CN110439346A - A kind of intelligent parking method and device based on Internet of Things - Google Patents
A kind of intelligent parking method and device based on Internet of Things Download PDFInfo
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- CN110439346A CN110439346A CN201910597722.2A CN201910597722A CN110439346A CN 110439346 A CN110439346 A CN 110439346A CN 201910597722 A CN201910597722 A CN 201910597722A CN 110439346 A CN110439346 A CN 110439346A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000007781 pre-processing Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 8
- 230000004069 differentiation Effects 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 238000011897 real-time detection Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 claims description 4
- 238000007726 management method Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
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Abstract
The present invention relates to automatic parking technical fields, more particularly to a kind of intelligent parking method and device based on Internet of Things, it is located at the license plate number for waiting parking position region by identifying, and then respond parking request instruction, selected target parking place, and respond instruction of parking, selected target parking equipment, obtain the destination path planning information of the target parking equipment, the target parking equipment is finally controlled to be run according to the destination path planning information to waiting parking position, and vehicle is moved to target parking place, the present invention can conveniently park, parking lot management personnel and car owner are solved to convenient and strength-saving, the demand of safe and reliable mode of parking.
Description
Technical field
The present invention relates to automatic parking technical fields, and in particular to a kind of intelligent parking method and dress based on Internet of Things
It sets.
Background technique
Based on being continuously increased for city vehicle total amount, the continuous expansion of Public Parking and structure arrangement become increasingly complex,
Conveniently parking becomes a pain spot of vehicle management, and existing parking mode is nearly all that car owner oneself finds empty parking space
Parking, car owner needs ceaselessly to go on patrol in parking lot to check, when encountering emergency, parking stall parking is looked for waste time very much；Such as
If stopping more time-consuming and laborious in a strange parking lot.
Summary of the invention
The intelligent parking method and device based on Internet of Things that the purpose of the present invention is to provide a kind of, it is intended to can be conveniently fast
Prompt park, and solves the demand of parking lot management personnel and car owner to convenient and strength-saving, safe and reliable mode of parking.
To achieve the goals above, the present invention the following technical schemes are provided:
A kind of intelligent parking method based on Internet of Things, comprising:
Identification is located at the license plate number for waiting parking position region；
Response parking request instruction, selected target parking place；
Instruction of parking is responded, selected target parking equipment obtains the destination path planning information of the target parking equipment；
The target parking equipment is controlled to be run according to the destination path planning information to waiting parking position, and by vehicle
It is moved to target parking place.
Further, license plate number of the identification positioned at waiting parking position region includes:
Real-time detection waits on parking position whether having vehicle parking；
When detecting has vehicle parking on the waiting parking position, the instruction of triggering collection vehicle image；
The license plate number for being located at waiting parking position region is obtained according to the vehicle image.
Further, described that described the step of being located at the license plate number for waiting parking position region is obtained according to the vehicle image
Include:
By pre-processing to the vehicle image, gray level image is generated；
In the enterprising every trade column scan of the gray level image, license plate area image is determined；
The character zone in the license plate area image is positioned, character zone is split according to character size feature,
Obtain 7 character pictures；
Feature extractions are carried out to 7 character pictures respectively, and with the standard character characteristic formp in Character mother plate database
Carry out matching differentiation；
License plate number is generated according to the result that the matching differentiates.
Further, the selected target parking equipment obtains the destination path planning information of the target parking equipment
Step includes:
The grid model for constructing parking lot, the path planning preset between the waiting parking position and all parking places are believed
Breath, wherein the parking equipment docks at parking place；
Parking equipment idle in all parking equipments is inquired, the nearest idle pool of waiting parking position described in selected distance
Vehicle device is as target parking equipment；
The corresponding parking place of the target parking equipment is inquired to the route planning information for waiting parking position, will be inquired
The route planning information arrived is as destination path planning information.
Further, it is run according to the destination path planning information to waiting and is moored in the control target parking equipment
Parking stall, and in the step of vehicle is moved to target parking place, further includes:
Read the corresponding number order of all parking equipments；
The speed operation that the target parking equipment is controlled to set；
Adjacent the distance between the target parking equipment of real-time measurement is numbered suitable when the distance is lower than given threshold
The posterior target parking equipment of sequence is out of service, until the distance starts operation after being more than or equal to given threshold.
