CN112053585A - Intelligent parking method without parking hall based on laser radar - Google Patents
Intelligent parking method without parking hall based on laser radar Download PDFInfo
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- CN112053585A CN112053585A CN202010950505.XA CN202010950505A CN112053585A CN 112053585 A CN112053585 A CN 112053585A CN 202010950505 A CN202010950505 A CN 202010950505A CN 112053585 A CN112053585 A CN 112053585A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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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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Abstract
The invention belongs to the technical field of positioning technology and intelligent parking robots, and discloses an intelligent parking method based on a laser radar and without a parking hall. The method comprises the following steps: arranging a rotatable camera and a laser radar in a parking area; establishing a coordinate system for the parking area; acquiring images and angles of vehicles in a parking area; calculating a set of coordinates that the vehicle is likely to occupy in the coordinate system; starting a nearby laser radar, scanning the vehicle outline, and obtaining a coordinate set corresponding to the vehicle outline in a coordinate system to obtain a vehicle model; determining the position of the parking robot according to the vehicle model; 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; 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 laser radar 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. Among them, how to confirm the position of the vehicle in a large parking space without any equipment installed in the middle is a major problem to achieve the above-described user's expectation.
Disclosure of Invention
In view of the above-mentioned technical problems in the prior art, an object of the present invention is to provide a smart parking method based on a lidar 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.
The technical scheme adopted by the invention is as follows:
the invention provides an intelligent parking method without a parking hall based on a laser radar, which comprises the following steps:
the four corners of the parking area are provided with a fixed and rotatable camera which can record the rotating angle;
one or more fixed and rotatable laser radars are arranged around the parking area and can record the rotating angle;
establishing a coordinate system for the parking area, wherein the coordinates of each camera and each laser radar are fixed;
acquiring an image of a vehicle in a parking area, and recording the rotation angle of a camera when the image is acquired;
calculating a coordinate set possibly occupied by the vehicle in a coordinate system through the image, the focal length corresponding to the image and the rotating angle;
starting a laser radar near a coordinate set possibly occupied by the vehicle in the coordinate system, scanning the vehicle outline, obtaining a coordinate set corresponding to the vehicle outline in the coordinate system, and obtaining a model of the vehicle in the coordinate system;
determining the optimal position of the parking robot when the parking robot carries the vehicle according to the vehicle model, 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 coordinate set that the vehicle may occupy in the coordinate system is calculated by the image, the focal distance corresponding to the image, and the angle of rotation, including the following:
and processing the shot vehicle image, confirming whether the image of the vehicle exists in the image, if so, obtaining a plurality of straight lines according to the rotating angle of each camera and the focal length of the corresponding image, wherein the intersection point between the straight lines or the set of the points closest to each other on the straight lines is the coordinate set which the vehicle can occupy in the coordinate system.
Further, the scanning vehicle contour obtains a coordinate set of the vehicle contour in a coordinate system, and obtains a model of the vehicle in the coordinate system, including the following contents:
obtaining the distance between the vehicle profiles and the laser radar scanning the profiles, and the rotation angle;
knowing the coordinates of each laser radar in the coordinate system 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 laser radar-based intelligent parking method without a parking hall further 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.
The invention also provides a device based on the intelligent parking method without the parking hall based on the laser radar, which comprises the following steps:
the system comprises cameras and camera fixing structures erected at four corners of a parking area, a data processing module and a camera fixing structure, wherein the camera and camera fixing structures are used for acquiring images, focal lengths and time of vehicles in the parking area and sending the images, the focal lengths and the time to the data processing module;
the laser radar and laser radar fixing structure is erected around the parking area and used for scanning the vehicle outline and time near a coordinate set possibly occupied by the vehicle in a coordinate system, sending the vehicle outline and time to the data processing module and fixing the laser radar;
the angle detection sensor is connected with the camera or the laser radar, records the rotating angle and time of the camera or the laser radar, 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 coordinates of each camera and the laser radar; calculating a coordinate set possibly occupied by the vehicle in a coordinate system through the image, the focal length corresponding to the image and the rotating angle; calculating a coordinate set corresponding to the vehicle contour scanned by the laser radar in a coordinate system to obtain a model of the vehicle in the coordinate system; 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 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; 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.
