CN111081047A - Accurate intelligent parking management method and management system based on photoelectric image processing - Google Patents
Accurate intelligent parking management method and management system based on photoelectric image processing Download PDFInfo
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- CN111081047A CN111081047A CN201911259678.0A CN201911259678A CN111081047A CN 111081047 A CN111081047 A CN 111081047A CN 201911259678 A CN201911259678 A CN 201911259678A CN 111081047 A CN111081047 A CN 111081047A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
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- G—PHYSICS
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- 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
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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Abstract
The invention discloses an accurate intelligent parking management method based on photoelectric image processing, which comprises the steps of utilizing an automatic identification technology to automatically identify vehicles entering a parking lot; according to the real-time data of the parking lot, adopt A*The algorithm plans a path of the vehicle and sends the planned path to an intelligent terminal of a user; tracking and positioning the vehicle by utilizing a plurality of cameras regularly installed in the parking lot and adopting a multi-camera relay tracking technology, transmitting the acquired positioning information to a server through the cameras, and sending the analyzed information to the server through the serverThe information is sent to an intelligent terminal of a user; and automatically identifying the license plate of the vehicle leaving the parking lot. By adopting the intelligent parking management method, the utilization rate of the parking space is improved, accurate parking guidance to the parking space is provided, and the problem of traffic jam caused by difficult parking and slow parking is solved.
Description
Technical Field
The invention relates to an intelligent parking management method, in particular to an accurate intelligent parking management method based on photoelectric image processing.
Background
The statements in this section merely provide background information related to the present disclosure and may constitute prior art. In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art.
With the continuous increase of the quantity of the civilian automobiles, especially the quantity of the private automobiles, in China, the demands of the parking spaces in China are also continuously increased. However, due to the limitation of urban planning, land and other factors, the number and area of the existing parking lots are difficult to be increased on a large scale. According to the data display of the market prospective and investment strategy planning analysis report of the parking lot construction industry in China in the year of 2015 + 2020, the gap of parking in China reaches 50%, the average vacancy rate reaches 51.3%, the problems of large gap of parking lot space supply and high vacancy rate are prominent, and the problem of difficult parking becomes a big problem which troubles people in daily trips. Big data shows, if can promote current parking stall utilization ratio to 80% in Chongqing, two cities in Shanghai, even no longer newly-built parking stall, also can satisfy the whole demands that the city of 2019 parkked. Therefore, the problem of 'difficult parking' is solved by not only building a new parking space, but also improving the utilization rate of the parking space is the key to solve the problem of 'difficult parking' under the limitation of factors such as city planning and land.
In addition, with the pace of life of people increasing, drivers increasingly want to get rid of the inefficient parking mode of blindly driving to find empty parking spaces after entering a parking lot, and the problem of slow parking gradually becomes prominent. Therefore, a parking comprehensive service platform capable of providing accurate parking guidance and fine parking management for drivers and parking lot operators is needed by the public.
The existing intelligent parking management platform or method on the market at present can only provide basic functions mostly, such as real-time use data of a parking lot, automatic identification of license plates entering and exiting the parking lot, payment and the like, only can enable a vehicle owner to know the parking lot with a vacant space, and the vehicle owner needs to slowly search after entering the parking lot, so that time and labor are wasted. Especially, the car owners who are not familiar with the parking lot cannot find the car owners when the parking lot is looking for a lot, and the car owners can easily park the cars in the aisles or randomly park the cars, so that the situation of blocking is caused. The car owner has a great demand for matching parking spaces and guiding the parking spaces. However, the conventional positioning mode at present is easily affected by a parking lot to cause the occurrence of inaccurate positioning, and accurate positioning cannot be realized.
In addition, the use data of the parking lot is time-efficient, car owners far away may see that the parking lot has vacant spaces, but driving to the parking lot has no vacant spaces, so that the car owners run out to make no way to the outside, and many car owners complain of vocal cords, and driving traveling is seriously influenced.
Due to the complex terrain of part of parking lots, the car owners often have the problem that the car owners cannot find the car when the car owners need to drive and leave, and great troubles are caused for the car owners.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to solve some of the problems of the prior art, or at least to alleviate them.
A precise intelligent parking management method based on photoelectric image processing comprises the following steps:
utilizing an automatic identification technology to automatically identify the license plate of a vehicle entering a parking lot;
according to the real-time data of the parking lot, adopt A*The algorithm plans a path of the vehicle and sends the planned path to an intelligent terminal of a user;
tracking and positioning the vehicle by utilizing a plurality of cameras regularly installed in the parking lot and adopting a multi-camera relay tracking technology, transmitting collected positioning information to a server through the cameras, and transmitting the analyzed information to an intelligent terminal of a user by the server;
and automatically identifying the license plate of the vehicle leaving the parking lot.
