CN111081059A - Parking management method, device and equipment based on TOF and readable storage medium - Google Patents
Parking management method, device and equipment based on TOF and readable storage medium Download PDFInfo
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- CN111081059A CN111081059A CN201911363673.2A CN201911363673A CN111081059A CN 111081059 A CN111081059 A CN 111081059A CN 201911363673 A CN201911363673 A CN 201911363673A CN 111081059 A CN111081059 A CN 111081059A
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- 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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Abstract
The invention discloses a parking management method based on TOF, which comprises the following steps: when a moving target vehicle exists in a preset space, acquiring a moving track of the target vehicle, and determining the running state of the target vehicle according to the moving track of the target vehicle; if the driving state of the target vehicle is the driving-in state, when the target vehicle is detected to be static in the subspace, acquiring a target parking space corresponding to the subspace, and adjusting the parking space state of the target parking space to be a parking state; and if the running state of the target vehicle is the driving-away state, adjusting the parking space state of the target parking space to be an idle state. The invention also discloses a parking management device and equipment based on the TOF and a readable storage medium. According to the invention, the running state of the vehicle is determined, and the parking space state of the target parking space in the preset space is adjusted according to the running state of the vehicle, so that the parking space and the vehicle information are more comprehensively and accurately acquired.
Description
Technical Field
The invention relates to the field of intelligent transportation, in particular to a parking management method, a parking management device, parking management equipment and a readable storage medium based on TOF.
Background
With the rapid development of science and technology and the continuous improvement of living standard of people, automobiles become indispensable transportation means in daily life of people, but with the increase of the number of automobiles, under the condition that the problem of illegal parking is frequent, the establishment of a standard and rapid parking method becomes more and more important.
In prior art, vehicle and parking stall information acquisition equipment are more single, for example, earth magnetism, video stake etc. single equipment exists the blind spot in vehicle identification, and single equipment acquisition information is not comprehensive enough, this collection that just leads to vehicle information and parking stall information is accurate inadequately, prior art can solve above-mentioned problem through increasing information acquisition equipment, but this has leaded to the increase of cost of realization again, consequently, use single equipment to realize more comprehensive more accurate information acquisition has become the problem of treating urgently.
Disclosure of Invention
The invention mainly aims to provide a parking management method based on a Time Of Flight (TOF) method, and aims to solve the technical problem Of more comprehensively and accurately acquiring vehicle and parking space information by using single equipment.
In order to achieve the above object, the present invention further provides a parking management method based on TOF, including the following steps:
detecting vehicles in a preset space based on TOF;
when detecting that a moving target vehicle exists in the preset space, acquiring a moving track of the target vehicle, and determining a running state of the target vehicle relative to the preset space according to the moving track;
if the driving state is a driving-in state, when the target vehicle is detected to be static in a subspace in a preset space, acquiring a target parking space corresponding to the subspace, and adjusting the parking space state of the target parking space to be a parking state;
and if the driving state is a driving-away state, adjusting the parking space state to an idle state.
Optionally, after the step of detecting the vehicle in the preset space based on the TOF, the method includes:
when an object is detected to exist in the preset space, acquiring three-dimensional data of the object based on TOF;
judging whether the three-dimensional data belongs to a preset three-dimensional data set or not;
and if the three-dimensional data does not belong to the preset three-dimensional data set, outputting foreign matter occupation violation prompt information.
Optionally, the step of acquiring three-dimensional data of the object based on the TOF when the object is detected to exist in the preset space includes:
when an object is detected to exist in a preset space, establishing a three-dimensional coordinate system based on the preset space;
and acquiring the three-dimensional coordinates of the target point position on the object in the three-dimensional coordinate system based on TOF, and determining the three-dimensional data of the object according to the three-dimensional coordinates of the target point position.
Optionally, if the driving state is an entering state, when it is detected that the target vehicle is stationary in a subspace of a preset space, the step of obtaining a target parking space corresponding to the subspace, and adjusting a parking space state of the target parking space to be a parking state includes:
if the driving state is a driving-in state, judging whether the target vehicle is in one subspace after being stopped when the target vehicle is detected to be stopped;
if the target vehicle is not only in one subspace after being stopped, vehicle illegal parking prompt information is output;
and if the target vehicle is only in one subspace after the vehicle is stationary, acquiring a target parking space corresponding to the subspace, and adjusting the parking space state of the target parking space to be a parking state.
Optionally, the step of, when it is detected that a moving target vehicle exists in the preset space, acquiring a moving trajectory of the target vehicle, and determining a driving state of the target vehicle relative to the preset space according to the moving trajectory, further includes:
when detecting that a moving target vehicle exists in a preset space, acquiring license plate information of the target vehicle, and judging whether the license plate information is matched with parking space attributes of parking spaces in the preset space;
if the license plate information is not matched with the parking space attribute, outputting parking abnormity prompting information;
and if the license plate information is matched with the parking space attribute, executing the step of acquiring the movement track of the target vehicle and determining the running state of the target vehicle relative to a preset space according to the movement track.
