JP7308551B2 - parking lot management system - Google Patents

Description

The present invention relates to a parking lot management system for managing an unmanned parking lot, and more particularly to a parking lot management system that can be easily installed in a parking area at low cost and that can be smoothly managed.

Conventionally, various parking lot management systems have been proposed in Patent Documents 1 to 4 listed below. The unmanned parking lot management system described in Patent Document 1 captures an image of the entire parking lot from above and detects parked vehicles other than the passenger compartment (paragraphs [0018 to 0027] of Patent Document 1). Also, it determines whether or not the vehicle parked in the compartment is a contracted vehicle (paragraphs [0026 to 0031] of Patent Document 1).

The unmanned parking lot management system described in Patent Document 2 installs a surveillance camera at a high position overlooking the entire parking lot. Entry of the vehicle, parking in the vehicle interior, entry and exit of the user, presence or absence of illegal parking outside the vehicle interior, etc. are determined by image processing, and guidance to the parking area and reminder of the parking fee are executed by voice guidance. . Regarding the exit of the vehicle, based on the presence or absence of the user's entrance, it is judged whether or not the payment has been completed, and a warning is issued against non-payment of the toll (Patent Document 2, paragraphs [0015] [0054] FIGS. 4 and 5 etc).

In the parking lot management system described in Patent Document 3, when it is detected that a vehicle enters or exits a parking lot, a camera captures an image of the entering vehicle, and the captured image is stored together with the entry time. Based on the photographed image, the vehicle number of the entered vehicle is read. In the parking fee settlement flow, the user inputs the vehicle number or the parking time, and based on the input information, the vehicle to be the settlement target is searched. The searched vehicles are displayed on the display unit, and the user selects the own vehicle. When the own vehicle is selected, the parking time is determined and the parking fee is calculated.

The parking lot management system described in Patent Document 4 uses a surveillance camera to shoot a moving image of a parking area including parked vehicles, detects vehicles that have entered the parking lot based on the two-dimensional image data, and parks them. Manage the parking lot.

JP-A-9-16897 JP-A-2004-102645 Japanese Patent No. 6588875 Japanese Patent Application Laid-Open No. 2020-52712

Any of the parking lot management systems described in Patent Documents 1 to 4 above captures still images or moving images with a surveillance camera, and based on the two-dimensional data, the vehicle enters the parking lot, parks in the passenger compartment, When exiting the passenger compartment, the vehicle in each state is detected. For this reason, it is difficult to detect the parking position of a vehicle in a parking area from a two-dimensional image. was difficult.

The parking lot management systems of Patent Documents 1 and 2 are managed by a single monitoring camera that monitors the entire parking lot (paragraph [0018] of Patent Document 1, paragraph [0009] of Patent Document 2). ), depending on the size and shape of the parking lot, it is impossible to deal with it. In addition, since the parking lot is photographed from an oblique direction, monitoring becomes difficult when vehicles are photographed overlapping each other or when an obstacle such as a pillar is present.

In addition, the parking lot management system of Patent Document 1 determines whether or not the vehicle is parked in a place other than the passenger compartment based only on the image data. There is a possibility of erroneously recognizing that it continued (paragraphs [0026 to 0027] of Patent Document 1).

Further, whether or not the contracted vehicle is parked is determined based only on the image data such as the color and shape of the vehicle. Therefore, when a vehicle of similar color and shape is parked, it cannot be determined. Furthermore, it is difficult to deal with new vehicles that have never been photographed (paragraphs [0029-0031] of Patent Document 1).

The parking lot management systems of Patent Documents 2, 3, and 4 recognize the vehicle number based on the image data captured by the camera. The recognition accuracy of the vehicle number is low and misrecognition increases (paragraph [0024] of Patent Document 2, paragraph [0017 to 0019] of Patent Document 3, paragraph [0198 to 0199]). Furthermore, the parking lot management system of Patent Document 3 requires detection means for detecting vehicles, and the cost of installing the detection means in the parking lot increases, which is contrary to the purpose of reducing installation costs (Patent Document 3 10) in FIG.

As described above, the parking lot management systems of Patent Documents 1 to 4 all capture still images or moving images with surveillance cameras, and based on the two-dimensional image data, enter the parking lot, park in the passenger compartment, Detect vehicles in each state exiting the cabin. The information obtained from the image of the surveillance camera is two-dimensional data, and it is difficult to detect the vehicle parking position in the parking area from the two-dimensional image. In addition, when similar vehicles are photographed overlapping each other due to the photographing angle of the camera, it is difficult to identify the vehicle, that is, to recognize the vehicle.

Furthermore, in the case of an outdoor parking lot, the difference between daytime and nighttime, fine weather, rainy weather, cloudy weather, etc., greatly affects the captured two-dimensional image data, which limits accurate vehicle recognition. As a countermeasure against these problems, many sensors and cameras have been conventionally installed in each vehicle compartment, but this increases the installation cost and management cost of the parking lot.

In view of the above points, the present invention provides a device that restricts entry and exit such as gates and flaps, a special sensor near the entrance, or a sensor for each vehicle compartment, regardless of the size and shape of the parking lot. To provide a parking lot management system that does not need to be installed, is low cost, and can smoothly manage an unmanned parking lot.

In order to achieve the above object, the parking lot management system according to the present invention includes:
A LIDAR that irradiates a parking area with a pulse laser, receives reflected light or scattered light from an object in the parking area, measures the distance to the object, and outputs 3D point cloud data of the object. ,
Input the 3D point cloud data output from the LIDAR, recognize the vehicle from the 3D point cloud data , calculate the coordinate data of the vehicle using at least the center of gravity position information of the vehicle, and position the vehicle a vehicle position detection means for detecting the
vehicle state monitoring means for monitoring the state transition of the vehicle based on position data of the vehicle generated by the vehicle position detection means at predetermined time intervals;
a vehicle compartment position storage means for preliminarily creating and storing vehicle compartment position data indicating the vehicle compartment position within the parking area based on the 3D point cloud data output from the LIDAR ;
When the vehicle state monitoring means detects that the vehicle is parked, the vehicle is parked in the parking area based on the vehicle position data from the vehicle position storage means. vehicle interior detection means;
an imaging means for imaging the vehicle parked in the vehicle compartment;
characterized by comprising

According to the parking lot management system of the present invention, LIDAR irradiates a pulse laser, receives reflected light or scattered light from an object in the parking area, measures the distance to the object, and measures the distance to the object. Since the 3D point cloud data is output, it is possible to accurately detect the positions of the compartment and the vehicle in the parking area, which are objects, from the 3D point cloud data. As a result, the movement of vehicles in the parking area can be accurately grasped, and unmanned parking lot management can be performed smoothly.

In addition, since the 3D point cloud data output from LIDAR is used to detect the vehicle interior and vehicles, regardless of whether it is daytime or nighttime, fine weather, rainy weather, cloudy weather, etc., the vehicle interior and vehicles in the parking area can always be accurately detected. state can be detected. In addition, there is no need to install devices such as gates and flaps to restrict entry and exit, special sensors near the entrances and exits, or sensors for each vehicle compartment, making it possible to construct a parking lot management system at low cost. can.

Here, a plurality of LIDARs are used for LIDAR, each coordinate system possessed by each LIDAR is converted into one standard coordinate system, and the vehicle position detection means is based on the standard coordinate system, coordinates representing the position of the vehicle. It can be configured to calculate data. According to this, even in a fairly large parking area, it is possible to accurately detect the state of the passenger compartment and the vehicle, and to smoothly manage the parking lot.

Also, here, a camera may be installed in the parking area as the imaging means, and the vehicle registration number of the vehicle may be detected based on the image data captured by the camera. According to this, the automobile registration number of the parked vehicle can be detected, and the parked vehicle can be properly identified from the automobile registration number, which can be effectively used for settlement.

Further, the vehicle state monitoring means detects that the vehicle is parked based on the position data of the vehicle at predetermined time intervals, and determines from the vehicle interior position data of the vehicle interior position storage means that the vehicle is in a position other than the vehicle interior. It is possible to provide illegal parking notification means for reporting illegal parking to the vehicle when it is detected that the vehicle is parked in the parking lot. According to this, when the vehicle is parked at a position other than the passenger compartment, it is possible to notify the vehicle of illegal parking and encourage the vehicle to park at a proper position.