The method adopts a multi-camera relay tracking technology, and the steps of tracking and positioning the vehicle are as follows:
detecting a moving target by adopting a difference image method, and completing target positioning of the vehicle by matching with an automatic license plate recognition technology;
adopting a difference image method to track in a single camera;
handing over a target locked in one camera to an adjacent camera of the path plan.
Optionally, the automatic identification technology is as follows: the road test reader RSU is installed on the inlet and the outlet of the parking lot, the vehicle-mounted electronic tag OBU is installed on the vehicle, the bridge built by means of the RFID technology is used for achieving communication between the RSU and the OBU, and the short-distance wireless communication technology is used for completing the whole recognition or/and charging process.
Preferably, the automatic identification technology is an automatic license plate identification technology, and comprises the following steps:
shooting a vehicle image through the camera;
the position of the license plate is positioned by utilizing the principle that the texture and the color of the license plate are different from those of the surrounding environment;
performing inclination correction on the license plate;
dividing the characters in the corrected license plate region one by one;
recognizing the segmented characters by adopting an image recognition technology;
and converting the recognized character image into text information and inputting the text information into a server.
Optionally, before a vehicle enters a parking lot, a user receives real-time data of the parking lot sent by a server through an intelligent terminal, and sends a parking space reservation request to the server; and the server receives the parking space reservation request and updates the real-time data of the parking lot.
Optionally, before a vehicle enters a parking lot, a user receives real-time data of the parking lot sent by a server through an intelligent terminal, sends a request for reserving a designated parking space to the server, and sets arrival time; and the server receives the request of the appointed parking space and locks the appointed parking space within the arrival time.
Further, after the vehicle enters the parking lot, the server plans the path of the vehicle according to the appointed parking space reserved by the user.
The method for acquiring the real-time data of the parking lot comprises the following steps:
the camera shoots the parking places at intervals of a preset time and sends the parking places to the server;
the server compares the parking space pictures of the approaching time and detects the parking space by using a difference image method;
the server judges whether the difference exceeds a preset threshold value or not;
if the parking space exceeds a preset threshold value, the server judges that the parking space is used;
if the parking space does not exceed the preset threshold, the server judges that the parking space is an empty parking space;
the server updates the real-time data of the parking lot in time according to the judgment result;
the preset threshold is a numerical value that the server performs difference image on the parking space images at the near time by adopting a difference image method and the difference exceeds.
The accurate intelligent parking management method based on photoelectric image processing further comprises the step of monitoring the lane, and comprises the following steps:
the camera shoots the lane at intervals of a preset time and sends the lane to the server;
the server compares the lane pictures of the approaching time and detects the lane by using a difference image method;
the server judges whether the difference exceeds a preset threshold value or not; the preset threshold is a numerical value which is obtained by the server by taking difference images of the lane images at the adjacent time by adopting a difference image method and exceeds the difference;
if the lane occupation exceeds a preset threshold value, the server judges that the lane is occupied;
if the parking space does not exceed the preset threshold value, the server judges that the parking space is not occupied;
responding to the server to judge that the lane is occupied, and automatically identifying license plates of the occupied vehicles by the server by using a license plate automatic identification technology;
and the server informs the owner of the occupied vehicle to move the vehicle.
The management system adopting the accurate intelligent parking management method based on photoelectric image processing comprises a plurality of cameras which are arranged according to a rule;
the server is connected with the camera and comprises an automatic license plate recognition module, an indoor vehicle positioning and tracking module, a path planning module and a parking space management module; the automatic license plate recognition module is used for recognizing license plate information of the vehicle shot by the camera; the indoor vehicle positioning and tracking module is used for positioning and tracking the vehicle moving in the parking lot by adopting a multi-camera relay tracking technology and a differential image method and is used for guiding the vehicle to reach an appointed parking space; the path planning module adopts A*The algorithm is used for providing accurate path planning to the parking space for the vehicle; the parking space management module adopts a target detection mode under a static background in a difference image method and is used for detecting an empty parking space to update real-time data of a parking lot or monitoring lanes.
