CN109118809B

CN109118809B - Parking space detection device/method/guidance system, readable storage medium

Info

Publication number: CN109118809B
Application number: CN201710495907.3A
Authority: CN
Inventors: 张瑞峰; 董戎萍; 张瑞强
Original assignee: Billink Information Technology Co Ltd ireland
Current assignee: Billink Information Technology Co Ltd ireland
Priority date: 2017-06-26
Filing date: 2017-06-26
Publication date: 2022-02-18
Anticipated expiration: 2037-06-26
Also published as: CN109118809A

Abstract

The invention provides a detection device/method/guide system of a parking space, which can read a storage medium, wherein the detection device comprises: the signal acquisition module is used for acquiring rolling signals when being rolled by a vehicle; the parking space detection module is used for detecting whether the time sequence of the collected rolling signals meets the preset exit condition or the preset entry condition of the parking space, if the exit condition of the parking space is met, the parking space is judged to be in an idle state, and if the entry condition of the parking space is met, the parking space is judged to be in an occupied state; and counting the information of the idle parking spaces according to the idle or occupied states of the parking spaces. The parking space detection device, the parking space detection method, the guide system and the readable storage medium can accurately detect the parking space, have low error rate and good real-time performance, do not need high construction cost and maintenance cost, and have strong adaptability.

Description

Parking space detection device/method/guidance system, readable storage medium

Technical Field

The invention belongs to the technical field of digital signal processing, relates to a detection device and a detection method, and particularly relates to a detection device/method/guide system of a parking space and a readable storage medium.

Background

With the continuous expansion of automobile holding quantity and town area, the difficulty of parking in urban areas becomes a worldwide problem in cities with more than 20 million people. A study report by navigat Research indicates that 40% of parking revenue is lost due to inefficiency in parking management. In urban central areas, 30-40% of the traffic comes from vehicles seeking parking spaces. To find a parking space in an urban area, each driver spends an average of 10 to 15 minutes, drives 4.5 kilometers, consumes 0.7 liters of oil, and emits 1.3 kilograms of CO 2.

From the above data, it can be seen that the waste of resources and the resulting pollution in parking are considerable. If a detection device for a parking space can collect and process the information of the free parking space in time and send the information to a driver, the driver can be effectively guided to find the appropriate parking space. For the automobile user, the detection device for the parking space can save a great deal of time and money; for operators in the parking lot, the utilization rate of parking spaces and operation income can be improved; for the city manager, the use efficiency of the city supporting facilities can be improved, the pollution is reduced, and the social efficiency is improved.

The existing detection device for parking spaces includes:

parking stall detection sensor such as earth magnetism, ultrasonic wave, infrared: the parking space monitoring system is used for detecting the occupation state of each parking space and uploading the occupation state to the data center. The parking stall detection sensor's such as earth magnetism, ultrasonic wave, infrared advantage, shortcoming, difficult point are as follows:

the advantages are that: the battery is adopted for power supply, and the device is suitable for all types of parking lots.

The disadvantages are as follows: the data accuracy is not high: detection modes such as geomagnetism, ultrasonic waves and infrared rays are easily interfered (other articles, metal articles and the like), and the error is relatively large; the irregular parking may cause misjudgment, such as that a plurality of parking spaces are occupied or that a vehicle is not detected.

Difficulty is as follows: the excessive cost results in the inability to lay these parking space detection sensors on a large scale.

Camera parking stall detection sensor: and analyzing the parking lot image to obtain the number of available parking spaces. The advantage of camera parking stall detection sensor, shortcoming, difficult point is as follows:

the advantages are that: a plurality of parking spaces can be detected simultaneously, and the data is relatively accurate;

the disadvantages are as follows: power supply is needed, and the adaptability is poor; data accuracy is susceptible to weather effects such as rain, fog; because images need to be transmitted and analyzed, the requirements on a transmission system and a server are high, and the corresponding system construction cost, flow cost and later-period system maintenance cost are high;

difficulty is as follows: the excessive cost and power requirements make it impossible to scale up these parking space detection sensors.

Therefore, how to provide a parking space detection device/method/guidance system, and a readable storage medium, so as to solve the defects of high construction cost, high maintenance cost, inaccurate parking space detection, large error, poor real-time performance, and the like of the existing parking space detection device, and thus the technical problem to be solved by the technical staff in the field is really needed.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a parking space detection device/method/guidance system, and a readable storage medium, which are used to solve the problems of high construction cost, high maintenance cost, inaccurate parking space detection, and large error of the parking space detection device in the prior art.

To achieve the above and other related objects, an aspect of the present invention provides a parking space detection apparatus, including: the signal acquisition module is used for acquiring rolling signals when being rolled by a vehicle; the parking space detection module is used for detecting whether the time sequence of the generated rolling signal meets the preset exit condition or the preset entry condition of the parking space, if so, judging that the parking space is in an idle state, and if so, judging that the parking space is in an occupied state; and counting the information of the idle parking spaces according to the idle or occupied states of the parking spaces.

In an embodiment of the present invention, the first and second electrodes are arranged in a circular shape,

the parking spaces comprise vertical parking spaces, inclined parking spaces, horizontal parking spaces or parking spaces in a parking area; the vertical parking space and the horizontal parking space comprise two parallel first lines and second lines perpendicular to the first lines; the inclined parking space comprises two parallel first lines and a second line intersected with the first lines; when the parking space is the vertical parking space or the inclined parking space, R groups of N signal acquisition modules are arranged on a first preset laying belt of the vertical parking space or the inclined parking space in parallel; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; n is a positive integer greater than or equal to 2, and R is a positive integer greater than or equal to 1; the first preset laying belt is parallel or approximately parallel to a second line of the vertical parking space or the inclined parking space; the length of a single signal acquisition module is smaller than the width of a parking space, the distance between two adjacent phase near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the N signal acquisition modules is a second preset value; when the parking space is the horizontal parking space, S groups of M signal acquisition modules are arranged on a second preset laying belt of the horizontal parking space in parallel; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; s, M is a positive integer greater than or equal to 1; the second preset laying belt is parallel or approximately parallel to a second line of the horizontal parking space; the length of a single signal acquisition module is less than or equal to the length of a parking space, the distance between two adjacent phase near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the M signal acquisition modules is a third preset value; when the parking space is a parking space in a parking area, the T groups of K signal acquisition modules are arranged at T openings of the parking area in parallel; the K signal acquisition modules are arranged at an opening in parallel; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; k is a positive integer greater than or equal to 2, and T is a positive integer greater than or equal to one; the length of a single signal acquisition module is smaller than the average width of the vehicle, the distance between two adjacent phase near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the K signal acquisition modules is a fourth preset value.

In an embodiment of the present invention, the parking space detection module is configured to receive rolling signals acquired by R groups of N signal acquisition modules, S groups of M signal acquisition modules, or T groups of K signal acquisition modules, to record rolling time for a vehicle to roll the R groups of N signal acquisition modules, S groups of M signal acquisition modules, or T groups of K signal acquisition modules, and to determine whether a time sequence of the rolling time for the rolling signal acquisition modules meets an entrance condition for entering into a parking space or an exit condition for exiting out of the parking space, and if so, detect the number of idle parking spaces and positions of the idle parking spaces; and if not, enabling the signal acquisition module to continuously acquire the rolling signal.

In an embodiment of the present invention, when the parking space is the vertical parking space or the inclined parking space, the driving condition of the parking space is that the rolling time of the vehicle rolling the first signal collecting device in the ith signal collecting module is longer than the rolling time of the vehicle rolling the second signal collecting device in the ith signal collecting module, the rolling time of the vehicle rolling the first signal collecting device in the jth signal collecting module is longer than the rolling time of the vehicle rolling the second signal collecting device in the jth signal collecting module, and the ratio of the absolute value of the time difference between the rolling time of the vehicle rolling the first signal collecting device in the ith signal collecting module and the rolling time of the second signal collecting device in the jth signal collecting module and the absolute value of the time difference between the rolling time of the vehicle rolling the first signal collecting device in the jth signal collecting module and the rolling time of the second signal collecting device in the jth signal collecting module is greater than the first time difference threshold, less than a second time difference threshold; wherein i is more than or equal to 1, j is less than or equal to N, and i is not equal to j; the parking space exit condition is that the rolling time for rolling a first signal acquisition device in an ith signal acquisition module is less than the rolling time for rolling a second signal acquisition device in the ith signal acquisition module, the rolling time for rolling a first signal acquisition module in a jth signal acquisition module is less than the rolling time for rolling a second signal acquisition device in the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time for rolling the first signal acquisition device in the ith signal acquisition module and the rolling time for rolling the first signal acquisition device in the ith signal acquisition module to the absolute value of the time difference between the rolling time for rolling the first signal acquisition device in the jth signal acquisition module and the rolling time for rolling the second signal acquisition device in the jth signal acquisition module is greater than a first time difference threshold and less than a second time difference threshold.

