CN115116262A - Parking limit monitoring system based on image recognition - Google Patents
Parking limit monitoring system based on image recognition Download PDFInfo
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- CN115116262A CN115116262A CN202210358478.6A CN202210358478A CN115116262A CN 115116262 A CN115116262 A CN 115116262A CN 202210358478 A CN202210358478 A CN 202210358478A CN 115116262 A CN115116262 A CN 115116262A
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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Abstract
The application provides a spacing monitoring system parks based on image recognition, and this application belongs to the artificial intelligence field, mainly is artificial intelligence technical field that parks. The application includes: the system comprises a server module, a customer service module, a signal transmission device and an output unit module; setting an image model and initializing parking space information; the client module acquires and processes vehicle information in real time to acquire wheel data and a vehicle contour connecting line; the client module transmits the real-time vehicle image, wheel image data and vehicle contour connecting line to the processor through the signal transmission device; the processor determines the stopping information of the vehicle according to the wheel image data and the vehicle contour line; the processor sends corresponding prompts to the output unit module through the signal transmission device according to the stop information of the vehicle. The application provides safe convenient monitoring for mechanical parking equipment's use, prevents on the one hand that the vehicle from cutting and rubbing parking equipment, and on the other hand because of the vehicle stops and makes parking equipment go forward the safety problem appear when stopping in the safe district.
Description
The technical field is as follows:
the invention relates to the field of artificial intelligence, mainly relates to the technical field of artificial intelligence parking, and particularly relates to a parking limit monitoring system based on image recognition.
Background art:
with the increasing of domestic economic development and technical means, the demand for machine parking equipment is increased, and the safety and the reliability of the machine parking equipment need stricter requirements. At present, most of traditional mechanical parking equipment does not have safe and reliable monitoring on a vehicle parking area, and the existing monitoring systems and equipment mainly use agency foreign products, are little concerned with systems and equipment which have independent intellectual property rights and monitor parking by using an image recognition technology, and particularly have few researches on real-time online detection of large data quantity and few successful cases.
For example, patent publication No. CN111677355B discloses a push-pull type parking mechanism for vehicles and a three-dimensional mechanical parking facility thereof, which provides a conventional parking facility for fast parking and picking up vehicles, but does not properly monitor the vehicles not parked in a designated area to ensure the reliability and safety of the subsequent parking and picking up vehicles.
For example, patent publication No. CN113436438A discloses a method, system and apparatus for restricting parking in a dedicated parking space, which only uses image recognition technology to confirm information of a vehicle owner, so as to provide parking service.
This application provides safe convenient monitoring for mechanical parking equipment's use, can effectively guide the car owner to be correct on the one hand and berth in the safe area, and on the other hand can monitor because of the vehicle stops outside the safe area, leads to vehicle and parking equipment collision etc. to appear the safety problem during parking equipment operation to remind the car owner.
The invention content is as follows:
the application mainly aims to provide a parking limit monitoring system based on image recognition.
In order to achieve the purpose, the invention adopts the technical scheme that the parking limit monitoring system is based on image recognition;
a parking limit monitoring system based on image recognition comprises a server module 1, a customer service module 2, a signal transmission device 3 and an output unit module 4; the customer service end module is fixedly arranged above the parking space, the service end module 1 comprises a signal input device 11, a processor 12 and a memory 13, the customer service end module 2 comprises an image acquisition device 21 and an image processing device 22, and the output unit module comprises a voice device 41 and/or a video device 42;
the limit monitoring system comprises the following steps:
1) initialization: an image model is set and parking space information is input to the processor 12 through a signal input device.
