CN112037525A - Intelligent parking method without parking hall based on camera device - Google Patents
Intelligent parking method without parking hall based on camera device Download PDFInfo
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- CN112037525A CN112037525A CN202010950560.9A CN202010950560A CN112037525A CN 112037525 A CN112037525 A CN 112037525A CN 202010950560 A CN202010950560 A CN 202010950560A CN 112037525 A CN112037525 A CN 112037525A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—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 belongs to the technical field of positioning technology and intelligent parking robots, and discloses an intelligent parking method without a parking hall based on a camera device. The method comprises the following steps: arranging cameras around the parking area, and recording the rotating angle; establishing a coordinate system for the parking area; after receiving a request for confirming parking, confirming the position of the vehicle to be parked and the optimal position of the parking robot in the vehicle transportation process by combining the coordinate system through the image; transmitting the optimal position of the parking robot when the parking robot carries the vehicle to the parking robot, and confirming the position of the parking robot; acquiring the wheel base of a vehicle to be stored through a vehicle wheel base detection device on the parking robot; confirming the number of a parking space where a vehicle to be parked is to be parked through a preset parking space scheduling method; and carrying the vehicle to be stored to the corresponding parking space through the parking robot. The parking hall is not needed, and the purpose that the randomly parked vehicles are conveyed to the specified parking spaces under the condition of no parking hall is achieved through the parking robot.
Description
Technical Field
The invention belongs to the technical field of positioning technology and intelligent parking robots, and particularly relates to an intelligent parking method based on a camera device and without a parking hall.
Background
The parking hall is a vehicle taking and placing room of a large unmanned intelligent parking lot, is used for a driver to automatically take and place vehicles, a parking robot to automatically take and place vehicles and automatically measure appearance information of the vehicles, and is a vehicle handover room and an automatic vehicle appearance information measuring room between the driver and the intelligent parking lot.
The existing parking hall generally has external structures such as a column, a ceiling, a rolling door and the like, and measuring devices such as a laser radar distance measuring device and a camera distance measuring device are mounted on the external structures to measure the appearance of a vehicle. However, for a user using the intelligent parking lot, the simpler the parking and picking up process is, the better. The existing parking hall with the external structure requires that users have skillful skills of backing and parking, backing and turning, and the like, which can make users who are not skilled in driving technology to be prohibited. If all of these peripheral structures are removed, there are no fixed parking spaces. As long as in appointed place, the user can park the vehicle at any position and angle, so that all users in the intelligent parking lot are free, do not need to pay special attention to the parking position and angle, are worry-saving and labor-saving, and better meet the expectation of the user. However, this requires that the parking robot be able to determine the position of the vehicle to be stored and adjust the attitude of the robot in order to transport the vehicle.
Disclosure of Invention
In view of the above-mentioned problems of the prior art, an object of the present invention is to provide a method and an apparatus for intelligent parking without a parking hall using an image pickup device, which can confirm the position of a vehicle in an open parking area without any equipment installed in the middle, so that a parking robot can walk beside the vehicle and transport the vehicle to a designated parking space.
The technical scheme adopted by the invention is as follows:
the invention provides an intelligent parking method without a parking hall based on a camera device, which comprises the following steps:
one or more cameras which are fixed in position and can rotate are arranged on the periphery of the parking area, and can record the rotating angle;
establishing a coordinate system for the parking area, wherein the coordinate of each camera is fixed;
after receiving a request for confirming parking, acquiring an image of a vehicle in a parking area through a camera, and confirming the position of the vehicle to be parked and the optimal position of the parking robot in the vehicle carrying process by combining a coordinate system;
transmitting the optimal position of the parking robot when the parking robot carries the vehicle to the parking robot, and confirming the position of the parking robot;
acquiring the wheel base of a vehicle to be stored through a vehicle wheel base detection device on the parking robot;
confirming the number of a parking space where a vehicle to be parked is to be parked through a preset parking space scheduling method;
and carrying the vehicle to be stored to the corresponding parking space through the parking robot.