In addition, parking fee settlement means can be provided here for performing settlement according to the usage time of the parking area. According to this, it is effective for use in a pay parking lot. On the other hand, when managing a free parking lot, a payment machine is unnecessary.

Further, here, reservation management means for managing reservations of parking lots is provided, and the reservation management means stores, based on the reservation information, the parking date and time of the reserved compartment and the vehicle registration number of the reserved vehicle, and stores the parking lot. can be configured to display reserved compartments in According to this, reservations for parking lots can also be managed by this parking lot management system.

Further, in the above parking lot management system, a parking lot management server may be provided on the network, and data indicating the parking lot situation may be transmitted to the parking lot management server using data transmission means. can. In the management system of this configuration, when the vehicle is parked in the vehicle compartment and when the parking is completed, the data transmission means transmits the parking data to the parking lot management server, and the parking fee is calculated in the parking lot management server. The parking fee is calculated, and the parking fee is notified to the mobile terminal of the user, and the parking lot management server charges the user by a predetermined method.

As a billing method, a method of paying for each use with a credit card or the like, or a method of collectively paying the user's charges for a certain period of time at a later date can be adopted. As a result, it is possible to eliminate the complexity of the settlement of the settlement machine installed in the parking lot, and to provide a low-cost parking management system for parking lots without the settlement machine.

According to the present invention, it is possible to accurately detect the state of the passenger compartment and the vehicle with a small amount of equipment, and it is possible to smoothly perform unmanned parking lot management at low cost.

1 is a block diagram of a parking lot management system showing an embodiment of the present invention; FIG. 1 is a block diagram of LIDAR; FIG. It is a schematic diagram which shows LIDAR and a camera. It is a schematic diagram which shows the detection coverage range of LIDAR in a parking area. 2 is an image of an exemplary parking area output from a LIDAR in a single scanning cycle; FIG. 2 is a schematic plan view of the vehicle showing a center-of-gravity position P1 and a tip position P2 of the vehicle. 4 is a timing chart showing the timing of capturing 3D point cloud data from LIDAR; FIG. 4 is a schematic diagram for explaining conversion between the LIDAR-1 coordinate system and the LIDAR-2 coordinate system; It is a schematic diagram at the time of camera-photographing the vehicle parked in the compartment. It is a state transition table of events such as movement and stop of the vehicle. It is a state transition diagram of events such as movement and stop of a vehicle. It is explanatory drawing of vehicle information DB. It is explanatory drawing of vehicle interior information DB. FIG. 4 is an explanatory diagram of a log information DB; It is explanatory drawing of parking reservation information DB. It is explanatory drawing of vehicle information DB which needs attention. It is the main flowchart of a parking lot management system. It is the main flowchart of a parking lot management system. It is a flow chart which shows new vehicle processing S1. It is a flowchart of stop start processing S2 of a vehicle, and movement start processing S3 of a vehicle. It is a flowchart of parking start processing S4 of a vehicle. It is a flowchart of parking start processing S4 of a vehicle. It is a flowchart of parking start processing S4 of a vehicle. It is a flowchart of parking start processing S4 of a vehicle. It is a flowchart of stop continuation processing S5 of a vehicle. It is a flowchart of parking continuation processing S7 of a vehicle. It is a flowchart of movement start processing S8 of a vehicle. It is a flowchart of exit processing S9 of a vehicle. It is a flow chart of settlement processing. FIG. 4 is an explanatory diagram of a warning screen of a display; It is explanatory drawing of the settlement screen of a settlement machine. It is explanatory drawing of the payment confirmation screen of a payment machine. It is explanatory drawing of the adjustment amount display of a payment machine. It is explanatory drawing of an empty car position display of a display. It is explanatory drawing of the full display of an indicator. It is explanatory drawing of the empty position display including the reservation of an indicator. It is explanatory drawing of the full display including the reservation of an indicator. It is an explanatory view showing composition of a parking reservation system. It is an explanatory view of vehicle information DB by a 2nd embodiment. It is explanatory drawing of vehicle interior information DB by 2nd Embodiment. FIG. 18 is an explanatory diagram showing a modified example of the process of step S14 of FIG. 17 in the second embodiment; It is a flow chart of parking compartment identification processing in a 2nd embodiment. It is a block diagram of the parking lot management system of 3rd Embodiment. It is explanatory drawing of parking lot DB of the parking lot management system of the same embodiment. It is explanatory drawing of user DB of the same parking lot management system. It is explanatory drawing of parking log information DB of the same parking management system. It is a flowchart of data transmission to a parking management server of the same parking management system. It is a flowchart of processing of the same parking management server. It is explanatory drawing of the unregistered vehicle display of the same parking management system. FIG. 4 is an explanatory diagram of a display screen of a parking lot usage report on a user's portable terminal; FIG. 10 is an explanatory diagram of a display screen of a parking lot utilization situation on a user's portable terminal; FIG. 4 is an explanatory diagram of a display screen of a parking lot usage history on a user's portable terminal;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of a parking lot management system according to an embodiment of the present invention, and FIGS. 1 to 38 show the first embodiment. The parking lot management system, as shown in FIG. 1, is composed mainly of a management control unit 13 having a processor 71 . In one embodiment of the present invention, the management control unit 13 is provided in the housing of the so-called payment machine installed in the parking lot area 10, but it may be provided in a place or part other than the payment machine.

A memory 72 and an interface 74 are connected to the processor 71 of the management control unit 13 via a bus 73. The interface 74 includes a communication control unit 75, a LIDAR control unit 76, a camera control unit 77, a display unit control unit 78, and a , panel control unit 79, money/coin management unit 82, and receipt printer 83 are connected. The operation of each unit is controlled by a processor 71 that operates according to a program. In addition, the processor 71 executes processing shown in flowcharts of FIGS. 17 to 29, which will be described later, and which is necessary for parking lot management, based on program software stored in advance.

In the memory 72, areas of a vehicle information DB (database) 31, a vehicle interior information DB 32, a log information DB 33, a parking reservation information DB 34, and a caution required vehicle information DB 35 are provided. As shown in FIG. 12, the vehicle information DB 31 contains vehicle ID attached as vehicle identification information, vehicle status, parking status, stop counter, previous position -X, previous position -Y, current position -X, current position -Y, parking area entry time, parking start time, parking end time, settlement time, unsettled amount, vehicle registration number, and image link are stored. Details of each stored information will be described later.

As shown in FIG. 13, the cabin information DB 32 stores cabin number, cabin position -X, cabin position -Y, camera number, camera angle, camera magnification, cabin status, and cabin identification information. be done. As shown in FIG. 14, the log information DB 33 stores vehicle ID, log status, parking area entry time, parking area exit time, compartment number, parking start time, settlement time, parking end time, vehicle registration number, warning display, and so on. /Center notification time, notification content, settlement amount, and image link are stored. Details of each stored information will be described later.

As shown in FIG. 15, the parking reservation information DB 34 stores the vehicle compartment number, reservation start time, reservation end time, and car registration number. As shown in FIG. 16, the vehicle registration number of the vehicle requiring caution is stored in the vehicle information DB 35 requiring caution. Details of each stored information will be described later.

The management control unit 13 including the processor 71 and the memory 72, along with the IIDAR 5, is a constituent element of the present invention, which are the above-described vehicle position detection means, vehicle condition monitoring means, parking compartment detection means, illegal parking notification means, and parking fee settlement. means and reservation management means.

The vehicle position detection means receives the 3D point cloud data output from the LIDAR 5, recognizes the vehicle from the 3D point cloud data, and calculates position data of the recognized vehicle. The vehicle state monitoring means monitors the state transition of the vehicle based on the position data of the vehicle generated by the vehicle position detecting means at predetermined time intervals. Further, the vehicle state monitoring means monitors the movement of the vehicle until the vehicle leaves the parking area, and stores an event log of events occurring for each vehicle in the log information DB 33 .