In an embodiment of the present invention, if the i-th signal acquisition module and the j-th signal acquisition module are located in a vertical parking space or an inclined parking space, and the driving condition is satisfied, the parking space detection module reduces the number of the idle parking spaces by one; when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces; if the ith signal acquisition module and the jth signal acquisition module are respectively positioned in two adjacent vertical parking spaces and meet the driving-in condition, the parking space detection module reduces the number of the idle parking spaces by two; and if the exit condition is met, the parking space detection module adds two to the number of the idle parking spaces.

In an embodiment of the invention, when the parking space is the horizontal parking space, the driving-in condition of the parking space is that the driving-in condition of the driving-in parking space is that the rolling time of a first signal acquisition device in an ith signal acquisition module rolled by a wheel of a vehicle is less than the rolling time of a second signal acquisition device in the ith signal acquisition module rolled by another wheel of the vehicle, the rolling time of a first signal acquisition device in a jth signal acquisition module rolled by another wheel of the vehicle is less than the rolling time of a second signal acquisition device in the jth signal acquisition module rolled by the other wheel of the vehicle, and an absolute value of a time difference between the rolling time of the first signal acquisition device in the ith signal acquisition module rolled by the wheel of the vehicle and the rolling time of the second signal acquisition device in the jth signal acquisition module rolled by the wheel of the vehicle Is greater than a first time difference threshold and is less than a second time difference threshold; the rolling time of a first signal acquisition device in an ith signal acquisition module rolled by a first wheel of the vehicle is longer than the rolling time of a second signal acquisition device in the ith signal acquisition module rolled by a second wheel of the vehicle, the rolling time of the first signal acquisition device in a jth signal acquisition module rolled by another wheel of the vehicle is longer than the rolling time of the second signal acquisition device in the jth signal acquisition module rolled by the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time of the first signal acquisition device in the ith signal acquisition module rolled by the first wheel of the vehicle and the rolling time of the second signal acquisition device in the ith signal acquisition module rolled by the jth signal acquisition module and the absolute value of the time difference between the rolling time of the first signal acquisition device in the jth signal acquisition module rolled by another wheel of the vehicle and the rolling time of the second signal acquisition device in the jth signal acquisition module is longer than a first time difference threshold value, less than a second time difference threshold; wherein, i is more than or equal to 1, and j is more than or equal to M; wherein, one wheel is a front wheel or a rear wheel at one side, and the other wheel is a rear wheel or a front wheel at the same side.

In an embodiment of the present invention, if the vehicle rolls the ith signal acquisition module and the jth signal acquisition module which are located in one horizontal parking space, and the driving condition is satisfied, the parking space detection module reduces the number of the idle parking spaces by one; when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces; if the vehicle rolls the ith signal acquisition module and the jth signal acquisition module which are respectively positioned in two adjacent parking spaces, the parking space detection module reduces the number of the idle parking spaces by one; and when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces.

In an embodiment of the present invention, when the parking space is a parking space in a parking area, the driving condition of the parking space is that a rolling time for rolling a first signal acquisition device in an ith signal acquisition module by a front wheel of a vehicle is longer than a rolling time for rolling a second signal acquisition device in the ith signal acquisition module by the i signal acquisition module, a rolling time for rolling a first signal acquisition device in a jth signal acquisition module by another front wheel of the vehicle is longer than a rolling time for rolling a second signal acquisition device in the jth signal acquisition module, a rolling time for rolling a first signal acquisition device in the ith signal acquisition module by a rear wheel of the vehicle is longer than a rolling time for rolling a second signal acquisition device in the ith signal acquisition module, the rolling time of rolling a first signal acquisition device in the jth signal acquisition module by another rear wheel of the vehicle is longer than the rolling time of rolling a second signal acquisition device in the jth signal acquisition module; and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the ith signal acquisition module by the other front wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module by the other front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the jth signal acquisition module is greater than the first time difference threshold and less than the second time difference threshold, and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first rear wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the other rear wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module is greater than the first time A time difference threshold, less than the second time difference threshold; wherein i is more than or equal to 1, j is less than or equal to K, and i is not equal to j.

In an embodiment of the present invention, when the parking space is a parking space in a parking area, the exiting condition of the parking space is that a rolling time of a front wheel of a vehicle rolling a first signal acquisition device in an ith signal acquisition module is less than a rolling time of a second signal acquisition device in the ith signal acquisition module, a rolling time of another front wheel of the vehicle rolling a first signal acquisition device in a jth signal acquisition module is less than a rolling time of a second signal acquisition device in the jth signal acquisition module, a rolling time of a rear wheel of the vehicle rolling a first signal acquisition device in the ith signal acquisition module is less than a rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of rolling a first signal acquisition device in the jth signal acquisition module by another rear wheel of the vehicle is less than the rolling time of rolling a second signal acquisition device in the jth signal acquisition module; and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the ith signal acquisition module by the other front wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module by the other front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the jth signal acquisition module is greater than the first time difference threshold and less than the second time difference threshold, and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first rear wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the other rear wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module is greater than the first time A time difference threshold, less than the second time difference threshold.

In an embodiment of the present invention, if the ith signal acquisition module and the jth signal acquisition module are adjacent to or spaced apart from each other, and the entry condition is satisfied, the parking space detection module reduces the number of the idle parking spaces by one; and when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces.

In an embodiment of the present invention, the parking space detection apparatus further includes: the signal conversion module is connected with the signal acquisition module and is used for converting analog rolling signals acquired by the R groups of N signal acquisition modules, the S groups of M signal acquisition modules or the T groups of K signal acquisition modules into digital rolling signals; and the communication module is connected with the parking space detection module and is used for transmitting the information of the idle parking spaces detected by the parking space detection module.

In an embodiment of the invention, the communication module includes a WIFI module, a LoRa module, an NB-IoT module, a bluetooth module, a 3G communication module, or a 4G communication module.

In an embodiment of the present invention, the signal acquisition module is laid in the middle area of the parking space in a sensor strip manner; the sensor comprises a piezoelectric sensor, a pressure sensor or a switch on-off sensor; the piezoelectric sensor comprises a piezoelectric sheet or a piezoelectric axis sensor; the positive output end of the sensor is connected with the input end of the signal conversion module, and the negative output end of the sensor is connected with the ground wire.

The invention also provides a parking space detection method, which is applied to a parking space with a signal acquisition module laid inside, and comprises the following steps: collecting rolling signals when rolling by a vehicle; detecting whether the time sequence of the generated rolling signals meets the preset exit condition or the preset entry condition of the parking space, if so, judging that the parking space is in an idle state, and if so, judging that the parking space is in an occupied state; and counting the information of the idle parking spaces according to the idle or occupied states of the parking spaces.

A further aspect of the present invention provides a readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method for detecting a parking space, wherein the method for detecting a parking space detects whether a time sequence of a generated rolling signal satisfies a preset exit condition or an entrance condition of a parking space, and determines that the parking space is in an idle state if the exit condition of the parking space is satisfied, and determines that the parking space is in an occupied state if the entrance condition of the parking space is satisfied; and detecting the information of the idle parking space according to the idle or occupied state of the parking space.

A final aspect of the present invention provides a parking space guidance system, including: at least one said parking space detection device; the data center is used for storing the real-time data of the parking space and analyzing the real-time data of the parking space and the historical data of the parking space in a combined manner to form the guide information of the parking space; and the terminal is connected with the data center and used for receiving the parking space guide information.

In an embodiment of the present invention, data forwarding is performed between the detection device of the parking space and the data center through a plurality of relay nodes; or the detection device of the parking space is directly connected with the data center in a communication mode.

As described above, the parking space detection device, the parking space detection method, the guidance system, and the readable storage medium according to the present invention have the following advantageous effects:

the parking space detection device, the parking space detection method, the guide system and the readable storage medium can accurately detect the parking space, have low error rate and good real-time performance, do not need high construction cost and maintenance cost, and have strong adaptability.

Drawings

Fig. 1A shows a schematic view of a vertical parking space.

Fig. 1B shows a schematic view of an inclined parking space.

Fig. 1C shows a schematic view of a horizontal parking space.

Fig. 1D shows a schematic view of a parking space of a parking area.

Fig. 2A is a schematic view illustrating a laying method of the signal acquisition module in the vertical parking space according to the present invention.

