CN114220275B - Unattended intelligent parking management system - Google Patents
Unattended intelligent parking management system Download PDFInfo
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- CN114220275B CN114220275B CN202210162025.6A CN202210162025A CN114220275B CN 114220275 B CN114220275 B CN 114220275B CN 202210162025 A CN202210162025 A CN 202210162025A CN 114220275 B CN114220275 B CN 114220275B
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Abstract
The invention provides an unattended intelligent parking management system, which comprises: a management platform, the management platform comprising: the parking space state monitoring module, the vehicle identification module, the charging module, the control module of the barrier gate and the charging module; further comprising: and the vehicle taking auxiliary module is used for receiving a vehicle taking auxiliary request of a parking user to perform vehicle taking auxiliary operation. According to the unattended intelligent parking management system, on the basis of the original automatic parking charge, the vehicle taking guide is realized through the vehicle taking auxiliary module before other users stop vehicles in parking spaces of the users, and the scratch accidents are avoided.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to an unattended intelligent parking management system.
Background
At present, urban parking operation management is one of the outstanding problems faced by urban management and urban traffic management in China. The urban parking management is divided into two parts, namely road parking management and parking lot management.
The charging measures of the parking lot are completed based on the cooperation of manual guard and a parking management system, the management systems are different and different in level, a large number of charging managers are needed, the operation cost and difficulty are increased, and standard and efficient unified management cannot be achieved. Therefore, an unattended intelligent parking management system is provided to solve the problem of labor cost;
the existing unattended intelligent parking management system realizes the replacement of manual charging by arranging an intelligent gateway and a control module and a charging module based on a vehicle identification module, a charging module and the gateway. When the parking space is short, after a user enters the parking lot and returns to take out the parking space again, the situation that vehicles of other users stop at the front side of the parking space can occur, the vehicle taking of the user is influenced, and scratch accidents are easy to happen.
Disclosure of Invention
The invention aims to provide an unattended intelligent parking management system, which is characterized in that on the basis of the original automatic parking charge, through a car taking auxiliary module, the car taking guidance is realized when other users stop cars in front of parking spaces of the users, and the occurrence of scratch accidents is avoided.
The embodiment of the invention provides an unattended intelligent parking management system, which comprises: a management platform, the management platform comprising: the parking space state monitoring module, the vehicle identification module, the charging module, the control module of the barrier gate and the charging module; further comprising:
the vehicle taking auxiliary module is used for receiving a vehicle taking auxiliary request of a user for parking to perform vehicle taking auxiliary operation;
the vehicle taking auxiliary module executes the following operations:
determining a target parking position of a target vehicle after receiving a vehicle taking auxiliary request of a user parking;
determining a plurality of first image acquisition devices for auxiliary vehicle taking and reminding devices for auxiliary vehicle taking on the basis of the target parking position;
when the user gets the vehicle, acquiring a first image of the environment around the target vehicle through the first image acquisition device;
inputting the first image into a preset first neural network model, and determining a control instruction of the reminding device;
and controlling the reminding device to act based on the control instruction.
Preferably, the pickup assisting module determines the target parking position of the target vehicle after receiving the pickup assisting request, and performs the following operations:
first positioning information of a mobile terminal of the user;
determining a second image acquisition device for shooting the user based on the first positioning information and a pre-constructed corresponding table of shooting target positions and image acquisition devices;
shooting a second image containing the user through the second image acquisition device;
constructing a first portrait of the user based on the second image;
matching the first portrait with a standard portrait in a parking information base established in advance to obtain parking space information and vehicle information which are correspondingly associated with the standard portrait matched with the first portrait;
determining second positioning information corresponding to the parking space information;
judging whether the auxiliary vehicle taking request of the user is effective or not based on the first positioning information and the second positioning information;
when the auxiliary vehicle taking request is valid, taking the parking position corresponding to the parking space information as the target parking position;
and when the auxiliary vehicle taking request is invalid, rejecting the auxiliary vehicle taking request of the user.
