CN116469269A - Vehicle information intelligent management method system and method applying visualization technology - Google Patents
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Abstract
The invention relates to the field of intelligent management of vehicle information, in particular to a system and a method for intelligent management of vehicle information by using a visualization technology. The system comprises an image acquisition module, an image preprocessing module, a garage modeling module and a data generation module, wherein the garage modeling module builds an underground parking lot parking space model based on BIM, and analyzes underground parking lot parking space information in real time according to model data.
Description
Technical Field
The invention relates to the field of intelligent management of vehicle information, in particular to a system and a method for intelligent management of vehicle information by using a visualization technology.
Background
Along with the rapid development of the modern society, the number of automobiles also increases sharply, so that higher requirements are put forward on the parking lot, and how to efficiently and rapidly find the parking space in living and working places such as communities, parks, markets, factories and the like, how to effectively save manpower and material resources, reduce operation cost and improve the working efficiency of management staff while strengthening the management of the vehicles in the parking lot, and the requirements are urgent in a parking lot management system. Some existing parking space monitoring systems have defects that only the residual quantity of the parking spaces can be known through the existing parking space monitoring systems, and the specific positions of the residual parking spaces cannot be accurately known, so that a small trouble is brought to the parking of a vehicle owner.
The current parking lot management system is low in intelligent degree, the situation that the parking is disordered and causes congestion often occurs, intelligent division of each parking space of the underground parking lot cannot be achieved, corresponding parking spaces can be intuitively and clearly locked in advance before people enter the underground parking lot, parking monitoring management of the whole underground parking lot cannot be achieved, and accordingly great inconvenience is brought to parking of people.
Disclosure of Invention
The invention aims to provide a vehicle information intelligent management method system and method applying a visualization technology, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme:
an intelligent management method for vehicle information by using a visualization technology is characterized by comprising the following steps:
s1, acquiring an image of a region to be monitored through unmanned aerial vehicle remote sensing;
s2, preprocessing an image obtained by remote sensing of the unmanned aerial vehicle;
s3, uploading the parking space information of the area to be monitored to a terminal server in real time according to the preprocessing image;
s4, monitoring parking space information of the underground parking lot in real time based on BIM, and uploading the parking space information to a terminal server;
and S5, combining the data in the S3 and the S4, updating the parking space information of the area to be monitored in real time, and generating the spare parking space information.
Further, the method for preprocessing the image obtained by remote sensing of the unmanned aerial vehicle in the step S2 comprises the following steps of;
step 1001, performing grayscale processing on an image obtained by remote sensing of an unmanned aerial vehicle, where the expression is:
Gray＝0.299R+0.587G+0.114B，
wherein Gray represents the Gray value of a pixel in the image, 0.299R represents the product of the red component of the pixel in the image and the corresponding weight value, 0.587B represents the product of the green component of the pixel in the image and the corresponding weight value, and 0.114B represents the product of the blue component of the pixel in the image and the corresponding weight value;
step 1002, performing filtering noise reduction processing on the gray-scale processed image through a median filter, and performing binarization processing on the processed image, where the expression is:
wherein g max(T) When the optimal threshold value T is represented, the image binarization processing result, n 0 Representing background region pixel points, n 1 Represents the pixel points of the parking space area, n represents the total pixel points of the whole image,average pixel point representing background area, +.>Average pixel points of the parking space areas are represented;
step 1003, acquiring a binarized image, detecting a parking space line in the image based on a region growing method, setting the central position of the image as a scanning starting point by taking the relevant feature of the parking space line in the image as a scanning condition, performing relevant feature scanning operation of the parking space line to the periphery, when a pixel point within a gray value threshold of the parking space line is scanned and searched, taking the point as a seed point, recording the point, starting growing by taking the seed point as a starting point, and scanning to the next point;
step 1004, extracting a rectangular frame formed by scanning pixel points, namely, preselecting effective parking space lines;
step 1005, acquiring an effective parking space line according to step 1004, acquiring an image pixel value in the parking space line, and when the image pixel value is larger than a set threshold value, recording and uploading the vehicle corresponding to the parking space to a terminal server.
According to the method, the ground parking lot image of the area to be monitored is obtained through unmanned aerial vehicle remote sensing, gray level and binary processing are carried out on the obtained image, and the parking space line is identified based on an area growth method, so that data reference is provided for subsequent ground parking lot parking space management.
Further, the method for monitoring the parking space information of the underground parking garage in real time based on the BIM in the S4 comprises the following steps of;
step 2001, monitoring through an underground parking garage to obtain parking space information;
step 2002, constructing a three-dimensional model of the underground parking garage of the area to be monitored based on BIM technology, and storing the model in a BIM integrated data memory;
step 2003, registering the owner user, and uploading registration information to a terminal server;
step 2004, warehouse-in vehicle optimal parking space analysis and optimal path planning,
and 2005, combining the underground parking garage model in the BIM integrated data storage, updating the parking space information of the underground garage in real time, and uploading the parking space information to the terminal server.