Further, the method includes the steps of acquiring images of vehicles in a parking area through a camera, and determining the position of the vehicle to be parked and the optimal position of the parking robot when the parking robot carries the vehicle by combining a coordinate system, wherein the method includes the following steps:
acquiring an image of a vehicle in a parking area, and recording the rotation angle of a camera when the image is acquired;
establishing a model in a coordinate system through the image, the focal length corresponding to the image and the rotating angle;
based on the vehicle model, an optimal position of the parking robot when transporting the vehicle is determined.
Furthermore, the image, the focal length corresponding to the image and the angle of rotation are used to establish a model in a coordinate system, which includes the following contents:
processing the images of the same position of the vehicle to obtain the distance between the position of the vehicle and the cameras for shooting the images, and finally obtaining the distance between the periphery of the vehicle and each camera;
knowing the coordinates of each camera in a coordinate system, and combining the angles of the cameras when shooting images to obtain the coordinates of different positions of the vehicle in the coordinate system;
and (4) taking coordinate sets corresponding to different positions around the vehicle as coordinate sets, and establishing a model of the vehicle in a coordinate system.
Further, the determining the optimal position of the parking robot when transporting the vehicle according to the vehicle model includes the following steps:
acquiring horizontal coordinate sets of the vehicle on different horizontal planes according to coordinate sets corresponding to models of the vehicle in a coordinate system, and calculating the area of a figure surrounded by the horizontal coordinate sets;
acquiring a horizontal coordinate set with the largest area, wherein a figure enclosed by the horizontal coordinate set is the largest outline shape on the horizontal plane of the vehicle;
the optimal position for the parking robot to transport the vehicle is determined according to the manner in which the parking robot transports the vehicle.
For example, if the parking robot inserts the yoke into the bottom of the vehicle at the side of the vehicle, the center in the longitudinal direction of the figure surrounded by the horizontal coordinate set having the largest area is the optimal position for the parking robot to transport the vehicle; if the parking robot inserts the fork arm into the bottom of the vehicle in front of or behind the vehicle, the middle of the figure defined by the horizontal coordinate set with the largest area in the width direction is the best position when the parking robot carries the vehicle; if the parking robot is submerged in the vehicle bottom transport vehicle, the center of the figure surrounded by the horizontal coordinate set with the largest area is the best position when the parking robot transports the vehicle.
Further, the method also comprises the following steps:
after receiving a signal that the parking robot does not find the specified vehicle, displaying an image of the vehicle in a parking area, and sending a selection button for asking to confirm whether the position of the vehicle is correct;
if the selection that the manager confirms that the vehicle position is correct is received, the confirmed vehicle position is obtained again, and the parking robot is informed to carry the vehicle;
and if the selection that the manager confirms that the position of the vehicle is incorrect is received, the manager is required to manually adjust the camera to acquire the image of the vehicle, confirm the position of the vehicle and inform the parking robot to carry the vehicle.
Further, the process of acquiring the image of the vehicle in the parking area by the camera and confirming the position of the vehicle to be parked and the optimal position of the parking robot when transporting the vehicle by combining the coordinate system is realized by the following device, which comprises the following steps:
the system comprises cameras and camera fixing structures, a data processing module and a camera, wherein the cameras and the camera fixing structures are erected around a parking area and used for acquiring images, focal lengths and time of the parking area, sending the images, the focal lengths and the time to the data processing module and fixing the cameras;
the angle detection sensor is connected with the camera, records the rotating angle and time of the camera and sends the rotating angle and time to the data processing module;
the data processing module is used for establishing a coordinate system for the parking area and recording the coordinate of each camera; establishing a model in a coordinate system through the image, the focal length corresponding to the image and the rotating angle; based on the vehicle model, the optimal position of the parking robot when transporting the vehicle is determined and sent to the parking robot controller.
Further, the data processing module is further configured to process images of the same position of the vehicle, to obtain a distance between the position of the vehicle and the cameras that capture the images, and to finally obtain a distance between the periphery of the vehicle and each camera; knowing the coordinates of each camera in a coordinate system, and combining the angles of the cameras when shooting images to obtain the coordinates of different positions of the vehicle in the coordinate system; and (4) taking coordinate sets corresponding to different positions around the vehicle as coordinate sets, and establishing a model of the vehicle in a coordinate system.