Optionally, if the target vehicle after being stationary is only in one subspace, acquiring a target parking space corresponding to the subspace, and adjusting a parking space state of the target parking space to be a parking state, further including:
if the target vehicle is only in one subspace after being stationary, acquiring an included angle between the target vehicle and a coordinate axis in a three-dimensional coordinate system, and judging whether the included angle is larger than a preset angle;
if the included angle is larger than the preset angle, outputting parking abnormity prompting information;
and if the included angle is smaller than or equal to the preset angle, executing the step of acquiring the target parking space corresponding to the subspace and adjusting the parking space state of the target parking space to be the parking state.
Optionally, the step of acquiring a movement track of the target vehicle when it is detected that a moving target vehicle exists in the preset space, and determining a driving state of the target vehicle relative to the preset space according to the movement track includes:
when the number of the moving tracks is at least two and the target vehicle keeps static in a preset time period, acquiring the last moving track of the target vehicle before the target vehicle is static;
and acquiring a starting point and a starting point of the last moving track, acquiring an indication direction of the starting point pointing to the starting point, and determining the running state of the target vehicle relative to a preset space according to the indication direction.
In addition, to achieve the above object, the present invention also provides a TOF-based parking management apparatus including:
the first detection module is used for detecting vehicles in a preset space based on TOF;
the second detection module is used for acquiring the moving track of the target vehicle when the moving target vehicle exists in the preset space, and determining the running state of the target vehicle relative to the preset space according to the moving track;
the acquisition module is used for acquiring a target parking space corresponding to a subspace and adjusting the parking space state of the target parking space to be a parking state when the target vehicle is detected to be static in the subspace in a preset space if the driving state is the driving-in state;
and the adjusting module is used for adjusting the parking space state into an idle state if the driving state is a driving-away state.
Further, to achieve the above object, the present invention also provides a TOF-based parking management apparatus including: a memory, a processor and a TOF based parking management program stored on the memory and executable on the processor, the TOF based parking management program when executed by the processor implementing the steps of the TOF based parking management method as described above.
Further, to achieve the above object, the present invention also provides a readable storage medium having stored thereon a TOF-based parking management program which, when executed by a processor, implements the steps of the TOF-based parking management method as described above.
The embodiment of the invention provides a parking management method, a parking management device, parking management equipment and a readable storage medium based on TOF. In the embodiment of the invention, when TOF-based parking management equipment detects that a moving vehicle exists in a preset space, the TOF-based parking management equipment acquires a moving track of the vehicle, TOF-based parking management program analyzes the moving track to obtain a driving state of the vehicle, if the driving state of the vehicle is a driving state, when the vehicle is static in a subspace in the preset space, TOF-based parking management equipment acquires a parking space corresponding to the subspace, the TOF-based parking management program adjusts the parking space state of the parking space to be a parking state, and if the driving state of the vehicle is a driving state, TOF-based parking management program adjusts the parking space state of the parking space to be an idle state. The parking spaces are managed according to the driving states of the vehicles, so that the parking spaces and vehicle information can be collected more comprehensively and accurately.
Drawings
Fig. 1 is a schematic hardware structure diagram of an implementation manner of a parking management apparatus based on TOF according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a TOF-based parking management method according to a first embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of a second embodiment of a TOF-based parking management method according to the present invention;
FIG. 4 is a schematic flow chart of a TOF-based parking management method according to a third embodiment of the present disclosure;
FIG. 5 is a schematic flow chart of a TOF-based parking management method according to a fourth embodiment of the present disclosure;
FIG. 6 is a schematic flow chart of a fifth embodiment of a TOF-based parking management method according to the present invention;
FIG. 7 is a flowchart illustrating a TOF-based parking management method according to a sixth embodiment of the present disclosure;
FIG. 8 is a functional block diagram of an embodiment of a parking management apparatus based on TOF according to the present invention;
fig. 9 is a schematic diagram of a parking management method based on TOF according to a third embodiment, a fourth embodiment and a sixth embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
In the embodiment of the invention, the parking management terminal (called terminal, equipment or terminal equipment) based on the TOF can be a PC (personal computer), and can also be equipment with a data processing function, such as a smart phone, a tablet personal computer, a portable computer and the like.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a TOF-based parking management program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke a TOF-based parking management program stored in the memory 1005, which when executed by the processor, implements the operations in the TOF-based parking management method provided by the embodiments described below.
Based on the hardware structure of the equipment, the embodiment of the parking management method based on the TOF is provided.