A kind of intelligent parking device based on Internet of Things, described device include: memory, processor and are stored in described
In memory and the computer program that can run on the processor, the processor execute the computer program and operate in
In the module of following device:
License plate number identification module is located at the license plate number for waiting parking position region for identification；
Parking place generation module, for responding parking request instruction, selected target parking place；
Route planning information generation module, for responding instruction of parking, selected target parking equipment obtains the target pool
The destination path planning information of vehicle device；
It parks module, is run to waiting according to the destination path planning information for controlling the target parking equipment and moored
Parking stall, and vehicle is moved to target parking place.
Further, the license plate number identification module specifically includes:
Vehicle parking detection module waits on parking position whether having vehicle parking for real-time detection；
Vehicle image acquisition module, for when detecting has vehicle parking on the waiting parking position, triggering collection vehicle
The instruction of image；
License plate number obtains module, for obtaining the license plate for being located at waiting parking position region according to the vehicle image
Number.
Further, the license plate number obtains module and specifically includes:
Image pre-processing module, for generating gray level image by pre-processing to the vehicle image；
License Plate module, for determining license plate area image in the enterprising every trade column scan of the gray level image；
Character segmentation module, for positioning the character zone in the license plate area image, according to character size feature pair
Character zone is split, and obtains 7 character pictures；
Character recognition module, for carrying out feature extractions to 7 character pictures respectively, and in Character mother plate database
Standard character characteristic formp carries out matching differentiation；
As a result output module, the result for being differentiated according to the matching generate license plate number.
Further, the route planning information generation module specifically includes:
Presetting module, for constructing the grid model in parking lot, preset the waiting parking position and all parking places it
Between route planning information, wherein the parking equipment docks at parking place；
It chooses module and waits parking position described in selected distance for inquiring parking equipment idle in all parking equipments
Nearest idle parking equipment is as target parking equipment；
Enquiry module, for inquiring the corresponding parking place of the target parking equipment to the path planning for waiting parking position
Information, the route planning information that inquiry is obtained is as destination path planning information.
Further, the module of parking further includes operation control module, and the operation control module is used for:
Read the corresponding number order of all parking equipments；
The speed operation that the target parking equipment is controlled to set；
Adjacent the distance between the target parking equipment of real-time measurement is numbered suitable when the distance is lower than given threshold
The posterior target parking equipment of sequence is out of service, until the distance starts operation after being more than or equal to given threshold.
The beneficial effects of the present invention are: the present invention discloses a kind of intelligent parking method and device based on Internet of Things, pass through
Identification is located at the license plate number for waiting parking position region, and then responds parking request instruction, selected target parking place, and ring
Should park instruction, selected target parking equipment, obtain the destination path planning information of the target parking equipment, finally control institute
It states target parking equipment to be run according to the destination path planning information to waiting parking position, and vehicle is moved to target and is parked
Position, the present invention can conveniently park, and solve parking lot management personnel and car owner to convenient and strength-saving, safe and reliable
Mode of parking demand.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow diagram of the intelligent parking method based on Internet of Things of the embodiment of the present invention；
Fig. 2 is the flow diagram of step S100 in the embodiment of the present invention；
Fig. 3 is the flow diagram of step S13 in the embodiment of the present invention；
Fig. 4 is a flow diagram of step S300 in the embodiment of the present invention；
Fig. 5 is a flow diagram of step S400 in the embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of the intelligent parking device based on Internet of Things of the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of license plate number identification module in the embodiment of the present invention；
Fig. 8 is the structural schematic diagram that license plate number obtains module in the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of route planning information generation module in the embodiment of the present invention.
Specific embodiment
Clear, complete description is carried out to technical solution of the present invention below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel are obtained without making creative work so other embodiments, belong to protection scope of the present invention.
With reference to Fig. 1, the embodiment of the present invention provides a kind of intelligent parking method based on Internet of Things, comprising:
Step S100, identification is located at the license plate number for waiting parking position region.
In one embodiment, for convenient for being verified when subsequent pick-up, step S100 further includes, it is random generate with it is described
The corresponding pick-up password of license plate number.
Step S200, response parking request instruction, selected target parking place；
Step S300, instruction of parking is responded, selected target parking equipment obtains the destination path of the target parking equipment
Planning information；
Step S400, the control target parking equipment, which is run according to the destination path planning information to waiting, parks
Position, and vehicle is moved to target parking place.
