CN112950949A - Parking system - Google Patents
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- CN112950949A CN112950949A CN202110105025.8A CN202110105025A CN112950949A CN 112950949 A CN112950949 A CN 112950949A CN 202110105025 A CN202110105025 A CN 202110105025A CN 112950949 A CN112950949 A CN 112950949A
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- 238000000034 method Methods 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract 1
- 238000007789 sealing Methods 0.000 description 3
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Classifications
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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
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00896—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses
Abstract
The invention discloses a parking system, which realizes accurate correspondence between a vehicle and a parking space and comprises a parking space lock, a first image acquisition device, a second image acquisition device and a management platform; wherein, the management platform is equipped with following module: the parking space lock comprises a parking space lock module, a parking space distribution module, an image recognition module, a vehicle positioning module, a comprehensive positioning module and an intelligent judgment module, wherein a first image acquisition device and a second image acquisition device acquire image data from different visual angles and send the image data to the image recognition module, and a management platform recognizes license plate information and comprehensively positions the license plate position according to the image data acquired from different visual angles. The invention acquires a plurality of images of the license plate from different directions, and is not easy to be blocked by other vehicles, so that the complete license plate image is easier to acquire, and the license plate recognition effect is improved.
Description
Technical Field
The invention belongs to the technical field of parking, and particularly relates to a parking system for realizing accurate correspondence between a vehicle and a parking space.
Background
The situation that an intelligent parking spot lock is adopted on a current garage parking spot is more and more, the intelligent parking spot lock senses whether a vehicle enters the parking spot through an inductor or a camera arranged on the parking spot lock, if the vehicle enters the parking spot, the image data is photographed and collected, and license plate information is recognized to judge whether the vehicle corresponding to the parking spot exists. In a similar mode, the automatic parking system of some garages sets a corresponding relation between parking spaces and vehicles through a background system, namely, the parking spaces are distributed for the entering vehicles, and then the intelligent parking space locks are used for judging so as to realize accurate correspondence between the vehicles and the parking spaces, so that disputes caused by parking of the entering vehicles at wrong parking spaces are avoided, and the reserved or rented parking spaces are also prevented from being occupied by the vehicles of temporary visitors, and the influence on use of renters and the people who have ordered the parking spaces is avoided. However, the intelligent parking spot lock is arranged in the parking spot, the camera lens arranged on the intelligent parking spot lock is easily blocked by parked vehicles on two sides and also can be blocked by vehicles entering the front and the rear of the vehicle, so that the situation that complete license plate data cannot be collected often occurs, and the system operation is influenced. In addition, because the intelligent parking spot lock is arranged corresponding to each parking spot, the collected effective image range is small, and only images with single visual angles can be provided, so that the accuracy of license plate position positioning is poor according to the images.
Disclosure of Invention
The invention aims to provide a parking system, which realizes accurate correspondence between a vehicle and a parking space and solves the technical problems that in the prior art, the acquired license plate image is easy to block, the single visual angle positioning accuracy is weak, and the reliability of image identification is influenced.
In order to solve the problems, the technical scheme of the invention is as follows:
a parking system comprising: the parking lot management system comprises a parking lot lock arranged at a parking lot entrance, a first image acquisition device arranged in a lane, a second image acquisition device arranged above the parking lot and a management platform;
the management platform comprises an information input module, a parking space distribution module, an image recognition module, a vehicle positioning module, an intelligent control module and a parking space lock module;
the information input module is used for receiving license plate information acquired when a vehicle enters a garage and sending the license plate information to the parking space allocation module;
the parking space allocation module is used for allocating parking spaces to the acquired license plate information;
the image identification module is used for receiving images sent by the first image acquisition device and the second image acquisition device in the process that a vehicle goes to a parking space, identifying license plate information in the images and sending an identification result and allocated parking space information to the vehicle positioning module;
the vehicle positioning module is used for acquiring the position information of the corresponding vehicle according to the license plate information sent by the image recognition module and sending the position information to the intelligent control module;
the intelligent control module calculates the distance between the vehicle and the allocated parking spaces according to the position information of the vehicle, judges the size of the calculated distance and a preset threshold value, and sends corresponding control instructions to the parking space lock module according to the judgment result;
the parking space lock module is used for receiving the control command sent by the intelligent control module and unlocking or locking the parking space lock according to the control command.