Fig. 2B is a schematic view illustrating another arrangement of the signal acquisition module in the vertical parking space according to the present invention.

Fig. 2C is a schematic diagram of another arrangement of the signal acquisition modules in the vertical parking space according to the present invention.

Fig. 3 is a schematic structural diagram of a parking space detection apparatus applied to a vertical parking space according to an embodiment of the present invention.

Fig. 4A is a schematic diagram illustrating a laying manner of the signal acquisition module in the horizontal parking space according to the present invention.

Fig. 4B is a schematic diagram of another arrangement of the signal acquisition modules in the horizontal parking space according to the present invention.

Fig. 5A is a schematic diagram illustrating a laying manner of the signal acquisition module at the opening of the parking area according to the present invention.

Fig. 5B is a schematic diagram of another arrangement of the signal acquisition module at the opening of the parking area according to the present invention.

Fig. 6 is a flowchart illustrating a parking space detection method according to an embodiment of the present invention.

Fig. 7A is a schematic structural diagram of a parking space guidance system according to an embodiment of the present invention.

FIG. 7B is a schematic structural diagram of a parking space guidance system according to another embodiment of the present invention

Description of the element reference numerals

3 detection device in parking stall

31 first signal acquisition module

31' second signal acquisition module

32 signal conversion module

33 parking space detection module

34 communication module

7 guidance system for parking spaces

71 Relay node

72 data center

73 terminal

S61-S65

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Example one

The present embodiment provides a parking space detection device, including:

the signal acquisition module is used for acquiring rolling signals when being rolled by a vehicle;

the parking space detection module is used for detecting whether the time sequence of the generated rolling signal meets the preset exit condition or the preset entry condition of the parking space, if so, judging that the parking space is in an idle state, and if so, judging that the parking space is in an occupied state; and detecting the information of the idle parking spaces according to the idle or occupied states of the parking spaces.

The parking space detection apparatus provided in the present embodiment will be described in detail with reference to the drawings. The parking spaces described in this embodiment include vertical parking spaces, inclined parking spaces, horizontal parking spaces, or parking spaces disposed in a parking area as shown in fig. 1A, fig. 1B, fig. 1C, and fig. 1D, respectively. The vertical parking space and the horizontal parking space comprise two parallel first lines and second lines perpendicular to the first lines; the inclined parking space comprises two parallel first lines and a second line intersected with the first lines. The parking spaces of the parking lot comprise vertical parking spaces.

When the parking space is the vertical parking space or the inclined parking space, R groups of N signal acquisition modules are arranged in parallel on a first preset laying belt of the vertical parking space or the inclined parking space. Each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device. N is a positive integer greater than or equal to 2; the first preset laying belt is parallel or approximately parallel to a second line of the vertical parking space or the inclined parking space. In this example, R is 2 and N is 2. Please refer to fig. 2A, fig. 2B, and fig. 2C, which are schematic diagrams illustrating a laying manner, another laying manner, and still another laying manner of the signal acquisition module in the vertical parking space, respectively. The arrangement shown in fig. 2A is such that 2 signal acquisition modules are located in one parking space. The first signal acquisition device C and the second signal acquisition device a of the first signal acquisition module 31, and the first signal acquisition device D and the second signal acquisition device B of the second signal acquisition module 31'. The first signal collecting device C and the second signal collecting device a of the first signal collecting module 31, and the first signal collecting device D and the second signal collecting device B of the second signal collecting module 31' are disposed between two parking spaces as shown in fig. 2B. The length of a single signal acquisition module is smaller than the width of the parking space, the distance between two adjacent near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the N signal acquisition modules is a second preset value. In this embodiment, the first preset value is a value close to 0 or equal to 0. The second preset value is a value which is approximate to or equal to the parking space broadband. When the parking space is the vertical parking space or the inclined parking space, the driving condition of the parking space is that the rolling time of a vehicle rolling a first signal acquisition device in an ith signal acquisition module is longer than the rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of a first signal acquisition device in a jth signal acquisition module is longer than the rolling time of a second signal acquisition device in the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time of the first signal acquisition device in the ith signal acquisition module and the rolling time of the second signal acquisition device in the ith signal acquisition module and the absolute value of the time difference between the rolling time of the first signal acquisition device in the jth signal acquisition module and the rolling time of the second signal acquisition device in the jth signal acquisition module is larger than a first time difference threshold value, less than a second time difference threshold; wherein i is more than or equal to 1, j is less than or equal to N, and i is not equal to j. In this embodiment, since R groups of N signal acquisition modules are provided, the detection device for parking spaces can simultaneously detect the occupancy information of a plurality of vertical parking spaces.

The parking space exit condition is that the rolling time for rolling a first signal acquisition device in an ith signal acquisition module is less than the rolling time for rolling a second signal acquisition device in the ith signal acquisition module, the rolling time for rolling a first signal acquisition module in a jth signal acquisition module is less than the rolling time for rolling a second signal acquisition device in the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time for rolling the first signal acquisition device in the ith signal acquisition module and the rolling time for rolling the first signal acquisition device in the ith signal acquisition module to the absolute value of the time difference between the rolling time for rolling the first signal acquisition device in the jth signal acquisition module and the rolling time for rolling the second signal acquisition device in the jth signal acquisition module is greater than a first time difference threshold and less than a second time difference threshold. In this embodiment, i is 1 and j is 2.

Please refer to fig. 3, which is a schematic structural diagram of a parking space detection apparatus in an embodiment. As shown in fig. 3, the detection apparatus 3 applied to a parking space of a vertical parking space includes: the parking space monitoring system comprises a first signal acquisition module 31, a second signal acquisition module 31', a signal conversion module 32, a parking space detection module 33 and a communication module 34. The first signal acquisition device C and the second signal acquisition device A of the first signal acquisition module 31, and the first signal acquisition device D and the second signal acquisition device B of the second signal acquisition module 31' are respectively used for generating rolling signals and acquiring the rolling signals after the signal acquisition module is rolled by a vehicle. The signal acquisition module is paved in the middle area of the parking space in a sensor belt mode; the sensor comprises a piezoelectric sensor, a pressure sensor or a switch on-off sensor; the piezoelectric sensor comprises a piezoelectric sheet or a piezoelectric axis sensor; the positive output end of the sensor is connected with the input end of the signal conversion module, and the negative output end of the sensor is connected with the ground wire.

And the signal conversion module 32 connected with the first signal acquisition device C and the second signal acquisition device a of the first signal acquisition module 31 and the first signal acquisition device D and the second signal acquisition device B of the second signal acquisition module 31' is used for converting the acquired analog rolling signal into a digital rolling signal. Specifically, the signal conversion module 32 is configured to convert the analog rolling signals acquired by the R groups of N signal acquisition modules, the S groups of M signal acquisition modules, or the T groups of K signal acquisition modules into digital rolling signals.

The parking space detection module 33 connected with the signal conversion module 32 is used for receiving a first signal acquisition device C and a second signal acquisition device A of the first signal acquisition module 31, and digital rolling signals of the first signal acquisition device D and the second signal acquisition device B of the second signal acquisition module 31 'so as to record rolling time of the vehicle rolling the first signal acquisition device C and the second signal acquisition device A of the first signal acquisition module 31 and rolling time of the first signal acquisition device D and the second signal acquisition device B of the second signal acquisition module 31', namely T_A、T_B、T_C、T_DJudging whether the time sequence of the rolling time of the rolling signal acquisition module meets the entrance condition of entering the parking space or the exit condition of exiting the parking space, if so, detecting the number of the idle parking spaces and the positions of the idle parking spaces; and if not, enabling the signal acquisition module to continuously acquire the rolling signal.

When the parking space is the vertical parking space or the inclined parking space, the driving condition of the parking space is the rolling time T of the vehicle rolling the first signal acquisition device C of the first signal acquisition module_CIs greater than the rolling time T of the second signal acquisition device A of the first signal acquisition module_ARolling time T of the first signal acquisition device D of the second signal acquisition module_DIs longer than the rolling time T of the second signal acquisition device B of the second signal acquisition module_BAnd rolling compaction time T_CRolling time T of_AAnd rolling time T of a second signal acquisition device D rolling the second signal acquisition module_DRolling time T with first signal acquisition device B_BIs greater than a first time difference threshold alpha and is less than a second time difference threshold beta, i.e. T_C>T_A，T_D>T_BAnd α is<|T_C-T_A|/|T_D-T_B|<And when the parking space is beta, detecting that the vehicle enters, and judging that the parking space is in an occupied state.