Technical solution disclosed in the present embodiment can conveniently provide parking place information, can parking lot be managed
Reason personnel and car owner are convenient and strength-saving, safe and reliable park.
With reference to Fig. 2, in an alternative embodiment, in the step s 100, the identification, which is located at, waits parking position region
The method of license plate number include:
Step S110, real-time detection waits whether parking position has vehicle parking.
Step S120, when detecting has vehicle parking on the waiting parking position, the instruction of triggering collection vehicle image.
In one embodiment, when waiting parking position to have vehicle parking, triggering, which is embedded in, waits the pressure of parking position to pass
Sensor alarm；It is arranged in and the camera of parking position rear and front end is waited to respond the alarm progress image taking, obtains vehicle figure
Picture, the vehicle image include license plate image.
Step S130, the license plate number for being located at waiting parking position region is obtained according to the vehicle image.
Technical solution disclosed in the present embodiment carries out information of vehicles monitoring using automation means, can be further such that stopping
Parking lot administrative staff and car owner is convenient and strength-saving parks.
With reference to Fig. 3, in an alternative embodiment, the step S130 includes:
Step S131, by pre-processing to the vehicle image, gray level image is generated.
Step S132, in the enterprising every trade column scan of the gray level image, license plate area image is determined.
In one embodiment, the concrete mode of the step S132 are as follows: gray processing is carried out to the vehicle image, is used
Robert operator carries out edge detection；Then remove the noise information in the vehicle image, then carry out closed procedure make it is described
The profile of vehicle image becomes smooth.
Existing licence plate character and background color are collocated with blue bottom wrongly written or mispronounced character, yellow bottom black word, white background The Scarlet Letter, green bottom wrongly written or mispronounced character and black
Bottom wrongly written or mispronounced character etc. is several, can significantly be distinguished character zone and background background color using different color channels.
By taking the car license plate of blue bottom wrongly written or mispronounced character as an example, in one embodiment, using blue channel by the vehicle in vehicle image
Board image extracts, character of the overall region of license plate image for a bright rectangle, in license plate image when using blue channel
It does not present.Because blue (255,0,0) and white (255,255,255) have no differentiation in blue channel, and logical in green
This convenience is had no in road, red channel or gray level image.Red channel, green bottom wrongly written or mispronounced character similarly can be used to the licence plate of white background The Scarlet Letter
Licence plate can use green channel, can thus be rendered obvious by out the position in license plate image region, be convenient for subsequent processing.
Step S133, the character zone in the license plate area image is positioned, according to character size feature to character zone
It is split, obtains 7 character pictures.
In one embodiment, the word in the license plate area image is positioned using processing modes such as gray processing, binaryzations
Accord with region.
Specifically, the character zone localization method in license plate area image are as follows: by preset Character segmentation template, by word
Symbol cutting board is inserted in character zone, is cut to character zone, is obtained 7 character pictures.
Step S134, feature extractions are carried out to 7 character pictures respectively, and with the standard character in Character mother plate database
Characteristic formp carries out matching differentiation.
Step S135, license plate number is generated according to the result that the matching differentiates.
The embodiment optimized as one further comprises the steps of: random generate and the license plate number pair after step S135
The pick-up password answered, and the corresponding pick-up password of the license plate number is exported with text formatting.It is defeated by text formatting
Out, parking lot management personnel be can be convenient or car owner checks.
The present embodiment is controlled based on Internet of Things, and the license plate number for waiting parking position is accurately identified by image recognition algorithm
Code, using automation means carry out license plate registration, can with further such that parking lot management personnel and car owner it is convenient and strength-saving into
Row is parked.
In an alternative embodiment, in the step S200, the method for the selected target parking place includes:
Parking place idle in all parking places is inquired, the nearest idle pool of waiting parking position described in selected distance
Truck position is as target parking place.To distribute most convenient parking place automatically.
When the idle parking place nearest apart from the waiting parking position is multiple, standby time longest is chosen
Parking place as target parking place.To guarantee that all parking places are equalized utilization.
In the present embodiment, the parking place of the free time can not yet establish the pool of corresponding relationship by inquiring with license plate number
Truck position obtains.