2) Real-time acquisition and processing: when the vehicle stops, the image acquisition device 21 acquires the image of the vehicle in real time, the image processing device 22 performs image processing to obtain the image of the vehicle in real time and the data of the vehicle contour connecting line, and the image of the vehicle in real time and the vehicle contour connecting line are transmitted to the processor 12 through the signal transmission device 3;
3) and (4) position judgment: performing the operation of the step 2) at regular intervals, and when receiving the data of the connecting line of the vehicle profile of the current time, the processor 12 performs data comparison with the data of the connecting line of the vehicle profile of the last time to acquire the driving direction of the vehicle, and then determines the stopping information of the vehicle according to the driving direction of the vehicle, the data of the connecting line of the vehicle profile of the current time and the parking space information;
4) and (4) storage prompting: the processor 12 stores the image of the real-time vehicle in the memory 13, and the processor 12 issues a stop prompt to the output unit module 4 through the signal transmission device 3 according to the stop information of the vehicle.
According to the image recognition-based parking limit monitoring system, the parking space information in the step 1) comprises a map parking space image; the parking space image comprises a parking space area 5, a parking space boundary 6, a parking space safety area 7, a parking space safety area boundary 8, a parking space early warning area 9 and a parking space early warning area boundary 10; the parking space safety region 7 is located in the parking space region 5, the parking space early warning region 9 is located in the parking space safety region 7; the parking space area 5 is a closed quadrilateral area which is formed by parking space boundaries 6 and is adaptive to the size of a vehicle; the parking space safety zone 7 is a quadrilateral zone consisting of a parking space safety zone boundary 8; parking space safe area boundary 8 is at a distance from parking space boundary 6 and is parallel thereto; the parking space early warning area 6 is an area consisting of the parking space safe area boundary 7 and three early warning area boundaries 9; the three early warning area boundaries 9 are respectively away from the other three safe area boundaries except the safe area boundary at the vehicle entrance at a certain distance and are parallel to each other; the certain distance is 0.1-0.2m (meter); the parking space image comprises an image coordinate system, wherein an X axis of the coordinate system is parallel to an axle of a parked vehicle in the safety zone, and a Y axis of the coordinate system is perpendicular to the X axis.
The parking limit monitoring system based on image recognition can obtain coordinates of two ends of the boundary of a safe region according to an image coordinate system to obtain the boundary L of the safe region s1 -L s4 The equation:
L s1 :x＝-(a+c)、L s2 :x＝a+c、L s3 :x＝-(b+c)、L s4 :x＝b+c；
obtaining coordinates of two ends of the boundary of the early warning area according to the image coordinate system, and obtaining the boundary L of the early warning area p1 -L p4 The equation:
L p1 :x＝-a、L p2 :x＝a、L p3 :y＝-b；
wherein a is the distance from the boundary of the early warning area to the Y axis, b is the distance from the boundary of the early warning area to the X axis, and c is the certain distance.
The parking limit monitoring system based on image recognition, the image processing device 22 in the step 2) performs image processing, and the image processing method comprises the following steps:
inputting the vehicle image into the image recognition model in the step 1), wherein the image recognition model comprises a CNN convolution neural network model, or a BP neural network model, or an image recognition model carried in Tensorflow software;
segmenting and extracting the vehicle in the vehicle image through an image recognition model to obtain a vehicle image;
carrying out structuralization processing on the vehicle image to obtain a vehicle contour connecting line; the vehicle contour connecting line is formed by connecting four end points corresponding to the outermost periphery of the vehicle in sequence along the clockwise direction or the anticlockwise direction.
Obtaining the coordinates of the vehicle contour connecting line ends according to the image coordinate system, and obtaining equations of the vehicle contour connecting lines l1, l2, l3 and l 4:
wherein x 1 ,y 1 、x 2 ,y 2 、x 3 ,y 3 、x 4 ,y 4 The X, Y coordinates of the 4 endpoints of the vehicle contour are connected.
The image recognition-based parking limit monitoring system is characterized in that the data comparison in the step 3) is to calculate according to the coordinates of any endpoint of the vehicle contour connecting line at this time and the coordinates of the endpoint of the vehicle contour connecting line at the last time so as to obtain the driving direction of the vehicle, and specifically comprises the following steps:
converting the problem of the vehicle running direction into a solution of subtracting the coordinate of the connecting line end point i of the vehicle outline at the current time from the coordinate of the end point i of the last time to obtain a direction value { x i -x ni ,y i -y ni In which x i ,y i (i is more than or equal to 1 and less than or equal to 4) is the coordinate value of the current endpoint i, x ni ,y ni (i is more than or equal to 1 and less than or equal to 4) is the coordinate value of the last endpoint i.