The running-out condition of the parking space is rolling time T of a vehicle rolling a first signal acquisition device C of a first signal acquisition module_CIs less than the rolling time T of the second signal acquisition device A of the first signal acquisition module_ARolling time T of the first signal acquisition device D of the second signal acquisition module_DIs less than the rolling time T of the second signal acquisition device B of the second signal acquisition module_BAnd rolling compaction time T_CRolling time T of_AAnd rolling time T of a second signal acquisition device D rolling the second signal acquisition module_DRolling time T with first signal acquisition device B_BIs greater than a first time difference threshold alpha and is less than a second time difference threshold beta, i.e. T_C<T_A，T_D<T_BAnd alpha is<|T_C-T_A|/|T_D-T_B|<And beta, detecting that the vehicle is driven out, and judging that the parking space is in an idle state.

As shown in fig. 2A, if the first signal acquisition device C and the second signal acquisition device a of the first signal acquisition module 31 and the first signal acquisition device D and the second signal acquisition device B of the second signal acquisition module 31' are located in a parking space, the time sequence for generating the rolling signal satisfies the entrance condition, and the parking space detection module determines that the parking space is in an idle state and reduces the number of idle parking spaces by one; the time sequence for generating the rolling signal meets the running-out condition, and the parking space detection module adds one to the number of the idle parking spaces.

If the ith signal acquisition module and the jth signal acquisition module are respectively positioned in two adjacent vertical parking spaces and meet the driving-in condition, the parking space detection module reduces the number of the idle parking spaces by two; and if the exit condition is met, the parking space detection module adds two to the number of the idle parking spaces.

If the first signal acquisition device C and the second signal acquisition device a of the first signal acquisition module 31, and the first signal acquisition device D and the second signal acquisition device B of the second signal acquisition module 31 'are respectively located in two adjacent vertical parking spaces, as shown in fig. 2B, the first signal acquisition device a and the second signal acquisition device C of the first signal acquisition module 31, and the first signal acquisition device B and the second signal acquisition device D of the second signal acquisition module 31' are adjacent, then the time sequence for generating the rolling signal meets the driving-in condition, and the parking space detection module reduces the number of the idle parking spaces by two; the time sequence for generating the rolling signal meets the exit condition, and the parking space detection module adds two to the number of the idle parking spaces;

as shown in fig. 2C, the first signal acquisition device C and the second signal acquisition device a of the first signal acquisition module 31 and the first signal acquisition device B and the second signal acquisition device D of the second signal acquisition module 31' are separated from each other, so that the time sequence for generating the rolling signal meets the driving-in condition, and the parking space detection module reduces the number of the idle parking spaces by two; the time sequence for generating the rolling signal meets the running-out condition, and the parking space detection module adds two to the number of the idle parking spaces.

In this embodiment, the parking space detection module 33 determines which parking space is in an occupied state or an idle state according to a signal acquisition module in the parking space. For example, as shown in fig. 2B, according to the rolling signals acquired by the first signal acquisition device C and the second signal acquisition device a of the first signal acquisition module of the parking space 1 and the first signal acquisition device B and the second signal acquisition device D of the second signal acquisition module 31' of the parking space 2, if the driving-in condition is satisfied, it indicates that the parking space 1 and the parking space 2 are already in the occupied state; if the exit condition is satisfied, it indicates that

parking spaces

1 and 2 are already in the empty state.

When the parking space is the horizontal parking space, S groups of M signal acquisition modules are arranged on a second preset laying belt of the horizontal parking space in parallel; s, M is a positive integer greater than or equal to 1; the second preset laying belt is parallel or approximately parallel to a second line of the horizontal parking space; the length of a single signal acquisition module is smaller than or equal to the length of a parking space, the distance between two adjacent near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the M signal acquisition modules is a third preset value. In this embodiment, the first preset value is a value close to 0 or equal to 0. The third preset value is a value that is approximately or equal to the length of the parking space. Each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device. In this embodiment, since S groups of M signal acquisition modules are provided, the detection device for parking spaces can simultaneously detect the occupancy information of a plurality of horizontal parking spaces.

When the parking space is the horizontal parking space, the driving-in condition of the parking space is that the driving-in condition of the driving-in parking space is that the rolling time of a front wheel at one side of a vehicle rolling a first signal acquisition device in an ith signal acquisition module is less than the rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of a rear wheel at one side of the vehicle rolling a first signal acquisition device in a jth signal acquisition module is less than the rolling time of a second signal acquisition device in the jth signal acquisition module, and the absolute value of the time difference between the rolling time of the front wheel at one side of the vehicle rolling the first signal acquisition device in the ith signal acquisition module and the rolling time of the second signal acquisition device in the jth signal acquisition module and the time difference between the rolling time of the first signal acquisition device in the jth signal acquisition module at one side of the vehicle and the rolling time of the second signal acquisition device in the jth signal acquisition module The ratio of the absolute values is greater than a first time difference threshold and less than a second time difference threshold.

The rolling time of the front wheel on one side of the vehicle rolling a first signal acquisition device in the ith signal acquisition module is longer than the rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of the rear wheel on one side of the vehicle rolling the first signal acquisition device in the jth signal acquisition module is longer than the rolling time of the second signal acquisition device in the jth signal acquisition module, the absolute value of the time difference between the rolling time of the front wheel rolling the first signal acquisition device in the ith signal acquisition module and the rolling time of the second signal acquisition device in the ith signal acquisition module and the absolute value of the time difference between the rolling time of the front wheel rolling the first signal acquisition device in the jth signal acquisition module and the rolling time of the rear wheel rolling the second signal acquisition device in the jth signal acquisition module are larger than a first time difference threshold value, less than the second time difference threshold. One wheel is a front wheel or a rear wheel on one side, the other wheel is a rear wheel or a front wheel on the same side, wherein i is more than or equal to 1, and j is more than or equal to M. In the present embodiment, M is equal to 1.

Please refer to fig. 4A and fig. 4B, which are schematic diagrams illustrating a laying manner and another laying manner of a signal acquisition module in a horizontal parking space, respectively. The laying mode as in fig. 4A is 1 signal acquisition module. The signal acquisition module comprises a first signal acquisition device A and a second signal acquisition device B.

As shown in fig. 4A, when the parking space is the horizontal parking space, the entrance condition of the parking space is that the front wheel on one side of the vehicle rolls the rolling time T of the first signal acquisition device a_A1Is longer than the rolling time T of the second signal acquisition device B rolled before one side_B1And rolling time T of rolling the rear wheel on the same side of the vehicle on the first signal acquisition device A_A2The rolling time T is longer than that of the second signal acquisition device rolled by the rear wheel on one side_B2And rolling time T of rolling the first signal acquisition device on the front wheel on one side of the vehicle_A1Rolling time T of second signal acquisition device rolled in front of one side of vehicle_B1The absolute value of the time difference and the rolling time T of a first signal acquisition device for rolling the rear wheel on the same side of the vehicle_A2The rolling time T of the second signal acquisition device rolled on the same side of the rear wheel of the vehicle_B2Is greater than a first time difference threshold value alpha and is less than a second time difference threshold value beta; namely T_A1>T_B1，T_A2>T_B2And alpha is<|T_A1-T_B1|/|T_A2-T_B2|<And when the parking space is beta, detecting that the vehicle enters, and judging that the parking space is in an occupied state. The exit condition of the parking space is that the entrance condition of the entrance parking space is that the front wheel on one side of the vehicle rolls the rolling time T of the first signal acquisition device A_A1Is less than the rolling time T of the second signal acquisition device B rolled before one side_B1And rolling time T of rolling the rear wheel on the same side of the vehicle on the first signal acquisition device A_A2Is less than the rolling time T of the second signal acquisition device rolled by the rear wheel on the same side_B2And rolling time T of rolling the first signal acquisition device on the front wheel on one side of the vehicle_A1Rolling time T of second signal acquisition device rolled with front of one side of vehicle_B1The absolute value of the time difference and the rolling time T of a first signal acquisition device for rolling the rear wheel on the same side of the vehicle_A2Rolling time T of rolling the second signal acquisition device with the rear wheel on the same side of the vehicle_B2Is greater than a first time difference threshold value alpha and is less than a second time difference threshold value beta; namely T_A1<T_B1，T_A2<T_B2And alpha is<|T_A1-T_B1|/|T_A2-T_B2|<And beta, detecting that the vehicle is driven out, and judging that the parking space is in an idle state.