Technical solution disclosed in the present embodiment can distribute parking place automatically, find empty parking space without artificial, be not necessarily to
Parking lot is ceaselessly gone on patrol and is checked, saving largely looks for the parking stall time, provides a kind of convenience to parking lot management personnel and car owner
Laborsaving, safe and reliable mode of parking.
With reference to Fig. 4, in an alternative embodiment, in step S300, the selected target parking equipment obtains institute
The method for stating the destination path planning information of target parking equipment includes:
Step S311, the grid model for constructing parking lot, presets between the waiting parking position and all parking places
Route planning information, the parking equipment dock at parking place.
Step S312, parking equipment idle in all parking equipments is inquired, waiting parking position described in selected distance is nearest
Idle parking equipment as target parking equipment.To provide parking equipment in the shortest time.
In the present embodiment, the parking equipment of the free time is to rest in parking equipment out of service on parking equipment.
Step S313, the corresponding parking place of the target parking equipment is inquired to the path planning letter for waiting parking position
Breath, the route planning information that inquiry is obtained is as destination path planning information.
In one embodiment, using Hybox intelligence AGV parking robot as parking equipment, Hybox intelligence AGV pool
Vehicle can be moved to target parking place automatically according to destination path planning information by vehicle robot, be familiar with parking without car owner
Field environment, stops more time-consuming and laborious.
With reference to Fig. 5, in an alternative embodiment, all parking equipments have corresponding number order, the step
S400 further include:
Step S411, the corresponding number order of all parking equipments is read.
Step S412, the speed operation for controlling the selected parking equipment to set.
Step S413, adjacent the distance between the target parking equipment of real-time measurement, when the distance is lower than given threshold
When, the posterior target parking equipment of number order is out of service, until the distance starts operation after being more than or equal to given threshold.
In an alternative embodiment, the parking equipment is provided with laser navigation gear, carries out distance using laser
Detection, calculates adjacent the distance between selected parking equipment from the received time is issued to by laser.The present embodiment is public
The technical solution opened prevents speed is different from causing to collide between parking equipment by the setting speed of service.By surveying in real time
Adjacent the distance between selected parking equipment, and then the running order between reasonable arrangement parking equipment are measured, operation road is prevented
Diameter intersection causes to collide between parking equipment.A kind of safe and reliable side of parking is provided to parking lot management personnel and car owner
Formula.
With reference to Fig. 6, a kind of intelligent parking device based on Internet of Things provided in an embodiment of the present invention, described device includes:
Memory, processor and storage in the memory and the computer program that can run on the processor, the place
Reason device executes the computer program and operates in the module of following device:
License plate number identification module 100 is located at the license plate number for waiting parking position region for identification.
In an alternative embodiment, the license plate number identification module 100 is also used to generate and the license plate at random
The corresponding pick-up password of number.
Parking place generation module 200, for responding parking request instruction, selected target parking place.
Route planning information generation module 300, for responding instruction of parking, selected target parking equipment obtains the mesh
Mark the destination path planning information of parking equipment.
Module of parking 400, for control the target parking equipment according to the destination path planning information run to etc.
Target parking place is moved to parking position, and by vehicle.
With reference to Fig. 7, in a preferred embodiment, the license plate number identification module 100 is specifically included:
Vehicle parking detection module 110 waits on parking position whether having vehicle parking for real-time detection；
Vehicle image acquisition module 120, for when detecting has vehicle parking on the waiting parking position, triggering collection
The instruction of vehicle image；
License plate number obtains module 130, for according to the vehicle image obtain it is described be located at wait parking position region
License plate number.
With reference to Fig. 8, in a preferred embodiment, the license plate number obtains module 130 and specifically includes:
Image pre-processing module 131, for generating gray level image by pre-processing to the vehicle image；
License Plate module 132, for determining license plate area image in the enterprising every trade column scan of the gray level image；
Character segmentation module 133, for positioning the character zone in the license plate area image, according to character size feature
Character zone is split, 7 character pictures are obtained；
Character recognition module 134, for carrying out feature extractions to 7 character pictures respectively, and with Character mother plate database
In standard character characteristic formp carry out matching differentiation；
As a result output module 135, the result for being differentiated according to the matching generate license plate number.
In an alternative embodiment, the parking place generation module 200 is also used to:
Response parking request instruction inquires parking place idle in all parking places, waits pool described in selected distance
The nearest idle parking place in parking stall is as target parking place.