Further, the data processing module is further configured to collect horizontal coordinate sets of the vehicle model on different horizontal planes in a coordinate set corresponding to the vehicle model, and calculate an area of a graph surrounded by the horizontal coordinate sets; acquiring a horizontal coordinate set with the largest area, wherein a figure enclosed by the horizontal coordinate set is the largest outline shape on the horizontal plane of the vehicle; the optimal position for the parking robot to transport the vehicle is determined according to the manner in which the parking robot transports the vehicle.
Further, the data processing module can be a cloud data server and is connected with the camera, the angle detection sensor and the parking robot controller through a network.
Further, the apparatus further includes:
the management platform is used for receiving a signal that the parking robot does not find the specified vehicle, displaying an image of the vehicle in a parking area and sending a selection button for asking to confirm whether the position of the vehicle is correct; if the selection that the manager confirms that the vehicle position is correct is received, the data processing module is informed to acquire the confirmed vehicle position again and inform the parking robot controller to carry the vehicle; and if the selection that the position of the vehicle is confirmed to be incorrect by the manager is received, the camera is manually adjusted to acquire the image of the vehicle, and then the data processing module is informed to acquire the confirmed position of the vehicle again and inform the parking robot controller to carry the vehicle.
The invention has the following beneficial effects:
1. the method has the advantages that the method is realized by only using the parking robot without a parking hall, and the randomly parked vehicles are transported to the designated parking spaces;
2. the parking method has the advantages that the corresponding field is simple in structure and convenient to manufacture, no equipment is required to be arranged in the parking area, only part of equipment is erected around the parking area, and parking and starting of a user are not hindered;
3. the graph is obtained through the camera, and the precision is high and the error is small through calculation and coordinate system fitting;
4. and the cloud data server is used for calculating, so that the response is fast and the waiting time is short.
Drawings
FIG. 1 is a schematic structural view of a parking area without a parking hall according to the present invention;
wherein, 1 is parking area, 2 is the camera, 3 is angle detection sensor, and 4 is camera fixed knot constructs.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Similarly, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.
Example 1
The present embodiment relates to a parking area without parking hall and a corresponding device, as shown in fig. 1, including:
the system comprises cameras 2 and camera fixing structures 4 erected around a parking area 1, a data processing module and a camera fixing module, wherein the cameras 2 and the camera fixing structures 4 are used for acquiring images, focal lengths and time of the parking area and sending the images, the focal lengths and the time to the data processing module and fixing the cameras 2;
the angle detection sensor 3 is connected with the camera 2, records the rotation angle and time of the camera and sends the rotation angle and time to the data processing module;
the data processing module is used for establishing a coordinate system for the parking area and recording the coordinate of each camera; establishing a model in a coordinate system through the image, the focal length corresponding to the image and the rotating angle; determining the optimal position of the parking robot when the parking robot carries the vehicle according to the vehicle model, and sending the optimal position to the parking robot controller; processing the images of the same position of the vehicle to obtain the distance between the position of the vehicle and the cameras for shooting the images, and finally obtaining the distance between the periphery of the vehicle and each camera; knowing the coordinates of each camera in a coordinate system, and combining the angles of the cameras when shooting images to obtain the coordinates of different positions of the vehicle in the coordinate system; the coordinate sets corresponding to different positions around the vehicle are taken as coordinate sets, and a model of the vehicle in a coordinate system is established; acquiring horizontal coordinate sets of the vehicle model on different horizontal planes according to the coordinate sets corresponding to the vehicle model, and calculating the area of a graph surrounded by the horizontal coordinate sets; acquiring a horizontal coordinate set with the largest area, wherein a figure enclosed by the horizontal coordinate set is the largest outline shape on the horizontal plane of the vehicle; determining an optimal position for the parking robot to carry the vehicle according to the mode of carrying the vehicle by the parking robot;
the parking space acquiring module is used for confirming the serial number of the parking space where the vehicle to be parked is to be parked through a preset parking space scheduling method and sending the serial number to the parking robot controller;
the parking robot comprises a parking robot controller and a vehicle wheelbase detection device;
the vehicle wheelbase detection device is used for detecting the wheelbase of the vehicle to be stored and sending the wheelbase to the parking robot controller;
the parking robot controller is used for controlling the robot to walk to the optimal position for carrying the vehicle to be taken according to the optimal position information sent by the data processing module; controlling the parking robot to carry the vehicle to be stored to the corresponding parking space according to the parking space information sent by the parking space acquisition module and the wheel base information detected by the vehicle wheel base detection device;
the management platform is used for receiving a signal that the parking robot does not find the specified vehicle, displaying an image of the vehicle in a parking area and sending a selection button for asking to confirm whether the position of the vehicle is correct; if the selection that the manager confirms that the vehicle position is correct is received, the data processing module is informed to acquire the confirmed vehicle position again and inform the parking robot controller to carry the vehicle; and if the selection that the position of the vehicle is confirmed to be incorrect by the manager is received, the camera is manually adjusted to acquire the image of the vehicle, and then the data processing module is informed to acquire the confirmed position of the vehicle again and inform the parking robot controller to carry the vehicle.