As shown in fig. 4B, the driving condition of the parking space is a rolling time T of the first signal collecting device a of the vehicle wheel rolling the parking space 1_AThe rolling time T of the second signal acquisition device B which is larger than the rolling time T of the wheel for rolling the parking space 1_BRolling time T of the first signal pickup device C of the other wheel of the vehicle rolling the parking space 2_CIs longer than the rolling time T of the second signal acquisition device D of the other wheel rolling parking space 2_DAnd the rolling time T of the first signal acquisition device A for rolling the parking space 1 by one wheel of the vehicle_ARolling time T of second signal collecting device B rolling parking space 1 with the wheel_BAnd the rolling time T of the first signal acquisition device C of the other wheel of the vehicle rolling the parking space 2_CRolling with the other wheelRolling time T of second signal acquisition device D of parking space 2_DIs greater than a first time difference threshold value and less than a second time difference threshold value, i.e. T_A>T_B，T_C>T_DAnd alpha is<|T_A-T_B|/|T_C-T_D|<When the parking space is beta, detecting that the vehicle enters, and judging that the parking space is in an occupied state;

the running-out condition of the parking space is the rolling time T of a first signal acquisition device A for rolling the parking space 1 by a wheel of a vehicle_AIs less than the rolling time T of the second signal acquisition device B of the wheel rolling parking space 1_BRolling time T of the first signal pickup device C of the other wheel of the vehicle rolling the parking space 2_CIs less than the rolling time T of the second signal acquisition device D of the other wheel rolling parking space 2_DAnd the rolling time T of the first signal acquisition device A for rolling the parking space 1 by one wheel of the vehicle_ARolling time T of second signal collecting device B rolling parking space 1 with the wheel_BAnd the rolling time T of the first signal acquisition device C of the other wheel of the vehicle rolling the parking space 2_CThe rolling time T of the second signal pickup device D rolling the parking space 2 with the other wheel_DIs greater than a first time difference threshold value and less than a second time difference threshold value, i.e. T_A<T_B，T_C<T_DAnd alpha is<|T_A-T_B|/|T_C-T_D|<And beta, detecting that the vehicle is driven out, and judging that the parking space is in an idle state.

Referring to fig. 4A, if a vehicle rolls a first signal acquisition device a and a second signal acquisition device B of a signal acquisition module located in a parking space, and a time sequence for generating a rolling signal satisfies a driving-in condition, the parking space detection module 33 reduces the number of idle parking spaces by one; the time sequence for generating the rolling signal meets the exit condition, and the parking space detection module adds one to the number of the idle parking spaces;

referring to fig. 4B, if the vehicle rolls the signal acquisition modules in the adjacent parking spaces, and the time sequence for generating the rolling signal satisfies the entrance condition, the parking space detection module 33 reduces the number of the vacant parking spaces by one; the time sequence of generating the rolling signal meets the exit condition, and the parking space detection module 33 adds one to the number of the idle parking spaces.

In this embodiment, the parking space detection module 33 determines which parking space is in an occupied state or an idle state according to a signal acquisition module in the parking space. For example, as shown in fig. 4B, according to the rolling signals acquired by the first and second signal acquisition devices a and B of the signal acquisition module of the parking space 1 and the first and second signal acquisition devices B and D of the signal acquisition module of the parking space 2, if the driving-in condition is satisfied, it indicates that the parking space 1 and the parking space 2 are already in the occupied state; if the exit condition is satisfied, it indicates that

parking spaces

1 and 2 are already in the empty state.

When the parking space is a parking space in a parking area, the T groups of K signal acquisition modules are arranged at T openings of the parking area in parallel; the K signal acquisition modules are arranged at the opening in parallel; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; k is a positive integer larger than or equal to 2, T is a positive integer larger than or equal to 1, the length of a single signal acquisition module is smaller than the average width of the vehicle, the distance between two adjacent phase near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the K signal acquisition modules is a fourth preset value. The first preset value is a value approximate to 0 or equal to 0. The fourth preset value is a value that is approximately equal to or greater than the opening width. In this embodiment, because T group K signal acquisition modules are arranged, the detection device for the parking space can simultaneously detect the occupation information in the parking area.

When the parking space is a parking space in a parking area, the driving condition of the parking space is that the rolling time of a first front wheel of a vehicle rolling a first signal acquisition device in an ith signal acquisition module is longer than the rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of another front wheel of the vehicle rolling a first signal acquisition device in a jth signal acquisition module is longer than the rolling time of a second signal acquisition device in the jth signal acquisition module, the rolling time of a first rear wheel of the vehicle rolling the first signal acquisition device in the ith signal acquisition module is longer than the rolling time of the second signal acquisition device in the ith signal acquisition module, the rolling time of rolling a first signal acquisition device in the jth signal acquisition module by another rear wheel of the vehicle is longer than the rolling time of rolling a second signal acquisition device in the jth signal acquisition module; and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the ith signal acquisition module by the other front wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module by the other front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the jth signal acquisition module is greater than the first time difference threshold and less than the second time difference threshold, and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first rear wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the other rear wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module is greater than the first time A time difference threshold, less than the second time difference threshold; wherein i is more than or equal to 1, j is less than or equal to K, and i is not equal to j.

When the parking space is a parking space in a parking area, the exiting condition of the parking space is that the rolling time of a first front wheel of a vehicle rolling a first signal acquisition device in an ith signal acquisition module is less than the rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of another front wheel of the vehicle rolling a first signal acquisition device in a jth signal acquisition module is less than the rolling time of a second signal acquisition device in the jth signal acquisition module, the rolling time of a first rear wheel of the vehicle rolling a first signal acquisition device in the ith signal acquisition module is less than the rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of rolling a first signal acquisition device in the jth signal acquisition module by another rear wheel of the vehicle is less than the rolling time of rolling a second signal acquisition device in the jth signal acquisition module; and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the ith signal acquisition module by the other front wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module by the other front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the jth signal acquisition module is greater than the first time difference threshold and less than the second time difference threshold, and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first rear wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the other rear wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module is greater than the first time A time difference threshold, less than the second time difference threshold.

In this example, T is 1 and K is 4. Please refer to fig. 5A and B, which are schematic diagrams illustrating one laying manner and another laying manner of the signal acquisition module at an opening of the parking area. As in fig. 5A, 4 signal acquisition modules (a first signal acquisition module and a second signal acquisition module) are provided. In fig. 5B, 4 signal acquisition modules are provided. The 4 signal acquisition modules are arranged in parallel at one opening of the parking area.

When the parking space is the parking space in the parking area, the driving condition of the parking space is the rolling time T of a front wheel of the vehicle rolling a first signal acquisition device C in a first signal acquisition module_C1Is longer than the rolling time T of the second signal acquisition device A in the first signal acquisition module_A1And the rolling time T of the first signal acquisition device D in the second signal acquisition module rolled by the other front wheel of the vehicle_D1Is longer than the rolling time T of the second signal acquisition device B_B1Rolling time T of first signal acquisition device C in first signal acquisition module rolled by rear wheel of vehicle_C2Is longer than the rolling time T of the second signal acquisition device A in the first signal acquisition module_A2And the rolling time T of the first signal acquisition device D in the second signal acquisition module rolled by the other rear wheel of the vehicle_D2Is longer than the rolling time T of the second signal acquisition device B_B2(ii) a And rolling time T_C1And rolling time T_A1Absolute value of time difference and rolling time T_D1And rolling time T_B1Is greater than the first time difference threshold value, is less than the second time difference threshold value, and is rolling time T_C2And rolling time T_A2Absolute value of time difference and rolling time T_D2And rolling time T_B2Is greater than a first time difference threshold and is less than a second time difference threshold; wherein i is greater than 1 and less than K, i.e. T_C1>T_A1，T_D1>T_B1，T_C2>T_A2，T_D2>T_B2And α is<|T_C1-T_A1|/|T_D1-T_B1|<β，α<|T_C2-T_A2|/|T_D2-T_B2|<And beta, detecting that the vehicle enters.

When the parking space is the parking space in the parking area, the exiting condition of the parking space is the rolling time T of a front wheel of the vehicle rolling a first signal acquisition device C in a first signal acquisition module_C1Is less than the rolling time T of the second signal acquisition device A in the first signal acquisition module_A1And the rolling time T of the first signal acquisition device D in the second signal acquisition module rolled by the other front wheel of the vehicle_D1Is less than the rolling time T of the second signal acquisition device B_B1Rolling time T of first signal acquisition device C in first signal acquisition module rolled by rear wheel of vehicle_C2Is less than the rolling time T of the second signal acquisition device A in the first signal acquisition module_A2And the rolling time T of the first signal acquisition device D in the second signal acquisition module rolled by the other rear wheel of the vehicle_D2Is less than the rolling time T of the second signal acquisition device B_B2(ii) a And rolling time T_C1And rolling time T_A1Absolute value of time difference and rolling time T_D1And rolling time T_B1Is greater thanThe first time difference threshold value is smaller than the second time difference threshold value, and the rolling time T is_C2And rolling time T_A2Absolute value of time difference and rolling time T_D2And rolling time T_B2Is greater than a first time difference threshold value and less than a second time difference threshold value, i.e. T_C1<T_A1，T_D1<T_B1，T_C2<T_A2，T_D2<T_B2And α is<|T_C1-T_A1|/|T_D1-T_B1|<β，α<|T_C2-T_A2|/|T_D2-T_B2|<When β, the vehicle is detected to be driven out.