Preferably, the vehicle taking assisting module determines whether the vehicle taking assisting request of the user is valid based on the first positioning information and the second positioning information, and executes the following operations:
constructing a virtual map;
mapping the first positioning information and the second positioning information to the virtual map to obtain a first position and a second position;
determining a first distance between the first location and the second location;
when the first distance is smaller than a preset first distance threshold value, determining that the vehicle taking auxiliary request of the user is valid;
and when the first distance is greater than or equal to a preset first distance threshold value, determining that the vehicle taking auxiliary request of the user is invalid.
Preferably, the parking information library is constructed by the following steps:
acquiring a third image for parking of each user in the parking lot in real time;
analyzing the third image, and determining parking space information, vehicle information and personnel information of each person who gets on or off the vehicle;
constructing the standard figure image corresponding to each person based on the person information of each person;
and associating the standard figure image, the parking space information and the vehicle information corresponding to each person to form a piece of parking information in the parking information library.
Preferably, the vehicle taking assisting module determines, based on the target parking position, a plurality of first image capturing devices used for assisting in vehicle taking and a plurality of reminding devices used for assisting in vehicle taking, and executes the following operations:
acquiring second positioning information corresponding to the parking space information corresponding to the target parking position;
acquiring shooting target position sets corresponding to all image acquisition devices arranged in the parking lot;
matching the second positioning information with third positioning information correspondingly associated with each shooting target position in the shooting target position set, and determining that an image acquisition device corresponding to the shooting target position set is the first image acquisition device when a matching item exists in the shooting target position set;
acquiring fourth positioning information corresponding to the setting position of each reminding device arranged in the parking lot;
determining a second distance between each reminding device and the target parking position based on the second positioning information and the fourth positioning information;
and when the second distance is smaller than a preset second distance threshold value, determining that the reminding device is the reminding device for assisting in taking the vehicle.
Preferably, when the user takes a vehicle, the vehicle taking assisting module acquires a first image of an environment around the target vehicle through the first image acquisition device, and executes the following operations:
acquiring a fourth image of the cab of the vehicle at the target parking position through the first image acquisition device;
analyzing the fourth image to determine whether a driver exists;
when a driver exists, acquiring a fifth image within a preset range around the target parking position through the first image acquisition device;
acquiring a three-dimensional model corresponding to the parking lot, intercepting a preset range around the target parking position, and constructing a three-dimensional simulation space;
identifying the fifth image, and determining a first model of the vehicle at the target parking position, a second model of the surrounding vehicle and a third model of the surrounding obstacles;
mapping the first model, the second model, and the third model to the three-dimensional simulation space;
extracting features of the mapped three-dimensional model space, and extracting a plurality of first feature values;
inputting the plurality of first characteristic values into a preset second neural network model, and determining the position which is easy to scratch when a user takes a vehicle;
determining the optimal shooting angle of the first image acquisition device and controlling the first image acquisition device to adjust to the optimal shooting angle based on the position which is easy to scratch when a user gets a vehicle;
and when the user carries out the car taking operation, taking the image acquired by the first image acquisition device positioned at the optimal shooting angle as the first image.
Preferably, get the position that the car auxiliary module was scratched easily when getting the car based on the user, confirm first image acquisition device's best shooting angle carries out following operation:
mapping the first image acquisition device to the three-dimensional simulation space;
determining the position of the first model when scratch occurs based on the position which is easy to scratch when a user takes a vehicle;
determining a central point and a boundary point of a position which is easy to scratch in the three-dimensional simulation space;
determining a plurality of first direction vectors based on the center point and each of the boundary points;
determining the set position point of each first image acquisition device in the three-dimensional simulation space;
determining a plurality of second direction vectors based on the central point and the set position points of the respective first image acquisition devices;
respectively calculating included angles between each first direction vector and each second direction vector;
sequentially extracting corresponding second direction vectors according to the sequence of the included angles from small to large;
adjusting the position and the shooting angle of the first image acquisition device in the three-dimensional simulation space according to the second direction vectors extracted in sequence; when the first image acquisition device shoots the position easy to scratch and not sheltered from on the shooting path, the shooting angle of the first image acquisition device is determined to be the best shooting angle.