According to an embodiment of the invention, the first image acquisition device comprises a straight line module arranged in a groove on the surface of the lane, a camera arranged on a sliding block of the straight line module and a machine position control module for controlling the straight line module;
the first image acquisition device acquires images from the ground to the right above, the machine position control module is connected with the image recognition module to acquire the recognition result of the image recognition module and judge whether license plate information in the recognition result is complete or not, and if the license plate information is incomplete, the linear module is controlled to move the position of the camera.
According to an embodiment of the present invention, the parking space control module is connected to the vehicle positioning module, and sends the relative position of the camera to the vehicle positioning module, so that the vehicle positioning module can calculate the position information of the corresponding vehicle.
According to an embodiment of the present invention, when the straight line module moves the camera according to the determination result of the set-top control module, the camera continuously collects images, and the set-top control module associates the collected images with the relative position of the camera and sends the associated information to the vehicle positioning module.
According to an embodiment of the present invention, the arrangement direction of the linear module is perpendicular to the traveling direction of the vehicle.
According to an embodiment of the present invention, the second image capturing device is a camera disposed above the parking space entrance, and the second image capturing device faces the parking space entrance on the other side of the lane and is inclined downward; the acquisition range of the second image acquisition device comprises a plurality of adjacent parking spaces opposite to the second image acquisition device and lanes in front of the parking spaces.
According to an embodiment of the present invention, the management platform further includes a vehicle tracking module, and the vehicle tracking module is connected to the second image acquisition module, acquires image data acquired by the second image acquisition module, extracts identical or similar image data, and tracks a corresponding vehicle.
According to an embodiment of the invention, the vehicle tracking module is connected with the image recognition module, acquires the license plate information recognized by the image recognition module, and associates the license plate information with the vehicle.
According to an embodiment of the present invention, the management platform further includes a comprehensive positioning module, and the comprehensive positioning module is configured to comprehensively analyze image data sent by the first image acquisition device and the second image acquisition device, obtain a final positioning result of the license plate, and send the final positioning result to the intelligent control module.
According to an embodiment of the present invention, when the position information of the same license plate in the images acquired by the first image acquisition device and the second image acquisition device is different, the integrated positioning module acquires the vehicle position information corresponding to the license plate from the vehicle tracking module, and uses the vehicle position information as a final positioning result of the license plate.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
1) the parking system in the embodiment of the invention aims at the technical problems that the license plate images collected in the prior art are easy to block, the positioning precision of a single visual angle is weak, and the reliability of image recognition is influenced.
2) According to the parking system in the embodiment of the invention, aiming at the situation that when a vehicle runs in a lane, the position of the vehicle is not necessarily located at the center of the lane, and the distance between a ground image acquisition device and a license plate is limited, such as a vehicle with a low chassis, so that the license plate acquired by the ground image acquisition device is possibly incomplete, the position of a camera lens can be effectively adjusted by adaptively adjusting the structure of the camera in the transverse direction of the vehicle and matching with a corresponding machine position control module, and the images acquired for multiple times in the adjustment process are associated with the position of the camera, so that the multi-image recognition of the license plate in a short time is realized, the possibility of obtaining the complete license plate image recognition result is higher, and the consumed time is shorter.
3) According to the parking system in the embodiment of the invention, errors may occur in the recognition results of the license plates in the images collected from different visual angles, when the errors are large and obvious differences of position information exist, the corresponding vehicle positions and shapes are obtained by recognizing and tracking the vehicles, and then the license plate position information which is in line with the vehicle positions is found out according to the relevance between the license plates and the vehicle position shapes, so that the situation that the final positioning result cannot be determined due to too large recognition and positioning errors is reduced, the positioning result which is in line with the fact is obtained, and the robustness and the accuracy of the system are improved.
Drawings
FIG. 1 is a schematic illustration of a parking system in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of the arrangement of the garage on-site parking modules in one embodiment of the present invention;
fig. 3 is a schematic structural diagram of a ground image acquisition device according to an embodiment of the present invention.
Description of reference numerals:
1: a parking space entrance; 2: a parking spot lock; 3: a ground image acquisition device; 31: a linear module; 32: a camera; 33: a transparent sealing plate; 4: a top image acquisition device.
Detailed Description
A parking system according to the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims.
Referring to fig. 1 and 2, the parking system according to the present invention includes: the parking space management system comprises a parking space lock 2 arranged at a parking space entrance 1, a first image acquisition device (namely a ground image acquisition device 3) arranged in a lane, a second image acquisition device (namely a top image acquisition device 4) arranged above the parking space and a management platform. The ground image acquisition device 3 acquires images from the ground to the right above, the top image acquisition device 4 is arranged above a parking space on one side of the lane, and the direction of the images acquired by the top image acquisition device 4 faces to a parking space entrance on the other side of the lane and inclines downwards. The ground image acquisition device 3 and the top image acquisition device 4 acquire image data from different visual angles and send the image data to the image recognition module.