As shown in fig. 5A, that is, the adjacent signal acquisition devices a and C in the first signal acquisition module and the adjacent signal acquisition devices B and D in the second signal acquisition module satisfy the entrance condition, and the parking space detection module reduces the number of the vacant parking spaces by one; when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces;

as shown in fig. 5B, that is, the signal acquisition devices a and C in the first signal acquisition module and the signal acquisition devices B and D in the second signal acquisition module are separated from each other, so as to satisfy the entrance condition, and the parking space detection module reduces the number of the vacant parking spaces by one; and when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces.

In this embodiment, the position information of the vacant parking spaces in the parking lot can be detected according to the detection methods of the vertical parking spaces, the inclined parking spaces and the horizontal parking spaces.

In this embodiment, the parking space detection module 33 detects the information of the vacant parking space according to the vacant or occupied state of the parking space.

In this embodiment, the communication module 34 connected to the parking space detection module 33 is configured to transmit the information of the empty parking space detected by the parking space detection module 13. The free parking space information comprises the number of free parking spaces and the positions of the free parking spaces. In this embodiment, the communication module 34 includes a WIFI module, a LoRa module, an NB-IoT module, a bluetooth module, a 3G communication module, or a 4G communication module, etc.

The detection device for the parking space can accurately detect the parking space, has low error rate, good real-time performance, high construction cost and maintenance cost and strong adaptability.

Example two

The embodiment provides a detection method for a parking space, which is applied to a parking space with a signal acquisition module laid inside, and the detection method for the parking space comprises the following steps:

after the signal acquisition module is rolled by a vehicle, generating a rolling signal and acquiring the rolling signal;

detecting whether the time sequence of the generated rolling signals meets the preset exit condition or the preset entry condition of the parking space, if so, judging that the parking space is in an idle state, and if so, judging that the parking space is in an occupied state;

and detecting the information of the idle parking spaces according to the idle or occupied states of the parking spaces.

The parking space detection method provided by the present embodiment will be described in detail below with reference to the drawings. The parking space detection method is applied to the parking space with the signal acquisition module laid inside. For example. The parking spaces comprise vertical parking spaces, inclined parking spaces, horizontal parking spaces or parking spaces arranged in a parking area; the vertical parking space and the horizontal parking space comprise two parallel first lines and second lines perpendicular to the first lines; the inclined parking space comprises two parallel first lines and a second line intersected with the first lines.

When the parking space is the vertical parking space or the inclined parking space, R groups of N signal acquisition modules are arranged on a first preset laying belt of the vertical parking space or the inclined parking space in parallel; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; n is a positive integer greater than or equal to 2; the first preset laying belt is parallel or approximately parallel to a second line of the vertical parking space or the inclined parking space, wherein the length of a single signal acquisition module is smaller than the width of the parking space, the distance between two adjacent phase near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the N signal acquisition modules is a second preset value. In this embodiment, the first preset value is a value close to 0 or equal to 0. The second preset value is a value which is approximate to or equal to the parking space broadband.

When the parking space is the horizontal parking space, S groups of M signal acquisition modules are arranged on a second preset laying belt of the horizontal parking space in parallel; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; s, M is a positive integer greater than or equal to 1; the second preset laying belt is parallel or approximately parallel to a second line of the horizontal parking space; the length of a single signal acquisition module is smaller than or equal to the length of a parking space, the distance between two adjacent near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the M signal acquisition modules is a third preset value. In this embodiment, the first preset value is a value close to 0 or equal to 0. The third preset value is a value that is approximately or equal to the length of the parking space.

When the parking space is a parking space in a parking area, the T groups of K signal acquisition modules are arranged at T openings of the parking area in parallel; the K signal acquisition modules are arranged at an opening in parallel; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; k is a positive integer larger than or equal to 2, T is a positive integer larger than or equal to 1, the length of a single signal acquisition module is smaller than the average width of the vehicle, the distance between two adjacent phase near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the K signal acquisition modules is a fourth preset value. The first preset value is a value approximate to 0 or equal to 0. The fourth preset value is a value that is approximately equal to or greater than the opening width.

Please refer to fig. 6, which is a flowchart illustrating a parking space detection method according to an embodiment. As shown in fig. 6, the method for detecting a parking space specifically includes the following steps:

and S61, generating a rolling signal after the signal acquisition module is rolled by the vehicle, and acquiring the rolling signal.

And S62, receiving the rolling signal acquired by the signal acquisition module, and recording the rolling time of the vehicle rolling signal acquisition module according to the received rolling signal.

S63, judging whether the time sequence of the rolling time of the rolling signal acquisition module meets the driving-in condition of driving into the parking space or the driving-out condition of driving out of the parking space, if so, executing a step S64, namely detecting the number of the idle parking spaces and the positions of the idle parking spaces; if not, returning to the step S62, namely, continuously receiving the rolling signal acquired by the signal acquisition module, and recording the rolling time of the vehicle rolling signal acquisition module according to the received rolling signal.

When the parking space is the vertical parking space or the inclined parking space, the driving condition of the parking space is that the rolling time of a vehicle rolling a first signal acquisition device in an ith signal acquisition module is longer than the rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of a first signal acquisition device in a jth signal acquisition module is longer than the rolling time of a second signal acquisition device in the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time of the first signal acquisition device in the ith signal acquisition module and the rolling time of the second signal acquisition device in the ith signal acquisition module and the absolute value of the time difference between the rolling time of the first signal acquisition device in the jth signal acquisition module and the rolling time of the second signal acquisition device in the jth signal acquisition module is larger than a first time difference threshold value, less than a second time difference threshold; wherein i is more than or equal to 1, j is less than or equal to N, and i is not equal to j. The parking space exit condition is that the rolling time for rolling a first signal acquisition device in an ith signal acquisition module is less than the rolling time for rolling a second signal acquisition device in the ith signal acquisition module, the rolling time for rolling a first signal acquisition module in a jth signal acquisition module is less than the rolling time for rolling a second signal acquisition device in the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time for rolling the first signal acquisition device in the ith signal acquisition module and the rolling time for rolling the first signal acquisition device in the ith signal acquisition module to the absolute value of the time difference between the rolling time for rolling the first signal acquisition device in the jth signal acquisition module and the rolling time for rolling the second signal acquisition device in the jth signal acquisition module is greater than a first time difference threshold and less than a second time difference threshold.

If the ith signal acquisition module and the jth signal acquisition module are positioned in a vertical parking space and meet the driving-in condition, the parking space detection module reduces the number of the idle parking spaces by one; when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces;

When the parking space is the horizontal parking space, the driving-in condition of the parking space is that the driving-in condition of the driving-in parking space is that the rolling time of a first signal acquisition device in an ith signal acquisition module rolled by a first wheel of a vehicle is less than the rolling time of a second signal acquisition device in the ith signal acquisition module rolled by the second wheel of the vehicle, the rolling time of a first signal acquisition device in a jth signal acquisition module rolled by another wheel of the vehicle is less than the rolling time of a second signal acquisition device in the jth signal acquisition module rolled by the jth signal acquisition module, and the ratio of the rolling time of the first signal acquisition device in the ith signal acquisition module rolled by the first wheel of the vehicle to the rolling time of the second signal acquisition device in the jth signal acquisition module rolled by the first wheel of the vehicle is greater than the absolute value of the rolling time difference between the first signal acquisition device in the jth signal acquisition module and the rolling time of the second signal acquisition device in the jth signal acquisition module rolled by the first wheel of the vehicle The first time difference threshold is less than the second time difference threshold.

The rolling time of a first signal acquisition device in an ith signal acquisition module rolled by a first wheel of the vehicle is longer than the rolling time of a second signal acquisition device in the ith signal acquisition module rolled by a second wheel of the vehicle, the rolling time of the first signal acquisition device in a jth signal acquisition module rolled by another wheel of the vehicle is longer than the rolling time of the second signal acquisition device in the jth signal acquisition module rolled by the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time of the first signal acquisition device in the ith signal acquisition module rolled by the first wheel of the vehicle and the rolling time of the second signal acquisition device in the ith signal acquisition module rolled by the jth signal acquisition module and the absolute value of the time difference between the rolling time of the first signal acquisition device in the jth signal acquisition module rolled by another wheel of the vehicle and the rolling time of the second signal acquisition device in the jth signal acquisition module is longer than a first time difference threshold value, less than a second time difference threshold; wherein, one wheel is a front wheel or a rear wheel at one side, and the other wheel is a rear wheel or a front wheel at the same side.

