CN112037529A - Intelligent parking system based on license plate and without parking hall - Google Patents
Intelligent parking system based on license plate and without parking hall Download PDFInfo
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- CN112037529A CN112037529A CN202010950661.6A CN202010950661A CN112037529A CN 112037529 A CN112037529 A CN 112037529A CN 202010950661 A CN202010950661 A CN 202010950661A CN 112037529 A CN112037529 A CN 112037529A
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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 system based on license plates and without a parking hall. The system comprises: the system comprises: erect camera and camera fixed knot around the parking area and construct, the angle detection sensor who links together with the camera, data processing module, parking stall acquisition module, install parking robot and the management platform of parking robot controller. 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; the field has simple structure and convenient manufacture, does not need to arrange any equipment in the parking area and build a parking hall with a complex structure, and only erects partial equipment around the parking area; the wheelbase is determined according to the license plate, the wheelbase does not need to be measured for each vehicle, and data processing is simple; the image is obtained through the camera, so that the precision is high and the error is small; and the cloud data server is used for calculating, so that the response is fast and the waiting time is short.
Description
Technical Field
The invention belongs to the technical field of positioning technology and intelligent parking robots, and particularly relates to an intelligent parking system based on license plates 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.
Meanwhile, external structures such as columns, ceilings and roller doors are not available, and measuring devices such as a laser radar ranging device and a camera ranging device cannot be installed conventionally, and the appearance of the vehicle can not be measured. When the parking robot carries the vehicle, the wheelbase of the vehicle, i.e., the distance between the center points of the front and rear wheels, needs to be accurately known. The conventional car model has little change in data such as the length and the width of the car, and the parking robot that lifts the tire off the ground by the fork teeth in the side insertion mode has little influence on the smooth transportation of the car. The distance between the front and rear wheels is very important because it is necessary to grip the tire by the tines and apply a squeezing force to lift the tire off the ground by friction. If the vehicle wheelbase cannot be determined, the parking robot may not be able to smoothly carry the vehicle.
Disclosure of Invention
In view of the above technical problems in the prior art, the present invention is directed to a license plate-based intelligent parking method and system without a parking hall, 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; and the method, the system and the device are suitable for obtaining the wheel base of the vehicle in an open type parking space or a parking lot without being arranged on external structures such as columns, ceilings, rolling doors and the like on the parking space.
The technical scheme adopted by the invention is as follows:
the invention provides a license plate-based intelligent parking method without a parking hall, 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;
collecting the wheelbase of the license plate and the corresponding vehicle, and storing the wheelbase in a database;
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;
acquiring an image of a license plate of a vehicle, identifying the license plate of the vehicle, and inquiring in a database according to the license plate of the vehicle to acquire the wheel base of the vehicle;
transmitting the optimal position of the parking robot when the parking robot carries the vehicle and the wheelbase of the vehicle to the parking robot, and confirming the position of 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 collecting the wheel base of the license plate and the corresponding vehicle comprises:
and applying to a vehicle administration department, and calling the wheelbase of the license plate and the corresponding vehicle.
Further, the applying for the vehicle authority includes:
a data calling request is sent to a data server of a vehicle administration department through a data interface;
and obtaining the required wheel base information of the vehicle after the vehicle passes the audit.
Further, the collecting the wheel base of the license plate and the corresponding vehicle comprises:
the vehicle appearance detection device or the vehicle wheel base detection device is used for identifying the license plate of the vehicle and detecting the wheel base of the vehicle.
Further, the querying in the database according to the license plate of the vehicle to obtain the wheel base of the vehicle further includes:
if the wheel base of the vehicle cannot be obtained in the database through the license plate or a signal that the wheel base information does not conform to the reality is sent by the parking robot, sending a signal to the movable vehicle wheel base detection device;
and detecting the wheel base of the vehicle corresponding to the license plate through a movable vehicle wheel base detection device, and storing the wheel base and the license plate in a database.
Further, the movable vehicle wheel base detecting device is mounted on the parking robot.
Further, the method further comprises:
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.