When the idle parking place nearest apart from the waiting parking position is multiple, standby time longest is chosen
Parking place as target parking place.
With reference to Fig. 9, in a preferred embodiment, the route planning information generation module 300 is specifically included:
Presetting module 311 presets the waiting parking position and all parking places for constructing the grid model in parking lot
Between route planning information, wherein the parking equipment docks at parking place
Module 312 is chosen to wait and parking described in selected distance for inquiring parking equipment idle in all parking equipments
The nearest idle parking equipment in position is as target parking equipment.
Enquiry module 313, for inquiring the corresponding parking place of the target parking equipment to the path for waiting parking position
Planning information, the route planning information that inquiry is obtained is as destination path planning information.
In a preferred embodiment, the module 400 of parking further includes operation control module, and the operation controls mould
Block is used for:
Read the corresponding number order of all parking equipments；
The speed operation that the target parking equipment is controlled to set；
Adjacent the distance between the target parking equipment of real-time measurement is numbered suitable when the distance is lower than given threshold
The posterior target parking equipment of sequence is out of service, until the distance starts operation after being more than or equal to given threshold.
The intelligent parking device based on Internet of Things can run on desktop PC, notebook, palm PC and
Cloud server etc. calculates in equipment.The intelligent parking device based on Internet of Things, the device that can be run may include, but not only
It is limited to, processor, memory.It will be understood by those skilled in the art that the example is only based on the intelligent parking of Internet of Things
The example of device does not constitute the restriction to the intelligent parking device based on Internet of Things, may include more more or less than example
Component, perhaps combine certain components or different components, such as the intelligent parking device based on Internet of Things can be with
Including input-output equipment, network access equipment, bus etc..
Alleged processor can be central processing unit (Central-Processing-Unit, CPU), can also be it
His general processor, digital signal processor (Digital-Signal-Processor, DSP), specific integrated circuit
(Application-Specific-Integrated-Circuit, ASIC), ready-made programmable gate array (Field-
Programmable-Gate-Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng, the processor is the control centre of the intelligent parking device running gear based on Internet of Things, using various interfaces and
Connection entirely the intelligent parking device based on Internet of Things can running gear various pieces.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions of intelligent parking device based on Internet of Things.The memory can mainly include storing program area and storing data
Area, wherein storing program area can application program needed for storage program area, at least one function (such as sound-playing function,
Image player function etc.) etc.；Storage data area, which can be stored, uses created data (such as audio data, electricity according to mobile phone
Script for story-telling etc.) etc..In addition, memory may include high-speed random access memory, it can also include nonvolatile memory, such as
Hard disk, memory, plug-in type hard disk, intelligent memory card (Smart-Media-Card, SMC), secure digital (Secure-
Digital, SD) card, flash card (Flash-Card), at least one disk memory, flush memory device or other volatibility are solid
State memory device.
Although the description of the disclosure is quite detailed and especially several embodiments are described, it is not
Any of these details or embodiment or any specific embodiments are intended to be limited to, but should be considered as is by reference to appended
A possibility that claim provides broad sense in view of the prior art for these claims explanation, to effectively cover the disclosure
Preset range.In addition, the disclosure is described with inventor's foreseeable embodiment above, its purpose is to be provided with
Description, and those equivalent modifications that the disclosure can be still represented to the unsubstantiality change of the disclosure still unforeseen at present.
Claims (10)
1. a kind of intelligent parking method based on Internet of Things characterized by comprising
Identification is located at the license plate number for waiting parking position region；
Response parking request instruction, selected target parking place；
Instruction of parking is responded, selected target parking equipment obtains the destination path planning information of the target parking equipment；
It controls the target parking equipment to be run according to the destination path planning information to waiting parking position, and vehicle is moved
To target parking place.
2. a kind of intelligent parking method based on Internet of Things according to claim 1, which is characterized in that the identification is located at
Wait parking position region license plate number include:
Real-time detection waits on parking position whether having vehicle parking；
When detecting has vehicle parking on the waiting parking position, the instruction of triggering collection vehicle image；
The license plate number for being located at waiting parking position region is obtained according to the vehicle image.