Preferably, unmanned on duty wisdom parking management system still includes:
the auxiliary car taking robot is in communication connection with the management platform and receives control of the auxiliary car taking module;
when the second direction vectors are extracted and no shielding on a shooting path of the first image acquisition device cannot be realized, the auxiliary car taking module controls the auxiliary car taking robot to move to the target parking position for auxiliary car taking;
wherein, get car auxiliary robot and include:
the bottom of the shell is provided with a moving mechanism;
a navigation module disposed within the housing;
the third image acquisition device is arranged at the upper end of the shell;
a speaker disposed at an outer periphery of the housing;
the processor is arranged in the shell and is respectively and electrically connected with the navigation module, the moving mechanism, the third image acquisition device and the loudspeaker;
and the wireless communication module is arranged in the shell, is electrically connected with the processor and is used for being in communication connection with the management platform.
Preferably, the car taking auxiliary module inputs the first image into a preset first neural network model, determines a control instruction of the reminding device, and executes the following operations:
extracting the features of the first image with continuous preset frame numbers, and extracting a plurality of second feature values;
and inputting the plurality of second characteristic values into a preset first neural network model, and determining a control instruction of the reminding device.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of an unattended intelligent parking management system according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating steps performed by an auxiliary pickup module according to an embodiment of the present invention;
fig. 3 is a diagram illustrating steps executed by the pickup assisting module to determine the target parking position according to the embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that they are presented herein only to illustrate and explain the present invention and not to limit the present invention.
The embodiment of the invention provides an unattended intelligent parking management system, as shown in figure 1, comprising: management platform 1, management platform 1 includes: the parking space state monitoring system comprises a parking space state monitoring module 11, a vehicle identification module 12, a charging module 13, a control module 14 of a gateway and a charging module 15; further comprising:
the vehicle taking assisting module 16 is configured to receive a vehicle taking assisting request of a user who parks the vehicle to perform vehicle taking assisting operation;
as shown in fig. 2, the pickup assistance module 16 performs the following operations:
step S1: determining a target parking position of a target vehicle after receiving a vehicle taking auxiliary request of a user parking;
step S2: determining a plurality of first image acquisition devices for auxiliary vehicle taking and reminding devices for auxiliary vehicle taking on the basis of the target parking position;
step S3: when a user gets a vehicle, a first image of the environment around the target vehicle is acquired through a first image acquisition device;
step S4: inputting the first image into a preset first neural network model, and determining a control instruction of the reminding device;
step S5: and controlling the action of the reminding device based on the control instruction.
The working principle and the beneficial effects of the technical scheme are as follows:
the parking space state monitoring module 11 mainly includes a geomagnetic sensor, a high-level video device and the like to monitor whether a parking space is parked or not and vehicle information of vehicles on the parking space; a vehicle identification module 12, which is mainly used for identifying images shot by high-level video equipment and the like, and identifying vehicle license plates and the like; the charging module 13 is used for calculating the parking fee after the vehicle is parked in the parking space; the control module 14 of the barrier gate is used for controlling the rising and falling of the barrier gate at the entrance and exit of the parking lot; a charging module 15 for linking to a third party payment platform for payment of the parking fee of the user; the automatic control of the barrier gate and the automatic charging of the user are realized through the management platform 1, and the unattended management is realized; parking and evidence obtaining are carried out through a mobile video and a fixed high-order video of the mobile inspection vehicle, and meanwhile payment treasure, WeChat electronic payment and ETC payment are combined; the technologies of audio and video remote communication and the like form a set of complete and low-cost parking operation method. The auxiliary car taking module 16 is mainly used for drivers who have obstacles or are not confident in front when the user drives out the car on the parking space; the auxiliary car taking module 16 is used for assisting a user in taking a car, so that an accidental scratching event is avoided; the auxiliary car taking module 16 mainly determines the situation of a car taking site of a user through the first image acquisition device, identifies the first image according to the first neural network model, determines a control instruction of the auxiliary reminding device and controls the reminding device to act, and the reminding device mainly comprises: audio playing devices, such as a loudspeaker and the like, play prompt voices; the prompt voice comprises the following steps: fully driving the steering wheel to the right, engaging a reverse gear and backing up; please continue backing up; stopping; the intelligent vehicle taking method comprises the steps that a steering wheel is fully opened leftwards, a vehicle gear is engaged, a vehicle runs and the like, intelligent identification is carried out by taking video observation outside a vehicle as a reference, then reminding voice is output, and a user is assisted in vehicle taking so as to achieve the purpose that the user can take the vehicle when the vehicle is stopped before a parking space but a room for driving the vehicle is reserved, and therefore the occurrence of scratch accidents is avoided.