If the vehicle rolls the ith signal acquisition module and the jth signal acquisition module which are positioned in one horizontal parking space, the driving-in condition is met, and the parking space detection module reduces the number of the idle parking spaces by one; and when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces.

If the vehicle rolls the ith signal acquisition module and the jth signal acquisition module which are respectively positioned in two adjacent parking spaces, the parking space detection module reduces the number of the idle parking spaces by one; and when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces.

When the parking space is a parking space in a parking area, the driving condition of the parking space is that the rolling time of a first front wheel of a vehicle rolling a first signal acquisition device in an ith signal acquisition module is longer than the rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of another front wheel of the vehicle rolling a first signal acquisition device in a jth signal acquisition module is longer than the rolling time of a second signal acquisition device in the jth signal acquisition module, the rolling time of a first rear wheel of the vehicle rolling the first signal acquisition device in the ith signal acquisition module is longer than the rolling time of the second signal acquisition device in the ith signal acquisition module, the rolling time of rolling a first signal acquisition device in the jth signal acquisition module by another rear wheel of the vehicle is longer than the rolling time of rolling a second signal acquisition device in the jth signal acquisition module; and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the ith signal acquisition module by the other front wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module by the other front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the jth signal acquisition module is greater than the first time difference threshold and less than the second time difference threshold, and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first rear wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the other rear wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module is greater than the first time A time difference threshold, less than the second time difference threshold.

If the ith signal acquisition module and the jth signal acquisition module are adjacent or separated from each other, the driving-in condition is met, and the parking space detection module reduces the number of the idle parking spaces by one; and when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces.

And S65, counting the information of the idle parking spaces according to the idle or occupied states of the parking spaces. The information of the free parking spaces comprises the number of the free parking spaces and the positions of the free parking spaces.

The present embodiment further provides a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for detecting a parking space to detect whether a time sequence of a generated rolling signal satisfies a preset exit condition or an entry condition of the parking space, and if the exit condition of the parking space is satisfied, determines that the parking space is in an idle state, and if the entry condition of the parking space is satisfied, determines that the parking space is in an occupied state; and detecting the information of the idle parking space according to the idle or occupied state of the parking space.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

EXAMPLE III

Referring to fig. 7A and 7B, a schematic structural diagram of a parking space guidance system in one embodiment or a schematic structural diagram of a parking space guidance system in another embodiment is shown. As shown in fig. 7, the guidance system 7 for the parking space includes:

at least one parking space detection device 1 according to one embodiment.

And the data center 72 is connected with the detection device 1 of the parking space through the relay node 71, and the data center 72 is used for storing the real-time data of the parking space and analyzing the real-time data of the parking space and the historical data of the parking space in a combined manner to form the guiding information of the parking space. Or referring to fig. 7B, the detection device 1 of the parking space is directly connected to the data center 72 in communication.

The terminal 73 connected to the data center 72 is configured to receive the parking space guidance information.

In summary, the parking space detection device, the parking space detection method, the guiding system and the readable storage medium of the present invention can accurately detect the parking space, have low error rate, good real-time performance, no need of high construction cost and maintenance cost, and have strong adaptability. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. A parking space detection device, comprising:

the parking space detection module is used for detecting whether the time sequence of the collected rolling signals meets the preset exit condition or the preset entry condition of the parking space, if the exit condition of the parking space is met, the parking space is judged to be in an idle state, and if the entry condition of the parking space is met, the parking space is judged to be in an occupied state; according to the idle or occupied state of the parking spaces, counting the information of the idle parking spaces;

when the parking space is a vertical parking space or an inclined parking space, the driving condition of the parking space is that the rolling time of a vehicle rolling a first signal acquisition device in an ith signal acquisition module is longer than the rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of a first signal acquisition device in a jth signal acquisition module is longer than the rolling time of a second signal acquisition device in the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time of the first signal acquisition device in the ith signal acquisition module and the rolling time of the second signal acquisition device in the ith signal acquisition module and the absolute value of the time difference between the rolling time of the first signal acquisition device in the jth signal acquisition module and the rolling time of the second signal acquisition device in the jth signal acquisition module is larger than a first time difference threshold value, less than a second time difference threshold; wherein i is more than or equal to 1, j is more than or equal to N, and i is not equal to j; the signal acquisition modules are arranged on a first preset laying belt of a vertical parking place or an inclined parking place in a straight line; the vertical parking space and the horizontal parking space comprise two parallel first lines and a second line perpendicular to the first lines; the inclined parking space comprises two parallel first lines and a second line intersected with the first lines; the first line is a long side, and the second line is a short side; when the parking space is the vertical parking space or the inclined parking space, each group of R groups is provided with N signal acquisition modules which are arranged on a first preset laying belt of the vertical parking space or the inclined parking space side by side; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; n is a positive integer greater than or equal to 2, and R is a positive integer greater than or equal to 1; the first preset laying belt is parallel to a second line of the vertical parking space or the inclined parking space; the length of a single signal acquisition module is smaller than the width of a parking space, the distance between two adjacent phase near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the N signal acquisition modules is a second preset value;

the parking space exit condition is that the rolling time for rolling a first signal acquisition device in an ith signal acquisition module is less than the rolling time for rolling a second signal acquisition device in the ith signal acquisition module, the rolling time for rolling a first signal acquisition module in a jth signal acquisition module is less than the rolling time for rolling a second signal acquisition device in the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time for rolling the first signal acquisition device in the ith signal acquisition module and the rolling time for rolling the first signal acquisition device in the ith signal acquisition module to the absolute value of the time difference between the rolling time for rolling the first signal acquisition device in the jth signal acquisition module and the rolling time for rolling the second signal acquisition device in the jth signal acquisition module is greater than a first time difference threshold and less than a second time difference threshold.

2. The parking space detection apparatus according to claim 1,

the parking spaces comprise vertical parking spaces, inclined parking spaces, horizontal parking spaces or parking spaces in a parking area;

when the parking space is the horizontal parking space, M signal acquisition modules in each group of the S groups are arranged on a second preset laying belt of the horizontal parking space side by side; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; s, M is a positive integer greater than or equal to 1; the second preset laying belt is parallel to a second line of the horizontal parking space; the length of a single signal acquisition module is less than or equal to the length of a parking space, the distance between two adjacent phase near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the M signal acquisition modules is a third preset value;

when the parking space is a parking space in a parking area, each group of the T groups is provided with K signal acquisition modules which are arranged at T openings of the parking area side by side; the K signal acquisition modules are arranged at an opening side by side; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; k is a positive integer greater than or equal to 2, and T is a positive integer greater than or equal to 1; the length of a single signal acquisition module is smaller than the average width of the vehicle, the distance between two adjacent phase near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the K signal acquisition modules is a fourth preset value.

3. The parking space detection apparatus according to claim 2,

the parking space detection module is used for receiving rolling signals acquired by R groups of N signal acquisition modules, S groups of M signal acquisition modules or T groups of K signal acquisition modules, recording the rolling time of a vehicle rolling the R groups of N signal acquisition modules, the S groups of M signal acquisition modules or the T groups of K signal acquisition modules, and judging whether the time sequence of the rolling time of the rolling signal acquisition modules meets the entrance condition of entering the parking space or the exit condition of exiting the parking space, if so, detecting the number of idle parking spaces and the positions of the idle parking spaces; and if not, enabling the signal acquisition module to continuously acquire the rolling signal.

4. The parking space detection apparatus according to claim 2,

if the ith signal acquisition module and the jth signal acquisition module are positioned in a vertical parking space or an inclined parking space and meet the driving-in condition, the parking space detection module reduces the number of the idle parking spaces by one; when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces;

if the ith signal acquisition module and the jth signal acquisition module are respectively positioned in two adjacent vertical parking spaces or inclined parking spaces and meet the driving-in condition, the parking space detection module reduces the number of idle parking spaces by two; and if the exit condition is met, the parking space detection module adds two to the number of the idle parking spaces.