The data processing module and the parking space acquisition module are cloud data servers and are connected with the camera, the angle detection sensor and the parking robot controller through a network.
The intelligent parking method based on the camera device and without the need of a parking hall in the embodiment comprises the following steps:
s1: one or more cameras which are fixed in position and can rotate are arranged on the periphery of the parking area, and can record the rotating angle;
s2: establishing a coordinate system for the parking area, wherein the coordinate of each camera is fixed;
s3: after receiving a request for confirming parking, acquiring an image of a vehicle in a parking area through a camera, and confirming the position of the vehicle to be parked and the optimal position of the parking robot in the vehicle carrying process by combining a coordinate system;
s4: transmitting the optimal position of the parking robot when the parking robot carries the vehicle to the parking robot, and confirming the position of the parking robot;
s5: acquiring the wheel base of a vehicle to be stored through a vehicle wheel base detection device on the parking robot;
s6: confirming the number of a parking space where a vehicle to be parked is to be parked through a preset parking space scheduling method;
s7: and carrying the vehicle to be stored to the corresponding parking space through the parking robot.
The method comprises the following steps of acquiring images of vehicles in a parking area through a camera, and determining the position of the vehicle to be stored and the optimal position of a parking robot when the parking robot carries the vehicle by combining a coordinate system, wherein the method comprises the following steps:
s3.1: the camera 2 acquires images, focal lengths and time of vehicles in a parking area, and the angle detection sensor 3 records the rotation angle and time of the camera when the images are acquired;
s3.2: the data processing module establishes a model in a coordinate system through the image, the focal length corresponding to the image and the rotating angle;
the method specifically comprises the following steps:
(A) processing the images of the same position of the vehicle to obtain the distance between the position of the vehicle and the cameras for shooting the images, and finally obtaining the distance between the periphery of the vehicle and each camera;
(B) knowing the coordinates of each camera in a coordinate system, and combining the angles of the cameras when shooting images to obtain the coordinates of different positions of the vehicle in the coordinate system;
(C) and (4) taking coordinate sets corresponding to different positions around the vehicle as coordinate sets, and establishing a model of the vehicle in a coordinate system.
S3.3: determining the optimal position of the parking robot when the parking robot carries the vehicle according to the vehicle model;
the method specifically comprises the following steps:
(A) acquiring horizontal coordinate sets of the vehicle on different horizontal planes according to coordinate sets corresponding to models of the vehicle in a coordinate system, and calculating the area of a figure surrounded by the horizontal coordinate sets;
(B) acquiring a horizontal coordinate set with the largest area, wherein a figure enclosed by the horizontal coordinate set is the largest outline shape on the horizontal plane of the vehicle;
(C) the optimal position for the parking robot to transport the vehicle is determined according to the manner in which the parking robot transports the vehicle.
In the parking robot in this embodiment, when the yoke is inserted into the bottom of the vehicle at the side of the vehicle, the parking robot is located at the optimum position when the vehicle is transported in the middle of the figure surrounded by the horizontal coordinate set having the largest area in the longitudinal direction.