The cabin position storage means stores cabin position -X, cabin position -Y, etc. in the cabin information DB 32 . When the vehicle position detection means detects that the vehicle is parked, the parking compartment detection means detects the vehicle compartment in which the vehicle is parked in the parking area based on the vehicle compartment information of the vehicle compartment information DB 32 of the vehicle compartment position storage means. identify.

The illegal parking notification means notifies the vehicle of illegal parking when the vehicle state monitoring means detects that the vehicle is parked and that the vehicle is parked in a position other than a predetermined compartment. In addition, the illegal parking notification means monitors the vehicle by the vehicle state monitoring means until the vehicle exits the parking area 10, and among the events that occur for each vehicle, an event that needs to be reported to the center, such as When a vehicle other than the reserved vehicle is parked in the reserved compartment, or when the vehicle exits without payment, the event is reported to the parking lot management server 1 each time.

The parking fee settlement means settles the parking fee according to the usage time of the parking area, and displays the fee on the display unit 81 of the payment machine. The reservation management means stores the parking date and time of the reserved compartment and the vehicle registration number of the reserved vehicle in the parking reservation information DB 34 based on the reservation information, and displays the reserved compartment on the display 14 of the parking lot.

As shown in FIG. 1, the interface 74 includes a communication control unit 75, a LIDAR control unit 76, a camera control unit 77, a display control unit 78, a panel control unit 79, a money/coin management unit 82, and a receipt printer 83. Connected. The operation of each unit is controlled by a processor 71 that operates according to a program.

The communication control unit 75 is connected to the parking lot management server 1 via the network 2 . The communication control unit 75 is a communication module for communicating with an external device or the like, and for example, a wired LAN or wireless LAN module is used. The network 2 is constructed by the Internet, a wide area communication network, or the like. A parking lot management server 1 is a terminal for an operator to remotely manage each parking lot and monitors the parking lot, and is connected to a network 2 . The data transmission means is composed of the communication control unit 75, the processor 71, etc., and transmits data indicating the parking situation to the parking lot management server 1 via the network 2. FIG.

A LIDAR (Light Detection and Ranging) 5 is installed to detect the position of a vehicle compartment 11 in the parking area 10 and the position and movement of a vehicle that has entered the parking area 10 .

As shown in FIG. 2, the LIDAR 5 includes a power supply 21, an MCU 22 that controls all operations of the LIDAR 5, a laser oscillator 23 that irradiates a pulse laser, and a pulse laser emitted from the laser oscillator 23 along the surface of the object. A scanning mechanism 24 for scanning is provided. The scanning mechanism 24 deflects the light beam emitted from the laser oscillator 23 by bending, moving, or tilting the mirror in a constant cycle, for example, by operating a piezoelectric element. Thereby, the light flux of the pulsed laser is scanned with respect to the object in a constant cycle. The object is a vehicle or the like in the parking area, and the vehicle or the like in the parking area is scanned by the pulse laser.

Furthermore, as shown in FIG. 2, the LIDAR 5 receives the scattered light and reflected light of the pulsed laser irradiated to the object through the condenser lens 25, and based on the received light signal output from the light receiving element 26, , a measurement circuit 27 for measuring the distance to an object, and a 3D point cloud data output unit 28 .

Here, 3D point cloud data (3 Dimension Point Cloud) represents information such as the distance and direction to an object detected by LIDAR as a collection of 3D points.

The measurement circuit 27 receives a pulsed light reception signal output from the light receiving element 26, corresponding to the reflected light from the object, etc., and measures all scanning points (irradiation points of the light flux) with respect to the input light reception signal. , the time difference between the irradiated pulse laser and the received light signal is calculated, and the distance to the object is measured from the time difference. The measurement circuit 27 calculates the Z coordinates of the scanning points based on the distance to the object, and calculates the X and Y coordinates of each scanning point based on the position information of the scanning points during scanning.

The X-, Y-, and Z-coordinate data of all the scanning points calculated in this way are sent to the 3D point cloud data output unit 28, and the 3D point cloud data output unit 28 receives each scanning period sent from the measurement circuit 27. 3D data of all scanning points are output as 3D point cloud data 29 . FIG. 5 is an exemplary parking area image 63 rendered based on this 3D point cloud data 29 . The processor 71 of the management control unit 13 extracts the position of the entering vehicle 60 from the 3D point cloud data 29 forming the image 63 of the parking area.

As shown in FIG. 1, a plurality of LIDARs 5 are connected to an interface 74 via a HUB 6 and a LIDAR controller 76, and the LIDAR controller 76 controls the operations of these LIDARs 5. FIG. For example, when using two LIDAR 5, as shown in FIGS. 3 and 4, each LIDAR 5 is installed on the pillars 12 erected on both sides of the parking area 10. FIG. LIDAR 5 with such a configuration has high azimuth resolution (the ability to identify two or more objects aligned in the direction of measurement), and can accurately detect the distance and positional relationship of surrounding obstacles. As a result, vehicles in the parking area 10 can be detected more quickly and accurately than images captured by a normal surveillance camera.

When a plurality of LIDARs 5 are used, each LIDAR 5 has a different coordinate system, so it is necessary to perform coordinate conversion in order to synthesize all vehicle data and manage them on the same coordinates. Therefore, it is necessary to calibrate the coordinate system of the LIDAR 5 in advance. If the area of the parking area 10 is small and the vehicle can be detected with only one LIDAR 5, calibration of the coordinate system is of course unnecessary.

When calibrating the coordinate system of the LIDAR 5, as shown in FIG. 4, a vehicle is parked in a portion where the scanning ranges of a plurality of (two or more) LIDARs 5 overlap, and each LIDAR 5 recognizes the vehicle.

As shown in FIG. 8, for example, in a state in which the position of the vehicle 60 is recognized by two LIDAR-1 and LIDAR-2, the LIDAR A conversion formula for conversion to vector data (P1·P2) of the vehicle position in the -1 coordinate system 65 is obtained.

Since the vehicle positions of the same vehicle 60 existing at the same position are specified, the vehicle positions finally obtained must be exactly the same. Therefore, if the LIDAR-1 coordinate system 65 is used as a standard coordinate system, the vehicle position vector data (P1/P2) of the LIDAR-2 coordinate system 64 should be shifted, rotated, enlarged/reduced, etc. Then, the vehicle position vector data (P1 and P2) of the coordinate system 65 of the LIDAR-2 are transformed into the same vector.

By storing this transformation formula, it becomes possible to transform the coordinate system 64 of LIDAR-2 into the coordinate system 65 of LIDAR-1. All the position data obtained when the vehicle position is detected are obtained with the values of the standard coordinate system converted in this way. When three or more LIDARs 5 are used, all can be converted to the standard coordinate system by performing coordinate conversion according to the number.

As shown in FIG. 8, the position of the vehicle 60 can be detected using the position information of the center-of-gravity position P1 of the vehicle. You can also

As shown in FIGS. 3 and 4 , two cameras 15 are installed on two columns 12 , and each camera 15 is connected to an interface 74 via a camera control section 77 . The camera 15 has an oscillating mechanism and a zoom mechanism, and is controlled by the operation of the camera control unit 77 so that its lens direction is aligned with the position of the vehicle or passenger compartment to be photographed. is captured and the image data is output. As a result, the vehicle 60 parked in the compartment 11 can be clearly photographed, and the vehicle registration number can be recognized more accurately.

The display 14 is installed near the gate, as shown in FIG. 4, and is controlled by the display control unit 78. For example, as shown in FIG.

An operation unit 80 and a display unit 81 are devices for a parking lot payment machine, and are connected to the panel control unit 79. The display unit 81 displays various images, various GUIs (Graphical User Interfaces), and the like. . It also has a function of displaying an image of the vehicle captured by the camera 15 when the vehicle leaves and when the toll is settled.

The money/coin management unit 82 is a depositing device for paying parking lot fees, receives bills and the like inserted into the bill/coin slot, counts them, and calculates the amount of money inserted. Also, it counts the amount of change required for settlement, and pays it out to the banknote/coin return port. It should be noted that an electronic money reader may be installed so as to handle electronic money or the like as necessary. The receipt printer 83 prints the settlement amount, date and time, etc. on receipt paper and issues it as a receipt.