In one embodiment, as shown in fig. 3, the pickup assistance module 16 determines the target parking position of the target vehicle after receiving the pickup assistance request, and performs the following operations:
step S11: first positioning information of a mobile terminal of a user;
step S12: determining a second image acquisition device for shooting a user based on the first positioning information and a pre-constructed corresponding table of the shooting target position and the image acquisition device; the mapping table of the shooting target position and the image acquisition device is established in advance according to the setting position of the image acquisition device in the parking lot and the shooting direction of the image acquisition device;
step S13: shooting a second image containing the user through a second image acquisition device;
step S14: constructing a first portrait of the user based on the second image; the first character image includes: clothing features, gender features, facial features, etc.;
step S15: matching the first person image with a standard person image in a parking information base established in advance, and acquiring parking space information and vehicle information which are correspondingly associated with the standard person image matched with the first person image;
step S16: determining second positioning information corresponding to the parking space information;
step S17: judging whether the auxiliary vehicle taking request of the user is effective or not based on the first positioning information and the second positioning information;
step S18: when the auxiliary vehicle taking request is valid, taking the parking position corresponding to the parking space information as a target parking position;
step S19: and when the vehicle taking auxiliary request is invalid, rejecting the vehicle taking auxiliary request of the user.
The car taking assisting module 16 determines whether the car taking assisting request of the user is valid based on the first positioning information and the second positioning information, and executes the following operations:
constructing a virtual map; the virtual map can be constructed according to the three-dimensional model of the parking lot;
mapping the first positioning information and the second positioning information to a virtual map to obtain a first position and a second position;
determining a first distance between the first location and the second location;
when the first distance is smaller than a preset first distance threshold (for example: 5 meters), determining that the vehicle taking auxiliary request of the user is valid;
and when the first distance is greater than or equal to a preset first distance threshold value, determining that the vehicle taking auxiliary request of the user is invalid. And determining whether the user really needs to take the auxiliary vehicle or not by judging the validity and invalidity of the request.
The parking information library is constructed by the following steps:
acquiring a third image for parking of each user in the parking lot in real time;
analyzing the third image, and determining parking space information, vehicle information and personnel information of each person who gets on or off the vehicle; the parking space information includes: the position of the parking space in the three-dimensional model of the parking lot, the number of the parking space and the like; the vehicle information includes: vehicle model, manufacturer, license plate number, etc.; the personnel information includes: regions of the third image corresponding to clothing features, gender, facial features;
constructing a standard figure image corresponding to each person based on the person information of each person; the standard portrait representation includes: clothing features, gender features, facial features, etc.;
and associating the standard figure portrait, the parking space information and the vehicle information corresponding to each person to form a piece of parking information in the parking information library.
And constructing a parking information library for carrying out vehicle taking auxiliary operation according to the third image when the vehicle is parked in the parking lot so as to determine the target parking position.
In one embodiment, the pickup assistance module 16 determines the first image capturing devices used by the plurality of pickup assistance and the reminding device used by the pickup assistance based on the target parking position, and performs the following operations:
acquiring second positioning information corresponding to parking space information corresponding to the target parking position;
acquiring a shooting target position set corresponding to each image acquisition device arranged in a parking lot;
matching the second positioning information with third positioning information which is correspondingly associated with each shooting target position in the shooting target position set, and determining an image acquisition device corresponding to the shooting target position set as a first image acquisition device when a matching item exists in the shooting target position set;
acquiring fourth positioning information corresponding to the setting position of each reminding device arranged in the parking lot;
determining a second distance between each reminding device and the target parking position based on the second positioning information and the fourth positioning information;
and when the second distance is smaller than a preset second distance threshold (for example, 4 meters), determining that the reminding device is a reminding device used for assisting in taking the vehicle. By selecting a proper reminding device, the user can be ensured to receive the reminding.