The invention also provides an intelligent parking system based on the license plate and without a parking hall, which comprises:
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; 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; the system is used for collecting the wheelbase of the license plate and the corresponding vehicle and storing the wheelbase in a database; identifying the license plate of the vehicle according to the image of the license plate of the vehicle; inquiring in a database according to the license plate of the vehicle to obtain the wheel base of the vehicle and sending the wheel base to the parking robot controller;
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, wherein 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; and 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.
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 is also used for making a data calling request to a data server of a vehicle administration department through a data interface; and obtaining the required wheel base information of the vehicle after the vehicle passes the audit.
Further, the system also comprises a vehicle appearance detection device or a vehicle wheel base detection device, which is used for identifying the license plate of the vehicle, detecting the wheel base of the vehicle and storing the detected wheel base into the database.
Further, the system also comprises a movable vehicle wheel base detection device, which is used for detecting the wheel base of the vehicle corresponding to the license plate and storing the wheel base and the license plate in the database when the wheel base of the vehicle cannot be obtained in the database through the license plate or the parking robot sends a signal that the wheel base information does not conform to the reality.
Further, the movable vehicle wheel base detecting device is mounted on the parking robot.
Further, the data processing module and the parking space acquisition module can be cloud data servers and are connected with the camera, the angle detection sensor and the parking robot controller through the network.
Further, the system 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.
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 corresponding field of the parking method has simple structure and convenient manufacture, does not need to arrange any equipment in the parking area and build a parking hall with a complex structure, only sets partial equipment around the parking area, and does not obstruct a user to park and start;
3. according to the method for determining the vehicle wheelbase according to the license plate, the wheelbase is determined according to the license plate, the wheelbase does not need to be measured for each vehicle, and data processing is simple;
4. for special vehicles (generally newly purchased vehicles without being branded) which cannot obtain the wheelbase through the license plate, the wheelbase is independently measured and stored through a movable vehicle appearance detection device or a vehicle wheelbase detection device and used for later matching data, so that the intelligent parking lot is ensured to be normally used by newly purchased vehicles without being branded and the like;
5. the graph is obtained through the camera, and the precision is high and the error is small through calculation and coordinate system fitting;
6. 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 system, 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; the system is used for collecting the wheelbase of the license plate and the corresponding vehicle and storing the wheelbase in a database; identifying the license plate of the vehicle according to the image of the license plate of the vehicle; inquiring in a database according to the license plate of the vehicle to obtain the wheel base of the vehicle and sending the wheel base 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 data interface is used for sending a data calling request to a data server of a vehicle department of charge; after the vehicle passes the audit, obtaining the required wheel base information of the vehicle;
the vehicle appearance detection device or the vehicle wheel base detection device is used for identifying the license plate of the vehicle, detecting the wheel base of the vehicle and storing the detected wheel base into the database;
the movable vehicle wheel base detection device is used for detecting the wheel base of the vehicle corresponding to the license plate when the wheel base of the vehicle cannot be obtained in a database through the license plate or a signal that the wheel base information does not accord with the reality is sent by a parking robot, and storing the wheel base and the license plate in the database;
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, wherein 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, the parking robot controller and the like through a network. The movable vehicle wheel base detection device is installed on the parking robot.
The intelligent parking method based on the license plate 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: collecting the wheel base of the license plate and the corresponding vehicle, and storing the wheel base in a database:
s4: 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;
s5: acquiring an image of a license plate of a vehicle, identifying the license plate of the vehicle, and inquiring in a database according to the license plate of the vehicle to acquire the wheel base of the vehicle;
s6: transmitting the optimal position of the parking robot when the parking robot carries the vehicle and the wheelbase of the vehicle to the parking robot, and confirming the position of the parking robot;
s7: confirming the number of a parking space where a vehicle to be parked is to be parked through a preset parking space scheduling method;
s8: and carrying the vehicle to be stored to the corresponding parking space through the parking robot.
In step S3, the step of collecting the wheel base between the license plate and the corresponding vehicle and storing the wheel base in a database includes the following steps:
s3.1, a data calling request is sent to a data server of a vehicle administration department through a data interface;
s3.2, obtaining the required wheel base information of the vehicle after the audit is passed;
and S3.3, identifying the license plate of the vehicle through a vehicle appearance detection device or a vehicle wheel base detection device, and detecting the wheel base of the vehicle.