Further, the method for registering the owner user and uploading the registration information to the terminal server comprises the following steps of;
step 2003-1, registering a parking lot system of an area to be monitored by an owner through real name information, wherein the registered content comprises the owner information, license plates and wheelbases of vehicles;
step 2003-2, classifying the fixed vehicles and the external vehicles according to the registration information of the vehicle owners;
step 2003-3, the fixed vehicles are input into an underground parking garage access control system and an overground access control system, and the external vehicles are only allowed to be input into the overground parking garage.
Further, the method for analyzing the optimal parking space and planning the optimal path of the warehouse-in vehicle comprises the following steps of;
2004-1, acquiring wheelbase information of a warehouse-in vehicle according to vehicle owner registration information;
2004-2, carrying out first parking space screening according to the wheelbase information of the vehicle owner, wherein each parking space of the underground parking lot is provided with a sensor, data transmission of spare parking space information is realized through the sensor, and a user can inquire the parking space condition of the underground parking lot through a terminal server;
2004-3, planning parking spaces of the warehouse-in vehicles according to the parking space information of the underground parking lot, namely
Wherein F (F) car ) Indicating parking space information of parking area corresponding to warehouse-in vehicle, when F (F) car ) When=1, it indicates that there is a vehicle in the parking area corresponding to the vehicle in storage, the vehicle in storage needs to be subjected to a second vehicle position screening, and when F (F car ) When the parking lot is in the parking area corresponding to the parking area, the parking lot is in the parking area corresponding to the parking vehicle, and the parking place is selected to be parked by the parking vehicle;
in step 2004-4, in combination with step 2004-3, when F (F car ) When the vehicle is in the range of the parking area, the parking space is used as the parking space of the vehicle in the parking area, and the vehicle is used as the parking space of the vehicle in the parking area when the parking space is matched with the parking space in the parking area according to the information of the vehicle in the parking area;
step 2004-5, performing parking space analysis according to parking space information of the underground parking lot, when the vehicles are parked in a left-right side-by-side manner, acquiring position information of the vehicles on the left-right parking space, when the vehicles are parked in a front-back side-by-side manner, acquiring position information of the vehicles on the front-back parking space, modeling corresponding vehicle positions of the corresponding parking spaces based on BIM, when the vehicles are parked in the left-right side-by-side manner, acquiring rectangular frames which are equal in size and coincide with the left parking space, setting four vertexes ABCD, acquiring rectangular frames which are equal in size and coincide with the corresponding vehicles in the left parking space, setting the midpoint of one side width of the rectangular frames as QC min The midpoint of the wide midpoint of the other side of the rectangle is HC min ，
The right center of a rectangular frame with the same size and overlapped left parking space is taken as an origin, the rectangular frame is parallel to the rectangular length and intersects with the origin as a y axis, the rectangular frame is parallel to the rectangular width and intersects with the origin as an x axis, a first coordinate system is constructed, and four vertex coordinates of the parking space are set to be A (x 1 ,y 1 )、B(x 2 ,y 2 )、C(x 3 ,y 3 )、D(x 4 ,y 4 ) Acquiring the midpoint coordinate of one side width of a rectangular frame which corresponds to the vehicle in the left parking space and is equal in size and overlapped, and marking the midpoint coordinate as QC min (a, b) the other side of the rectangular frame which corresponds to the vehicle and is identical in size and coincides with the vehicle in the left parking spaceWide midpoint coordinates, designated HC min (c, d) judging the attitude situation of the vehicle by a formula, wherein the expression is:
wherein gamma represents a threshold value, namely a limit that a corresponding vehicle in a left parking space can deviate from an optimal parking posture, and Z represents a vehicle posture condition;
when the vehicle is parked in a front-back side-by-side mode, a rectangular frame which is equal in size to the front parking space and coincides with the front parking space is obtained, and four vertexes A are set 1 B 1 C 1 D 1 Acquiring a rectangular frame which corresponds to vehicles in a front parking space and is equal in size and overlapped, and setting the midpoint of one side length of the rectangular frame as Q 1 C min The midpoint of the length of the other side of the rectangle is H 1 C min ，
The right center of a rectangular frame with the same size and overlapped front parking space is taken as an origin, the right center is parallel to the length of the rectangle and intersects with the origin to be taken as a y1 axis, the right center is parallel to the width of the rectangle and intersects with the origin to be taken as an x1 axis, a second coordinate system is constructed, and four vertex coordinates of the parking space are set to be A 1 (a 1 ,b 1 )、B 1 (a 2 ,b 2 )、C 1 (a 3 ,b 3 )、D 1 (a 4 ,b 4 ) Acquiring the midpoint coordinate of one side length of a rectangular frame which corresponds to the vehicle and is identical in size in the front parking space, and marking as Q 1 C min (e, f), the middle point coordinate of the other side of the rectangular frame corresponding to the vehicle with the same size and overlapped in the front parking space is marked as H 1 C min (g, h) judging the attitude situation of the vehicle by a formula, wherein the expression is:
wherein gamma represents a threshold value, namely a limit that a corresponding vehicle in a front parking space can deviate from an optimal parking posture, and Z represents a vehicle posture condition;
2004-6, analyzing the vehicle postures in the right side parking space and the rear side parking space according to the step 2004-5;
step 2004-7, based on Bezier curve, combining different parking space parking information to select the optimal parking path, wherein the expression is:
wherein L represents the path from the entrance guard of the underground parking lot to the position of the matched parking space, V represents the average running speed of the warehouse-in vehicle to the parking space, t represents time, namely when the optimal parking space is obtained through three times of screening, the shortest arrival parking space is the optimal parking space path, and min [ L (1-t) 2 +2t(1-t)V+t 2 Z]And (3) constructing a line segment by taking L as a starting point, V as an ending point and Z as a control point, wherein the optimal value corresponds to the shortest time required by the constructed line segment.
The method is used for constructing a three-dimensional model of the underground parking lot based on the BIM technology, carrying out parking space screening by combining the parking space conditions of the underground parking lot, carrying out screening in sequence by taking the parking space center point as an origin to construct a coordinate system for judging the parking posture of the vehicle, judging whether the middle parking space meets the parking condition according to the parking posture of the vehicle corresponding to different parking space information, and carrying out optimal path selection according to the optimal parking space screening result so as to provide data reference for the subsequent management of the parking space of the underground parking lot.
Further, the method for updating the parking space information of the area to be monitored in real time and generating the spare parking space information by combining the data in the S3 and the S4 in the S5 comprises the following steps of;
step 3001, obtaining the use condition of the ground parking space in the terminal server in step 1004;
step 3002, obtaining the service condition of the underground parking space in the terminal server in step 2005;
and 3003, summarizing according to the above-ground underground parking space information to obtain the parking space condition of the parking lot in the area to be detected.
The vehicle information intelligent management system applying the visualization technology is characterized by comprising an image acquisition module, an image preprocessing module, a garage modeling module and a data generation module:
the image acquisition module is used for acquiring an image of the area to be monitored through unmanned aerial vehicle remote sensing;
the image preprocessing module is used for preprocessing the image obtained by remote sensing of the unmanned aerial vehicle;
the garage modeling module builds an underground parking garage parking space model based on BIM, and analyzes the information of the underground parking garage parking space in real time according to model data;
the data generation module is used for analyzing the above-ground parking lot parking space information and the underground parking lot parking space information, and generating a report of the parking space use condition of the area to be monitored according to the analysis result.
Further, the image preprocessing module comprises a binarization processing unit and a feature extraction unit:
the binarization processing unit is used for carrying out grey-scale and binarization processing operation on the image of the area to be monitored obtained by the unmanned aerial vehicle through remote sensing;
the feature extraction unit is used for scanning the binarized image and extracting outline information of the parking space in the image.
Further, the garage modeling module comprises a parking space analysis unit and an optimal path selection unit:
the parking space analysis unit is used for carrying out parking space matching according to the information of the in-storage vehicles, preselecting the information of the parking spaces which can be selected by the in-storage vehicles through analyzing the parking space conditions of the underground parking lot, and carrying out optimal parking space selection according to the information of the adjacent parking spaces of the preselect parking spaces;
the optimal path selection unit is used for screening the optimal path of the warehouse-in vehicle reaching the parking space according to the analysis result of the parking space analysis unit.
According to the invention, the unmanned aerial vehicle remote sensing technology and the BIM technology are combined to optimize the parking lot management of the area to be monitored, the parking space condition of the overground parking lot is judged in real time through the unmanned aerial vehicle remote sensing technology, the underground parking lot is modeled based on the BIM technology, and the optimal path is judged according to the parking space condition, so that the problem of congestion caused by disordered parking is solved, the parking lot is optimized, and the manager can more intuitively know the parking space condition of the parking lot.