FIG. 4 exemplarily shows a parking area 10 to be managed. In this parking area 10, 13 compartments 11 for parking vehicles are provided in two rows. Each compartment 11 is assigned a compartment number, and data such as compartment positions P1X, P1Y and P2X, P2Y are stored in the compartment information DB.

As shown in FIG. 3, the LIDAR 5 and the camera 15 are installed on one pole 12, but the LIDAR 5 and the camera 15 may be installed on separate poles if necessary. , and the number of installed cameras 15 do not necessarily have to be the same.

Schematically, the LIDAR 5 scans the parking area 10 at a predetermined period while irradiating a pulse laser at a predetermined period, receives reflected light and scattered light from the vehicle of the target, and responds to the received light signal. Based on this, the distance to the surface of the object is measured, and 3D point cloud data of the vehicle is generated. The processor 71 extracts vehicle position information from this 3D point cloud data, and manages the parking state of the vehicle based on the position information.

The camera 15 captures an image of the vehicle 16 parked in the cabin 11, the processor 71 extracts the vehicle registration number from the image data, and displays the image for driver confirmation when the parking fee is settled. do.

As shown in FIG. 7, the processor 71 takes in the 3D point cloud data via the LIDAR control unit 76 at intervals of a certain time t, performs data reception 4, and obtains position information of the vehicle from these 3D point cloud data. Based on the extracted position information, the current position information of the vehicle is generated. When a new vehicle enters the parking area 10, identification information (vehicle ID) is attached to the vehicle and stored in the vehicle information DB 31 together with current position information.

For the vehicle ID, for example, vehicle identification information such as "C20200312***" can be used. The first four-digit number "2020" indicates the year 2020, the next two-digit number "03" indicates March, and the next two-digit number "12" indicates the 12th. Represents a date. The subsequent three-digit number is the sequence number (001 to 999) of the vehicle used on the day, and the number of digits is determined by the maximum number of vehicles used on the day.

As shown in FIG. 6, when recognizing the position of the vehicle 60, the processor 71 calculates the center-of-gravity position P1 of the vehicle and uses the center-of-gravity position P1 as position information. Further, the processor 71 calculates the tip position P2 of the vehicle 60 and recognizes the direction of the vehicle from the vector direction of the center-of-gravity position P1 and the tip position P2.

As shown in FIG. 13, the vehicle compartment information DB 32 stores vehicle compartment numbers, vehicle compartment positions X and Y, and the like. As for the vehicle interior position X and Y, the processor 71 generates and stores vehicle interior position information X and Y as an initial process based on the 3-point cloud data from the LIDAR 5 before starting operation of the parking lot. In this case, the vehicle is parked in the compartment 11 to be detected, and the position information X·Y of the vehicle is stored as the position information X·Y of the compartment 11 .

As shown in FIG. 38, the management control unit 13 performs reservation management as well as parking lot management. The processor 71 of the management control unit 13 inquires of the parking reservation system 17 of the parking lot management server 1 about the parking lot that the customer 19 wishes to use, the date of use, and the time period of use from each contract store 18 . The parking lot management system of the parking lot that the customer 19 desires to use receives this, confirms whether or not there is a vacancy in the car room 11 on the date and time of use by the parking reservation information DB 34, and if there is a vacancy, A process of making the vehicle compartment 11 reserved is performed.

In the embodiment, an example is shown in which the parking reservation system 17 of the parking lot management server 1 handles reservation management. Reservation management may be implemented.

FIG. 10 is a state transition table created during software development of the parking lot management system, and FIG. 11 is a state transition diagram created based on the state transition table. In the state transition table, the current state 40 includes a vehicle unregistered state 41, a newly registered state [0] 42, a moving state [1] 43, a stopped state [2] 44, and a parked state [ 3]45, which indicates how to transition the state according to the event that occurs. As the occurrence event 50, four events of new vehicle registration 51, no vehicle movement 52, vehicle movement 53, and vehicle exit 54 occur.

Here, a "new vehicle" is a case where a vehicle newly enters the parking area 10 to be managed, and a vehicle having identification information [vehicle ID] of a vehicle not registered in the vehicle information DB 31 is input. is the case.

"No vehicle movement" is when the detected previous vehicle position and the current vehicle position are the same. Depending on the vehicle position detection accuracy of the processor 71 and the LIDAR 5, the previous vehicle position and the current vehicle position may differ slightly even if the actual vehicle does not move at all. In such a case, if the previous vehicle position and the current vehicle position are within a certain distance, it may be determined that there has been no movement.

"Vehicle movement" is the case where the detected previous vehicle position and the current vehicle position are different. Also in this case, depending on the vehicle position accuracy of the processor 71 and the LIDAR 5, it may be determined that the "vehicle moves" except when "the vehicle does not move." "Exit of vehicle" is a case where the position information of the vehicle registered in the vehicle information DB is lost.

The state transition diagram of FIG. 11 is created based on the state transition table of FIG. 10, and the flowcharts (FIGS. 17 to 28) showing the processing of the parking lot management system, which will be described later, are created based on this state transition diagram. It is

FIG. 12 shows a vehicle information DB storing vehicle information of vehicles that have entered the parking area 10, in which the following 15 types of information are stored. In the vehicle information DB, the "vehicle identification information" is assigned with the vehicle ID described above for each vehicle. "Vehicle status" is information representing the state of each vehicle, and the state of the vehicle entering the parking area 10 [0], the state of the vehicle moving [1], the state of the vehicle stopping [2], the vehicle It consists of the parking state [3]. In this system, the vehicle is considered to be in the parked state [3] when a certain period of time has passed from the stopped state [2].

The “parking status” is information representing the parking status of each vehicle. Correctly parked in the reserved compartment [2], General vehicle ignoring the reserved compartment [3], Reserved vehicle parked in the wrong reserved compartment [4] consists of

The "stop counter" is information that decrements the value by 1 at regular intervals after the vehicle stops, and that the vehicle is "parked" when the value reaches zero. When the parked vehicle is settled, it is also used to judge whether or not the vehicle has left the passenger compartment 11 within a predetermined time.

"Previous position-X" is the previous value of the X coordinate value of the vehicle position detected by the processor 71, "Previous position-Y" is the previous value of the Y coordinate value of the vehicle position, and "Current position-X". is the current value of the X coordinate value of the vehicle position, and "current position-Y" is the current value of the Y coordinate value of the vehicle position.

"Parking area entry time" is the first time that the vehicle entered the parking area 10; "Parking start time" is the time when the vehicle started parking. "Parking end time" is the time when the vehicle finishes parking, and "settlement time" is the time when the settlement is executed. The "unsettled amount" is the unsettled amount of the vehicle parking fee.

The "car registration number" is the car registration number obtained by taking a picture of the parked vehicle with the camera 15 and reading it from the license plate, and is composed of the following information. They are the usage base location (example: Shinagawa), the registered vehicle classification number (example: 500), the usage display (example: wa), and the serial designation number (example: 1234). "Image link" is link information indicating the storage location of the captured image of the vehicle.

FIG. 13 shows the vehicle compartment information DB 32 set in the memory 72 and stores information of each vehicle compartment 11 in the parking area 10 . The vehicle interior information DB 32 stores the following eight types of information.

The "compartment number" is a unique number assigned to each compartment 11, such as a sequential number such as R01. The number of digits of the sequential number is determined according to the number of compartments, and in the case of a parking area 10 having 100 or more compartments and less than 1,000 compartments, it becomes R001.

"Vehicle status" is information representing the state of each vehicle compartment 11, and is empty [0], parked [1], reserved [2], and reserved vehicle is parked. [3] consists of the state [4], where an illegal vehicle is parked.

“Vehicle position-X” and “Vehicle position-Y” indicate the position of the vehicle that is extracted from the 3D point cloud data and calculated by the operation of the LIDAR 5 and the processor 71 . This data is based on the standard coordinate system, and these coordinate data are stored as vehicle interior position data.