The certain time is 0.2-1.0s (second).
According to the image recognition-based parking limit monitoring system, the parking information in the step 3) comprises vehicle parking completion information and information of a safety area where a vehicle is about to exit;
the vehicle parking completion information refers to that when the direction value is {0,0}, any end point of the vehicle profile connecting line of the current time is located in the parking space safety area 7, and specifically-a-c < x i < a + c and-b-c < y i ＜b+c；
The information of the safety area that the vehicle is going out of is arbitraryOne vehicle contour connecting line L1-L4 and any one early warning region boundary L p1 -L p3 When intersecting, and the direction of travel of the vehicle points to parking space boundary 6, specifically:
the parking limit monitoring system based on image recognition comprises the parking prompt in the step 4), wherein the parking prompt comprises a parking completion prompt and a prompt of exiting the safe area;
the stop completion prompt means that the stop is completed through voice prompt by the voice device 41 or the stop completion is displayed by the video device 42;
the prompt of going out of the safe area refers to that the vehicle is prompted to go out of the safe area 7 of the parking space by voice through a voice device or the part of the vehicle marked to go out of the safe area 7 of the parking space is displayed through a video device.
The signal transmission device is a device capable of transmitting data in a gigabit Ethernet mode.
The application has the following beneficial effects:
1. on one hand, the method clearly reminds the owner of the vehicle to exit from the safe area, and can effectively guide the owner of the vehicle to stop in the safe area correctly.
2. On the other hand, the safety problem that the vehicle collides with the parking equipment and the like occurs when the parking equipment runs due to the fact that the vehicle is stopped outside the safety area can be monitored, and the vehicle owner is reminded.
3. The method and the device have certain adaptability, can flexibly set parameters in the initialization stage for the parking spaces with different sizes and the number of the parking spaces, and have good expansibility.
4. This application can take notes car owner's parking situation, can also carry out real-time manual monitoring inquiry to every parking stall, satisfies the parallel requirement of various control.
Drawings
In order to more clearly illustrate the solution of the present application, the drawings needed for describing the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of an embodiment of a parking limit monitoring method based on image recognition according to an embodiment of the present application.
Fig. 2 is a block diagram of a parking limit monitoring method based on image recognition according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a parking space after initialization based on the image recognition parking limit monitoring method in the embodiment of the present application.
Fig. 4 is a schematic view illustrating normal driving of a vehicle in a safe area of a parking space based on the image recognition parking limit monitoring method in the embodiment of the present application.
Fig. 5 is a schematic view of a safety area of a parking space where a vehicle is about to exit based on the image recognition parking limit monitoring method in the embodiment of the present application.
Fig. 6 is a schematic view illustrating a vehicle parking completion based on the image recognition parking limit monitoring method in the embodiment of the present application.