Referring to fig. 2, in a first embodiment of a TOF-based parking management method of the present invention, the TOF-based parking management method includes:
and step S10, detecting the vehicle in the preset space based on TOF.
In this embodiment, the parking management method based on the TOF is applied to a parking management device (also called a terminal, a device or a terminal device) based on the TOF, where the parking management device based on the TOF includes a smart phone, a computer, a TOF lidar, a camera and other devices having an information acquisition or information processing function.
The parking management method based on the TOF in the embodiment can acquire the physical information of the vehicle existing in a certain three-dimensional space range, wherein the physical information includes the distance between the vehicle and the equipment, the three-dimensional information of the vehicle and the like.
Step S20, when detecting that a moving target vehicle exists in the preset space, acquiring the moving track of the target vehicle, and determining the driving state of the target vehicle relative to the preset space according to the moving track.
In this embodiment, the preset space is a three-dimensional space which is set according to the size of the area of the parking lot in advance, the size of the preset space is not larger than the size of the three-dimensional space which can be monitored by the equipment, the preset space is a cuboid, the target vehicle is a vehicle which is monitored by the equipment and moves in the preset space, and the driving state of the target vehicle includes a driving-in state and a driving-out state, that is, the driving-in state indicates that the vehicle is driving into the preset space, and the driving-out state indicates that the vehicle is driving out of the preset space.
Specifically, if the direction of the movement trajectory of the target vehicle acquired by the device is from outside the preset space to inside the preset space, it is determined that the running state of the target vehicle is the on-state, and if the direction of the movement trajectory of the target vehicle acquired by the device is from inside the preset space to outside the preset space, it is determined that the running state of the target vehicle is the off-state.
Step S30, if the driving state is the driving-in state, when it is detected that the target vehicle is stationary in a subspace of a preset space, obtaining a target parking space corresponding to the subspace, and adjusting a parking space state of the target parking space to be a parking state.
The subspace is a smaller three-dimensional space obtained by further dividing the preset space, and includes a plurality of subspaces in the preset space, and the specific number is not limited, and the subspace is a three-dimensional space set according to the size of a parking space, and is in the monitorable three-dimensional space range of the equipment, and the subspace is a cuboid, and the size of the subspace is the area of a parking space multiplied by the preset height value. Therefore, one subspace corresponds to one parking space, and the target parking space is the parking space corresponding to the subspace.
If the driving state of the target vehicle is a driving state, that is, the target vehicle drives into the parking lot to park, when the parking management device based on the TOF detects that the target vehicle is parked in the subspace (that is, the target vehicle is accurately parked on one parking space), the parking management program based on the TOF acquires parking space information of the target parking space, where the parking space information includes a parking space identification number, parking space position information, parking space charging information, parking space states and the like, and the parking space states include a parking (parked vehicle in the parking space) state, an idle (non-parked vehicle in the parking space) state and the like. When the parking management device based on the TOF detects that the target vehicle is parked on the target parking space, the parking management program based on the TOF adjusts the parking space state of the target parking space to be a parking state.
And step S40, if the driving state of the target vehicle is a driving-away state, adjusting the parking space state of the target parking space to an idle state.
When the parking management equipment based on the TOF detects that the target vehicle drives out of the parking space, the parking management equipment based on the TOF adjusts the parking space state of the target parking space to be an idle state.
In this embodiment, the parking management device based on the TOF acquires the moving track of the target vehicle moving in the preset space, and the parking management program based on the TOF analyzes the acquired moving track, so as to determine the running state of the target vehicle, and adjust the parking space state of the target parking space in the preset space according to the running state of the vehicle, so that the parking space and the vehicle information are collected more comprehensively and accurately.
Further, referring to fig. 3, a second embodiment of the parking management method based on TOF of the present invention is proposed on the basis of the first embodiment of the present invention.
This embodiment is a step after step S10 in the first embodiment, and the present embodiment is different from the above-described embodiments of the present invention in that:
and step S50, when the object is detected to exist in the preset space, acquiring three-dimensional data of the object based on TOF.
In this embodiment, the parking management method based on the TOF can acquire information of an object existing in a certain three-dimensional space range, including a distance between the object and the equipment and three-dimensional information of the object. The three-dimensional data of the object is data representing the size of the body of the object, and it is known that, if a three-dimensional coordinate system is established based on a preset space, each point on the object can be represented by a coordinate.
As can be seen, objects generally have irregular shapes, and the preset space and the subspace are regular cuboids, in the present embodiment, when obtaining three-dimensional data of an object, the parking management method based on the TOF provides a solution, where a lateral direction of a parking lot (i.e., the preset space) is an X axis, a longitudinal direction of the parking lot is a Y axis, and a direction perpendicular to a horizontal plane of the parking lot is a Z axis, a coordinate system is established, and if an object exists in the parking lot, a length of the object in the X axis direction is a long length, a length of the object in the Y axis direction is a wide length, and a length of the object in the Z axis direction is a high length, and a cuboid can be drawn, so that the object can be just contained in the cuboid.