In one embodiment, the vehicle taking assisting module 16 obtains a first image of an environment around the periphery of the target vehicle through the first image capturing device when the user takes a vehicle, and performs the following operations:
acquiring a fourth image of a cab of the vehicle at the target parking position through the first image acquisition device;
analyzing the fourth image to determine whether a driver exists;
when a driver exists, acquiring a fifth image within a preset range around the target parking position through the first image acquisition device;
acquiring a three-dimensional model corresponding to a parking lot, intercepting a preset range (for example, 5 meters square and round) around a target parking position, and constructing a three-dimensional simulation space;
identifying the fifth image, and determining a first model of the vehicle at the target parking position, a second model of the surrounding vehicle and a third model of the surrounding obstacles;
mapping the first model, the second model and the third model to a three-dimensional simulation space;
extracting features of the mapped three-dimensional model space, and extracting a plurality of first feature values;
inputting the plurality of first characteristic values into a preset second neural network model, and determining the position which is easy to scratch when a user takes a vehicle;
determining the best shooting angle of the first image acquisition device and controlling the first image acquisition device to adjust to the best shooting angle based on the position which is easy to scratch when a user gets a vehicle;
when the user carries out the car taking operation, the image collected by the first image collecting device positioned at the best shooting angle is used as the first image.
Wherein, get car auxiliary module 16 based on the user get the position of scraping the car easily when the car, confirm the best shooting angle of first image acquisition device, carry out following operation:
mapping a first image acquisition device to a three-dimensional simulation space;
determining the position of the first model when scratch occurs based on the position which is easy to scratch when a user takes a vehicle;
determining a central point and a boundary point of a position which is easy to scratch in a three-dimensional simulation space; the position easy to scratch is the position on the first model when scratching occurs;
determining a plurality of first direction vectors based on the center point and the respective boundary points; the first direction vector is a point of the center point to the boundary point;
determining the set position points of each first image acquisition device in a three-dimensional simulation space; aiming at a fixed first image acquisition device, a position point is a point position; when the first image acquisition device can move left and right or back and forth, the position points are a plurality of point positions;
determining a plurality of second direction vectors based on the central point and the set position points of the respective first image acquisition devices; the second direction vector is a point of the center point pointing to the position;
respectively calculating included angles between each first direction vector and each second direction vector; the calculation can be carried out by adopting a cosine included angle calculation formula;
sequentially extracting corresponding second direction vectors according to the sequence of the included angles from small to large;
adjusting the position and the shooting angle of the first image acquisition device in the three-dimensional simulation space according to the second direction vectors extracted in sequence; when the first image acquisition device shoots a position which is easy to scratch and is not blocked on a shooting path, the shooting angle of the first image acquisition device is determined to be the best shooting angle. The first image acquisition device is guaranteed to shoot without blocking.
In one embodiment, the unattended intelligent parking management system further comprises:
the auxiliary car taking robot is in communication connection with the management platform 1 and receives control of the auxiliary car taking module 16;
when the second direction vectors are extracted and no shielding on the shooting path of the first image acquisition device can not be realized, the vehicle taking auxiliary module 16 controls the vehicle taking auxiliary robot to move to the target parking position for auxiliary vehicle taking;
wherein, get car auxiliary robot and include:
the bottom of the shell is provided with a moving mechanism;
the navigation module is arranged in the shell;
the third image acquisition device is arranged at the upper end of the shell;
a speaker disposed at an outer periphery of the housing;
the processor is arranged in the shell and is respectively and electrically connected with the navigation module, the moving mechanism, the third image acquisition device and the loudspeaker;
and the wireless communication module is arranged in the shell, is electrically connected with the processor and is used for being in communication connection with the management platform 1.
The working principle and the beneficial effects of the technical scheme are as follows:
because of the first image acquisition device that sets up can't satisfy the demand that the image of the supplementary car of getting was shot, consequently the regulation and control is got the car auxiliary robot and is carried out the scene and get the car supplementary, synthesizes the image acquisition device that the parking area set up and get the car auxiliary robot and realize dealing with the user's of arbitrary situation supplementary request of getting the car. The auxiliary vehicle taking robot receives a control instruction of the management platform 1 through the wireless communication module; realizing route navigation operation through a navigation module; the movement in the parking lot is realized through a moving mechanism; through the third image acquisition device, the environment outside the vehicle in the user car taking process is shot, the shot picture is transmitted to the management platform 1, the reminding information is determined through the car taking auxiliary module 16, the picture is played through the loudspeaker, the car taking guidance is realized when other users stop the vehicle in front of the parking space of the user, and the scratch accidents are avoided.