The invention has the following beneficial effects:
1. the relay tracking technology with multiple cameras is selected to cooperate with the difference image method and the automatic license plate recognition technology, so that the vehicles in the parking lot can be positioned in real time, the vehicles of the user can be accurately guided to park in the preset parking space, the vehicles can be quickly and effectively parked in the parking space according to the indication even if the user is not familiar with the parking lot, the problem of slow parking is solved, and the parking lot is not easy to jam;
2. the camera monitors the parking space and the lane in real time, and performs differential image detection on the target under a static background by matching with an automatic license plate recognition technology. When a vehicle is parked in an empty parking space or the vehicle is randomly parked on a channel of a parking lot, detecting a target under a static background by using a difference image method, shooting a picture by a camera at intervals, and making a difference image with the previous picture, wherein if the difference exceeds a preset threshold value, the empty parking space can be judged to be used or the vehicle parked randomly can be judged, so that the problems of monitoring the empty parking space and random parking phenomena are solved, the real-time data of the parking lot can be updated continuously, the operation of checking, reserving and the like by a user is facilitated, the utilization rate of the parking space is improved, and the problem of difficulty in parking is solved;
3. choose A*The algorithm carries out path planning, and compared with the Dijkstra algorithm, the optimal path can be obtained without traversing all nodes in the graph, so that the number of nodes to be processed is greatly reduced, and the efficiency is greatly improved;
4. the user can reserve the parking lot and even reserve the designated parking space according to the real-time updated parking lot real-time data, so that the system is more humanized, has better user experience, and is favorable for solving the problem of blockage caused by the fact that vehicles crowd the same parking lot;
5. the low cost in current parking area of transformation only need increase camera, pilot lamp and circuit can, a plurality of parking areas all use same server and APP etc. and the transformation is with low costs, is fit for setting up the parking resource integration platform, breaks parking area information island current situation, can be used to establish city level parking management platform, has very big commercial value.
Drawings
FIG. 1 is a flow chart of a management method of the present invention;
FIG. 2 is a flow chart of an automatic license plate identification technique;
fig. 3 is an architecture diagram of a parking management platform APP;
FIG. 4 is a diagram of a Dijkstra algorithm MATLAB simulation;
FIG. 5 is A*An algorithm MATLAB simulation graph.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, wherein the embodiments of the present invention are provided for illustrative purpose only and not for limiting the invention, and various alternatives and modifications can be made without departing from the technical spirit of the invention, according to the common technical knowledge and conventional means in the art.
As shown in fig. 1, a precise intelligent parking management method based on photoelectric image processing includes the following steps:
automatically identifying vehicles entering the parking lot by using an automatic identification technology;
according to the real-time data of the parking lot, adopt A*Algorithm for vehicle routingPlanning a path and sending the planned path to an intelligent terminal of a user;
tracking and positioning the vehicle by utilizing a plurality of cameras regularly installed in the parking lot and adopting a multi-camera relay tracking technology, transmitting collected positioning information to a server through the cameras, and transmitting the analyzed information to an intelligent terminal of a user by the server;
and automatically identifying the license plate of the vehicle leaving the parking lot.
The automatic identification technology can adopt the following two schemes.
In a first scheme, the automatic identification technology is as follows: the road test reader RSU is installed on the inlet and the outlet of the parking lot, the vehicle-mounted electronic tag OBU is installed on the vehicle, the bridge built by means of the RFID technology is used for achieving communication between the RSU and the OBU, and the short-distance wireless communication technology is used for completing the whole recognition or/and charging process. By adopting the scheme, the vehicle-mounted electronic tag OBU needs to be pre-installed on the vehicle.
In a second scheme, the automatic identification technology is a license plate automatic identification technology, as shown in fig. 2, and includes the following steps:
shooting a vehicle image through the camera;
the position of the license plate is positioned by utilizing the principle that the texture and the color of the license plate are different from those of the surrounding environment;
performing inclination correction on the license plate;
dividing the characters in the corrected license plate region one by one;
recognizing the segmented characters by adopting an image recognition technology;
and converting the recognized character image into text information and inputting the text information into a server.
The automatic license plate identification is a pattern identification technology for automatically identifying the number and the color of a license plate by using a dynamic video or a static image of a vehicle. The realization of the license plate automatic identification technology comprises six parts of vehicle image acquisition, license plate positioning, license plate correction, character segmentation, character identification and license plate text information input.
A. Vehicle image: and shooting through a parking lot camera.
B. And (3) license plate positioning: the position of the license plate is positioned by utilizing an algorithm by utilizing the principle that the texture and the color of the license plate are different from those of the surrounding environment.
C. And (3) license plate correction: when the license plate is shot, the license plate image always has a certain inclination, which brings many difficulties to the subsequent steps of character segmentation, character recognition and the like, and reduces the license plate recognition rate. Therefore, the license plate character segmentation needs to be performed with the inclination correction operation before the license plate character segmentation is performed.
D. Character segmentation: and dividing the characters in the corrected license plate area one by one.
E. Character recognition: the segmented characters are recognized by an image recognition based method.
F. And (3) license plate text information: and converting the recognized character image into text information.
The second scheme is preferable, and the identification device does not need to be installed on the vehicle, so that the commercial popularization is facilitated. The camera also positions the vehicle while photographing and identifying, so that the position of the vehicle can be accurately determined, and the vehicle can be analyzed by the server and adopt A*The algorithm plans the path of the vehicle.