3. a kind of intelligent parking method based on Internet of Things according to claim 2, which is characterized in that described according to
Vehicle image obtains described the step of being located at the license plate number for waiting parking position region and includes:
By pre-processing to the vehicle image, gray level image is generated；
In the enterprising every trade column scan of the gray level image, license plate area image is determined；
The character zone in the license plate area image is positioned, character zone is split according to character size feature, obtains 7
Open character picture；
Feature extraction is carried out to 7 character pictures respectively, and is carried out with the standard character characteristic formp in Character mother plate database
Matching differentiates；
License plate number is generated according to the result that the matching differentiates.
4. a kind of intelligent parking method based on Internet of Things according to claim 1, which is characterized in that the selected target
Parking equipment, the step of obtaining the destination path planning information of the target parking equipment include:
The grid model for constructing parking lot presets the route planning information between the waiting parking position and all parking places,
Wherein, the parking equipment docks at parking place；
Parking equipment idle in all parking equipments is inquired, nearest idle the parking of waiting parking position described in selected distance is set
It is standby to be used as target parking equipment；
The corresponding parking place of the target parking equipment is inquired to the route planning information for waiting parking position, inquiry is obtained
Route planning information is as destination path planning information.
5. a kind of intelligent parking method based on Internet of Things according to claim 1, which is characterized in that in the control institute
It states target parking equipment to be run according to the destination path planning information to waiting parking position, and vehicle is moved to target and is parked
In the step of position, further includes:
Read the corresponding number order of all parking equipments；
The speed operation that the target parking equipment is controlled to set；
Adjacent the distance between the target parking equipment of real-time measurement, when the distance is lower than given threshold, number order exists
Target parking equipment afterwards is out of service, until the distance starts operation after being more than or equal to given threshold.
6. a kind of intelligent parking device based on Internet of Things, which is characterized in that described device include: memory, processor and
The computer program that can be run in the memory and on the processor is stored, the processor executes the computer
Program operates in the module of following device:
License plate number identification module is located at the license plate number for waiting parking position region for identification；
Parking place generation module, for responding parking request instruction, selected target parking place；
Route planning information generation module is parked instruction for responding, selected target parking equipment, obtains the target and park to set
Standby destination path planning information；
It parks module, is run to waiting according to the destination path planning information for controlling the target parking equipment and parked
Position, and vehicle is moved to target parking place.
7. a kind of intelligent parking device based on Internet of Things according to claim 6, which is characterized in that the license plate number
Identification module specifically includes:
Vehicle parking detection module waits on parking position whether having vehicle parking for real-time detection；
Vehicle image acquisition module, for when detecting has vehicle parking on the waiting parking position, triggering collection vehicle figure
The instruction of picture；
License plate number obtains module, for obtaining the license plate number for being located at waiting parking position region according to the vehicle image
Code.
8. a kind of intelligent parking device based on Internet of Things according to claim 7, which is characterized in that the license plate number
Module is obtained to specifically include:
Image pre-processing module, for generating gray level image by pre-processing to the vehicle image；
License Plate module, for determining license plate area image in the enterprising every trade column scan of the gray level image；
Character segmentation module, for positioning the character zone in the license plate area image, according to character size feature to character
Region is split, and obtains 7 character pictures；
Character recognition module, for carrying out feature extractions to 7 character pictures respectively, and with the standard in Character mother plate database
Character feature form carries out matching differentiation；
As a result output module, the result for being differentiated according to the matching generate license plate number.
9. a kind of intelligent parking device based on Internet of Things according to claim 6, which is characterized in that the path planning
Information generating module specifically includes:
Presetting module is preset between the waiting parking position and all parking places for constructing the grid model in parking lot
Route planning information, wherein the parking equipment docks at parking place；
Module is chosen, for inquiring parking equipment idle in all parking equipments, waiting parking position described in selected distance is nearest
Idle parking equipment as target parking equipment；
Enquiry module, for inquiring the corresponding parking place of the target parking equipment to the path planning letter for waiting parking position
Breath, the route planning information that inquiry is obtained is as destination path planning information.
10. a kind of intelligent parking device based on Internet of Things according to claim 6, which is characterized in that the mould of parking
Block further includes operation control module, and the operation control module is used for:
Read the corresponding number order of all parking equipments；
The speed operation that the target parking equipment is controlled to set；
Adjacent the distance between the target parking equipment of real-time measurement, when the distance is lower than given threshold, number order exists
Target parking equipment afterwards is out of service, until the distance starts operation after being more than or equal to given threshold.
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