In one embodiment, the vehicle taking assisting module 16 inputs the first image into a preset first neural network model, determines a control instruction of the reminding device, and performs the following operations:
extracting the features of the first image with continuous preset frame numbers, and extracting a plurality of second feature values; the second characteristic value includes: the speed of the vehicle, the distance to the obstacle, the motion direction vector of the vehicle, the boundary of the obstacle, etc.;
and inputting the plurality of second characteristic values into a preset first neural network model, and determining a control instruction of the reminding device. The first neural network model is an artificial intelligent network model which is used for training convergence based on a large amount of data and guiding driving.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. An unattended intelligent parking management system, comprising: a management platform, the management platform comprising: the parking space state monitoring module, the vehicle identification module, the charging module, the control module of the barrier gate and the charging module; it is characterized by also comprising:
the vehicle taking auxiliary module is used for receiving a vehicle taking auxiliary request of a user for parking to perform vehicle taking auxiliary operation;
the vehicle taking auxiliary module executes the following operations:
determining a target parking position of a target vehicle after receiving a vehicle taking auxiliary request of a user for parking;
determining a plurality of first image acquisition devices for auxiliary vehicle taking and reminding devices for auxiliary vehicle taking on the basis of the target parking position;
when the user gets the vehicle, acquiring a first image of the environment around the target vehicle through the first image acquisition device;
inputting the first image into a preset first neural network model, and determining a control instruction of the reminding device;
controlling the reminding device to act based on the control instruction;
the vehicle taking assisting module determines the target parking position of the target vehicle after receiving the vehicle taking assisting request, and executes the following operations:
first positioning information of a mobile terminal of the user;
determining a second image acquisition device for shooting the user based on the first positioning information and a pre-constructed corresponding table of the shooting target position and the image acquisition device;
shooting a second image containing the user through the second image acquisition device;
constructing a first portrait of the user based on the second image;
matching the first figure image with a standard figure image in a parking information base established in advance, and acquiring parking space information and vehicle information which are correspondingly associated with the standard figure image matched with the first figure image;
determining second positioning information corresponding to the parking space information;
judging whether the auxiliary vehicle taking request of the user is effective or not based on the first positioning information and the second positioning information;
when the auxiliary vehicle taking request is valid, taking the parking position corresponding to the parking space information as the target parking position;
and when the auxiliary vehicle taking request is invalid, rejecting the auxiliary vehicle taking request of the user.
2. The unattended intelligent parking management system according to claim 1, wherein the pickup assistance module determines whether the pickup assistance request of the user is valid based on the first positioning information and the second positioning information, and performs the following operations:
constructing a virtual map;
mapping the first positioning information and the second positioning information to the virtual map to obtain a first position and a second position;
determining a first distance between the first location and the second location;
when the first distance is smaller than a preset first distance threshold value, determining that the vehicle taking auxiliary request of the user is valid;
and when the first distance is greater than or equal to a preset first distance threshold value, determining that the vehicle taking auxiliary request of the user is invalid.
3. The intelligent unattended parking management system according to claim 1, wherein the parking information base is constructed by:
acquiring a third image for parking of each user in the parking lot in real time;
analyzing the third image, and determining parking space information, vehicle information and personnel information of each person who gets on or off the vehicle;
constructing the standard figure image corresponding to each person based on the person information of each person;
and associating the standard figure image, the parking space information and the vehicle information corresponding to each person to form a piece of parking information in the parking information library.