5. The parking space detection apparatus according to claim 3,

when the parking space is the horizontal parking space, the driving condition of the parking space is that the rolling time of a first signal acquisition device in an ith signal acquisition module rolled by a first wheel of a vehicle is less than the rolling time of a second signal acquisition device in the ith signal acquisition module rolled by the second wheel of the vehicle, the rolling time of a first signal acquisition device in a jth signal acquisition module rolled by another wheel of the vehicle is less than the rolling time of a second signal acquisition device in the jth signal acquisition module rolled by the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time of the first signal acquisition device in the ith signal acquisition module rolled by the first wheel of the vehicle and the rolling time of the second signal acquisition device in the jth signal acquisition module rolled by the jth signal acquisition module and the absolute value of the time difference between the rolling time of the first signal acquisition device in the jth signal acquisition module rolled by another wheel of the vehicle is greater than a first time difference threshold value, less than a second time difference threshold;

the driving-out condition of the parking space is that the rolling time of a first signal acquisition device in an ith signal acquisition module rolled by a first wheel of the vehicle is longer than the rolling time of a second signal acquisition device in the ith signal acquisition module rolled by the first wheel of the vehicle, the rolling time of the other wheel of the vehicle rolled by a first signal acquisition device in a jth signal acquisition module is longer than the rolling time of a second signal acquisition device in the jth signal acquisition module rolled by the second wheel of the vehicle, the absolute value of the time difference between the rolling time of the first signal acquisition device in the ith signal acquisition module rolled by the first wheel of the vehicle and the rolling time of the second signal acquisition device in the ith signal acquisition module rolled by the ith wheel of the vehicle and the absolute value of the time difference between the rolling time of the first signal acquisition device in the jth signal acquisition module rolled by the other wheel of the vehicle and the rolling time of the second signal acquisition device in the jth signal acquisition module are greater than a first time difference threshold value, less than a second time difference threshold; wherein, i is more than or equal to 1, and j is more than or equal to M; wherein, one wheel is a front wheel at one side, and the other wheel is a rear wheel at the same side, or one wheel is a rear wheel at one side, and the other wheel is a front wheel at the same side.

6. The parking space detection apparatus according to claim 5,

if the vehicle rolls the ith signal acquisition module and the jth signal acquisition module which are positioned in one horizontal parking space, the driving-in condition is met, and the parking space detection module reduces the number of the idle parking spaces by one; when the exit condition is met, the parking space detection module adds one to the number of the idle parking spaces;

if the vehicle rolls the ith signal acquisition module and the jth signal acquisition module which are respectively positioned in two adjacent parking spaces, the driving-in condition is met, and the parking space detection module reduces the number of the idle parking spaces by two; and if the exit condition is met, the parking space detection module adds two to the number of the idle parking spaces.

7. The parking space detection apparatus according to claim 3,

8. The apparatus according to claim 7, wherein when the parking space is a parking space in a parking area, the exiting condition of the parking space is that a front wheel of the vehicle rolls a first signal acquisition device in an ith signal acquisition module for a shorter time than a second signal acquisition device in the ith signal acquisition module, another front wheel of the vehicle rolls a first signal acquisition device in a jth signal acquisition module for a shorter time than a second signal acquisition device in the jth signal acquisition module, a rear wheel of the vehicle rolls a first signal acquisition device in the ith signal acquisition module for a shorter time than a second signal acquisition device in the ith signal acquisition module for a shorter time than a rolling time, and another rear wheel of the vehicle rolls a first signal acquisition device in the jth signal acquisition module for a shorter time than a rolling time of a second signal acquisition device in the jth signal acquisition module Pressing time; and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the ith signal acquisition module by the other front wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module by the other front wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the jth signal acquisition module is greater than the first time difference threshold and less than the second time difference threshold, and the ratio of the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the ith signal acquisition module by the first rear wheel of the vehicle and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module by the other rear wheel of the vehicle to the absolute value of the time difference between the rolling time of rolling the first signal acquisition device in the jth signal acquisition module and the rolling time of rolling the second signal acquisition device in the jth signal acquisition module is greater than the first time A time difference threshold, less than the second time difference threshold.

9. The parking space detection apparatus according to claim 7 or 8,

10. The parking space detection apparatus according to claim 2, further comprising:

the signal conversion module is connected with the signal acquisition modules and is used for converting analog rolling signals acquired by the R groups of N signal acquisition modules, the S groups of M signal acquisition modules or the T groups of K signal acquisition modules into digital rolling signals;

and the communication module is connected with the parking space detection module and is used for transmitting the information of the idle parking spaces detected by the parking space detection module.

11. The apparatus of claim 10, wherein the communication module comprises a WIFI module, a LoRa module, an NB-IoT module, a bluetooth module, a 3G communication module, or a 4G communication module.

12. The parking space detection device according to claim 10, wherein the signal acquisition module is laid in a sensor strip form in a middle area of the parking space; the sensor comprises a piezoelectric sensor, a pressure sensor or a switch on-off sensor; the piezoelectric sensor comprises a piezoelectric sheet or a piezoelectric axis sensor; the positive output end of the sensor is connected with the input end of the signal conversion module, and the negative output end of the sensor is connected with the ground wire.

13. The parking space detection method is applied to the parking space with a signal acquisition module laid inside, and comprises the following steps:

collecting rolling signals when rolling by a vehicle;

detecting whether the time sequence of the generated rolling signals meets the preset exit condition or the preset entry condition of the parking space, if so, judging that the parking space is in an idle state, and if so, judging that the parking space is in an occupied state; when the parking space is a vertical parking space or an inclined parking space, the driving condition of the parking space is that the rolling time of a vehicle rolling a first signal acquisition device in an ith signal acquisition module is longer than the rolling time of a second signal acquisition device in the ith signal acquisition module, the rolling time of a first signal acquisition device in a jth signal acquisition module is longer than the rolling time of a second signal acquisition device in the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time of the first signal acquisition device in the ith signal acquisition module and the rolling time of the second signal acquisition device in the ith signal acquisition module and the absolute value of the time difference between the rolling time of the first signal acquisition device in the jth signal acquisition module and the rolling time of the second signal acquisition device in the jth signal acquisition module is larger than a first time difference threshold value, less than a second time difference threshold; wherein i is more than or equal to 1, j is more than or equal to N, and i is not equal to j; the signal acquisition modules are arranged on a first preset laying belt of a vertical parking place or an inclined parking place in a straight line; the vertical parking space and the horizontal parking space comprise two parallel first lines and a second line perpendicular to the first lines; the inclined parking space comprises two parallel first lines and a second line intersected with the first lines; the first line is a long side, and the second line is a short side; when the parking space is the vertical parking space or the inclined parking space, each group of R groups is provided with N signal acquisition modules which are arranged on a first preset laying belt of the vertical parking space or the inclined parking space side by side; each signal acquisition module comprises a first signal acquisition device and a second signal acquisition device; n is a positive integer greater than or equal to 2, and R is a positive integer greater than or equal to 1; the first preset laying belt is parallel to a second line of the vertical parking space or the inclined parking space; the length of a single signal acquisition module is smaller than the width of a parking space, the distance between two adjacent phase near ends of two adjacent signal acquisition modules is a first preset value, and the total length of the N signal acquisition modules is a second preset value;

the parking space exit condition is that the rolling time for rolling a first signal acquisition device in an ith signal acquisition module is less than the rolling time for rolling a second signal acquisition device in the ith signal acquisition module, the rolling time for rolling a first signal acquisition module in a jth signal acquisition module is less than the rolling time for rolling a second signal acquisition device in the jth signal acquisition module, and the ratio of the absolute value of the time difference between the rolling time for rolling the first signal acquisition device in the ith signal acquisition module and the rolling time for rolling the first signal acquisition device in the ith signal acquisition module to the absolute value of the time difference between the rolling time for rolling the first signal acquisition device in the jth signal acquisition module and the rolling time for rolling the second signal acquisition device in the jth signal acquisition module is greater than a first time difference threshold and less than a second time difference threshold;

and counting the information of the idle parking spaces according to the idle or occupied states of the parking spaces.

14. A readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method for detecting a parking space according to claim 13, wherein the method detects whether a timing sequence of a generated rolling signal satisfies a preset exit condition or entry condition of the parking space, and determines that the parking space is in an idle state if the exit condition of the parking space is satisfied, and determines that the parking space is in an occupied state if the entry condition of the parking space is satisfied; and detecting the information of the idle parking space according to the idle or occupied state of the parking space.

15. A guidance system for a parking space, comprising:

-at least one detection device of a parking space according to any of claims 1-12;

the data center is used for storing the real-time data of the parking space and analyzing the real-time data of the parking space and the historical data of the parking space in a combined manner to form the guide information of the parking space;

and the terminal is connected with the data center and used for receiving the parking space guide information.

16. The guidance system for the parking space according to claim 15, wherein data forwarding is performed between the detection device for the parking space and the data center through a plurality of relay nodes; or the detection device of the parking space is directly connected with the data center in a communication mode.