Drawings
FIG. 1 is a flow chart of a method for intelligent management of vehicle information using visualization techniques in accordance with the present invention;
FIG. 2 is a schematic diagram of a vehicle information intelligent management system module applying visualization technology according to the present invention;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, in an embodiment of the present invention: a vehicle information intelligent management method system and method applying visualization technology, the vehicle information intelligent management method comprises the following steps:
an intelligent management method for vehicle information by using a visualization technology is characterized by comprising the following steps:
s1, acquiring an image of a region to be monitored through unmanned aerial vehicle remote sensing;
s2, preprocessing an image obtained by remote sensing of the unmanned aerial vehicle;
s3, uploading the parking space information of the area to be monitored to a terminal server in real time according to the preprocessing image;
s4, monitoring parking space information of the underground parking lot in real time based on BIM, and uploading the parking space information to a terminal server;
and S5, combining the data in the S3 and the S4, updating the parking space information of the area to be monitored in real time, and generating the spare parking space information.
The method for preprocessing the image obtained by unmanned aerial vehicle remote sensing in the S2 comprises the following steps of;
step 1001, performing grayscale processing on an image obtained by remote sensing of an unmanned aerial vehicle, where the expression is:
Gray＝0.299R+0.587G+0.114B，
wherein Gray represents the Gray value of a pixel in the image, 0.299R represents the product of the red component of the pixel in the image and the corresponding weight value, 0.587B represents the product of the green component of the pixel in the image and the corresponding weight value, and 0.114B represents the product of the blue component of the pixel in the image and the corresponding weight value;
step 1002, performing filtering noise reduction processing on the gray-scale processed image through a median filter, and performing binarization processing on the processed image, where the expression is:
wherein g max(T) When the optimal threshold value T is represented, the image binarization processing result, n 0 Representing background region pixel points, n 1 Represents the pixel points of the parking space area, n represents the total pixel points of the whole image,average pixel point representing background area, +.>Average pixel points of the parking space areas are represented;
step 1003, acquiring a binarized image, detecting a parking space line in the image based on a region growing method, setting the central position of the image as a scanning starting point by taking the relevant feature of the parking space line in the image as a scanning condition, performing relevant feature scanning operation of the parking space line to the periphery, when a pixel point within a gray value threshold of the parking space line is scanned and searched, taking the point as a seed point, recording the point, starting growing by taking the seed point as a starting point, and scanning to the next point;
step 1004, extracting a rectangular frame formed by scanning pixel points, namely, preselecting effective parking space lines;
step 1005, acquiring an effective parking space line according to step 1004, acquiring an image pixel value in the parking space line, and when the image pixel value is larger than a set threshold value, recording and uploading the vehicle corresponding to the parking space to a terminal server.
The method for monitoring the parking space information of the underground parking lot in real time based on the BIM in the S4 comprises the following steps of;
step 2001, monitoring through an underground parking garage to obtain parking space information;
step 2002, constructing a three-dimensional model of the underground parking garage of the area to be monitored based on BIM technology, and storing the model in a BIM integrated data memory;
step 2003, registering the owner user, and uploading registration information to a terminal server;
step 2004, warehouse-in vehicle optimal parking space analysis and optimal path planning,
and 2005, combining the underground parking garage model in the BIM integrated data storage, updating the parking space information of the underground garage in real time, and uploading the parking space information to the terminal server.
The method for registering the owner user and uploading registration information to the terminal server comprises the following steps of;
step 2003-1, registering a parking lot system of an area to be monitored by an owner through real name information, wherein the registered content comprises the owner information, license plates and wheelbases of vehicles;
step 2003-2, classifying the fixed vehicles and the external vehicles according to the registration information of the vehicle owners;
step 2003-3, the fixed vehicles are input into an underground parking garage access control system and an overground access control system, and the external vehicles are only allowed to be input into the overground parking garage.