The invention is characterized by solving the problem of the last 100 meters of parking, and the main reasons of difficult and slow parking caused by the pursuit of difficult and slow parking are that an optimal path plan can not be quickly provided for users and the vehicle positioning can not be well carried out in the parking lot.
In order to solve the problem of rapidly providing the optimal path plan, the inventor researches various algorithms. For example, Dijkstra algorithm is a graph traversal algorithm, and the algorithm finally finds the shortest path between all nodes and a source point in a breadth-first search traversal mode through a layer-by-layer advancing mode. The principle is to access nodes in the graph starting from an initial point. It iteratively checks the nodes in the set of nodes to be checked and adds the node closest to the node to be checked to the set of nodes to be checked which has not been checked. The set of nodes expands outward from the initial node until the target node is reached, as shown in FIG. 5.
Through the research of various algorithmsMing finally chooses to adopt A*The algorithm plans the path of the vehicle. A. the*The algorithm is a heuristic graph search algorithm based on breadth-first (BFS) and depth-first (DFS) search, can ensure that a shortest path from a starting point to a target point can be found, has the advantage of high search speed of a best-first search algorithm, and can meet the requirements of shortest operation time and shortest navigation object operation path. Compared with Dijkstra algorithm, A*The method only introduces very simple heuristic information into Dijkstra algorithm, and can obtain the optimal path without traversing all nodes in the graph, thereby greatly reducing the number of nodes to be processed and greatly improving the efficiency.
As shown in FIG. 4, it can be derived from simulation experiments that A*The algorithm also yields the optimal path and is less time consuming, since the heuristic function can quickly converge the path near the target point, rather than traversing all paths. The path search can be quickly guided to the target position, and the search efficiency is improved, so the method selects A*And (4) carrying out path planning by using an algorithm.
In order to solve the problem that the vehicle positioning cannot be well carried out in the parking lot, the inventor fully considers and tests various positioning technologies, such as a radio frequency identification indoor positioning technology, a Wi-Fi indoor positioning technology, a Bluetooth positioning technology, a GPS positioning technology and the like, and analyzes advantages and disadvantages of various positioning technologies.
For example, in the radio frequency identification indoor positioning technology, a radio signal is modulated into an electromagnetic field by a fixed antenna in a radio frequency mode, and a tag attached to an article generates an induced current after passing through the magnetic field to transmit data, so that the aim of identification and triangulation positioning is fulfilled by exchanging data through multiple pairs of bidirectional communication. The radio frequency identification indoor positioning technology has a very short working distance, but can obtain centimeter-level positioning accuracy information within a few milliseconds, and has the advantages of large transmission range, small size of the mark and low manufacturing cost due to the advantages of non-line-of-sight of an electromagnetic field and the like. However, the system has no communication capability and poor anti-interference capability, is not convenient to integrate into other systems, and has incomplete security and privacy guarantee and international standardization of users.
Two Wi-Fi positioning technologies exist, one is that people and vehicles are accurately triangulated through wireless signal strength of mobile equipment and three wireless network access points and a difference algorithm. Another is to record the signal strength of the huge amount at a certain location point in advance and determine the location by comparing the signal strength of the newly added device with a database holding huge amount data. Wi-Fi positioning can realize complex large-range positioning, monitoring and tracking tasks in a wide application field, the total precision is higher, but the precision for indoor positioning can only reach about 2 meters, and accurate positioning cannot be achieved.
Bluetooth technology, which performs positioning by measuring signal strength. The method is a short-distance low-power-consumption wireless transmission technology, a proper Bluetooth local area network access point is installed indoors, the network is configured into a multi-user-based basic network connection mode, and the Bluetooth local area network access point is guaranteed to be a master device of the microgrid all the time, so that the position information of a user can be obtained. The bluetooth technology is mainly applied to small-range positioning, such as a single-floor hall or a warehouse, however, for a complex space environment, the stability of the bluetooth positioning system is slightly poor, and the bluetooth positioning system is greatly interfered by noise signals.
The GPS positioning technology can provide accurate position information service for users anytime and anywhere. The basic principle of the method is that signals received by a GPS receiver are subjected to error processing and then are resolved to obtain position information, the position information is transmitted to connected equipment, and the connected equipment performs certain calculation and transformation (such as map projection transformation, transformation of a coordinate system and the like) on the information and then transmits the information to a mobile terminal. The technology is used for determining the position deviation caused by the influences of factors such as climate, ionosphere, troposphere, air, electromagnetic waves and the like, and is more suitable for new areas with wide vision and fewer obstacles, fields, exploration positioning and the like. When the weather is bad, or the vehicle is under the viaduct/tree shade, or in the side corner of a tall building, an underground garage or an open-air lower garage, the positioning of the GPS is greatly affected, and even the positioning service cannot be performed.
