CN110444043A - A kind of parking stall cruising inspection system and its method based on location technology - Google Patents
A kind of parking stall cruising inspection system and its method based on location technology Download PDFInfo
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- CN110444043A CN110444043A CN201910870237.8A CN201910870237A CN110444043A CN 110444043 A CN110444043 A CN 110444043A CN 201910870237 A CN201910870237 A CN 201910870237A CN 110444043 A CN110444043 A CN 110444043A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
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Abstract
The parking stall cruising inspection system and its method, technical characteristics that the present invention relates to a kind of based on location technology are: including intelligent patrol detection vehicle and vehicle location service device；Intelligent patrol detection vehicle is used to obtain the relative coordinate between the absolute coordinate and intelligent patrol detection vehicle and vehicle to be positioned of intelligent patrol detection vehicle, and this two groups of coordinate datas are uploaded to vehicle location service device, whether vehicle location service device judges vehicle to be positioned on parking stall according to this two groups of coordinate datas.This method comprises: vehicle location service device establishes parking stall map；Above-mentioned coordinate is simultaneously uploaded vehicle location service device by the absolute coordinate of relative coordinate, intelligent patrol detection vehicle between intelligent patrol detection vehicle acquisition license plate and intelligent patrol detection vehicle；Whether vehicle location service device waits judging vehicle to be positioned on parking stall.The present invention has rational design, realizes the middle vehicle precise locating function of the management of parking charge, solves the problems, such as that existing management method carries out the positioning of license plate and parking stall by manpower, causes cost of labor very big.
Description
Technical field
The invention belongs to intelligent parking technical field, especially a kind of parking stall cruising inspection system based on location technology and its
Method.
Background technique
As private car is increasing, both sides of the road vehicle disorderly stops to leave about that problem is very serious, has seriously affected city
Traffic safety and city appearance management.For a long time, those skilled in the art attempt to solve disorderly to stop leaving about using various methods to ask
Topic, but still effective the can not solve the above problems, it is illustrated separately below:
A solution is the road occupation for parking management based on geomagnetic parking stall detection, and geomagnetic parking stall detection is only limited to detect
Whether current parking stall has vehicle, but does not know the license plate number of current parking stall deposit vehicle, therefore can not carry out license plate and parking stall pair
It answers, since parking lay-by is open parking, without special entrance and exit.In addition, due to only having part car owner stopping
Vehicle system completes registration, and quite a few car owner does not register in system, for not in the user of system registry
When driving into current parking stall, the geomagnetic parking stall detector of current parking stall is due to that can not obtain the identity information of the user, so that stopping
Vehicle management system be can not the identity and realizing of the automatic identification car owner deduct fees automatically.Based on this, it is necessary to be equipped with more people
Member's on the way supervision or inspection, such as the method for taking a staff to be responsible for 20 several parking stalls, when vehicle leaves parking stall
When, administrator carries out toll administration to the vehicle that is driven out to, and this method makes cost of labor very big, cause cost of labor at
For parking management company heavy burden.
Another solution is the road occupation for parking management based on pure vision, and several cameras are installed on vehicle, some
The camera vehicle on parking stall for identification, other cameras parking stall number nameplate on parking stall for identification, then by license plate
It is corresponded to parking stall.The method shortcoming is that parking stall number nameplate is to paste on the ground, is easy defaced or blocks, influences vehicle
The identification of position number, to influence the operation of whole system.
To sum up, due to currently without a realization automatic identification license plate number and automatically by parking stall where license plate number and its from
The system of dynamic contraposition, therefore cannot achieve the automation of the management of parking charge, current parking management company can not be got rid of manually manage
Manage the very big predicament of cost.
Summary of the invention
It is an object of the invention to overcome above-mentioned the shortcomings of the prior art, a kind of parking based on location technology is provided
Position cruising inspection system and its method solve existing management method and manpower are relied on to carry out the positioning of license plate and parking stall, cause cost of labor
Very big problem.
The present invention solves its technical problem and adopts the following technical solutions to achieve:
A kind of parking stall cruising inspection system based on location technology, including intelligent patrol detection vehicle and vehicle location service device；It is described
Intelligent patrol detection vehicle be used to obtain it is opposite between the absolute coordinate and intelligent patrol detection vehicle and vehicle to be positioned of intelligent patrol detection vehicle
Coordinate, and this two groups of coordinate datas are uploaded to vehicle location service device, the vehicle location service device is according to this two groups of seats
Whether mark data judge vehicle to be positioned on parking stall.