The method for analyzing the optimal parking space and planning the optimal path of the warehouse-in vehicle comprises the following steps of;
2004-1, acquiring wheelbase information of a warehouse-in vehicle according to vehicle owner registration information;
2004-2, carrying out first parking space screening according to the wheelbase information of the vehicle owner, wherein each parking space of the underground parking lot is provided with a sensor, data transmission of spare parking space information is realized through the sensor, and a user can inquire the parking space condition of the underground parking lot through a terminal server;
2004-3, planning parking spaces of the warehouse-in vehicles according to the parking space information of the underground parking lot, namely
Wherein F (F) car ) Indicating parking space information of parking area corresponding to warehouse-in vehicle, when F (F) car ) When=1, it indicates that there is a vehicle in the parking area corresponding to the vehicle in storage, the vehicle in storage needs to be subjected to a second vehicle position screening, and when F (F car ) When the parking lot is in the parking area corresponding to the parking area, the parking lot is in the parking area corresponding to the parking vehicle, and the parking place is selected to be parked by the parking vehicle;
in step 2004-4, in combination with step 2004-3, when F (F car ) When the vehicle is in the range of the parking area, the parking space is used as the parking space of the vehicle in the parking area, and the vehicle is used as the parking space of the vehicle in the parking area when the parking space is matched with the parking space in the parking area according to the information of the vehicle in the parking area;
step 2004-5, performing parking space analysis according to parking space information of the underground parking lot, when the vehicles are parked in a left-right side-by-side manner, acquiring position information of the vehicles on the left-right parking space, when the vehicles are parked in a front-back side-by-side manner, acquiring position information of the vehicles on the front-back parking space, modeling corresponding vehicle positions of the corresponding parking spaces based on BIM, when the vehicles are parked in the left-right side-by-side manner, acquiring rectangular frames which are equal in size and coincide with the left parking space, setting four vertexes ABCD, acquiring rectangular frames which are equal in size and coincide with the corresponding vehicles in the left parking space, setting the midpoint of one side width of the rectangular frames as QC min The midpoint of the wide midpoint of the other side of the rectangle is HC min ，
The right center of a rectangular frame with the same size and overlapped left parking space is taken as an origin, the rectangular frame is parallel to the rectangular length and intersects with the origin as a y axis, the rectangular frame is parallel to the rectangular width and intersects with the origin as an x axis, a first coordinate system is constructed, and four vertex coordinates of the parking space are set to be A (x 1 ,y 1 )、B(x 2 ,y 2 )、C(x 3 ,y 3 )、D(x 4 ,y 4 ) Acquiring the midpoint coordinate of one side width of a rectangular frame which corresponds to the vehicle in the left parking space and is equal in size and overlapped, and marking the midpoint coordinate as QC min (a, b), the middle point coordinate of the left parking space corresponding to the width of the other side of the rectangular frame which is equal in size and overlapped with the vehicle is marked as HC min (c, d) judging the attitude situation of the vehicle by a formula, wherein the expression is:
wherein gamma represents a threshold value, namely a limit that a corresponding vehicle in a left parking space can deviate from an optimal parking posture, and Z represents a vehicle posture condition;
in this embodiment, when the threshold is set to 20, the vehicle posture is determined, and when the midpoint value of the front axle of the vehicle exceeds the parking space boundary, that is, there is a tire pressure parking line or a parking line on one side of the front part of the vehicle where the parking space is located, the middle parking space vehicle may not meet the parking condition or the parking difficulty may increase.
When the vehicle is parked in a front-back side-by-side mode, a rectangular frame which is equal in size to the front parking space and coincides with the front parking space is obtained, and four vertexes A are set 1 B 1 C 1 D 1 Acquiring a rectangular frame which corresponds to vehicles in a front parking space and is equal in size and overlapped, and setting the midpoint of one side length of the rectangular frame as Q 1 C min The midpoint of the length of the other side of the rectangle is H 1 C min ，
The right center of a rectangular frame with the same size and overlapped front parking space is taken as an origin, the right center is parallel to the length of the rectangle and intersects with the origin to be taken as a y1 axis, the right center is parallel to the width of the rectangle and intersects with the origin to be taken as an x1 axis, a second coordinate system is constructed, and four vertex coordinates of the parking space are set to be A 1 (a 1 ,b 1 )、B 1 (a 2 ,b 2 )、C 1 (a 3 ,b 3 )、D 1 (a 4 ,b 4 ) Acquiring the midpoint coordinate of one side length of a rectangular frame which corresponds to the vehicle and is identical in size in the front parking space, and marking as Q 1 C min (e, f), the middle point coordinate of the other side of the rectangular frame corresponding to the vehicle with the same size and overlapped in the front parking space is marked as H 1 C min (g，h)，Judging the posture condition of the vehicle through a formula, wherein the expression is as follows:
wherein gamma represents a threshold value, namely a limit that a corresponding vehicle in a front parking space can deviate from an optimal parking posture, and Z represents a vehicle posture condition;
2004-6, analyzing the vehicle postures in the right side parking space and the rear side parking space according to the step 2004-5;
step 2004-7, based on Bezier curve, combining different parking space parking information to select the optimal parking path, wherein the expression is:
wherein L represents the path from the entrance guard of the underground parking lot to the position of the matched parking space, V represents the average running speed of the warehouse-in vehicle to the parking space, t represents time, namely when the optimal parking space is obtained through three times of screening, the shortest arrival parking space is the optimal parking space path, and min [ L (1-t) 2 +2t(1-t)V+t 2 Z]And (3) constructing a line segment by taking L as a starting point, V as an ending point and Z as a control point, wherein the optimal value corresponds to the shortest time required by the constructed line segment.