The inventor finally adopts the cooperative action of a multi-camera relay tracking technology, a difference image method and a license plate automatic identification technology to position the vehicle. The method adopts a multi-camera relay tracking technology, and the steps of tracking and positioning the vehicle are as follows:
detecting a moving target by adopting a difference image method, and completing target positioning of the vehicle by matching with an automatic license plate recognition technology;
adopting a difference image method to track in a single camera;
handing over a target locked in one camera to an adjacent camera of the path plan.
The multi-camera relay tracking technology mainly comprises three steps of target positioning, single-camera built-in tracking and multi-camera handover. When the vehicle is positioned indoors, a multi-camera relay tracking technology is adopted, firstly, a difference image method is used for positioning a target, secondly, a difference image method is also adopted for tracking in a single camera, the motion of the target is analyzed, then the target is connected among the multiple cameras, and the target locked in one camera is correctly connected to the other camera.
The multi-camera relay tracking technology adopts an algorithm combining position information and target feature matching, fully utilizes the topological position relation of cameras, extracts the features of targets, finally corresponds the targets found by different cameras by utilizing a parallel algorithm, realizes that the target locked by one camera is correctly handed over to another camera, and positions the vehicle in real time. Through server analysis, send the analysis result to user's intelligent terminal, accurate guide user's vehicle stops into predetermined parking stall, even the user is unfamiliar with this parking area, also can be according to instructing swift effectual vehicle that stops into the parking stall, has solved the problem that "parks slowly" for the parking area is difficult for block up. When a plurality of parked vehicles exist, the server can also simultaneously utilize A according to the real-time positioning information and the path planning of the plurality of vehicles*The algorithm carries out better-gift path planning on the vehicles, so that a certain place or certain lanes are not blocked due to the fact that too many vehicles are embraced at the same time, the utilization efficiency of the parking lot is higher, and the parking of a user is more convenient.
Optionally, before a vehicle enters a parking lot, a user receives real-time data of the parking lot sent by a server through an intelligent terminal, and sends a parking space reservation request to the server; and the server receives the parking space reservation request and updates the real-time data of the parking lot. The user does not need to worry about the situation that a vacant lot exists in a certain parking lot but the parking lot is full after the car is actually driven, and the method is particularly suitable for the user to select the parking lot in the peak parking period, and avoids congestion in the same parking lot.
Preferably, before a vehicle enters a parking lot, a user receives real-time data of the parking lot sent by a server through an intelligent terminal, sends a request for reserving a designated parking space to the server, and sets arrival time; and the server receives the request of the appointed parking space and locks the appointed parking space within the arrival time. The real-time data of the parking lot comprises a schematic diagram of the parking places, such as a parking place three-dimensional schematic diagram and the like, a user can reserve the appointed parking place according to the information of the user, the user can conveniently and quickly arrive at a destination after parking, the possibility of accidents caused by walking in the parking lot is reduced, the user can conveniently find the vehicle, and the parking lot is particularly suitable for a large parking lot.
By means of reserving the appointed parking space, after the vehicle enters the parking lot, the server plans the path of the vehicle according to the appointed parking space reserved by the user, and therefore the method is quicker. The server can also plan a plurality of path plans after the user makes an appointment, and directly sends the corresponding path plans to the intelligent terminal of the user according to the position of the vehicle of the user entering the parking lot. By adopting the mode, the server can be fully utilized in idle time, the processing pressure of the server in the parking peak time is shared, and the utilization efficiency is higher.
The user can select the parking lot, the parking space and the planned parking occupation time period which need to be reserved on the matched application program, and meanwhile, a reservation cancellation mechanism is set.
The intelligent terminal can be a mobile phone, a tablet and the like. The user can browse the webpage through the intelligent terminal or download the APP to perform operations such as parking space reservation and payment. The user also can select the parking stall by oneself through APP etc. behind getting into the parking area, and the server is according to user selection and parking area real-time data, and the analysis reachs accurate route planning to the parking stall, sends to user's intelligent terminal.
The method for acquiring the real-time data of the parking lot comprises the following steps:
the camera shoots the parking places at intervals of a preset time and sends the parking places to the server;
the server compares the parking space pictures of the approaching time and detects the parking space by using a difference image method;
the server judges whether the difference exceeds a preset threshold value or not;
if the parking space exceeds a preset threshold value, the server judges that the parking space is used;
if the parking space does not exceed the preset threshold, the server judges that the parking space is an empty parking space;
the server updates the real-time data of the parking lot in time according to the judgment result;
the preset threshold is a numerical value that the server performs difference image on the parking space images at the near time by adopting a difference image method and the difference exceeds.