The data processing module is further configured to process the captured vehicle image, determine whether there is a vehicle image in the image, and if so, obtain a plurality of straight lines according to the rotation angle of each camera and the focal length of the corresponding image, where an intersection point between the straight lines or a set of points on the straight lines that are closest to each other is a coordinate set that the vehicle may occupy in the coordinate system.
Further, the data processing module is also used for obtaining the distance between the vehicle profiles and the laser radars scanning the profiles and the rotation angle; knowing the coordinates of each laser radar in the coordinate system 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 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 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 image is obtained through the camera, the vehicle outline is scanned through the laser radar, and the accuracy 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, and 3 are angle detection sensor, and 4 are camera fixed knot constructs, and 5 are lidar, and 6 are lidar 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, wherein the cameras 2 and the camera fixing structures 4 are erected at four corners of a parking area 1 and are used for acquiring images, focal lengths and time of the parking area, sending the images, the focal lengths and the time to a data processing module and fixing the cameras 2;
the laser radar fixing structure 6 is erected around the parking area 1 and is used for scanning the vehicle outline and time near a coordinate set possibly occupied by the vehicle in a coordinate system, sending the vehicle outline and time to the data processing module and fixing the laser radar 5;
the angle detection sensor 3 is connected with the camera 2 or the laser radar 5, records the rotating angle and time of the camera 2 or the laser radar 5 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 coordinates of each camera and the laser radar; calculating a coordinate set possibly occupied by the vehicle in a coordinate system through the image, the focal length corresponding to the image and the rotating angle; calculating a coordinate set corresponding to the vehicle contour scanned by the laser radar in a coordinate system to obtain a model of the vehicle in the coordinate system; 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 shot vehicle image, confirming whether the image of the vehicle exists in the image, if so, obtaining a plurality of straight lines according to the rotating angle of each camera and the focal length of the corresponding image, wherein the intersection point between the straight lines or the set of the points which are closest to each other on the straight lines is the coordinate set which the vehicle possibly occupies in the coordinate system; obtaining the distance between the vehicle profiles and the laser radar scanning the profiles, and the rotation angle; knowing the coordinates of each laser radar in the coordinate system 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 laser radar and without the parking hall in the embodiment comprises the following steps:
s1: the four corners of the parking area are provided with a fixed and rotatable camera which can record the rotating angle;
s2: one or more fixed and rotatable laser radars are arranged around the parking area and can record the rotating angle;
s3: establishing a coordinate system for the parking area, wherein the coordinates of each camera and each laser radar are fixed;
s4: 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;
s5: calculating a coordinate set possibly occupied by the vehicle 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: and processing the shot vehicle image, confirming whether the image of the vehicle exists in the image, if so, obtaining a plurality of straight lines according to the rotating angle of each camera and the focal length of the corresponding image, wherein the intersection point between the straight lines or the set of the points closest to each other on the straight lines is the coordinate set which the vehicle can occupy in the coordinate system.
S6: starting a laser radar near a coordinate set possibly occupied by the vehicle in the coordinate system, scanning the vehicle outline, obtaining a corresponding coordinate set of the vehicle outline in the coordinate system, and obtaining a model of the vehicle in the coordinate system;
the method specifically comprises the following steps:
(A) obtaining the distance between the vehicle profiles and the laser radar scanning the profiles, and the rotation angle;
(B) knowing the coordinates of each laser radar in the coordinate system 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.
S7: determining the optimal position of the parking robot when the parking robot carries the vehicle according to the vehicle model, and confirming the position of the parking robot;
s4: based on the vehicle model, an optimal position of the parking robot when transporting the vehicle is determined.
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) determining an optimal position for the parking robot to carry the vehicle according to the mode of carrying the vehicle by the parking robot;
(D) the parking robot controller queries the robot position until the parking robot travels to the optimal position for the parking robot to transport 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.
S8: acquiring the wheel base of a vehicle to be stored through a vehicle wheel base detection device on the parking robot;
s9: confirming the number of a parking space where a vehicle to be parked is to be parked through a preset parking space scheduling method;
s10: and carrying the vehicle to be stored to the corresponding parking space through the parking robot.