The method for updating the parking space information of the area to be monitored in real time and generating the spare parking space information by combining the data in S3 and S4 in S5 comprises the following steps of;
step 3001, obtaining the use condition of the ground parking space in the terminal server in step 1004;
step 3002, obtaining the service condition of the underground parking space in the terminal server in step 2005;
and 3003, summarizing according to the above-ground underground parking space information to obtain the parking space condition of the parking lot in the area to be detected.
The vehicle information intelligent management system applying the visualization technology is characterized by comprising an image acquisition module, an image preprocessing module, a garage modeling module and a data generation module:
the image acquisition module is used for acquiring an image of the area to be monitored through unmanned aerial vehicle remote sensing;
the image preprocessing module is used for preprocessing the image obtained by remote sensing of the unmanned aerial vehicle;
the garage modeling module builds an underground parking garage parking space model based on BIM, and analyzes the information of the underground parking garage parking space in real time according to model data;
the data generation module is used for analyzing the above-ground parking lot parking space information and the underground parking lot parking space information, and generating a report of the parking space use condition of the area to be monitored according to the analysis result.
The image preprocessing module comprises a binarization processing unit and a feature extraction unit:
the binarization processing unit is used for carrying out grey-scale and binarization processing operation on the image of the area to be monitored obtained by the unmanned aerial vehicle through remote sensing;
the feature extraction unit is used for scanning the binarized image and extracting outline information of the parking space in the image.
The garage modeling module comprises a parking space analysis unit and an optimal path selection unit:
the parking space analysis unit is used for carrying out parking space matching according to the information of the in-storage vehicles, preselecting the information of the parking spaces which can be selected by the in-storage vehicles through analyzing the parking space conditions of the underground parking lot, and carrying out optimal parking space selection according to the information of the adjacent parking spaces of the preselect parking spaces;
the optimal path selection unit is used for screening the optimal path of the warehouse-in vehicle reaching the parking space according to the analysis result of the parking space analysis unit.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An intelligent management method for vehicle information by using a visualization technology is characterized by comprising the following steps:
s1, acquiring an image of a region to be monitored through unmanned aerial vehicle remote sensing;
s2, preprocessing an image obtained by remote sensing of the unmanned aerial vehicle;
s3, uploading the parking space information of the area to be monitored to a terminal server in real time according to the preprocessing image;
s4, monitoring parking space information of the underground parking lot in real time based on BIM, and uploading the parking space information to a terminal server;
and S5, combining the data in the S3 and the S4, updating the parking space information of the area to be monitored in real time, and generating the spare parking space information.
2. The method for intelligent management of vehicle information by using a visualization technology according to claim 1, wherein the method for preprocessing the image obtained by remote sensing of the unmanned aerial vehicle in S2 comprises the following steps of;
step 1001, performing grayscale processing on an image obtained by remote sensing of an unmanned aerial vehicle, where the expression is:
Gray＝0.299R+0.587G+0.114B，
wherein Gray represents the Gray value of a pixel in the image, 0.299R represents the product of the red component of the pixel in the image and the corresponding weight value, 0.587B represents the product of the green component of the pixel in the image and the corresponding weight value, and 0.114B represents the product of the blue component of the pixel in the image and the corresponding weight value;
step 1002, performing filtering noise reduction processing on the gray-scale processed image through a median filter, and performing binarization processing on the processed image, where the expression is:
wherein g max(T) When the optimal threshold value T is represented, the image binarization processing result, n 0 Representing background region pixel points, n 1 Represents the pixel points of the parking space area, n represents the total pixel points of the whole image,average pixel point representing background area, +.>Average pixel points of the parking space areas are represented;
step 1003, acquiring a binarized image, detecting a parking space line in the image based on a region growing method, setting the central position of the image as a scanning starting point by taking the relevant feature of the parking space line in the image as a scanning condition, performing relevant feature scanning operation of the parking space line to the periphery, when a pixel point within a gray value threshold of the parking space line is scanned and searched, taking the point as a seed point, recording the point, starting growing by taking the seed point as a starting point, and scanning to the next point;
step 1004, extracting a rectangular frame formed by scanning pixel points, namely, preselecting effective parking space lines;
step 1005, acquiring an effective parking space line according to step 1004, acquiring an image pixel value in the parking space line, and when the image pixel value is larger than a set threshold value, recording and uploading the vehicle corresponding to the parking space to a terminal server.
3. The method for intelligent management of vehicle information by using visualization technology according to claim 2, wherein the method for monitoring parking space information of the underground parking lot in real time based on BIM in S4 comprises the following steps of;
step 2001, monitoring through an underground parking garage to obtain parking space information;
step 2002, constructing a three-dimensional model of the underground parking garage of the area to be monitored based on BIM technology, and storing the model in a BIM integrated data memory;
step 2003, registering the owner user, and uploading registration information to a terminal server;
step 2004, warehouse-in vehicle optimal parking space analysis and optimal path planning,
and 2005, combining the underground parking garage model in the BIM integrated data storage, updating the parking space information of the underground garage in real time, and uploading the parking space information to the terminal server.