The "camera number" indicates which camera 15 among the plurality of cameras 15 is used to photograph the vehicle. "Camera angle" designates the swing angle of the camera 15, and "zoom magnification" designates the zoom magnification of the camera. These pieces of information predetermine photographing conditions under which the vehicle can be most suitably photographed when the vehicle stops in the parking compartment 11 . The "vehicle identification information" is a vehicle ID attached to the vehicle parked in the compartment.

FIG. 14 shows the log information DB 33, and the log information 33 stores the following 13 types of information. “Vehicle identification information” is a vehicle ID assigned to each vehicle.

The “log status” is information representing each occurrence event, and the vehicle entered the parking area 10 [0], the vehicle started parking [1], the vehicle parked in an incorrect position [3], the vehicle has made a payment [4], the vehicle has finished parking [5], the vehicle has left the parking area 10 [6], the reservation has been accepted [7], and a warning display has been displayed on the display [8] , and notified to the center [9].

"Parking area entry time" is the time the vehicle entered the parking area, "Parking area exit time" is the time the vehicle left the parking area, "Case number" is the compartment number where the vehicle was parked, and "Parking start time". ' is the time when the vehicle starts parking, 'settlement time' is the time when the vehicle is settled, and 'parking end time' is the time when the vehicle leaves the compartment.

"Vehicle registration number" is the vehicle registration number of the vehicle. "Warning Display/Center Notification Time" is the time when the warning was displayed on the display device 14 or when the parking lot management server 1 was notified. or the contents of which the Center was notified. The "settlement amount" is the amount of settlement made by the vehicle, and the "image link" is link information indicating the storage location of the captured vehicle image.

FIG. 15 shows the parking reservation information DB 34, and parking reservation information for each vehicle compartment 11 is stored in the parking reservation information DB 34. FIG. The parking reservation information DB 34 is composed of the following four types of information, and stores data for 11 vehicle compartments owned by the parking area 10 .

The “compartment number” is a unique number assigned to each compartment 11 . The "reservation start time" is the scheduled parking start time, the "reservation end time" is the scheduled parking end time, and the "vehicle registration number" is the vehicle registration number of the reserved vehicle.

FIG. 16 shows the caution-required vehicle information DB 35. In the caution-required vehicle information DB 35, there are vehicles that require caution, that is, vehicles that have caused problems in the past, such as vehicles that left the parking area 10 in the past without making payments. be registered. "Automobile registration number" is the automobile registration number of the vehicle requiring caution.

Next, the operation of the parking lot management system will be described with reference to the flow charts of FIGS. 17 to 29. FIG.

17 and 18 show processing of a main routine executed by the processor 71 at regular time intervals (t). The 3D point group data is taken in via the LIDAR control unit 76, and the positional information of the entering vehicle, the parked vehicle, etc. is extracted and processed.

First, the processor 71 determines whether or not the processing has been completed for all detected vehicles (step S10). On the other hand, if there is an unprocessed vehicle in step S10, vehicle information is retrieved from the vehicle information DB 31 (step S11), and it is determined whether or not the vehicle is a new vehicle (step S12). Determination of a new vehicle is made based on whether or not the vehicle is already registered in the vehicle information DB 31 .

In step S12, if the vehicle is new, the new vehicle processing (S1) shown in FIG. If the vehicle is already registered, the process advances from step S12 to step S14 to write the current position X and Y information of the vehicle in the vehicle information DB 31 .

In the vehicle information DB 31, information on the current position of the vehicle (“current position-X”, “current position-Y”) is copied to information on the previous position (“current position-X”, “current position-Y”), and the current The position information (“current position-X”, “current position-Y”) is updated to the current position information of the vehicle extracted from the 3D point cloud data of LIDAR5 (step S14).

Next, in step S15, it is determined whether the vehicle is stopped. “Stopped” means that the previous position Pn of the vehicle and the current position Pn+1 match. Depending on the positional accuracy based on the 3D point cloud data from the LIDAR 5, if the distance between the previous position and the current position is less than a certain value, it may be regarded as a match. If it is not in the "stopped" state, that is, if it is in the "moved state", step S24 of FIG. 18 is executed, and if it is in the "stopped" state, step S18 of FIG. 18 is executed.

On the other hand, when it is determined in step S16 of FIG. 17 whether or not there is a leaving vehicle, if there is a leaving vehicle, the leaving process S9 of FIG. 28 is performed for that vehicle (step S17), and the process ends. . If there is no leaving vehicle, the process is terminated. It should be noted that when the vehicle registered in the vehicle information DB 31 does not exist in the information extracted from the 3D point cloud data from the LIDAR 5, it is assumed that the vehicle has left the parking area 10. .

On the other hand, in step S18 of FIG. 18, the processor 71 determines whether or not the vehicle status is "0", that is, the "entering" state. ), and then step S10 in FIG. 17 is performed again. If not "0", step S19 in FIG. 18 is executed.

Next, in step S19 of FIG. 18, it is determined whether or not the vehicle status is "1", that is, "moving". If "1", the vehicle stop start process (S2) of FIG. After the stop start process (S2) is performed, step S10 in FIG. 17 is performed again. If not "1", step S21 of FIG. 18 is executed.

Next, in step S21 of FIG. 18, it is determined whether the vehicle status is "2", that is, "stopped". If "2", the vehicle stop continuation process (S5) of FIG. , and then step S10 is performed again. If not "2", the vehicle parking continuation process (S7) of FIG. 26 is performed, and then step S10 is performed again.

On the other hand, in step S24 of FIG. 18, it is determined whether or not the vehicle status is "0", ie, the "entering" state. If "0", the vehicle movement start processing (S3) of FIG. , and then step S10 is performed again. If not "0", step S26 is executed.

Next, in step S26, it is determined whether or not the vehicle status is "1", that is, "moving". If "1", step S10 of FIG. 17 is executed again. If not "1", then step S27 in FIG. 18 is executed.

In step S27, it is determined whether or not the vehicle status is "2", ie, the "stopped" state. If "2", the vehicle movement start processing (S3) of FIG. Step S10 is implemented. If not "2", the vehicle movement start process (S8) of FIG. 27 is performed, and then step S10 is performed again.

FIG. 19 is a flowchart of new vehicle processing S1 when a new vehicle enters.

In the new vehicle processing S1, first, an unused area [empty area] of the vehicle information DB 31 is extracted (step S101), and the extracted area contains vehicle identification information [vehicle ID], vehicle status [0], current position -X , current position -Y, parking area entry time, and unsettled amount [0] (step S102).

Next, in step S103, it is determined whether or not there is the number of vacant compartments. Display is performed (step S104). Even if there is a vacancy in the compartment 11, if the compartment is already reserved, the reserved compartment is displayed as shown in FIG. If not "1", step S105 of FIG. 19 is executed. In step S105, the vehicle identification information [vehicle ID], log status [1], and parking area entry time are written in the log information DB 33, and the new vehicle processing (S1) ends.

FIG. 20 shows the vehicle stop start process (S2) and the vehicle movement start process (S3). In the vehicle stop start process (S2), the vehicle status [2] and the stop counter are set in the vehicle information DB 31 in step S201. The parking counter counts a value for calculating the time to be regarded as the start of parking when the vehicle has been stopped for a certain period of time. If the constant cycle time (t) of the position data acquisition process shown in FIG. 7 is, for example, 1 second, the value of the stop counter is set to 300 when the vehicle is considered to start parking when the vehicle has been stopped for 5 minutes. In the vehicle movement start process (S3) of FIG. 20, the vehicle status [1] is set (step S301).

21 to 24 show the vehicle parking start process (S4). In step S401, it is determined whether or not the vehicle is parked in one of the compartments 11. If it is in the compartment 11, the parking compartment is specified in step S402. If it is outside the compartment 11, step S407. Then, the camera 15 photographs the parked vehicle. In step S401, whether or not the vehicle is inside the vehicle interior 11 is determined by determining whether or not the parking position of the vehicle exists within a predetermined range of one of the vehicle interiors 11 determined. If the vehicle is parked inside the vehicle, the parking vehicle is identified in step S402.