The vehicle location service device includes parking stall map and vehicle location algorithm；The parking stall map includes completing
The absolute coordinate on each parking stall demarcated in advance, the vehicle location algorithm be used for judge vehicle to be positioned position whether
On parking stall, on which parking stall or near which parking stall.
The intelligent patrol detection vehicle includes GPS, odometer, camera, locating module, power module
And communication module；The power module is GPS, odometer, camera, locating module, communication module confession
Electricity；The odometer is used for the absolute coordinate of intelligent patrol detection vehicle；The GPS is for correcting odometer
Absolute coordinate；Image of the camera for vehicle to be positioned of taking pictures；The locating module is for determining intelligent patrol detection
The relative coordinate of the absolute coordinate of vehicle and be taken vehicle and inspection car, and the absolute coordinate and the relative coordinate are uploaded
Give vehicle location service device.
The locating module includes inspection car absolute fix module and inspection car relative position module；The inspection car
Absolute fix module includes receiving the absolute coordinate control information of GPS and receiving odometer relative coordinate to tire out
Information module is counted, when inspection car absolute fix module cannot receive GPS data, then will be received
Odometer relative coordinate cumulative information is currently absolute as inspection car plus last GPS absolute coordinate
Location data, when inspection car absolute fix module can receive GPS data, with what is be currently received
Absolute positioning data of the GPS data as inspection car.
The odometer using following laser odometer, inertial navigation odometer, visual odometry one kind or they
Combination.
The inspection car relative positioning module includes: license plate to camera distance algorithm module, license plate to car body distance
Algoritic module and license plate absolute coordinate algoritic module；Wherein to include camera to car body distance algorithm calculate license plate to car body distance
Method and license plate are to car body distance algorithm.
A kind of parking stall method for inspecting based on location technology, comprising the following steps:
Step 1, vehicle location service device establish parking stall map；
Step 2, intelligent patrol detection vehicle obtain the relative coordinate between license plate and intelligent patrol detection vehicle；
Step 3, intelligent patrol detection vehicle obtain the absolute coordinate of intelligent patrol detection vehicle；
The relative coordinate that step 2 obtains and the absolute coordinate that step 3 obtains are uploaded vehicle by step 4, intelligent patrol detection vehicle determines
Position server；
Step 5, vehicle location service device are calculated the absolute coordinate of license plate, and according to parking stall map judge wait judge to
Vehicle is positioned whether on parking stall.
The step 2 is successively using camera calibration algorithm, calculated by coordinate algorithm, depth of field computational algorithm and license plate position
Algorithm calculates realization.
The step 3 is realized in such a way that odometer and GPS combine.
The advantages and positive effects of the present invention are:
1, the present invention overcomes traditional prejudice, i.e., identify respectively license plate number and parking stall number, then by license plate and parking stall into
The corresponding method of row does not allow the anti-method calculated being readily conceivable that, i.e., first positioning licence plate and inspection using those skilled in the art
Relative coordinate between vehicle, again by the absolute coordinate of the absolute coordinate positioning licence plate of inspection car, finally by license plate absolute coordinate
It takes location-server, match with location-server parking stall map reference, so that license plate and parking stall are carried out corresponding method.
By verifying, detection accuracy of the present invention reaches a centimetre rank, can replace the corresponding method of license plate and parking stall of pure vision completely,
It is reported to the evidence that relevant departments examine as credibility to which discipline situation is abided by car owner's parking, the final nothing for realizing parking management
Peopleization office, is greatly saved the human cost of parking management company.
The 2, technical problem the present invention overcomes this field for a long time, the i.e. technical problem of acquisition license plate absolute coordinate,
And by license plate and parking stall corresponding problem automatically: passing through camera calibration algorithm, calculated by coordinate algorithm, depth of field computational algorithm, vehicle
Memorial tablet sets computational algorithm, obtains the relative coordinate between license plate and inspection car, then by odometer and GPS
The ingenious combination of the two compensates for the shortcoming that GPS signal is not received in certain areas, and utilizes the whole world
Global position system corrects the cumulative errors of odometer, obtains the absolute coordinate of inspection car, final to obtain the absolute of license plate
Coordinate, to solve first technical problem, further through establish parking stall map, license plate absolute coordinate and parking stall map is automatic
Matching, to solve second technical problem.
3, of the invention by the GPS of intelligent patrol detection vehicle, odometer, camera, absolute fix module and phase
Whether vehicle, which organically combines at parking stall module, vehicle to be positioned this three aspect, is judged to locating module and location-server,
Mutually support and interdepend solve and ask the automatic corresponding new technology of license plate and parking stall after combining between various pieces
Topic, achieves the new technical effect for precisely aligning license plate and parking stall.