Data are retrieved through the above S3.1 and S3.2, which requires an audit by the vehicle authority. Data are collected through S3.3, generally, in the using process of the intelligent parking lot, the license plate of the vehicle using the intelligent parking lot and the wheel base of the vehicle are stored in a database;
in step S4, the method for determining the position of the vehicle to be stored and the optimal position of the parking robot when the vehicle is transported by acquiring the image of the vehicle in the parking area through the camera and combining the coordinate system includes the following steps:
s4.1: 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;
s4.2: 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.
S4.3: 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.
In step S5, the obtaining an image of a license plate of a vehicle, identifying the license plate of the vehicle, and obtaining a wheel base of the vehicle by querying in a database according to the license plate of the vehicle includes the following steps:
s4.1: when a vehicle enters the intelligent parking lot through the parking lot entrance, the camera 2 installed at the parking lot entrance shoots the license plate of the vehicle to obtain the image of the license plate of the vehicle, and transmits the image to the server. The server identifies the license plate in the image;
s4.2: the server acquires the wheel base of the vehicle from the database according to the license plate of the vehicle;
s4.3: if the wheel base of the vehicle cannot be obtained in the database through the license plate or the parking robot sends a signal that the wheel base information does not conform to the reality, then:
(1) sending a signal to a movable vehicle wheel base detection device;
(2) and detecting the wheel base of the vehicle corresponding to the license plate through a movable vehicle wheel base detection device, and storing the wheel base and the license plate in a database.
The vehicle position confirmation device based on the license plate in the embodiment further comprises an artificial correction process, and specifically comprises the following steps:
(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 (9)
1. A license plate-based intelligent parking system without a parking hall is characterized by 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; 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; the system is used for collecting the wheelbase of the license plate and the corresponding vehicle and storing the wheelbase in a database; identifying the license plate of the vehicle according to the image of the license plate of the vehicle; inquiring in a database according to the license plate of the vehicle to obtain the wheel base of the vehicle and sending the wheel base to the parking robot controller;
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, wherein 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; and 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.
2. The intelligent license plate-based parking system without a parking hall as claimed in claim 1, 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 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; 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.
3. The intelligent license plate-based parking system without the parking hall as claimed in claim 1, wherein the data processing module is further configured to collect horizontal coordinate sets of the vehicle model on different horizontal planes according to the corresponding coordinate sets of the vehicle model, and calculate an area of a figure enclosed 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.
4. The intelligent license plate-based parking system without a parking hall of claim 1, wherein the data processing module is further configured to make a request for retrieving data to a data server of a vehicle authority through a data interface; and obtaining the required wheel base information of the vehicle after the vehicle passes the audit.
5. The intelligent license plate-based parking system without a parking hall as claimed in claim 1, further comprising a vehicle appearance detection device or a vehicle wheel base detection device for identifying the license plate of the vehicle and storing the detected wheel base of the vehicle in a database.
6. The intelligent parking system based on license plate without parking hall as claimed in claim 1, further comprising a movable vehicle wheel base detection device for detecting the wheel base of the vehicle corresponding to the license plate and storing the detected wheel base and the license plate in the database when the wheel base of the vehicle cannot be obtained in the database through the license plate or the parking robot sends a signal that the wheel base information does not conform to the reality.
7. The intelligent license plate-based parking system without parking halls as recited in claim 6, wherein said movable vehicle wheel base detection means is installed on the parking robot.
8. The license plate-based intelligent parking system without a parking hall of claim 1, wherein the data processing module and the parking space acquisition module can be cloud data servers, and are interconnected with the camera, the angle detection sensor and the parking robot controller through a network.
9. The license plate-based intelligent parking system without parking hall according to claim 1, further comprising:
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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| CN202010950661.6A CN112037529A (en) | 2020-09-11 | 2020-09-11 | Intelligent parking system based on license plate and without parking hall |
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| CN202010950661.6A CN112037529A (en) | 2020-09-11 | 2020-09-11 | Intelligent parking system based on license plate and without parking hall |
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| CN202010950661.6A Withdrawn CN112037529A (en) | 2020-09-11 | 2020-09-11 | Intelligent parking system based on license plate and without parking hall |
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