The determination of whether or not the vehicle is parked in the vehicle interior 11 in step S401 is based on the parking position of the parked vehicle stored in the vehicle interior information DB 32 of the vehicle interior 11, "vehicle position -X", "vehicle It is determined whether or not it is within a certain area from the position information of "Position-Y". If it is within the defined range, it is determined that the parked vehicle is parked in the compartment 11 in step S401.

Next, in step S403, the vehicle 11 is photographed by the camera 15 corresponding to the vehicle compartment 11 in which the vehicle is parked. For each vehicle compartment 11 in the parking area 10, the number of the camera 15 most suitable for photographing the vehicle parked in each vehicle compartment 11, the swing angle of the camera, and the zoom ratio of the camera are stored in the vehicle compartment information DB 13. Based on this information, the camera control section 77 controls the camera 15 to photograph the vehicle.

The processor 71 takes in the photographed image data of the vehicle and extracts the automobile registration number of the vehicle from the image data (step S404). A camera 15 most suitable for photographing the vehicle is used, and the swing angle of the camera and the zoom magnification of the camera are properly set, so that the automobile registration number can be extracted with high accuracy.

Next, in step S405, the vehicle status [3], parking start time, vehicle registration number, and image link are written in the vehicle information DB 31. FIG. The image link is link information to the storage location where the image captured in step S403 is stored. Next, in step S406, the vehicle identification information (vehicle ID) is written in the vehicle interior information DB 32, and the vehicle parking start process (S4) ends.

In step S401 (FIG. 21), if the vehicle is parked outside the compartment 11, then in step S407, the vehicle is photographed by the camera 15 capable of photographing the parked position. When the vehicle is outside the vehicle interior 11, the parking position of the vehicle 60 is separated from "vehicle position-X" and "vehicle position-Y" of the vehicle interior information DB 32 of the vehicle interior 11 and is within a certain area. It does not exist and the parking compartment 11 could not be found. Since each of the installed cameras 15 has its own photographable range, the camera 15 that can be used is selected according to the parking position of the vehicle and photographed.

Next, based on the photographed image of the vehicle, the vehicle registration number of the vehicle is extracted (step S408). If the license plate of the vehicle cannot be read due to the parking position of the vehicle, the orientation of the vehicle, etc., the vehicle registration number column is left blank.

Next, in step S409, the display 14 displays a warning for the vehicle. The display unit 14 displays, for example, a warning message "Please park correctly in the vehicle compartment" together with the automobile registration number of the vehicle. If the vehicle registration number cannot be extracted, the vehicle registration number is left blank. Next, in step 410, the parking lot management server 1 is notified of the information of "parking in an illegal place". The notification to the parking lot management server 1 of the center is sent together with the log information of the next step S411.

Next, in step S411, vehicle identification information [vehicle ID], log status [3], vehicle registration number, center notification time, center notification content [illegal parking], and image link information are stored in the log information DB 33. Write. Furthermore, in step S412, the vehicle status [3], parking status [1], parking start time, vehicle registration number, and image link of the vehicle are written in the vehicle information DB 31. FIG.

Next, in step S413 (FIG. 22), it is determined whether or not the vehicle is a caution vehicle. This determination is made based on whether or not the vehicle registration number of the vehicle is registered in the caution vehicle information DB 35 . Next, if the vehicle is a caution-requiring vehicle, step S414 is executed, and if not, step S417 (FIG. 23) is executed. In step S414, the parking lot management server 1 of the center is notified of the "vehicle requiring special attention", and the notification information is the same as the information written in the log information DB (FIG. 14) in the next step S415.

Next, in step S415 (FIG. 22), the vehicle identification information [vehicle ID], log status [9], vehicle registration number, center notification time, center notification content [vehicle requiring caution], and image link are converted into log information. Write to DB 33 (step S415).

Next, in step S417 (FIG. 23), it is determined whether or not the compartment is a reserved compartment. Determination of reserved vehicle room is made based on whether or not the vehicle room is registered in the parking reservation information DB 34 . If the compartment is reserved, step S419 is executed; otherwise, step S418 is executed.

Next, in step S418, it is determined whether or not the vehicle is a reserved vehicle. Whether or not the vehicle is a reserved vehicle is determined based on whether or not the vehicle registration number of the vehicle is registered in the parking reservation information DB 34 . If it is a reserved vehicle, then step S423 is executed, and if it is not a reserved vehicle, step S421 is executed.

On the other hand, if the vehicle room has already been reserved in step S417, it is determined in step S419 whether or not the vehicle and the vehicle registration number registered in the parking reservation information DB 34 match. If they match, the reserved vehicle is correctly parked in the reserved cabin, and step S425 is executed to set the cabin status to [3].If they do not match, step S420 is executed. do.

In step S420, it is determined whether or not the vehicle is a reserved vehicle. Whether or not the vehicle is a reserved vehicle is determined based on whether or not the vehicle registration number of the vehicle is registered in the parking reservation information DB 34 . If it is a reserved vehicle, step S427 is executed, and if it is not a reserved vehicle, step S429 is executed.

On the other hand, if the vehicle is not a reserved vehicle in step S418, the vehicle interior status of the vehicle interior information DB 32 is set to [1] indicating that it is parked in step S421. The status is set to [0] indicating normal parking.

On the other hand, if the vehicle is a reserved vehicle in step S418, the vehicle interior status of the vehicle interior information DB 32 is set to [4] indicating that the illegal vehicle is parked in the vehicle interior status of the vehicle interior information DB 32 in step S424. The parking status is set to [3], which indicates reserved compartment parking.

On the other hand, if the reserved vehicle matches in step S419, [3] indicating that the reserved vehicle is parked is set in the vehicle interior status of the vehicle interior information DB 32 in step S425. Set the parking status to [2], which indicates reserved compartment parking.

On the other hand, in step S420, in the case of the reserved vehicle, in step S427, [4] indicating that the illegal vehicle is parked is set in the vehicle interior status of the vehicle interior information DB 32, and in step S428, the parking status of the vehicle information DB 31 is set. is set to [4], which indicates that the reserved compartment is wrong.

On the other hand, if the vehicle is not the reserved vehicle at step S420, the vehicle interior status of the vehicle interior information DB 32 is set to [4] indicating that the vehicle is parked illegally at step S429, and the parking status of the vehicle information DB 31 is set at step S430. is set to [3] indicating that the reserved compartment is ignored.

Next, in step S430 (FIG. 24), it is determined whether the parking status of the vehicle information DB 31 is normal parking of [0] or reserved parking of [2]. If it is 0 or 2], the vehicle parking start process (S4) is terminated, otherwise step S431 is executed.

In step S431, since the vehicle is not parked in the correct vehicle compartment 11, a warning message "Please park in the correct vehicle compartment" is displayed on the display 14. is notified of "unauthorized parking". As for the notification to the center, the same content as the log information in the next step S433 is transmitted.

Next, in step S433, the vehicle identification information [vehicle ID], log status [9], compartment number, parking start time, center notification time, and center notification content [illegal parking] are written in the log information DB 33. FIG.

FIG. 25 shows a flowchart of the vehicle stop continuation process (S5). In the stop continuation process (S5), first, in step S501, the stop counter is counted down, and in step S502, it is determined whether the value of the stop counter is "0". ) is executed, and if not "0", the vehicle stop continuation processing flow (S5) is terminated. When the stop counter reaches "0", it indicates that the vehicle has been stopped for a certain period of time, and it is assumed that parking has started. In this case, the vehicle parking start process (S4) is executed in step S503.

FIG. 26 shows the vehicle parking continuation process (S7). Here, first, in step S601, it is determined whether or not the vehicle compartment 11 being parked is a reserved vehicle compartment, that is, a vehicle compartment reserved and registered in the parking reservation information DB. If it is determined and if it is a reserved compartment, then step S602 is terminated, and if it is not a reserved compartment, the vehicle parking continuation process (S7) is terminated.

In step S602, it is determined whether or not the vehicle being parked is a reserved vehicle, that is, a vehicle reserved and registered in the parking reservation information DB. If it is a reserved vehicle, step S603 is executed. to run.