Detailed description of the invention
Fig. 1 is the parking stall cruising inspection system structural block diagram of the invention based on location technology；
Fig. 2 is vehicle location service device structural block diagram of the invention；
Fig. 3 is intelligent patrol detection bassinet structure block diagram of the invention；
Fig. 4 is intelligent patrol detection vehicle locating module structural block diagram of the invention；
Fig. 5 is intelligent patrol detection vehicle absolute fix modular structure block diagram of the invention；
Fig. 6 is intelligent patrol detection vehicle relative positioning module structural block diagram of the invention；
Fig. 7 is the schematic diagram for calculating license plate position in bodywork reference frame.
Specific embodiment
Implementation of the invention is further described below in conjunction with attached drawing.
A kind of parking stall cruising inspection system based on location technology, as shown in Figure 1, including intelligent patrol detection vehicle, vehicle location clothes
Business device；The intelligent patrol detection vehicle is used to obtain the absolute coordinate and intelligent patrol detection vehicle and vehicle to be positioned of intelligent patrol detection vehicle
Between relative coordinate, and this two groups of coordinate datas are uploaded to vehicle location service device, the vehicle location service device according to
Whether this two groups of coordinate datas judge vehicle to be positioned on parking stall.
As shown in Figure 1 and Figure 2, the vehicle location service device includes parking stall map, vehicle location algorithm.The vehicle
Position map includes the absolute coordinate for completing each parking stall demarcated in advance, and the vehicle location algorithm judges vehicle to be positioned
Position whether on parking stall, on which parking stall or near which parking stall.
As shown in figure 3, the intelligent patrol detection vehicle includes GPS, odometer, camera, positioning mould
Block, power module, communication module.The power module be GPS, odometer, camera, locating module,
Communication module power supply；The odometer is used for the absolute coordinate of intelligent patrol detection vehicle；The GPS can be with
It is used to correct the absolute coordinate of odometer using GPS module or Beidou module；The camera is for vehicle to be positioned of taking pictures
Image；The locating module is used for the absolute coordinate of intelligent patrol detection vehicle and the relative coordinate of be taken vehicle and inspection car, and will
The absolute coordinate and the relative coordinate are uploaded to vehicle location service device.
As shown in figure 3, the one kind of the odometer using following laser odometer, inertial navigation odometer, visual odometry
Or their combination.
As illustrated in figures 4-5, the locating module includes inspection car absolute fix module and inspection car relative position module；
The inspection car absolute fix module includes receiving the absolute coordinate control information and reception mileage of GPS
Relative coordinate cumulative information module is counted, when inspection car absolute fix module cannot receive GPS data,
Then using the odometer relative coordinate cumulative information received plus last GPS absolute coordinate as patrolling
The current absolute positioning data of vehicle is examined, when inspection car absolute fix module can receive GPS data, with
Absolute positioning data of the GPS data being currently received as inspection car.
As shown in fig. 6, the inspection car relative positioning module includes: that license plate is arrived to camera distance algorithm module, license plate
Car body distance algorithm module, license plate absolute coordinate algoritic module；Wherein license plate is divided into camera to vehicle to car body distance algorithm again
Body distance algorithm and license plate are to car body distance algorithm.
The method for inspecting of the present invention also provides a kind of parking stall cruising inspection system based on location technology, design philosophy is:
License plate, which is obtained, by related algorithm obtains inspection car to the relative coordinate of inspection car, by odometer and GPS
Absolute coordinate finally obtain the absolute seat of license plate by the absolute coordinate of inspection car and license plate to the relative coordinate of inspection car
Mark.
A kind of localization method based on above-mentioned parking position cruising inspection system, comprising the following steps:
Step 1, vehicle location service device establish parking stall map.
Parking stall map is that the parking stall map in location-server database is established after demarcating in advance to each parking stall.
The parking stall map describes position of each parking stall under world coordinate system, also referred to as absolute coordinate.
To parking stall carry out scaling method can there are many, the method that the present embodiment demarcates parking stall is as follows: the first, in environment
Oneself is known at any time with moveable calibration vehicle and at least 3 pieces of reflectors, the moveable calibration vehicle that position vehicle location
Position under world coordinate system；The second, at least 2 pieces of reflectors are laid on each parking stall, and (this two pieces of reflectors are according to certain
Rule is laid on each parking stall), the relative distance that this two pieces of reflectors are used to calculate reflector to calibration vehicle；Third passes through
Reflector finally obtains parking stall reflector in world coordinates to the relative coordinate of calibration vehicle on the absolute coordinate of calibration vehicle and parking stall
Coordinate under system, to obtain coordinate of each parking stall under world coordinate system, this completes the calibration for each parking stall.