The above-mentioned device in this embodiment further includes an artificial correction process, specifically including:
(A) after receiving a signal that the parking robot does not find the specified vehicle, displaying an image of the vehicle in a parking area, and sending a selection button for asking to confirm whether the position of the vehicle is correct;
(B) if the selection that the manager confirms that the vehicle position is correct is received, the confirmed vehicle position is obtained again, and the parking robot is informed to carry the vehicle; and if the selection that the manager confirms that the position of the vehicle is incorrect is received, the manager is required to manually adjust the camera to acquire the image of the vehicle, confirm the position of the vehicle and inform the parking robot to carry the vehicle.
The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A camera-based intelligent parking method without a parking hall is characterized by comprising the following steps:
one or more cameras which are fixed in position and can rotate are arranged on the periphery of the parking area, and can record the rotating angle;
establishing a coordinate system for the parking area, wherein the coordinate of each camera is fixed;
after receiving a request for confirming parking, acquiring an image of a vehicle in a parking area through a camera, and confirming the position of the vehicle to be parked and the optimal position of the parking robot in the vehicle carrying process by combining a coordinate system;
transmitting the optimal position of the parking robot when the parking robot carries the vehicle to the parking robot, and confirming the position of the parking robot;
acquiring the wheel base of a vehicle to be stored through a vehicle wheel base detection device on the parking robot;
confirming the number of a parking space where a vehicle to be parked is to be parked through a preset parking space scheduling method;
and carrying the vehicle to be stored to the corresponding parking space through the parking robot.
2. The intelligent parking method without a parking hall based on a camera device according to claim 1, wherein the camera is used for acquiring the image of the vehicle in the parking area, and the position of the vehicle to be parked and the optimal position of the parking robot when the parking robot carries the vehicle are determined by combining the coordinate system, and the method comprises the following steps:
acquiring an image of a vehicle in a parking area, and recording the rotation angle of a camera when the image is acquired;
establishing a model in a coordinate system through the image, the focal length corresponding to the image and the rotating angle;
based on the vehicle model, an optimal position of the parking robot when transporting the vehicle is determined.
3. The intelligent parking method without a parking hall based on the camera device as claimed in claim 2, wherein the model is established in a coordinate system through the image, the focal distance corresponding to the image and the rotation angle, and the method comprises the following steps:
processing the images of the same position of the vehicle to obtain the distance between the position of the vehicle and the cameras for shooting the images, and finally obtaining the distance between the periphery of the vehicle and each camera;
knowing the coordinates of each camera in a coordinate system, and combining the angles of the cameras when shooting images to obtain the coordinates of different positions of the vehicle in the coordinate system;
and (4) taking coordinate sets corresponding to different positions around the vehicle as coordinate sets, and establishing a model of the vehicle in a coordinate system.
4. The intelligent camera-based parking hall-free parking method according to claim 2, wherein the determining of the optimal position of the parking robot in transporting the vehicle according to the vehicle model comprises:
acquiring horizontal coordinate sets of the vehicle on different horizontal planes according to coordinate sets corresponding to models of the vehicle in a coordinate system, and calculating the area of a figure surrounded by the horizontal coordinate sets;
acquiring a horizontal coordinate set with the largest area, wherein a figure enclosed by the horizontal coordinate set is the largest outline shape on the horizontal plane of the vehicle;
the optimal position for the parking robot to transport the vehicle is determined according to the manner in which the parking robot transports the vehicle.
5. The intelligent parking method without a parking hall based on the camera device according to claim 4, wherein if the parking robot inserts the yoke into the bottom of the vehicle at the side of the vehicle, the center in the length direction of the figure surrounded by the horizontal coordinate set having the largest area is the best position for the parking robot to carry the vehicle; if the parking robot inserts the fork arm into the bottom of the vehicle in front of or behind the vehicle, the middle of the figure defined by the horizontal coordinate set with the largest area in the width direction is the best position when the parking robot carries the vehicle; if the parking robot is submerged in the vehicle bottom transport vehicle, the center of the figure surrounded by the horizontal coordinate set with the largest area is the best position when the parking robot transports the vehicle.