The method is mainly used for monitoring the parking space and judging whether the parking space is empty or not. The invention obtains the real-time map of the parking lot through the camera in the parking lot, and obtains the real-time use data of the parking lot and the position information of the vehicle in the parking lot through photoelectric image processing (difference image method), thereby obtaining and updating the real-time data of the parking lot in real time. Because the parking space and the vehicle condition are obtained through the camera, and the license plate can be determined by matching with the automatic license plate recognition technology, the object on the parking space can be accurately determined to be the vehicle, the influence of non-vehicle objects can be easily received without a vacancy recognition device in the prior art, and the empty parking space can be determined more accurately.
The accurate intelligent parking management method based on photoelectric image processing further comprises the step of monitoring the lane, and comprises the following steps:
the camera shoots the lane at intervals of a preset time and sends the lane to the server;
the server compares the lane pictures of the approaching time and detects the lane by using a difference image method;
the server judges whether the difference exceeds a preset threshold value or not; the preset threshold is a numerical value which is obtained by the server by taking difference images of the lane images at the adjacent time by adopting a difference image method and exceeds the difference;
if the lane occupation exceeds a preset threshold value, the server judges that the lane is occupied;
if the parking space does not exceed the preset threshold value, the server judges that the parking space is not occupied;
responding to the server to judge that the lane is occupied, and automatically identifying license plates of the occupied vehicles by the server by using a license plate automatic identification technology;
and the server informs the owner of the occupied vehicle to move the vehicle.
The lane is monitored, and the disorderly stopped vehicles on the lane can be quickly found. After the detection, the server can give an early warning to a manager and manually inform the owner of the occupied vehicle to move the vehicle; or the server directly sends the vehicle moving reminding to the user through modes such as APP or short message and the like, so that the lane occupying problem can be quickly solved. The camera can identify the occupied vehicle, and can set a preset threshold value to be a little smaller, so that the occupied object can be monitored, and if the occupied object falls on a lane, the occupied object can be monitored. After the object is found to be occupied, if the license plate can not be identified by utilizing the automatic license plate identification technology, an alarm can be sent to the manager, so that the manager can conveniently dredge the lane in time, the frequent manual inspection is not needed, the smoothness of the lane can be ensured, and the safety of vehicles of users can be guaranteed.
The parking space monitoring and the lane monitoring both utilize a difference image method to detect the target under the static background, the camera shoots a picture at intervals, the picture is differenced with the previous picture, if the difference exceeds a preset threshold value, the empty parking space can be judged to be used or the vehicle which is randomly parked appears, and therefore the problem of monitoring the empty parking space and the random parking phenomenon is solved.
The management system adopting the accurate intelligent parking management method based on photoelectric image processing comprises a plurality of cameras which are arranged according to a rule;
the server connected with the camera comprises an automatic license plate recognition module, an indoor vehicle positioning and tracking module and a path planning moduleThe system comprises a module and a parking space management module; the automatic license plate recognition module is used for recognizing license plate information of the vehicle shot by the camera; the indoor vehicle positioning and tracking module is used for positioning and tracking the vehicle moving in the parking lot by adopting a multi-camera relay tracking technology and a differential image method and is used for guiding the vehicle to reach an appointed parking space; the path planning module adopts A*The algorithm introduces simple heuristic information into Dijkstra algorithm and is used for providing accurate path planning to the parking space for the vehicle; the parking space management module adopts a target detection mode under a static background in a difference image method and is used for detecting an empty parking space to update real-time data of a parking lot or monitoring lanes.
The management system can also comprise a bicolor signal indicator lamp arranged at a T-shaped or crossroad, so as to guide the vehicle to turn to a planned path, and the management system is more visual and reliable.
The camera can be connected with the server through a connecting wire, and can also adopt an internet camera to send the camera pictures to the server. As shown in fig. 3, the internet-connected camera transmits data to the server through the management terminal after shooting. And the server sends the real-time data of the parking lot or the data of path planning or driving guidance and the like to the APP of the user through the 4G/5G signal. The user can also inquire or reserve the parking stall through the APP.
The cameras are mainly installed at the entrance and exit of the parking lot, the lanes, the parking spaces and the like and are used for shooting the positions.
By adopting the management system, the equipment cost for modifying the parking lot is very low. With an area of 2500m2For example, there are 90 parking spaces with total area 1620m2Area of lane 880m2And 23 original cameras. Three parking spaces are monitored by one camera in anticipation, and 50m is monitored by one camera2The road of (1). Therefore, if 24 cameras need to be newly added to the parking lot for modification, 90 indicator lamps are used, and the equipment cost is about 3000 yuan, the modification can be completed.