Specifically, the step refined in step S50 further includes:
step a1, when the object is detected to exist in the preset space, establishing a three-dimensional coordinate system based on the preset space.
This embodiment provides a specific application scenario, as shown in fig. 9, a first parking lot includes 8 parking spaces with equal areas and close to each other, each parking space has a length of 5 meters and a width of 2.5 meters, and a first parking lot has a length of 20 meters and a width of 5 meters, and as can be seen, according to different arrangement modes of the parking spaces, the first parking lot may also have a length of 40 meters and a width of 2.5 meters, and a preset height of 3 meters, the volume of the preset space is 300 cubic meters, as shown in fig. 9, an object one exists in the preset space, in the drawing, X1 is 1.4, X2 is 3.6, Y1 is 6.6, and Y2 is 9.5, the length of the object one is 2.9 meters, the width of 2.2 meters, the height of the object one is the distance between the highest point of the object and the ground, and assuming that the length of the object one is 2.9 meters, the width of 2.2 meters.
Step a2, acquiring the three-dimensional coordinates of the target point position on the object in the three-dimensional coordinate system based on TOF, and determining the three-dimensional data of the object according to the three-dimensional coordinates of the target point position.
As shown in fig. 9, in the three-dimensional coordinate system established based on the preset space, the point of the first object closest to the Y axis of the coordinate system is point a, the point farthest from the Y axis of the coordinate system is point b, the point c closest to the X axis is point d farthest from the X axis, and the coordinates of the four points a, b, c, and d are known from the positions of the first and four points in the coordinate system, and the coordinates of the four points a, b, c, and d are known from the coordinates of the first object, that is, the three-dimensional data of the first object is obtained.
And step S60, judging whether the three-dimensional data belongs to a preset three-dimensional data set.
The three-dimensional data set in this embodiment is a preset set including some three-dimensional values, where the values represent the length, width, and height of an object, and the length, width, and height value ranges are determined according to the size of a common vehicle and the size of a parking space in the market, so as to determine whether the three-dimensional data of the object belongs to the preset three-dimensional data set, and determine whether the object is a vehicle.
And step S70, if the three-dimensional data does not belong to the preset three-dimensional data set, outputting a foreign matter occupation violation prompt message.
The embodiment provides a specific application scenario, for example, the length subset of the preset three-dimensional data set is (2,5), the width subset is (1.5,2.5), the height subset is (1,3), and the unit is meter, the TOF-based parking management apparatus detects that the first object exists in the preset space, the three-dimensional data of the first object is 2.1 meters long, 1.2 meters wide, and 0.7 meter high, and since the width of the first object is not in the width subset of the preset three-dimensional data set, the height of the first object is not in the height subset of the preset three-dimensional data set, that is, if any three-dimensional data of the first object is not in the corresponding subset of the preset three-dimensional data set, it is determined that the first object is not a vehicle.
Based on the consideration of the situation that an object other than a vehicle appears in the preset space and may affect the use of the parking lot in the preset space, in the present embodiment, when the parking management device based on the TOF detects that an object other than a vehicle exists in the preset space, the parking management program based on the TOF outputs the foreign object occupation prompting information, and considering that the object existing in the preset space may be a person with independent consciousness, when the parking management device based on the TOF detects that an object other than a vehicle exists in the preset space, the parking management program based on the TOF calls a camera for shooting the preset space, so as to obtain a real-time picture of the preset space and output the foreign object occupation confirming information, if a parking lot manager (i.e., a user of the parking management device based on the TOF and the parking management device) confirms after viewing the real-time picture, the object that exists in the preset space is for can not leading to the fact the people of influence to the use in parking area, then the parking area administrator can be manual to the foreign matter the prompt message of violating the accounts for cancel, can know, the mode of violating the accounts for the foreign matter the prompt message cancel except manual, can also be equipment automatic, for example, the camera of shooing has the function whether distinguishable object has biological sign to the space of presetting to when the camera discerns to exist the man-hour in the preset space, equipment is automatic to cancel the foreign matter the prompt message of violating the accounts for.
Through the three-dimensional data who obtains the object that exists in presetting the space in this embodiment, and then according to the three-dimensional data of the object that obtains, judge whether the object is the vehicle, if judge that the object is not the vehicle, because the object that is not the vehicle appears in presetting the space, probably causes the influence to the use in parking area, then parking management procedure based on TOF outputs the foreign matter and violates the suggestion information that accounts for the use of parking stall is more standard.