The specific implementation mode is as follows:
unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof in the description and claims of this application and the description of the figures above, are intended to cover non-exclusive inclusions.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
Example 1
A parking limit monitoring system based on image recognition comprises a service end module 1, a customer service end module 2, a signal transmission device 3 and an output unit module 4 as shown in figure 2, wherein the customer service end module is fixedly installed above a parking space, the service end module 1 comprises a signal input device 11, a processor 12 and a memory 13, the customer service end module 2 comprises an image acquisition device 21 and an image processing device 22, and the output unit module comprises a voice device 41 or a video device 42;
the limit monitoring system as shown in fig. 2 comprises the following steps:
1) initialization: setting an image model and inputting parking space information to the processor 12 through the signal input device; the parking space information comprises a map parking space image; the parking space image comprises a parking space area 5, a parking space boundary 6, a parking space safe area 7, a parking space safe area boundary 8, a parking space early warning area 9 and a parking space early warning area boundary 10; the parking space safety region 7 is located in the parking space region 5, the parking space early warning region 9 is located in the parking space safety region 7; the parking space area 5 is a closed quadrilateral area which is formed by parking space boundaries 6 and is adaptive to the size of a vehicle; the parking space safety zone 7 is a quadrilateral zone consisting of a parking space safety zone boundary 8; parking space safe area boundary 8 is at a distance from parking space boundary 6 and is parallel thereto; the parking space early warning area 6 is an area consisting of the parking space safe area boundary 7 and three early warning area boundaries 9; the three early warning area boundaries 9 are respectively away from and parallel to the other three safe area boundaries except the safe area boundary at the vehicle entrance; said certain distance is preferably 100cm (centimetres); the parking space image comprises an image coordinate system, wherein the X axis of the coordinate system is parallel to the axle of a parked vehicle in the safety area, and the Y axis is vertical to the X axis;
obtaining the boundary L of the safe region according to the coordinates of the two ends of the boundary of the safe region s1 -L s4 The equation:
L s1 :x＝-(a+c)、L s2 :x＝a+c、L s3 :x＝-(b+c)、L s4 :x＝b+c。
obtaining the boundary L of the early warning area according to the coordinates of the two ends of the boundary of the early warning area p1 -L p4 Equation (b)
L p1 :x＝-a、L p2 :x＝a、L p3 :y＝-b；
Wherein a is the distance between the boundary of the early warning area and the Y axis, and is preferably 105cm (centimeter); b is the distance between the boundary of the early warning area and the X axis, and is preferably 245cm (centimeter); c is the certain distance.
2) Real-time acquisition and processing: when the vehicle stops, the image acquisition device 21 acquires an image of the vehicle in real time, the image processing device 22 performs image processing to obtain an image of the vehicle in real time and vehicle contour connection line data, and the image of the vehicle in real time and the vehicle contour connection line data are transmitted to the processor 12 through the signal transmission device 3; the image processing apparatus 22 performs image processing including:
inputting the vehicle image into the image recognition model in the step 1), wherein the image recognition model comprises a CNN convolution neural network model, or a BP neural network model, or an image recognition model carried in Tensorflow software;
segmenting and extracting the vehicle in the vehicle image through an image recognition model to obtain a vehicle image;
carrying out structural processing on the vehicle image to obtain a vehicle contour connecting line; the vehicle contour connecting line is formed by connecting four end points corresponding to the outermost periphery of the vehicle in sequence along the clockwise direction or the anticlockwise direction.
Obtaining the coordinates of the vehicle contour connecting line ends according to the image coordinate system, and obtaining equations of the vehicle contour connecting lines l1, l2, l3 and l 4:
wherein x 1 ,y 1 、x 2 ,y 2 、x 3 ,y 3 、x 4 ,y 4 The X, Y coordinates of the 4 endpoints of the vehicle contour are connected.
3) And (4) position judgment: performing the operation of the step 2) at regular intervals, and when receiving the data of the connecting line of the vehicle profile of the current time, the processor 12 performs data comparison with the data of the connecting line of the vehicle profile of the last time to acquire the driving direction of the vehicle, and then determines the stopping information of the vehicle according to the driving direction of the vehicle, the data of the connecting line of the vehicle profile of the current time and the parking space information; the data comparison is to calculate according to the coordinate of any endpoint of the vehicle contour connecting line of this time and the coordinate of the endpoint of the vehicle contour connecting line of the last time so as to obtain the driving direction of the vehicle, and specifically comprises the following steps:
converting the problem of the vehicle running direction into a solution of subtracting the coordinate of the connecting line end point i of the vehicle outline at the current time from the coordinate of the end point i of the last time to obtain a direction value { x i -x ni ,y i -y ni In which x is i ,y i (i is more than or equal to 1 and less than or equal to 4) is the coordinate value of the current endpoint i, x ni ,y ni (i is more than or equal to 1 and less than or equal to 4) is the coordinate value of the last endpoint i. The certain time is preferably 1.0s (second);
the stop information comprises vehicle stop completion information and information that the vehicle is about to exit from a safety area;
the vehicle parking completion information refers to that when the direction value is {0,0}, any end point of the vehicle contour connecting line is located in the parking space safety area 5, specifically-a-c < x i < a + c and-b-c < y i ＜b+c；
The information of the safety zone where the vehicle is going out refers to any one vehicle contour connecting line L1-L4 and any one early warning zone boundary L p1 -L p3 When intersecting, and the direction of travel of the vehicle points to parking space boundary 6, specifically:
4) and (4) storage prompting: the processor 12 stores the image of the real-time vehicle in the memory 13, and the processor 12 issues a stop prompt to the output unit module 4 through the signal transmission device 3 according to the stop information of the vehicle. Parking prompts, including a parking completion prompt and a prompt that the vehicle is about to exit the safe area;
the stop completion prompt means that the stop is completed through voice prompt by the voice device 41 or the stop completion is displayed by the video device 42;
the prompt of going out of the safe area refers to that the vehicle is prompted to go out of the safe area 5 by voice through a voice device or the marked vehicle part going out of the safe area 5 is displayed through a video device.