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 laser radar-based intelligent parking method without a parking hall is characterized by comprising the following steps:
the four corners of the parking area are provided with a fixed and rotatable camera which can record the rotating angle;
one or more fixed and rotatable laser radars are arranged around the parking area and can record the rotating angle;
establishing a coordinate system for the parking area, wherein the coordinates of each camera and each laser radar are fixed;
acquiring an image of a vehicle in a parking area, and recording the rotation angle of a camera when the image is acquired;
calculating a coordinate set possibly occupied by the vehicle in a coordinate system through the image, the focal length corresponding to the image and the rotating angle;
starting a laser radar near a coordinate set possibly occupied by the vehicle in the coordinate system, scanning the vehicle outline, obtaining a coordinate set corresponding to the vehicle outline in the coordinate system, and obtaining a model of the vehicle in the coordinate system;
determining the optimal position of the parking robot when the parking robot carries the vehicle according to the vehicle model, 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 lidar based intelligent parking method without a parking hall according to claim 1, wherein the set of coordinates that the vehicle may occupy in the coordinate system is calculated through the image, the focal distance corresponding to the image and the angle of rotation, and comprises the following contents:
and processing the shot vehicle image, confirming whether the image of the vehicle exists in the image, if so, obtaining a plurality of straight lines according to the rotating angle of each camera and the focal length of the corresponding image, wherein the intersection point between the straight lines or the set of the points closest to each other on the straight lines is the coordinate set which the vehicle can occupy in the coordinate system.
3. The lidar based intelligent parking method without a parking hall according to claim 1, wherein the scanning vehicle profile, obtaining a corresponding coordinate set of the vehicle profile in a coordinate system, and obtaining a model of the vehicle in the coordinate system comprise:
obtaining the distance between the vehicle profiles and the laser radar scanning the profiles, and the rotation angle;
knowing the coordinates of each laser radar in the coordinate system 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 lidar based intelligent parking method without a parking hall according to claim 1, wherein the determining the optimal position of the parking robot when carrying the vehicle according to the vehicle model comprises 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.
5. The lidar based intelligent parking method without a parking hall 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 defined 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 lidar based intelligent parking method without a parking hall according to claim 1, wherein the method 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.
7. The lidar based intelligent parking method without a parking hall according to claim 1, wherein the apparatus for implementing the lidar based intelligent parking method without a parking hall comprises:
the system comprises cameras and camera fixing structures erected at four corners of a parking area, a data processing module and a camera fixing structure, wherein the camera and camera fixing structures are used for acquiring images, focal lengths and time of vehicles in the parking area and sending the images, the focal lengths and the time to the data processing module;
the laser radar and laser radar fixing structure is erected around the parking area and used for scanning the vehicle outline and time near a coordinate set possibly occupied by the vehicle in a coordinate system, sending the vehicle outline and time to the data processing module and fixing the laser radar;
the angle detection sensor is connected with the camera or the laser radar, records the rotating angle and time of the camera or the laser radar, 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 coordinates of each camera and the laser radar; calculating a coordinate set possibly occupied by the vehicle in a coordinate system through the image, the focal length corresponding to the image and the rotating angle; calculating a coordinate set corresponding to the vehicle contour scanned by the laser radar in a coordinate system to obtain a model of the vehicle in the coordinate system; 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 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; 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.
8. The lidar based intelligent parking method without a parking hall according to claim 7, wherein the data processing module is further configured to process the captured vehicle image to determine whether there is a vehicle image in the image, if so, a plurality of straight lines are obtained according to the rotation angle of each camera and the focal length of the corresponding image, and the intersection point between the straight lines or the set of points on the straight lines that are closest to each other is the coordinate set that the vehicle may occupy in the coordinate system; obtaining the distance between the vehicle profiles and the laser radar scanning the profiles, and the rotation angle; knowing the coordinates of each laser radar in the coordinate system 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;
the system is also used for 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 lidar based intelligent parking method without a parking hall according to claim 7, wherein the data processing module and the parking space obtaining module are cloud data servers and are interconnected with the camera, the angle detection sensor and the parking robot controller through a network.
10. The lidar based intelligent parking method without a parking hall according to claim 7, wherein the apparatus for implementing the lidar based intelligent parking method without a parking hall 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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| CN115700812A (en) * | 2021-07-23 | 2023-02-07 | 上海宝信软件股份有限公司 | Moving device identification system, method and medium suitable for automatic grading of recycled steel |
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