The photoelectric image processing technology is that a computer system converts an analog image in the nature into a digital image in the computer through an optical system and a photoelectric image sensor, and then processes and analyzes the image, and mainly comprises two parts of contents, namely a photoelectric imaging technology and a digital image processing technology. At present, the photoelectric image processing technology is widely used in the fields of industry, agriculture, military, space exploration, remote sensing application, biomedicine and the like, wherein a subtraction method (also called subtraction technology) is the basis for realizing the photoelectric image processing technology, the operation is to subtract images shot by the same scene at different time or images of the same scene at different wave bands, and the difference information between the images provided by the subtraction image is utilized to achieve the purposes of dynamic monitoring, moving target detection and identification, target identification and the like, and is particularly important in tracking image identification.
According to the management method or the management system, a user can identify the vehicle through the automatic license plate identification system when leaving the parking lot, the server charges the vehicle, and finally the server sends the charging information to the charging window, so that the user can pay the fee by himself; the user can also click and leave at platforms such as APP by oneself when leaving, carries out the fee deduction on APP, and the license plate automatic identification system in exit discerns the vehicle and passes. Or after the user registers and logs in on the application program for the first time, the system can remind the user to bind license plate numbers, WeChat and Payment treasures, the user can bind a plurality of license plate numbers, and the license plate numbers are required to be switched in vehicle management when the user drives a vehicle different from the last vehicle. After a user drives a vehicle to enter the sight range of the camera outside the parking lot, the camera captures and identifies the license plate number, and the timing is started after the identification is successful. When the user drives the vehicle and leaves the parking lot, the license plate number can be captured and identified by the camera again, and the system can automatically finish payment after successful identification.
The adoption platforms such as APP collect fee, made things convenient for user's operation of collecting fee greatly, also be difficult for blockking up the export because of collecting fee, make the lane keep smooth and easy throughout, improve the utilization efficiency.
When a user needs to get a car, the corresponding two-dimensional code is scanned at an entrance of a parking lot, the platform can acquire the position of the user, and path planning is performed according to the position of the user and the position of the used parking space, so that a path for finding the favorite car at the fastest speed is provided for the user, the time for the user to find the favorite car is greatly saved, and the user can find the own car quickly.
The parking management system comprises a hardware part and a software part. The hardware part is a networking camera and an indicator light which are arranged in the parking lot, real-time information in the parking lot is obtained through the camera, and the real-time information is transmitted to the server. The software part is stored by the server, is an APP corresponding to the system, can adopt a B/S structure, and uses a spring MVC + Hibernate framework, the application server adopts Tomcat, and the database server adopts Mysql.
The design function of the whole APP is divided into an object-oriented APP, a parking lot management background system, an SQL server and a visual sensor module. The object-oriented APP is used by a user, the parking lot background system is used by management personnel, and the vision sensor module is used for collecting data and transmitting the data to the management end, as shown in fig. 3.
Simulation experiment: the method includes the steps that an aluminum plate is used as an interval to simulate a parking lot scene, the interval between every two aluminum plates represents a parking space, a stool and a plastic pile represent parked vehicles, a Pioneer 3-DX robot is used for replacing the vehicles, a kinect camera is used for acquiring image information, an Ubuntu operating system and an ROS robot operating system are used for completing instructions, and the Pioneer 3-DX completes an indoor parking navigation process of accurately arriving at the parking space through an algorithm. Experiments prove that the accurate intelligent parking management method or system based on photoelectric image processing can accurately guide the robot into a preset parking space.
Reference documents:
1. the license plate automatic identification system based on the OpenCV is researched and implemented as [ D ]. southeast university, 2015.
2. Wu Yudi, multiple cameras relay tracking overview [ J ] science and technology, 2019(06):82-83.
3. Hutian, multiple cameras, combined target tracking [ D ]. hainan university, 2017.
4. Algorithm web pagehttps://blog.csdn.net/t972409256/article/details/ 81902345
5. Penzhengming, photoelectric image processing and application thereof [ M ]. Chengdu: university of electronic technology publisher, 2013.
Claims (10)
1. A precise intelligent parking management method based on photoelectric image processing is characterized by comprising the following steps:
automatically identifying vehicles entering the parking lot by using an automatic identification technology;
according to the real-time data of the parking lot, adopt A*The algorithm plans a path of the vehicle and sends the planned path to an intelligent terminal of a user;
tracking and positioning the vehicle by utilizing a plurality of cameras regularly installed in the parking lot and adopting a multi-camera relay tracking technology, transmitting collected positioning information to a server through the cameras, and transmitting the analyzed information to an intelligent terminal of a user by the server;
and automatically identifying the license plate of the vehicle leaving the parking lot.