The management platform comprises an information input module (not shown in the figure), a parking space distribution module, an image recognition module, a vehicle tracking module, a vehicle positioning module, a comprehensive positioning module, an intelligent control module and a parking space lock module. As can be seen from fig. 1, the data transmission between these modules is performed in a certain order.
Specifically, the information input module is used for receiving license plate information acquired when a vehicle enters a garage, and sending the license plate information to the parking space distribution module. Generally, a camera is arranged at the entrance of the garage to record the license plate information of the vehicle entering the garage. The information input module in the embodiment is connected with the camera and has a license plate recognition function. The information input module receives an image containing license plate information shot by a camera at the garage entrance, identifies license plate data in the image, extracts the license plate data and sends the license plate data to the parking space distribution module.
And after the parking space allocation module receives the license plate information sent by the information input module, the parking space allocation module allocates parking spaces to the acquired license plate information. The allocated space is a space in the current garage that is not occupied or reserved by a vehicle.
The image recognition module is used for receiving images sent by the first image acquisition device and the second image acquisition device in the process that the vehicle goes to the parking space, recognizing license plate information in the images and sending recognition results and the allocated parking space information to the vehicle positioning module.
The vehicle tracking module is connected with the second image acquisition module, acquires image data acquired by the second image acquisition module, extracts same or similar image data, and tracks corresponding vehicles. The vehicle tracking module is also connected with the image recognition module, acquires the license plate information recognized by the image recognition module, associates the license plate information with the vehicle and realizes real-time tracking of the vehicle.
The vehicle positioning module acquires the position information of the corresponding vehicle according to the license plate information sent by the image recognition module and sends the position information to the intelligent control module.
The comprehensive positioning module is used for comprehensively analyzing the image data sent by the first image acquisition device and the second image acquisition device, obtaining the final positioning result of the license plate and sending the final positioning result to the intelligent control module. When the final position information of the same license plate in the images acquired by the first image acquisition device and the second image acquisition device is obviously different, the comprehensive positioning module can acquire the vehicle position information corresponding to the license plate from the vehicle tracking module to serve as the final positioning result of the license plate. The final position information of the license plate is obviously different, namely the garage area number where the license plate is located or the parking space number where the license plate is located are different, and the license plate can also be marked by other types, so that different places can be seen at a glance.
The intelligent control module extracts license plate data from the position information of the license plate, acquires a parking space corresponding to the license plate according to the license plate data, finds the position of the parking space in the garage, calculates the distance between the license plate and the parking space, judges the size of the calculated distance and a preset threshold value, and sends a corresponding control instruction to the parking space lock module according to the judgment result. If the calculated distance is larger than the preset threshold value, the intelligent control module sends a locking keeping instruction to the parking space lock module, and the parking space lock 2 keeps the original locking state; if the calculated distance is smaller than or equal to the preset threshold value, the intelligent control module sends an unlocking instruction to the parking space lock module, the parking space lock 2 is unlocked, and the vehicle is allowed to enter the parking space.
As described above, the parking lock module is configured to receive the control instruction sent by the intelligent control module, and unlock or lock the parking lock 2 according to the control instruction.
In practical application, a plurality of strip-shaped grooves can be uniformly formed in a lane in a garage for installing the ground image acquisition device 3, please refer to fig. 3. The top of the strip-shaped groove is fixedly sealed by a transparent sealing plate 33, and the transparent sealing plate 33 has a small width and enough strength to bear enough pressure so as to protect the ground image acquisition device 3 from being crushed by the vehicle.
The ground image collecting device 3 comprises a linear module 31 arranged in the ground in front of the parking space entrance 1, a camera 32 installed on a sliding block of the linear module 31, and a machine position control module for controlling the linear module 31. The arrangement direction of the linear module 31 is perpendicular to the driving direction of the vehicle, and the camera 32 is connected with the slide block through an adjustable camera bracket.
The machine position control module is connected with the image recognition module to obtain a license plate recognition result of the image data acquired by the ground image acquisition device 3 to which the machine position control module belongs. The parking space control module judges whether the recognized license plate is complete according to the license plate recognition result, if the left side or the right side of the license plate has an undisplayed part, the parking space control module controls the linear module 31 to drive the camera 32 to move towards the side with the undisplayed part, and if the left side and the right side of the license plate have no undisplayed part or have undisplayed parts, the parking space control module does not control the linear module 31.