In step S603, it is determined whether or not it is a predetermined time before the reservation end time. notification. As for the notification to the parking lot management server 1, the same content as the log information in the next step S610 is transmitted. If it is not before the fixed time from the reservation end time, step S605 is executed in step S603. In step S605, it is determined whether or not the reservation end time has passed. Here, if the reservation end time has passed, step S607 is executed, and if not, the vehicle parking continuation process (S7) ends from step S605.

In step S607, the vehicle interior status of the vehicle interior information DB 32 is set to [4], which indicates that the illegal vehicle is parked. give notice. The notification to the center is sent with the same contents as the log information in the next step S610.

On the other hand, if it is determined in step S602 that the vehicle is not the reserved vehicle, it is determined in step S604 whether or not it is a predetermined time before the reservation start time. Then, if it is a predetermined time before the reservation start time, in step 609, the parking lot management server 1 is notified that the reservation start time is approaching. As for the notification to the parking lot management server 1, the same content as the log information in the next step S610 is transmitted. If it is not before the fixed time from the reservation start time, the vehicle parking continuation process (S7) is ended. In step S610, the identification information [vehicle ID] of the vehicle, the log status [9], the compartment number, the notification time to the parking management server 1, and the notification content are written in the log information DB 33, and the vehicle parking continuation processing flow is executed. (S7) ends.

FIG. 27 shows a flowchart of the vehicle movement start process S8. In the movement start process S8, first, in step S801, it is determined whether or not the parking end time is later than the adjustment time. If the parking end time is later than the settlement time, it means that the settlement fee is charged, so step S802 for calculating the parking fee is executed. Otherwise, step S805 is executed. In step S802, the parking time is calculated from the parking start time and the parking end time, and the parking fee is calculated based on the calculated parking time.

Next, in step S803, the calculated parking fee is added to the unpaid amount, and in step S804, the current time is set as the payment time. The above parking start time, parking end time, settlement time, and unsettled amount of money are all information in the vehicle information DB 31 . Next, in step S805, it is determined whether or not the unpaid amount of the vehicle is 0. If the unpaid amount is "0", step S808 is executed. Execute S806. In step S806, since the vehicle is a non-settlement vehicle, a warning is displayed on the display unit 14, saying "Please perform the settlement of the parking fee".

Then, in step S807, the identification information of the vehicle [vehicle ID], log status [8], cabin number, warning display time, and warning display content [please pay the parking fee] are written in the log information DB 33. FIG. Next, the vehicle status [1] and parking end time are written in the vehicle information DB 31 (step S808), "0" is written in the vehicle interior status of the vehicle interior information DB 32 (step S809), and the identification information of the vehicle [vehicle ID ] is cleared, and the vehicle movement start process (S8) ends.

FIG. 28 shows a flowchart of the vehicle exit process (S9). In this process, first, in step S901, it is determined whether or not the unpaid amount of money for the vehicle is 0. If the unpaid amount is "0", step S904 is executed. Step S902 is executed as a vehicle. Since this vehicle is an unpaid vehicle, in step S902, the parking lot management server 1 at the center is notified of "exit of unpaid vehicle". As for the notification to the parking lot management server 1, the same content as the log information in the next step S903 is transmitted. In step S903, the identification information [vehicle ID] of the vehicle, the log status [9], the notification time to the parking lot management server 1, and the content of the notification are written in the log information DB 33. FIG. Then, in step S904, the vehicle identification information [vehicle ID], log status [6], and parking area exit time are written in the log information DB 33. FIG.

Next, in step S905, it is determined whether or not the number of vacant compartments is "1" or more, and if "1" or more, step S906 is executed, and if not "1" or more, step S907 is executed. Determination of the number of vacant compartments is performed by calculating the number of compartments for which the compartment status of the compartment information DB 32 is vacant [0]. In step S906, the display 14 displays "vacant". The vacant car display is performed by the display device 14 as shown in FIG. 34, and the vacant car display indicates which compartment 11 is vacant.

When a part of the compartment 11 is a reserved compartment, as shown in FIG. Designated number (4-digit number)” is displayed. Since the vehicle to be monitored has left the parking area 10, in step S907, the corresponding area in the vehicle information DB 31 is cleared to exclude the vehicle from being monitored, and the vehicle exit processing flow (S9) ends.

FIG. 29 is a flow chart of the settlement process performed when the vehicle leaves. The user of the parking lot uses the operation unit 80 and the display unit 81 of the fare adjustment machine to enter the number of the compartment 11 in which he/she parked, or the "serial designation number (four-digit numerical value)" of the automobile registration number of his/her own vehicle. )” (step S1001). At this time, a display screen for settlement as shown in FIG. 31 is partially displayed on the display unit 81 .

In step S1001, when the user of the parking lot inputs any of the above values, a confirmation screen as shown in FIG. It is displayed on a part of the settlement screen (step S1002). In addition, on the fare adjustment machine screen of the display unit 81, the room number of the parked vehicle, the vehicle registration number, and the image of the vehicle photographed at the start of parking are displayed. If the cabin 11 or the vehicle does not exist, that fact is displayed on the screen of the payment machine, and the number of the cabin 11 or the "serial designation number (4 digit number)” (step S1001).

When the user of the parking lot confirms that the content displayed on the payment machine is his/her own vehicle, steps S1003 to S1004 are executed, and when it is incorrect, the processing is executed again from step S1001. In step S1004, it is determined whether or not the parking end time is later than the settlement time. If the parking end time is later than the settlement time, it means that the settlement fee has been incurred, so the parking fee is calculated. Otherwise, step S1008 is executed. In step S1005, the parking time is calculated from the parking start time and the parking end time, and the parking fee is calculated based on the calculated parking time. Next, in step S1006, this calculated parking fee is added to the unpaid amount. Furthermore, in step S1007, the current time is set as the settlement time.

Next, in step S1008, a parking fee screen as shown in FIG. 33 is displayed on a part of the screen of the display unit 81. Then, the user of the parking lot pays the parking fee displayed on the payment machine (step S1009), and when the payment is completed, the processor 71 sets the vehicle status [2] and the stop counter in the vehicle information DB 31, and ends the parking. The time and unpaid amount are written (step S1010). The set value of the stop counter is because it is necessary to leave the passenger compartment 11 within a certain period of time after the payment is made. If the vehicle does not leave the vehicle compartment 11 within a certain period of time, a parking fee will be charged for the amount of parking after the certain period of time has elapsed. If the user of the parking lot has correctly paid the parking fee with the payment machine, the unpaid amount will be "0".

Then, the processor 71 writes the vehicle identification information [vehicle ID], log status [4], compartment number, parking end time, and unpaid amount to the log information DB 33 (step S1011), and ends this payment processing.
<Second Embodiment>
Figures 39-42 show a second embodiment. In the description of this embodiment, the description of the same parts as the configuration and operation of the parking lot management system described in the above embodiment will be omitted or simplified.

In the first embodiment, the vehicle position is determined using only the center-of-gravity position P1 of the vehicle. On the other hand, in the second embodiment, the tip position P2 indicating the direction of the vehicle is used together with the center-of-gravity position P1. That is, as shown in FIG. 8, in the parking lot management system of the first embodiment, the vehicle position was detected using only the center of gravity position P1. Use both P2.

Specifically, as shown in FIG. 39, the vehicle information DB 31 stores the current position-P1X and the current position-P1Y as well as the current position-P2X and the current position-P2Y. As shown in FIG. 40, the vehicle interior information DB 32 also stores the vehicle interior position-P1X and the vehicle interior position-P1Y as well as the vehicle interior position-P2X and the vehicle interior position-P2Y.

Therefore, in the flowchart of the main routine, step S14 in FIG. 17 is changed to step S14A in FIG. That is, the vehicle information DB 31 is updated with the current position -P1X, the current position -P1Y, the current position -P2X, and the current position -P2Y. 19, the current position-P1X, current position-P1Y, current position-P2X, and current position-P2Y are written in the vehicle information DB 31 as shown in FIG.