Further, referring to fig. 4, a third embodiment of the parking management method based on TOF of the present invention is proposed on the basis of the above-described embodiment of the present invention.
This embodiment is a step of the first embodiment, which is a refinement of step S30, and the difference between this embodiment and the above-described embodiment of the present invention is:
step S31, if the driving state is the driving state, when the target vehicle is detected to be stationary, determining whether the stationary target vehicle is only in one subspace.
When the object existing in the preset space is determined to be a vehicle and the driving state of the vehicle is determined to be the driving state according to the moving track of the vehicle, namely, the vehicle drives into the preset space (parking available area), when the vehicle drives into the parking area and stops in the preset space, the position where the vehicle is parked needs to be confirmed, whether the target vehicle is in one sub-space after being stopped is determined, and whether the target vehicle has the condition of illegal parking is determined.
And step S32, if the target vehicle after being stopped is not only in one subspace, outputting vehicle illegal parking prompt information.
The present embodiment gives the following specific application scenarios.
In a first scenario, as shown in fig. 9, a first vehicle enters the parking lot and stops in the middle of two parking spaces, in this case, assuming that the height of the preset space is 3 meters, according to the established coordinate system, the TOF-based parking management program obtains two coordinate points, namely, coordinate point a (0.8141.5) and coordinate point b (1.516.31.4) (not shown in the drawing), that coordinate point a is in the subspace corresponding to parking space 6, and coordinate point b is in the subspace corresponding to parking space 7, that is, that the point on the first vehicle exists in different subspaces, and then it can be determined that the first vehicle occupies multiple parking spaces.
In a second scenario, as shown in fig. 9, the second vehicle does not occupy multiple parking spaces, but the second vehicle has a portion that exceeds parking space 8, and the second vehicle does not exceed the preset space, in this case, the parking management program based on the TOF acquires a coordinate point c on the second vehicle, where the coordinate of the coordinate point c is (5.3181.5) (not shown), and the coordinate point c is not in the subspace corresponding to parking space 8, that is, the second vehicle is not only in one subspace.
The situation that the target vehicle is not only in one subspace in the embodiment includes the first vehicle and the second vehicle in fig. 9, after the target vehicle is determined not to be only in one subspace, the parking management program based on the TOF outputs the vehicle parking violation prompt information, and the form and the content of the vehicle parking violation prompt information are not detailed or limited.
Step S33, if the stationary target vehicle is only in one subspace, acquiring a target parking space corresponding to the subspace, and adjusting the parking space state of the target parking space to a parking state.
Therefore, if the stationary target vehicle is only in one subspace, that is, the target vehicle is accurately parked in one parking space, the parking management program based on the TOF will acquire the parking space information of the target parking space, and adjust the parking space state of the target parking space to the parking state.
Through obtaining the position that the target vehicle parked in predetermineeing the space in this embodiment, and then judge whether the target vehicle has the condition of violating the parking, output vehicle prompt message that violating the parking when the target vehicle appears violating the parking condition for the parking stall is used more standardly.
Further, referring to fig. 5, a fourth embodiment of the parking management method based on TOF of the present invention is proposed on the basis of the above-described embodiment of the present invention.
This embodiment is a step of the first embodiment, which is a refinement of step S20, and the difference between this embodiment and the above-described embodiment of the present invention is:
and step S21, when a moving target vehicle is detected to exist in the preset space, acquiring the license plate information of the target vehicle, and judging whether the license plate information is matched with the parking space attribute of the parking space in the preset space.
The license plate information in this embodiment includes the license plate number, vehicle type (vehicle type can be divided into new energy automobile and non-new energy automobile, distinguishes with the license plate colour) etc. and parking stall attribute is including can parking with can not parking, and knowing ground, parking stall attribute still can combine together with the time, and promptly, certain parking stall can park or can not park etc. in certain time quantum. When parking management equipment based on TOF detects that a moving target vehicle exists in a preset space, the parking management equipment based on TOF acquires license plate information of the target vehicle and judges whether the license plate information is matched with parking space attributes of parking spaces in the preset space, and the embodiment provides the following specific application scenarios.
In the application scene, when the non-new energy vehicle is parked in the parking space which is only used by the new energy vehicle, the parking management equipment based on the TOF acquires the license plate information of the first vehicle, and then the parking management program based on the TOF judges that the first vehicle is the non-new energy vehicle according to the license plate information.
In the second application scenario, according to the traffic regulation of single-number and double-number restriction in a certain city, a vehicle with a license plate with a tail number of two is prohibited from driving in the city area on the single-number date, for example, in 9-month 5, a vehicle with a license plate with a tail number of 8 is driven into a parking lot of the first vehicle, and is parked in a certain parking lot of the first parking lot, in the second application scenario, after parking management equipment based on TOF acquires license plate information of the vehicle, parking lot attribute of the vehicle in the first parking lot is judged to be not possible to park, and the vehicle cannot be parked in the first parking lot at the current time.