The application discloses a spacing monitoring system parks based on image recognition, signal transmission device is the device that can provide gigabit Ethernet's mode transmission data.
Example 2
As shown in fig. 4, the vehicle is normally driven in the parking space safety area.
Four endpoints x of the current vehicle contour connection line 1 ,y 1 、x 2 ,y 2 、x 3 ,y 3 、x 4 ,y 4 Coordinates (16,717), (-86,247), (89,207), and (191,676), respectively;
the equations for the vehicle contour connecting lines l1, l2, l3, l4 are obtained:
four end points x of the connecting line according to the last vehicle contour n1 ,y n1 、x n2 ,y n2 、x n3 ,y n3 、x n4 ,y n4 The coordinates are (108,805), (-95,370), (64,292) and (272,726), respectively, the coordinate of the endpoint i is 1, according to { x } i -x ni ,y i -y ni Obtaining a direction value (-92, -88), and knowing that the vehicle is running;
wherein a is preferably 105cm (centimeters); b is preferably 245cm (centimeter), c is preferably 10cm (centimeter), and the boundary L of the early warning area can be obtained p1 -L p3 The equation:
L p1 :x＝-105、L p2 :x＝105、L p3 :y＝-245；
according to the method in step 3), the equations are connected and are not related to step 3)
In either case, L1-L4 and L p1 -L p4 And the vehicles do not intersect, the vehicles do not drive into the early warning area, and the vehicles do not need to be prompted.
Example 3
As shown in fig. 5, the vehicle is about to exit the parking space safety zone by crossing the early warning zone boundary line.
Four endpoints x of the current vehicle contour connection line 1 ,y 1 、x 2 ,y 2 、x 3 ,y 3 、x 4 ,y 4 Coordinates (-5,677), (-107,207), (67,167), (169,636), respectively, from which the equations for the vehicle contour connecting lines l1, l2, l3, l4, respectively, can be derived:
wherein a is preferably 105cm (centimeters); b is preferably 245cm (cm), c is preferably 10cm (cm), and the product can be obtainedTo the boundary L of the early warning area p1 -L p3 The equation:
L p1 :x＝-245、L p2 :x＝245、L p3 :y＝-105；
according to the method in step 3), the equations are connected to obtain L1 and L4, which are respectively connected with L p1 Intersecting;
four end points x of the connecting line according to the last vehicle contour n1 ,y n1 、x n2 ,y n2 、x n3 ,y n3 、x n4 ,y n4 The coordinates are (119,805), (-86,370), (75,292) and (281,726) respectively,
taking the coordinate of the endpoint i as 1 according to { x } i -x ni ,y i -y ni -obtaining a direction value (124, 128);
as can be seen by comparison, the vehicle already intersects with the boundary line of the early warning area, and the vehicle exits from the safety area of the parking space, and the video device 42 prompts that the vehicle is about to intersect with the boundary of the left rear half part of the parking space.
Example 4
As shown in fig. 6, the vehicle has been parked.