2. The method for precise intelligent parking management based on photoelectric image processing as claimed in claim 1, wherein the step of tracking and positioning the vehicle by using multi-camera relay tracking technology is as follows:
detecting a moving target by adopting a difference image method, and completing target positioning of the vehicle by matching with an automatic license plate recognition technology;
adopting a difference image method to track in a single camera;
handing over a target locked in one camera to an adjacent camera of the path plan.
3. The method for precise intelligent parking management based on photoelectric image processing as claimed in claim 1, wherein the automatic recognition technology is a license plate automatic recognition technology, comprising the following steps:
shooting a vehicle image through the camera;
the position of the license plate is positioned by utilizing the principle that the texture and the color of the license plate are different from those of the surrounding environment;
performing inclination correction on the license plate;
dividing the characters in the corrected license plate region one by one;
recognizing the segmented characters by adopting an image recognition technology;
and converting the recognized character image into text information and inputting the text information into a server.
4. The method for precise intelligent parking management based on photoelectric image processing as claimed in claim 1, wherein the automatic identification technology is as follows: the road test reader RSU is installed on the inlet and the outlet of the parking lot, the vehicle-mounted electronic tag OBU is installed on the vehicle, the bridge built by means of the RFID technology is used for achieving communication between the RSU and the OBU, and the short-distance wireless communication technology is used for completing the whole recognition or/and charging process.
5. The accurate intelligent parking management method based on photoelectric image processing as claimed in claim 1, wherein before a vehicle enters a parking lot, a user receives real-time data of the parking lot sent by a server through an intelligent terminal and sends a parking space reservation request to the server; and the server receives the parking space reservation request and updates the real-time data of the parking lot.
6. The accurate intelligent parking management method based on photoelectric image processing as claimed in claim 1, wherein before a vehicle enters a parking lot, a user receives real-time data of the parking lot sent by a server through an intelligent terminal, sends a request for reserving a designated parking space to the server, and sets arrival time; and the server receives the request of the appointed parking space and locks the appointed parking space within the arrival time.
7. The method as claimed in claim 6, wherein the server plans the route of the vehicle according to the designated parking space reserved by the user after the vehicle enters the parking lot.
8. The accurate intelligent parking management method based on photoelectric image processing as claimed in claim 1, wherein the method for acquiring real-time data of the parking lot is as follows:
the camera shoots the parking places at intervals of a preset time and sends the parking places to the server;
the server compares the parking space pictures of the approaching time and detects the parking space by using a difference image method;
the server judges whether the difference exceeds a preset threshold value or not;
if the parking space exceeds a preset threshold value, the server judges that the parking space is used;
if the parking space does not exceed the preset threshold, the server judges that the parking space is an empty parking space;
the server updates the real-time data of the parking lot in time according to the judgment result;
the preset threshold is a numerical value that the server performs difference image on the parking space images at the near time by adopting a difference image method and the difference exceeds.
9. The method for precise intelligent parking management based on photoelectric image processing as claimed in claim 1, further comprising monitoring lanes, comprising the steps of:
the camera shoots the lane at intervals of a preset time and sends the lane to the server;
the server compares the lane pictures of the approaching time and detects the lane by using a difference image method;
the server judges whether the difference exceeds a preset threshold value or not; the preset threshold is a numerical value which is obtained by the server by taking difference images of the lane images at the adjacent time by adopting a difference image method and exceeds the difference;
if the lane occupation exceeds a preset threshold value, the server judges that the lane is occupied;
if the parking space does not exceed the preset threshold value, the server judges that the parking space is not occupied;
responding to the server to judge that the lane is occupied, and automatically identifying license plates of the occupied vehicles by the server by using a license plate automatic identification technology;
and the server informs the owner of the occupied vehicle to move the vehicle.
10. The management system adopting the precise intelligent parking management method based on photoelectric image processing as claimed in any one of claims 1 to 9, characterized by comprising
A plurality of cameras arranged according to a rule;
the server is connected with the camera and comprises an automatic license plate recognition module, an indoor vehicle positioning and tracking module, a path planning module and a parking space management module; the automatic license plate recognition module is used for recognizing license plate information of the vehicle shot by the camera; the indoor vehicle positioning and tracking module is used for positioning and tracking the vehicle moving in the parking lot by adopting a multi-camera relay tracking technology and a differential image method and is used for guiding the vehicle to reach an appointed parking space; the path planning module adopts A*The algorithm is used for providing accurate path planning to the parking space for the vehicle; the parking space management module adopts a target detection mode under a static background in a difference image method and is used for detecting an empty parking space to update real-time data of a parking lot or monitoring lanes.
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