The machine position control module is also connected with the vehicle positioning module, and is used for sending the relative position of the camera 32 after the linear module 31 moves to the vehicle positioning module, and the vehicle positioning module introduces the relative position of the camera 32 to calculate and obtain the position information of the corresponding license plate.
When the linear module 31 moves according to the judgment result of the machine position control module, the camera 32 continuously takes pictures, and the image data collected by the camera 32 is sent to the image recognition module through the machine position control module. The parking space control module is also used for associating the image data with the relative position of the camera 32 when the image data is sent, and the vehicle positioning module introduces the relative position of the camera 32 according to the association between the image data and the relative position to calculate and obtain the position information of the license plate.
The top image collecting device 4 is a camera installed at the top of the garage (or above the parking spaces), and the image collecting range of the camera includes a plurality of adjacent parking spaces and lanes in front of the parking spaces opposite to the camera. The vehicle tracking module is connected with the camera and identifies and tracks the vehicle according to the continuous image data collected by the camera. The vehicle tracking module is connected with the image recognition module, recognized vehicles are associated with license plate information according to the same image data, and when position information of the same license plate in the image data collected by the camera and the camera 32 is obviously different, the comprehensive positioning module obtains the position of the vehicle corresponding to the license plate from the vehicle tracking module to select the license plate position information conforming to the position of the vehicle as final positioning information.
A specific parking method for parking by the parking system in the present embodiment is described below:
the method comprises the steps of inputting vehicle information entering a garage, wherein the vehicle information comprises license plate information of a vehicle, then allocating one vehicle to the vehicle in an empty parking space by a parking space allocation module, and associating the license plate information with the parking space.
The camera at the top of the garage continuously collects images after the vehicle enters the garage, and sends image data to the image recognition module and the vehicle tracking module.
The vehicle triggers the ground image acquisition module to acquire the vehicle above, and the camera shoots and then sends the image to the image recognition module through the machine position control module.
The image recognition module recognizes license plate information in the image of the camera to obtain a license plate recognition result, and sends the license plate recognition result to the machine position control module and the image extraction module.
The machine position control module judges according to the license plate recognition result, if the left side or the right side of the license plate has an undisplayed part, the machine position control module controls the linear module 31 to drive the camera 32 to move towards the side with the undisplayed part, and if the left side and the right side of the license plate have no undisplayed part or have undisplayed parts, the machine position control module does not start the linear module 31.
When the linear module 31 moves according to the judgment result of the machine position control module, the camera 32 continuously takes pictures, and the image data collected by the camera 32 is sent to the image recognition module through the machine position control module. The set-top control module is also used to associate the image data with the relative position of the camera 32 when transmitting the image data.
The vehicle tracking module identifies and tracks the vehicle according to the continuous image data acquired by the camera, identifies the vehicle, and the identification content comprises the position and the shape of the vehicle; and meanwhile, the vehicle tracking module is connected with the image recognition module, license plate information recognized in the image recognition module by the same image data is obtained, and when the license plate information is complete, the license plate information is associated with the recognized vehicle to prepare for later positioning analysis.
The image recognition module extracts image data which are used for recognizing the complete license plate information and have the same or similar license plate recognition results, and the image data are sent to the vehicle positioning module together, so that images without the complete license plate information are abandoned, and the analysis calculation amount generated in the process of comprehensive positioning is reduced.
The vehicle positioning module positions the license plate identified in each image data and sends the license plate position information and the license plate identification result to the comprehensive positioning module. For the image data collected by the camera on the ground, the vehicle positioning module introduces the relative position of the camera 32 according to the relevance between the image data and the relative position to calculate the position information of the corresponding license plate. Wherein the actual position of the camera 32 itself is calculated by combining the relative position of the camera 32 and the arrangement position of the ground image capture device 3.
The comprehensive positioning module comprehensively analyzes the position information of the same license plate after being identified and positioned according to the image data at each visual angle, and analyzes the position information by combining the actual positions of the cameras and the cameras in each image acquisition device, so that the final positioning result of the license plate is comprehensively obtained and is sent to the intelligent judgment module in association with the corresponding parking space.
When the comprehensive positioning module positions the license plate position information according to the image data collected by the camera and the camera, the comprehensive positioning module obtains the vehicle position corresponding to the license plate from the vehicle tracking module to be used as a judgment basis for determining correct license plate position information, so that the license plate position information which is consistent with the license plate position information is selected.