4. A vehicle information intelligent management system method applying a visualization technique according to claim 3, wherein the method of registering a user of a vehicle owner and uploading registration information to a terminal server comprises the steps of;
step 2003-1, registering a parking lot system of an area to be monitored by an owner through real name information, wherein the registered content comprises the owner information, license plates and wheelbases of vehicles;
step 2003-2, classifying the fixed vehicles and the external vehicles according to the registration information of the vehicle owners;
step 2003-3, the fixed vehicles are input into an underground parking garage access control system and an overground access control system, and the external vehicles are only allowed to be input into the overground parking garage.
5. The method for intelligently managing vehicle information by using a visualization technology according to claim 4, wherein the method for analyzing the optimal parking space and planning the optimal path of the warehouse-in vehicle comprises the following steps of;
2004-1, acquiring wheelbase information of a warehouse-in vehicle according to vehicle owner registration information;
2004-2, carrying out first parking space screening according to the wheelbase information of the vehicle owner, wherein each parking space of the underground parking lot is provided with a sensor, data transmission of spare parking space information is realized through the sensor, and a user can inquire the parking space condition of the underground parking lot through a terminal server;
2004-3, planning parking spaces of the warehouse-in vehicles according to the parking space information of the underground parking lot, namely
Wherein F (F) car ) Indicating parking space information of parking area corresponding to warehouse-in vehicle, when F (F) car ) When=1, it indicates that there is a vehicle in the parking area corresponding to the vehicle in storage, the vehicle in storage needs to be subjected to a second vehicle position screening, and when F (F car ) When the parking lot is in the parking area corresponding to the parking area, the parking lot is in the parking area corresponding to the parking vehicle, and the parking place is selected to be parked by the parking vehicle;
in step 2004-4, in combination with step 2004-3, when F (F car ) When the vehicle is in the range of 1, the warehouse-in vehicle performs a second vehicle position screening, when the corresponding parking area vehicle position is matched according to the information of the warehouse-in vehicle, the matched vehicle position is used as the vehicle position of the warehouse-in vehicle when the left and right vehicle positions or the front and rear vehicle positions exist, and when the matched vehicle position is left and right vehicle positions or the front and rear vehicle positions existWhen a vehicle exists, screening the matched parking spaces for the third time;
step 2004-5, performing parking space analysis according to parking space information of the underground parking lot, when the vehicles are parked in a left-right side-by-side manner, acquiring position information of the vehicles on the left-right parking space, when the vehicles are parked in a front-back side-by-side manner, acquiring position information of the vehicles on the front-back parking space, modeling corresponding vehicle positions of the corresponding parking spaces based on BIM, when the vehicles are parked in the left-right side-by-side manner, acquiring rectangular frames which are equal in size and coincide with the left parking space, setting four vertexes ABCD, acquiring rectangular frames which are equal in size and coincide with the corresponding vehicles in the left parking space, setting the midpoint of one side width of the rectangular frames as QC min The midpoint of the wide midpoint of the other side of the rectangle is HC min ，
The right center of a rectangular frame with the same size and overlapped left parking space is taken as an origin, the rectangular frame is parallel to the rectangular length and intersects with the origin as a y axis, the rectangular frame is parallel to the rectangular width and intersects with the origin as an x axis, a first coordinate system is constructed, and four vertex coordinates of the parking space are set to be A (x 1 ,y 1 )、B(x 2 ,y 2 )、C(x 3 ,y 3 )、D(x 4 ,y 4 ) Acquiring the midpoint coordinate of one side width of a rectangular frame which corresponds to the vehicle in the left parking space and is equal in size and overlapped, and marking the midpoint coordinate as QC min (a, b), the middle point coordinate of the left parking space corresponding to the width of the other side of the rectangular frame which is equal in size and overlapped with the vehicle is marked as HC min (c, d) judging the attitude situation of the vehicle by a formula, wherein the expression is:
wherein gamma represents a threshold value, namely a limit that a corresponding vehicle in a left parking space can deviate from an optimal parking posture, and Z represents a vehicle posture condition;
when the vehicle is parked in a front-back side-by-side mode, a rectangular frame which is equal in size to the front parking space and coincides with the front parking space is obtained, and four vertexes A are set 1 B 1 C 1 D 1 Acquiring a rectangular frame which corresponds to vehicles in a front parking space and is equal in size and overlapped, and setting the midpoint of one side length of the rectangular frame as Q 1 C min The midpoint of the length of the other side of the rectangle is H 1 C min ，