Step 2, intelligent patrol detection vehicle obtain the relative coordinate between license plate and intelligent patrol detection vehicle.
Obtain the key point and difficult point for calculating that license plate is this patent to inspection car relative coordinate.
This step is obtained by camera calibration algorithm, calculated by coordinate algorithm, depth of field computational algorithm, license plate position computational algorithm
The relative coordinate between license plate and inspection car is obtained, the specific method is as follows:
1, distance (depth of field) algorithm of license plate to camera:
(1) camera (camera) calibration algorithm:
Internal reference: from different perspectives shooting, collecting 10 open more than image as data, with plane reference method；Carry out calibration for cameras
Internal reference, the matrix that internal reference matrix is one 3 × 3；
Outer ginseng: i.e. coordinate of the camera under bodywork reference frame (car body center is origin, and headstock direction is axis positive direction),
And height of the camera to ground, depression angle β, camera towards and car body positive direction of the x-axis angle theta；
(2) calculated by coordinate algorithm: the image information as taken by camera, from (the different camera shootings of camera calibration parameter
Machine calibrating parameters are all different) calculate the license plate that takes to camera distance.
If internal reference matrix are as follows:
Pixel (u, v) in the matrix, then the pixel is in camera coordinate, (note: camera coordinate system is with camera lens optical center
For origin, main shaft is z-axis, and x-axis is parallel to plane of delineation x-axis) in calculation formula (Plat algorithm that camera Z axis=1 indicates):
By algorithm above, the coordinate of four vertex of license plate in the camera is calculated, license plate can be calculated and taken the photograph
As the size in head coordinate system.
(3) depth of field calculation method:
If actual license plate length is length, width width, the length of license plate in the camera coordinate system is L, width
For W；Because there are angle offsets between license plate and camera, according to camera in outer ginseng and the depression angle β on ground, camera court
To the angle theta with car body positive direction of the x-axis, the depth of field is ajusted and calculated in license plate position, as shown in Figure 7.
It is as follows to ajust depth of field formula of the rear license plate in camera coordinate:
2, position of the license plate in bodywork reference frame is calculated:
(1) the outer ginseng for passing through camera calibration, can calculate coordinate of the camera relative to car body center；
(2) according to outer ginseng: camera and the depression angle β and the depth of field on ground can calculate bottom edge by trigonometric function,
That is the horizontal distance of license plate and camera: z0
So license plate center is set to (x in the coordinate system bottom of camerac, yc, zc)；
Wherein license plate center x0、y0Calculation: position of four vertex of license plate under camera coordinate system, to calculate
Rectangular centre；
Since camera coordinate is left-handed coordinate system, it is converted into right-handed coordinate system i.e.: (z0, x0,-y0)；
License plate position is calculated relative to car body center by the car body center and camera relative position of outer ginseng calibration again
Position, if: position of the vehicle camera in bodywork reference frame be (xc, yc, zc)
Specific conversion formula is as follows:
Step 3, intelligent patrol detection vehicle obtain the absolute coordinate of intelligent patrol detection vehicle.
The ingenious combination of both odometer and GPS is compensated for GPS by this step
The shortcoming that signal is not received in certain areas, and the cumulative errors of odometer are corrected using GPS, it obtains
The absolute coordinate of inspection car is taken.It realizes and license plate is transformed into the coordinate under world coordinate system in the coordinate under bodywork reference frame
Function, the specific method is as follows:
If: the GPS positioning at car body center are as follows: (x, y, γ)w
Position of the license plate under car body centre coordinate are as follows: (x, y, z)c
Convert calculation formula are as follows:
Obtain coordinate of the license plate in world coordinate system are as follows: (xG, yG), i.e. the absolute coordinate of intelligent patrol detection vehicle.
The relative coordinate that step 2 obtains and the absolute coordinate that step 3 obtains are uploaded vehicle by step 4, intelligent patrol detection vehicle determines
Position server.
The absolute coordinate of license plate is calculated in step 5, location-server, whether judges vehicle to be positioned according to parking stall map
On parking stall.
The present invention does not address place and is suitable for the prior art.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore packet of the present invention
Include and be not limited to embodiment described in specific embodiment, it is all by those skilled in the art according to the technique and scheme of the present invention
The other embodiments obtained, also belong to the scope of protection of the invention.