Four endpoints x of the current vehicle contour connection line 1 ,y 1 、x 2 ,y 2 、x 3 ,y 3 、x 4 ,y 4 Coordinates (-87, -233), (92, -236), (98,243), (81,248), respectively, from which the vehicle contour connecting lines l1, l2, l3, l4 equations are obtained:
four end points x of the connecting line according to the last vehicle contour n1 ,y n1 、x n2 ,y n2 、x n3 ,y n3 、x n4 ,y n4 The coordinates are (-87, -233), (92, -236) and (98,243) respectively)、(-81,248)，
Taking the coordinate of the endpoint i as 1 according to { x } i -x ni ,y i -y ni Get the direction value (0,0), know the vehicle has stopped steadily;
wherein a is preferably 105cm (centimeters); b is preferably 245cm (centimeter), c is preferably 10cm (centimeter), and a parking space safe area boundary L can be obtained s1 -L s4 The equation:
L p1 :x＝-115、L p2 :x＝115、L p3 :y＝-255、L p4 :y＝255；
according to the method in step 3), the equations are combined to obtain the arbitrary terms
-a-c＜x i < a + c and-b-c < y i < either of b and c, L1-L4 and L p1 -L p3 Without the intersection, the vehicle has been parked completely in the safe area, and the parking completion notification is provided to the vehicle via the video device 42.
Claims (8)
1. The utility model provides a spacing monitoring system parks based on image identification, includes server module (1), customer service end module (2), signal transmission device (3), output unit module (4), its characterized in that: the system comprises a customer service end module, a server end module and an output unit module, wherein the customer service end module is fixedly arranged above a parking space, the server end module (1) comprises a signal input device (11), a processor (12) and a memory (13), the customer service end module (2) comprises an image acquisition device (21) and an image processing device (22), and the output unit module comprises voice equipment (41) and/or video equipment (42);
the limit monitoring system comprises the following steps:
1) initialization: an image model is set and parking space information is input to a processor (12) through a signal input device.
2) Real-time acquisition and processing: when the vehicle stops, the image acquisition device (21) acquires an image of the vehicle in real time, the image processing device (22) performs image processing to obtain the image of the vehicle in real time and vehicle contour connecting line data, and the image of the vehicle in real time and the vehicle contour connecting line are transmitted to the processor (12) through the signal transmission device (3);
3) and (4) position judgment: the operation of the step 2) is carried out at regular intervals, when the processor (12) receives the data of the connecting line of the vehicle contour of the current time, the data of the connecting line of the vehicle contour of the last time are compared with the data of the connecting line of the vehicle contour of the previous time, so as to obtain the driving direction of the vehicle, and then the stopping information of the vehicle is determined according to the driving direction of the vehicle, the data of the connecting line of the vehicle contour of the current time and the parking space information;
4) and (4) storage prompting: the processor (12) stores the real-time vehicle image in the memory (13), and according to the vehicle stop information, the processor (12) sends a stop prompt to the output unit module (4) through the signal transmission device (3).
2. The image-based recognition parking limit monitoring system according to claim 1, wherein the parking space information in step 1) comprises a map parking space image;
the parking space image comprises a parking space area (5), a parking space boundary (6), a parking space safe area (7), a parking space safe area boundary (8), a parking space early warning area (9) and a parking space early warning area boundary (10), wherein the parking space safe area (7) is located in the parking space area (5), the parking space early warning area (9) is located in the parking space safe area (7);
the parking space area (5) is a closed quadrilateral area which is formed by parking space boundaries (6) and is adaptive to the size of a vehicle;
the parking space safety region (7) is a quadrilateral region formed by parking space safety region boundaries (8), and the parking space safety region boundaries (8) are at a certain distance from the parking space boundaries (6) and are parallel to each other;
the parking space early warning area (6) is an area consisting of a parking space safe area boundary (7) and three early warning area boundaries (9), and the three early warning area boundaries (9) are respectively away from and parallel to the other three safe area boundaries except the safe area boundary at the vehicle entrance; the certain distance is 0.1-0.2m (meter);
the parking space image comprises an image coordinate system, wherein an X axis of the coordinate system is parallel to an axle of a parked vehicle in the safety zone, and a Y axis of the coordinate system is perpendicular to the X axis.