According to the third application scene, according to the traffic regulations of a certain city and the use regulations of a specific parking lot, parking of the vehicle is forbidden in a specified area of a city area in a certain time period, for example, a first parking lot near a school gate of a certain school, and considering the traffic pressure when parents of students send and receive the students, the time period of the first parking lot for which the traffic management department specifies that the vehicle cannot be parked is 07:00-09:00 and 17:00-19:00, then the first vehicle drives into the first parking lot for 05 minutes in the morning of a certain Monday and is parked in a certain parking space of the first parking lot, and under the application scene, the TOF-based parking management device acquires the license plate information of the first vehicle, determines that the parking space attribute of the first parking lot is not parked, and the first vehicle cannot be parked in the first parking lot at the current time.
According to the application scenes, the situation that the parking place attributes of the license plate information and the parking places in the preset space are not matched comprises the limitation of an intersection rule or a parking lot on license plate numbers, and the three application scenes are the situation that the license plate information and the parking places in the preset space are not matched.
And step S22, if the license plate information is not matched with the parking space attribute, outputting parking abnormity prompting information.
It can be known that, the situation that the license plate information and the parking space attribute are not matched includes that the license plate number is not limited by the area but the parking space attribute is not available for parking any vehicle, the license plate number is limited by the area but the parking space attribute is available for parking any vehicle, the license plate number is not limited by the area but the parking space attribute is not available for parking some vehicles, these three situations just correspond to the three scenarios in the step S21, when the license plate information is not matched with the parking space attribute, the parking management program based on the TOF outputs parking abnormal prompt information to the terminal, for example, "currently, the parking space attribute is not available for parking |! The specific content and form of the parking abnormality prompting message are not detailed or limited in this embodiment.
Specifically, when the TOF-based parking management device cannot detect the license plate information of the target vehicle, the TOF-based parking management program will output a license plate confirmation page, which is used for manually confirming the license plate information, and in the prior art, although the correct recognition rate of the license plate is high, under the influence of light, dirt on the license plate, damage to the license plate, and the like, the license plate cannot be recognized, in which case, it is necessary to manually confirm the license plate information, and specifically, when the TOF-based parking management device cannot detect the license plate information of the target vehicle, the TOF-based parking management program will output a license plate confirmation page, wherein the license plate confirmation page includes the parking position information of the target vehicle, and the parking lot manager can confirm the page according to the license plate, and checking the license plate information of the target vehicle on site.
Therefore, if the license plate information is matched with the parking space attribute, the parking management program based on the TOF obtains correct license plate information, and after obtaining correct license plate information, the parking management program based on the TOF further obtains parking space information of a target parking space where the target vehicle is parked, and adjusts the parking space state of the target parking space to be the parking state.
In the embodiment, the license plate information of the target vehicle parked on the target parking space is acquired, whether the license plate information is matched with the parking space attribute is judged, and prompt information is output or follow-up steps are executed according to the judgment result, so that the parking space is more standard in use.
Further, referring to fig. 6, a fifth embodiment of the parking management method based on TOF of the present invention is proposed on the basis of the above-described embodiment of the present invention.
This embodiment is a step refined by step S33 in the third embodiment, and the difference between this embodiment and the above-described embodiment of the present invention is:
step S331, if the stationary target vehicle is only in one subspace, acquiring an included angle between the target vehicle and a coordinate axis in a three-dimensional coordinate system, and judging whether the included angle is larger than a preset angle.
In this embodiment, an included angle between the target vehicle and a coordinate axis in the three-dimensional coordinate system is an included angle between an extension line of a line segment representing length, width and height data of the target vehicle and a coordinate axis or a parallel line of the coordinate axis, as shown in fig. 9, although the vehicle three is only in one parking space, because the parking space occupies a larger area than an ordinary vehicle, the vehicle may also be placed in the parking space in an inclined manner, although this situation does not affect the use of the next parking space, in the case that the vehicle is parked in both the parking space four and the parking space six, the vehicle three may hardly exit from the parking space, which causes the use of the parking space to be irregular, and the purpose of determining whether the included angle between the target vehicle and the coordinate axis in the three-dimensional coordinate system is greater than a preset angle is to prevent the above situation.
Step S332, if the included angle is larger than the preset angle, outputting parking abnormity prompting information.