The intelligent judgment module finds the parking space information distributed to the vehicle according to the license plate information corresponding to the license plate recognition result, then obtains the distance between the position of a parking space entrance 1 of the parking space and the final positioning result of the license plate, judges whether to unlock the parking space lock 2 according to whether the distance is smaller than a set threshold value or not, and sends the comparison result to the parking space lock control module when the distance is smaller than the set threshold value.
And when receiving the comparison result, the parking space lock control module sends a control command for unlocking the corresponding parking space lock 2, and the corresponding parking space lock 2 unlocks immediately after receiving the control command, so that the approaching vehicle is parked in the parking space.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.
Claims (10)
1. A parking system, comprising: the parking lot management system comprises a parking lot lock arranged at a parking lot entrance, a first image acquisition device arranged in a lane, a second image acquisition device arranged above the parking lot and a management platform;
the management platform comprises an information input module, a parking space distribution module, an image recognition module, a vehicle positioning module, an intelligent control module and a parking space lock module;
the information input module is used for receiving license plate information acquired when a vehicle enters a garage and sending the license plate information to the parking space allocation module;
the parking space allocation module is used for allocating parking spaces to the acquired license plate information;
the image identification module is used for receiving images sent by the first image acquisition device and the second image acquisition device in the process that a vehicle goes to a parking space, identifying license plate information in the images and sending an identification result and allocated parking space information to the vehicle positioning module;
the vehicle positioning module is used for acquiring the position information of the corresponding vehicle according to the license plate information sent by the image recognition module and sending the position information to the intelligent control module;
the intelligent control module calculates the distance between the vehicle and the allocated parking spaces according to the position information of the vehicle, judges the size of the calculated distance and a preset threshold value, and sends corresponding control instructions to the parking space lock module according to the judgment result;
the parking space lock module is used for receiving the control command sent by the intelligent control module and unlocking or locking the parking space lock according to the control command.
2. The parking system of claim 1, wherein the first image capturing device comprises a straight line module disposed in a groove on a surface of a lane, a camera mounted on a slider of the straight line module, and a machine position control module controlling the straight line module;
the first image acquisition device acquires images from the ground to the right above, the machine position control module is connected with the image recognition module to acquire the recognition result of the image recognition module and judge whether license plate information in the recognition result is complete or not, and if the license plate information is incomplete, the linear module is controlled to move the position of the camera.
3. The parking system of claim 2, wherein the parking space control module is connected to the vehicle positioning module and transmits the relative position of the camera to the vehicle positioning module so that the vehicle positioning module calculates the position information of the corresponding vehicle.
4. The parking system according to claim 3, wherein the camera continuously captures images while the straight line module moves the camera according to the determination result of the gate control module, and the gate control module associates the captured images with the relative position of the camera and transmits the associated information to the vehicle positioning module.
5. The parking system according to any one of claims 2 to 4, wherein the arrangement direction of the linear modules is perpendicular to the traveling direction of the vehicle.
6. The parking system of claim 1, wherein the second image capturing device is a camera disposed above the parking space entrance, and the second image capturing device faces the parking space entrance on the other side of the lane and is inclined downward; the acquisition range of the second image acquisition device comprises a plurality of adjacent parking spaces opposite to the second image acquisition device and lanes in front of the parking spaces.
7. The parking system of claim 1, wherein the management platform further comprises a vehicle tracking module, the vehicle tracking module is connected to the second image acquisition module, acquires image data acquired by the second image acquisition module, extracts same or similar image data, and tracks the corresponding vehicle.
8. The parking system of claim 7 wherein the vehicle tracking module is coupled to the image recognition module to obtain license plate information recognized by the image recognition module and associate the license plate information with the vehicle.
9. The parking system of claim 8, wherein the management platform further comprises a comprehensive positioning module, and the comprehensive positioning module is configured to comprehensively analyze the image data sent by the first image capturing device and the second image capturing device to obtain a final positioning result of the license plate and send the final positioning result to the intelligent control module.
10. The parking system of claim 9, wherein when there is a difference between the position information of the same license plate in the images acquired by the first image acquisition device and the second image acquisition device, the integrated positioning module obtains the vehicle position information corresponding to the license plate from the vehicle tracking module as a final positioning result of the license plate.
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| CN211698239U (en) * | 2019-12-28 | 2020-10-16 | 昆明飞翔衡器制造有限公司 | Moving vehicle recognition device |
| CN111613089A (en) * | 2020-06-05 | 2020-09-01 | 重庆红透科技有限公司 | Garage management system and vehicle in-out management method |
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Application publication date: 20210611 |