Claims (9)
1. a kind of parking stall cruising inspection system based on location technology, it is characterised in that: taken including intelligent patrol detection vehicle and vehicle location
Business device；The intelligent patrol detection vehicle is used to obtain the absolute coordinate and intelligent patrol detection vehicle and vehicle to be positioned of intelligent patrol detection vehicle
Between relative coordinate, and this two groups of coordinate datas are uploaded to vehicle location service device, the vehicle location service device root
Judge vehicle to be positioned whether on parking stall according to this two groups of coordinate datas.
2. a kind of parking stall cruising inspection system based on location technology according to claim 1, it is characterised in that: the vehicle
Location-server includes parking stall map and vehicle location algorithm；The parking stall map includes each parking for completing to demarcate in advance
Position absolute coordinate, the vehicle location algorithm be used for judge vehicle to be positioned position whether on parking stall, at which
On parking stall or near which parking stall.
3. a kind of parking stall cruising inspection system based on location technology according to claim 1, it is characterised in that: the intelligence
Inspection car includes GPS, odometer, camera, locating module, power module and communication module；The electricity
Source module is GPS, odometer, camera, locating module, communication module power supply；The odometer is used for
The absolute coordinate of intelligent patrol detection vehicle；The GPS is used to correct the absolute coordinate of odometer；The camera shooting
Image of the head for vehicle to be positioned of taking pictures；The locating module is used to determine the absolute coordinate of intelligent patrol detection vehicle and is taken
The relative coordinate of vehicle and inspection car, and the absolute coordinate and the relative coordinate are uploaded to vehicle location service device.
4. a kind of parking stall cruising inspection system based on location technology according to claim 3, it is characterised in that: the positioning
Module includes inspection car absolute fix module and inspection car relative position module；The inspection car absolute fix module includes connecing
It receives the absolute coordinate control information of GPS and receives odometer relative coordinate cumulative information module, work as inspection car
When absolute fix module cannot receive GPS data, then by the accumulative letter of the odometer relative coordinate received
Breath adds last GPS absolute coordinate as the current absolute positioning data of inspection car, when inspection car is absolute
When locating module can receive GPS data, made with the GPS data being currently received
For the absolute positioning data of inspection car.
5. a kind of parking stall cruising inspection system based on location technology according to claim 3, it is characterised in that: the mileage
Meter uses one kind or their combination of following laser odometer, inertial navigation odometer, visual odometry.
6. a kind of parking stall cruising inspection system based on location technology according to claim 3, it is characterised in that: the inspection
Vehicle relative positioning module includes: that license plate is absolute to camera distance algorithm module, license plate to car body distance algorithm module and license plate
Coordinate algorithm module；Wherein license plate to car body distance algorithm include camera to car body distance algorithm and license plate to car body away from
From algorithm.
7. a kind of method for inspecting of the parking stall cruising inspection system based on location technology as claimed in any one of claims 1 to 6,
Be characterized in that the following steps are included:
Step 1, vehicle location service device establish parking stall map；
Step 2, intelligent patrol detection vehicle obtain the relative coordinate between license plate and intelligent patrol detection vehicle；
Step 3, intelligent patrol detection vehicle obtain the absolute coordinate of intelligent patrol detection vehicle；
The relative coordinate that step 2 obtains and the absolute coordinate that step 3 obtains are uploaded vehicle location clothes by step 4, intelligent patrol detection vehicle
Business device；
The absolute coordinate of license plate is calculated in step 5, vehicle location service device, and is judged according to parking stall map to be positioned wait judge
Whether vehicle is on parking stall.
8. a kind of method for inspecting of the parking stall cruising inspection system based on location technology according to claim 7, it is characterised in that:
The step 2 is successively to be calculated using camera calibration algorithm, calculated by coordinate algorithm, depth of field computational algorithm and license plate position algorithm
It realizes.
9. a kind of method for inspecting of the parking stall cruising inspection system based on location technology according to claim 7, it is characterised in that:
The step 3 is realized in such a way that odometer and GPS combine.
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| CN113345118A (en) * | 2021-06-29 | 2021-09-03 | 伟龙科技(广东)有限公司 | Parking charge management method, system and storage medium |
| CN114822045A (en) * | 2022-04-06 | 2022-07-29 | 深圳市曜点科技有限公司 | Inspection system based on Beidou satellite real-time positioning navigation |
| CN116386373A (en) * | 2023-06-05 | 2023-07-04 | 好停车(北京)信息技术有限公司天津分公司 | Vehicle positioning method and device, storage medium and electronic equipment |
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