The preset angle in this embodiment is a value used for measuring a parking inclination angle of a vehicle in a parking space, that is, if an included angle between a target vehicle and a coordinate axis in a three-dimensional coordinate system is greater than the preset angle, it indicates that the vehicle is parked too obliquely, and a specific value of the preset angle is set according to an actual situation of the parking space, which is not limited in this embodiment. It can be known that when the angle between the target vehicle and the coordinate axis in the three-dimensional coordinate system is larger than the preset angle, the parking management program based on TOF will output a parking abnormity prompt message, for example, "the vehicle number five is parked abnormally |)! The specific content and form of the parking exception prompting message are not detailed or limited in this embodiment.
The parking angle problem when the vehicle is parked in only one parking stall is further considered in the embodiment, the practical situation is combined, the departure of the vehicle can be influenced when the vehicle is parked too obliquely, and abnormal parking prompt information is output when the vehicle is parked too obliquely, so that the parking stall is more standard.
Further, referring to fig. 7, a sixth embodiment of the parking management method based on TOF of the present invention is proposed on the basis of the above-described embodiment of the present invention.
This embodiment is a step of the first embodiment, which is a refinement of step S20, and the difference between this embodiment and the above-described embodiment of the present invention is:
and step S23, when the number of the moving tracks is at least two and the target vehicle keeps still in a preset time period, acquiring the last moving track before the target vehicle is still.
The embodiment provides a specific application scenario, a driver is ready to drive a vehicle into a parking lot for parking, due to the driving proficiency or the influence of other vehicles, the driver cannot accurately park the vehicle in one parking space at a time, and the driver stops the vehicle in one parking space after backing and advancing for several times. Therefore, the running state of the target vehicle is more accurately judged, a short pause is mixed between the reversing and the advancing of each angle adjustment of the vehicle by combining with the actual situation, and the vehicle owner turns the steering wheel to adjust the reversing angle during the vehicle stopping period, so that the vehicle is in a static state and a preset condition is added, and if the vehicle is kept static in a preset time period, the vehicle is completely parked.
And step S24, acquiring a starting point and a starting point of the last moving track, acquiring an indication direction of the starting point pointing to the starting point, and determining the driving state of the target vehicle relative to a preset space according to the indication direction.
The movement track in this embodiment refers to a path of an object moving from a starting point to a starting point, and may be regarded as a curved line segment. After the parking management device based on the TOF acquires the last moving track of the target vehicle, an indication direction can be obtained by pointing to the starting point of the moving track from the starting point of the moving track, and the indication direction is further judged, if the indication direction is pointing to the inside of the parking lot (i.e., the indication direction is leftward in fig. 9), the driving state of the target vehicle relative to the preset space is a driving-in state, and if the indication direction is pointing to the outside of the parking lot (i.e., the indication direction is rightward in fig. 9), the driving state of the target vehicle relative to the preset space is a driving-out state.
In the embodiment, when it is considered that the target vehicle may not be parked at one time and at least two moving tracks of the target vehicle may exist, the last moving track before the vehicle is stationary is obtained, and the driving state of the target vehicle relative to the preset space is determined according to the moving tracks, so that the determination of the driving state of the target vehicle relative to the preset space is more accurate.
It is to be understood that a person skilled in the art can clearly understand the method of the above embodiments, and arbitrarily select one or more embodiments from the second to seventh embodiments to combine with the technical solution of the first embodiment.
For example, the fourth embodiment may be simply combined with the seventh embodiment, that is, when the time when the target vehicle enters the reserved space does not belong to the preset time period corresponding to the preset space, the parking management program based on the TOF determines that the license plate information of the target vehicle is wrong, and then outputs a license plate confirmation page, and executes the subsequent operation.
It is to be understood that the above-described combinations of embodiments are merely illustrative and do not represent all embodiments that may be combined.
In addition, referring to fig. 8, an embodiment of the present invention further provides a parking management apparatus based on a TOF, including:
the first detection module 10 is used for detecting vehicles in a preset space based on TOF;
the second detection module 20 is configured to, when it is detected that a moving target vehicle exists in the preset space, obtain a movement trajectory of the target vehicle, and determine a driving state of the target vehicle relative to the preset space according to the movement trajectory;
an obtaining module 30, configured to, if the driving state is a driving-in state, obtain, when it is detected that the target vehicle is stationary in a subspace of a preset space, a target parking space corresponding to the subspace, and adjust a parking space state of the target parking space to a parking state;
and an adjusting module 40, configured to adjust the parking space state to an idle state if the driving state is a driving-away state.
The method executed by each program module can refer to each embodiment of the method of the present invention, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a tablet computer, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A parking management method based on TOF is characterized by comprising the following steps:
detecting vehicles in a preset space based on TOF;
when detecting that a moving target vehicle exists in the preset space, acquiring a moving track of the target vehicle, and determining a running state of the target vehicle relative to the preset space according to the moving track;
if the driving state is a driving-in state, when the target vehicle is detected to be static in a subspace in a preset space, acquiring a target parking space corresponding to the subspace, and adjusting the parking space state of the target parking space to be a parking state;
and if the driving state is a driving-away state, adjusting the parking space state to an idle state.