6. The intelligent parking method without a parking hall based on the camera device according to claim 2, further comprising:
after receiving a signal that the parking robot does not find the specified vehicle, displaying an image of the vehicle in a parking area, and sending a selection button for asking to confirm whether the position of the vehicle is correct;
if the selection that the manager confirms that the vehicle position is correct is received, the confirmed vehicle position is obtained again, and the parking robot is informed to carry the vehicle;
and if the selection that the manager confirms that the position of the vehicle is incorrect is received, the manager is required to manually adjust the camera to acquire the image of the vehicle, confirm the position of the vehicle and inform the parking robot to carry the vehicle.
7. The intelligent parking method without a parking hall based on a camera device according to claim 1, wherein the process of acquiring the image of the vehicle in the parking area by the camera and confirming the position of the vehicle to be parked and the optimal position of the parking robot when transporting the vehicle by combining the coordinate system is realized by the following device, comprising:
the system comprises cameras and camera fixing structures, a data processing module and a camera, wherein the cameras and the camera fixing structures are erected around a parking area and used for acquiring images, focal lengths and time of the parking area, sending the images, the focal lengths and the time to the data processing module and fixing the cameras;
the angle detection sensor is connected with the camera, records the rotating angle and time of the camera and sends the rotating angle and time to the data processing module;
the data processing module is used for establishing a coordinate system for the parking area and recording the coordinate of each camera; establishing a model in a coordinate system through the image, the focal length corresponding to the image and the rotating angle; based on the vehicle model, the optimal position of the parking robot when transporting the vehicle is determined and sent to the parking robot controller.
8. The intelligent parking method without a parking hall based on the camera device as claimed in claim 7, wherein the data processing module is further configured to process images of the same position of the vehicle, obtain the distance between the position of the vehicle and the cameras for capturing the images, and finally obtain the distance between the periphery of the vehicle and each camera; knowing the coordinates of each camera in a coordinate system, and combining the angles of the cameras when shooting images to obtain the coordinates of different positions of the vehicle in the coordinate system; the coordinate sets corresponding to different positions around the vehicle are taken as coordinate sets, and a model of the vehicle in a coordinate system is established; acquiring horizontal coordinate sets of the vehicle model on different horizontal planes according to the coordinate sets corresponding to the vehicle model, and calculating the area of a graph surrounded by the horizontal coordinate sets; acquiring a horizontal coordinate set with the largest area, wherein a figure enclosed by the horizontal coordinate set is the largest outline shape on the horizontal plane of the vehicle; the optimal position for the parking robot to transport the vehicle is determined according to the manner in which the parking robot transports the vehicle.
9. The camera-based intelligent parking method without a parking hall according to claim 7, wherein the data processing module can be a cloud data server and is interconnected with the camera, the angle detection sensor and the parking robot controller through a network.
10. The camera-based intelligent parking method without a parking hall according to claim 7, wherein the camera-based vehicle position confirmation apparatus further comprises:
the management platform is used for receiving a signal that the parking robot does not find the specified vehicle, displaying an image of the vehicle in a parking area and sending a selection button for asking to confirm whether the position of the vehicle is correct; if the selection that the manager confirms that the vehicle position is correct is received, the data processing module is informed to acquire the confirmed vehicle position again and inform the parking robot controller to carry the vehicle; and if the selection that the position of the vehicle is confirmed to be incorrect by the manager is received, the camera is manually adjusted to acquire the image of the vehicle, and then the data processing module is informed to acquire the confirmed position of the vehicle again and inform the parking robot controller to carry the vehicle.
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| CN202010950560.9A CN112037525A (en) | 2020-09-11 | 2020-09-11 | Intelligent parking method without parking hall based on camera device |
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| CN202010950560.9A CN112037525A (en) | 2020-09-11 | 2020-09-11 | Intelligent parking method without parking hall based on camera device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112862272A (en) * | 2021-01-21 | 2021-05-28 | 华中科技大学 | Accurate agricultural management and analysis system, positioning method, terminal and storage medium |
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Application publication date: 20201204 |