3. The image recognition-based parking limit monitoring system of claim 2, wherein:
obtaining coordinates of two ends of the boundary of the safety region according to the image coordinate system to obtain the boundary L of the safety region s1 -L s4 The equation:
L s1 :x＝-(a+c)、L s2 :x＝a+c、L s3 :x＝-(b+c)、L s4 :x＝b+c；
obtaining coordinates of two ends of the boundary of the early warning area according to the image coordinate system, and obtaining the boundary L of the early warning area p1 -L p4 The equation:
L p1 :x＝-a、L p2 :x＝a、L p3 :y＝-b；
wherein a is the distance from the boundary of the early warning area to the Y axis, b is the distance from the boundary of the early warning area to the X axis, and c is the certain distance.
4. The image-based recognition parking limit monitoring system according to claim 3, wherein the image processing device (22) in step 2) performs image processing, comprising:
inputting the vehicle image into the image recognition model in the step 1), wherein the image recognition model comprises a CNN convolution neural network model, or a BP neural network model, or an image recognition model carried in Tensorflow software;
segmenting and extracting the vehicle in the vehicle image through an image recognition model to obtain a vehicle image;
carrying out structural processing on the vehicle image to obtain a vehicle contour connecting line; the vehicle contour connecting line is formed by connecting four end points corresponding to the outermost periphery of the vehicle in sequence along the clockwise direction or the anticlockwise direction.
Obtaining the coordinates of the connecting line end points of the vehicle contour according to the image coordinate system, and obtaining equations of the connecting lines of the vehicle contour l1, l2, l3 and l 4:
wherein x 1 ,y 1 、x 2 ,y 2 、x 3 ,y 3 、x 4 ,y 4 The X, Y coordinates of the 4 endpoints of the vehicle contour are connected.
5. The image recognition-based parking limit monitoring system according to claim 1, wherein the data comparison in step 3) is to calculate according to coordinates of any endpoint of the connecting line of the current vehicle contour and coordinates of an endpoint of the connecting line of the last vehicle contour, so as to obtain a driving direction of the vehicle, and specifically comprises:
converting the problem of the vehicle running direction into a solution of subtracting the coordinate of the connecting line end point i of the vehicle outline at the current time from the coordinate of the end point i of the last time to obtain a direction value { x i -x ni ,y i -y ni In which x i ,y i (i is more than or equal to 1 and less than or equal to 4) is the coordinate value of the current endpoint i, x ni ,y ni (i is more than or equal to 1 and less than or equal to 4) is the coordinate value of the last endpoint i.
The certain time is 0.2-1.0s (second).
6. The image-based recognition parking limit monitoring system according to claim 1, wherein the parking information in step 3) includes vehicle parking completion information and vehicle leaving-soon safety area information;
the vehicle parking completion information refers to that when the direction value is {0,0}, any end point of the vehicle profile connecting line of the current time is positioned in the parking space safety area (7), and specifically, x is more than-a-c i < a + c and-b-c < y i ＜b+c；
The information of the safety zone where the vehicle is going out refers to any one vehicle contour connecting line L1-L4 and any one early warning zone boundary L p1 -L p3 When intersecting, and the direction of travel of the vehicle points to a parking space boundary (6), specifically:
7. the image-based recognition parking limit monitoring system of claim 1, wherein the parking prompt in step 4) comprises a parking completion prompt and a prompt to exit the safe area;
the parking completion prompt is used for prompting the completion of parking through a voice device (41) or displaying the completion of parking through a video device (42);
the prompt of going out of the safe area refers to that the vehicle is prompted to go out of the safe area (7) of the parking space through voice equipment or the marked part of the vehicle which is going out of the safe area (7) of the parking space is displayed through video equipment (42).
8. The system according to claim 1, wherein the signal transmission device is a device capable of providing gigabit ethernet for data transmission.
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