The right center of a rectangular frame with the same size and overlapped front parking space is taken as an origin, the right center is parallel to the length of the rectangle and intersects with the origin to be taken as a y1 axis, the right center is parallel to the width of the rectangle and intersects with the origin to be taken as an x1 axis, a second coordinate system is constructed, and four vertex coordinates of the parking space are set to be A 1 (a 1 ,b 1 )、B 1 (a 2 ,b 2 )、C 1 (a 3 ,b 3 )、D 1 (a 4 ,b 4 ) Acquiring the midpoint coordinate of one side length of a rectangular frame which corresponds to the vehicle and is identical in size in the front parking space, and marking as Q 1 C min (e, f), the middle point coordinate of the other side of the rectangular frame corresponding to the vehicle with the same size and overlapped in the front parking space is marked as H 1 C min (g, h) judging the attitude situation of the vehicle by a formula, wherein the expression is:
wherein gamma represents a threshold value, namely a limit that a corresponding vehicle in a front parking space can deviate from an optimal parking posture, and Z represents a vehicle posture condition;
2004-6, analyzing the vehicle postures in the right side parking space and the rear side parking space according to the step 2004-5;
step 2004-7, based on Bezier curve, combining different parking space parking information to select the optimal parking path, wherein the expression is:
wherein L represents the path from the entrance guard of the underground parking lot to the position of the matched parking space, V represents the average running speed of the warehouse-in vehicle to the parking space, t represents time, namely when the optimal parking space is obtained through three times of screening, the shortest arrival parking space is the optimal parking space path, and min [ L (1-t) 2 +2t(1-t)V+t 2 Z]Representing L as a starting point, V as an ending point and Z as a control point, and constructing a line segment, wherein the shortest time required by the constructed line segment corresponds toAnd (5) optimizing the value.
6. The method for intelligently managing vehicle information by using a visualization technology according to claim 5, wherein the method for updating the parking space information of the area to be monitored in real time and generating the spare parking space information by combining the data in S3 and S4 in S5 comprises the following steps of;
step 3001, obtaining the use condition of the ground parking space in the terminal server in step 1004;
step 3002, obtaining the service condition of the underground parking space in the terminal server in step 2005;
and 3003, summarizing according to the above-ground underground parking space information to obtain the parking space condition of the parking lot in the area to be detected.
7. The vehicle information intelligent management system applying the visualization technology is characterized by comprising an image acquisition module, an image preprocessing module, a garage modeling module and a data generation module:
the image acquisition module is used for acquiring an image of the area to be monitored through unmanned aerial vehicle remote sensing;
the image preprocessing module is used for preprocessing the image obtained by remote sensing of the unmanned aerial vehicle;
the garage modeling module builds an underground parking garage parking space model based on BIM, and analyzes the information of the underground parking garage parking space in real time according to model data;
the data generation module is used for analyzing the above-ground parking lot parking space information and the underground parking lot parking space information, and generating a report of the parking space use condition of the area to be monitored according to the analysis result.
8. The vehicle information intelligent management system applying the visualization technique according to claim 7, wherein the image preprocessing module includes a binarization processing unit and a feature extraction unit:
the binarization processing unit is used for carrying out grey-scale and binarization processing operation on the image of the area to be monitored obtained by the unmanned aerial vehicle through remote sensing;
the feature extraction unit is used for scanning the binarized image and extracting outline information of the parking space in the image.
9. The vehicle information intelligent management system applying the visualization technology according to claim 7, wherein the garage modeling module comprises a parking space analysis unit and an optimal path selection unit:
the parking space analysis unit is used for carrying out parking space matching according to the information of the in-storage vehicles, preselecting the information of the parking spaces which can be selected by the in-storage vehicles through analyzing the parking space conditions of the underground parking lot, and carrying out optimal parking space selection according to the information of the adjacent parking spaces of the preselect parking spaces;
the optimal path selection unit is used for screening the optimal path of the warehouse-in vehicle reaching the parking space according to the analysis result of the parking space analysis unit.
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| CN117152990A (en) * | 2023-09-06 | 2023-12-01 | 金钻智能车库科技(东莞)有限公司 | Automatic intelligent garage system and method based on artificial intelligence |
| CN117912293A (en) * | 2024-03-20 | 2024-04-19 | 鲁东大学 | Intelligent management system for parking lot |
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| CN117152990A (en) * | 2023-09-06 | 2023-12-01 | 金钻智能车库科技(东莞)有限公司 | Automatic intelligent garage system and method based on artificial intelligence |
| CN117912293A (en) * | 2024-03-20 | 2024-04-19 | 鲁东大学 | Intelligent management system for parking lot |
| CN117912293B (en) * | 2024-03-20 | 2024-05-28 | 鲁东大学 | Intelligent management system for parking lot |
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