2. The TOF-based parking management method according to claim 1, wherein the step of TOF-based vehicle detection in the preset space is followed by:
when an object is detected to exist in the preset space, acquiring three-dimensional data of the object based on TOF;
judging whether the three-dimensional data belongs to a preset three-dimensional data set or not;
and if the three-dimensional data does not belong to the preset three-dimensional data set, outputting foreign matter occupation violation prompt information.
3. The TOF-based parking management method according to claim 2, wherein the step of acquiring three-dimensional data of the object based on TOF when the presence of the object in the preset space is detected comprises:
when an object is detected to exist in a preset space, establishing a three-dimensional coordinate system based on the preset space;
and acquiring the three-dimensional coordinates of the target point position on the object in the three-dimensional coordinate system based on TOF, and determining the three-dimensional data of the object according to the three-dimensional coordinates of the target point position.
4. The TOF-based parking management method according to claim 1, wherein if the driving status is an entering status, when it is detected that the target vehicle is stationary in a subspace of a preset space, the step of obtaining a target parking space corresponding to the subspace, and adjusting a parking space status of the target parking space to be a parking space status comprises:
if the driving state is a driving-in state, judging whether the target vehicle is in one subspace after being stopped when the target vehicle is detected to be stopped;
if the target vehicle is not only in one subspace after being stopped, vehicle illegal parking prompt information is output;
and if the target vehicle is only in one subspace after the vehicle is stationary, acquiring a target parking space corresponding to the subspace, and adjusting the parking space state of the target parking space to be a parking state.
5. The TOF-based parking management method according to claim 1, wherein the step of acquiring a movement trajectory of the target vehicle when it is detected that a moving target vehicle exists in the preset space, and determining a driving state of the target vehicle with respect to the preset space according to the movement trajectory further comprises:
when detecting that a moving target vehicle exists in a preset space, acquiring license plate information of the target vehicle, and judging whether the license plate information is matched with parking space attributes of parking spaces in the preset space;
if the license plate information is not matched with the parking space attribute, outputting parking abnormity prompting information;
and if the license plate information is matched with the parking space attribute, executing the step of acquiring the movement track of the target vehicle and determining the running state of the target vehicle relative to a preset space according to the movement track.
6. The parking management method based on TOF of claim 4, wherein if the target vehicle after being stationary is only in one subspace, the step of obtaining the target parking space corresponding to the subspace and adjusting the parking space status of the target parking space to be the parking state further comprises:
if the target vehicle is only in one subspace after being stationary, acquiring an included angle between the target vehicle and a coordinate axis in a three-dimensional coordinate system, and judging whether the included angle is larger than a preset angle;
if the included angle is larger than the preset angle, outputting parking abnormity prompting information;
and if the included angle is smaller than or equal to the preset angle, executing the step of acquiring the target parking space corresponding to the subspace and adjusting the parking space state of the target parking space to be the parking state.
7. The TOF-based parking management method according to claim 1, wherein the step of acquiring a movement trajectory of the target vehicle when it is detected that a moving target vehicle exists in the preset space, and determining a driving state of the target vehicle with respect to the preset space according to the movement trajectory includes:
when the number of the moving tracks is at least two and the target vehicle keeps static in a preset time period, acquiring the last moving track of the target vehicle before the target vehicle is static;
and acquiring a starting point and a starting point of the last moving track, acquiring an indication direction of the starting point pointing to the starting point, and determining the running state of the target vehicle relative to a preset space according to the indication direction.
8. A TOF-based parking management apparatus, the apparatus comprising:
the first detection module is used for detecting vehicles in a preset space based on TOF;
the second detection module is used for acquiring the moving track of the target vehicle when the moving target vehicle exists in the preset space, and determining the running state of the target vehicle relative to the preset space according to the moving track;
the acquisition module is used for acquiring a target parking space corresponding to a subspace and adjusting the parking space state of the target parking space to be a parking state when the target vehicle is detected to be static in the subspace in a preset space if the driving state is the driving-in state;
and the adjusting module is used for adjusting the parking space state into an idle state if the driving state is a driving-away state.
9. A TOF-based parking management apparatus, characterized in that the TOF-based parking management apparatus comprises: memory, processor and TOF-based parking management program stored on said memory and executable on said processor, said TOF-based parking management program when executed by said processor implementing the steps of the TOF-based parking management method according to any of the claims 1 to 7.
10. A readable storage medium, characterized in that it has stored thereon a TOF-based parking management program which, when executed by a processor, carries out the steps of the TOF-based parking management method according to any one of claims 1 to 7.
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