4. The unattended intelligent parking management system according to claim 1, wherein the vehicle taking assisting module determines a first image capturing device used by a plurality of vehicle taking aids and a reminding device used by the vehicle taking aids based on the target parking position, and performs the following operations:
acquiring second positioning information corresponding to the parking space information corresponding to the target parking position;
acquiring a shooting target position set corresponding to each image acquisition device arranged in a parking lot;
matching the second positioning information with third positioning information correspondingly associated with each shooting target position in the shooting target position set, and determining that an image acquisition device corresponding to the shooting target position set is the first image acquisition device when a matching item exists in the shooting target position set;
acquiring fourth positioning information corresponding to the setting position of each reminding device arranged in the parking lot;
determining a second distance between each reminding device and the target parking position based on the second positioning information and the fourth positioning information;
and when the second distance is smaller than a preset second distance threshold value, determining that the reminding device is the reminding device for assisting in taking the vehicle.
5. The unattended intelligent parking management system according to claim 1, wherein the vehicle taking assisting module obtains a first image of an environment around the periphery of the target vehicle through the first image capturing device when the user takes a vehicle, and performs the following operations:
acquiring a fourth image of the cab of the vehicle at the target parking position through the first image acquisition device;
analyzing the fourth image to determine whether a driver exists;
when a driver exists, acquiring a fifth image within a preset range around the target parking position through the first image acquisition device;
acquiring a three-dimensional model corresponding to a parking lot, intercepting a preset range around the target parking position, and constructing a three-dimensional simulation space;
identifying the fifth image, and determining a first model of the vehicle at the target parking position, a second model of surrounding vehicles and a third model of surrounding obstacles;
mapping the first model, the second model, and the third model to the three-dimensional simulation space;
extracting features of the mapped three-dimensional model space, and extracting a plurality of first feature values;
inputting the plurality of first characteristic values into a preset second neural network model, and determining the position which is easy to scratch when a user takes a vehicle;
determining the optimal shooting angle of the first image acquisition device and controlling the first image acquisition device to adjust to the optimal shooting angle based on the position which is easy to scratch when a user gets a vehicle;
and when the user carries out the car taking operation, taking the image acquired by the first image acquisition device positioned at the optimal shooting angle as the first image.
6. The intelligent unattended parking management system according to claim 5, wherein the pickup assisting module determines an optimal photographing angle of the first image capturing device based on a location which is easily scratched when a user picks up a vehicle, and performs the following operations:
mapping the first image acquisition device to the three-dimensional simulation space;
determining the position of the first model when scratch occurs based on the position which is easy to scratch when a user takes a vehicle;
determining a central point and a boundary point of a position which is easy to scratch in the three-dimensional simulation space;
determining a plurality of first direction vectors based on the center point and each of the boundary points;
determining the set position point of each first image acquisition device in the three-dimensional simulation space;
determining a plurality of second direction vectors based on the central point and the set position points of the respective first image acquisition devices;
respectively calculating included angles between each first direction vector and each second direction vector;
sequentially extracting corresponding second direction vectors according to the sequence of the included angles from small to large;
adjusting the position and the shooting angle of the first image acquisition device in the three-dimensional simulation space according to the second direction vectors extracted in sequence; when the first image acquisition device shoots the position easy to scratch and not sheltered from on the shooting path, the shooting angle of the first image acquisition device is determined to be the best shooting angle.
7. The intelligent unattended parking management system according to claim 6, further comprising:
the auxiliary car taking robot is in communication connection with the management platform and receives control of the auxiliary car taking module;
when the second direction vectors are extracted and no shielding on a shooting path of the first image acquisition device cannot be realized, the auxiliary car taking module controls the auxiliary car taking robot to move to the target parking position for auxiliary car taking;
wherein, get car auxiliary robot and include:
the bottom of the shell is provided with a moving mechanism;
a navigation module disposed within the housing;
the third image acquisition device is arranged at the upper end of the shell;
a speaker disposed at an outer periphery of the housing;
the processor is arranged in the shell and is respectively and electrically connected with the navigation module, the moving mechanism, the third image acquisition device and the loudspeaker;
and the wireless communication module is arranged in the shell, is electrically connected with the processor and is used for being in communication connection with the management platform.
8. The unattended intelligent parking management system according to claim 1, wherein the vehicle taking auxiliary module inputs the first image into a preset first neural network model, determines a control command of the reminding device, and performs the following operations:
extracting the features of the first image with continuous preset frame numbers, and extracting a plurality of second feature values;
and inputting the plurality of second characteristic values into a preset first neural network model, and determining a control instruction of the reminding device.
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