN107025802A (en) * | 2017-05-08 | 2017-08-08 | 普宙飞行器科技（深圳）有限公司 | A kind of method and unmanned plane that parking stall is found based on unmanned plane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347182A (en) * | 2019-07-23 | 2019-10-18 | 广汽蔚来新能源汽车科技有限公司 | Auxiliary driving device, system, unmanned plane and vehicle |
| CN111932693A (en) * | 2020-08-11 | 2020-11-13 | 杭州立方控股股份有限公司 | Management system for urban roadside parking lot |
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Application publication date: 20180223 |