Further, in the flowchart of the processing in FIG. 21, steps S451 to S454 are added between steps S402 and S403 for specifying the parking compartment, as shown in FIG. In step S451, it is determined whether or not the parking angle of the parked vehicle is correct. Then, if the parking angle is correct, the parked vehicle is photographed by the camera 15 in step S403, and if the parking angle is not correct, step S452 is executed. Whether or not the parking angle is correct is determined based on the directions of the vectors P1 and P2 obtained from the vehicle interior position P1 and the vehicle interior position P2 stored in the vehicle interior information DB 32, and the directions of the vectors P1 and P2 stored in the vehicle information DB 31. The orientation of the vehicle is determined from the orientation of the current position P1 and the orientation of vectors P1 and P2 obtained from the current position P2, and if both vectors P1 and P2 are within a certain angle, the vehicle is parked in the correct orientation. I judge.

Next, in step S452, a warning message "Please park in the correct direction" is displayed on the display unit 14, and in step S453, the center parking management server 1 is notified of "parking in the wrong direction". As for the notification to the parking lot management server 1, the same content as the log information in the next step S454 is transmitted. In step S454, the vehicle identification information [vehicle ID], log status [3], vehicle registration number, notification time to the parking lot management server 1, notification content [wrong parking], and image link are stored in the log information DB 33. write to

As a result, when the vehicle 60 is parked in the vehicle compartment 11, it is possible to easily check whether the vehicle 60 is parked in the vehicle compartment 11 in the correct direction. This is particularly effective in a parking lot or the like where front-facing parking or rear-facing parking is obligatory. In addition, it is possible to detect a case where the vehicle is parked in the vehicle compartment 11 at an extremely oblique angle.
<Third Embodiment>
Figures 43-52 show a third embodiment. In the description of this embodiment, the description of the same parts as those of the parking lot management system described in the above embodiment will be omitted or simplified.

In the above embodiment, a payment machine is installed in the parking lot, and the user's parking fee is calculated and settled by the payment machine. On the other hand, in the present embodiment, the parking lot management server 1, which does not have a fare adjustment machine and is located in a different location from the parking lot, calculates the parking fee, presents the calculated parking fee to the user, Performs parking fee settlement processing. As a result, it is possible to construct a so-called fare adjustment machine-free parking lot management system.

As shown in FIG. 43, the management control unit 100 of the parking lot management system of this embodiment includes the panel control unit 79 and the operation unit 80 shown in FIG. , display unit 81, money/coin management unit 82, and receipt printer 83 are not provided. In this management control unit 100, instead of the functional units of these payment machines, the parking lot management server 1 is provided with the functions of these payment machines.

The management control unit 100 is provided with data transmission means, and when a vehicle that has entered the parking area 10 starts parking in the vehicle compartment 11 and when the vehicle finishes parking, data indicating the parking status is transmitted to It is transmitted to the parking lot management server 1 via the network 2 . The data transmission means is composed of the communication control unit 75 and the processor 71 , etc., and transmits data indicating the parking situation to the parking lot management server 1 via the network 2 .

When a vehicle that has entered the parking area 10 finishes parking, the parking management server 1 calculates the parking fee for the vehicle based on the data indicating the parking status sent from the data transmission means, and calculates the parking fee according to a predetermined method. Charge the parking fee to the user. Furthermore, the parking lot management server 1 transmits the parking lot usage status to the mobile terminal of the user when charging the parking fee.

The parking lot management server 1 manages parking lots at a plurality of locations, and even when the management control unit 100 is installed in each parking lot, a single parking lot management server 1 can manage parking lots at a plurality of locations. You can manage the management system and collectively process the payment for each parking lot.

The parking management server 1 is provided with a parking lot DB 101, a user DB 102, and a parking log information DB. As shown in FIG. 44, the parking lot DB 101 stores information such as a parking lot ID, a parking lot name, a parking lot address, and the number of compartments, which serve as identification information for each parking lot. These pieces of information are set in advance for each parking lot. As shown in FIG. 45, the user DB 102 stores user identification information such as user IDs, user names, vehicle registration numbers, mobile phone numbers, and parking fee payment methods. These pieces of information are registered in advance for each user who uses the parking lot.

In the parking log information DB 103, as shown in FIG. 46, the parking lot ID of the parking lot used by the user, the compartment number where the user parked, the parking start time, the parking end time, the parking fee charged according to the parking time, etc. Stored are the fee, the vehicle registration number of the parked vehicle, and an image link containing an image of the parked vehicle. These pieces of information are information sent from the management control section 100 installed in each parking lot, and are recorded in the parking log information DB 103 .

Next, the operation of this embodiment will be described. FIG. 47 shows a process in which the management control unit 100 transmits parking start and parking end information of the vehicle to the parking lot management server 1 .

In the first embodiment, after executing the process of determining that the vehicle has parked in the vehicle compartment, as described in the process S4 of FIG. 21, following step S406 of the process S4 of FIG. The management control unit 100 carries out the processing shown in FIG. 47 . Further, in the first embodiment, as described in the process S8 of FIG. 27, after performing the process of determining that the vehicle has finished parking, the management control unit 100 performs the process of step S808 of the process S8 of FIG. Next, the processing shown in FIG. 47 is performed.

Processor 71 of management control unit 100 determines whether or not parking is started in step S2000 of FIG. If parking starts, in step S2001, the following data is sent to the parking lot management server 1: the parking lot ID of the parking lot used by the user, the parking start time when parking was started, the compartment number where the user parked, and the parking space. Send the car registration number of the vehicle and the image of the vehicle taken.

When the parking lot management server 1 receives the above information from the management control unit 100, it executes the processing shown in FIG.

At step 2100, if the data sent from the management control unit 100 is the data at the start of parking, at step 2101, the sent image of the vehicle is stored in an area for collectively storing image data.

Next, in step S2102, the parking lot management server 1 stores the parking lot ID, compartment number, parking start time, vehicle registration number, and image link in the parking lot log information DB 103 shown in FIG. The image link is link information to the storage area stored in step S2101.

Further, at step 2103, it is determined whether or not the vehicle registration number received is for a registered vehicle. Determination of a registered vehicle is made based on whether or not the vehicle registration number is registered in the user DB 102 shown in FIG. If it is a registered vehicle, this process is terminated, and if it is not a registered vehicle, it is notified to the management control unit 100 as an "unregistered vehicle" in step S2104.

On the other hand, the management control unit 100 determines that parking is started in step S2000, receives information sent from the parking lot management server 1 in step S2001, and determines whether or not the vehicle is registered in step S2002. . At this time, if the vehicle is a registered vehicle, this process is terminated, and if not, in step 2003, the display 14 installed in the parking lot indicates that the vehicle is an unregistered vehicle, as shown in FIG. warning display. At this time, the user (driver) can select whether to newly register the parked vehicle according to a predetermined procedure or to move to another parking lot.

Further, when the parked vehicle has finished parking, the management control unit 100 determines in step S2004 whether or not the parking has finished. If the parking is finished, in step 2005, the data of the parking lot ID of the parking lot used by the user, the parking end time when the parking was finished, and the parking compartment number are sent to the parking lot management server 1 .

When the parking lot management server 1 receives the parking completion data, the parking fee is calculated in step S2105. When calculating the parking fee, it is calculated according to a predetermined individual fee system according to the parking lot and the time period of parking. Next, in step S2106, the parking end time and parking fee are stored in the parking lot log information DB 103. FIG.

Next, in step S2107, the parking lot management server 1 sends parking information to the mobile terminal of the user as shown in FIG. 50 (the mobile phone number is stored in the user DB as shown in FIG. 45). Send a parking lot usage report. The date of use of the parking lot, the name of the parking lot, the parking start time, the parking end time, and the parking fee are displayed in the usage report.

If the user's parking fee is settled by credit card or the like for each use, instead of the parking lot usage report shown in FIG. Send the screen to obtain and obtain the user's consent.

52, based on the parking log information shown in FIG. 46, in response to the user's inquiry, the parking management server 1 sends the parking lot usage history 104 to the user. It can also be displayed on the terminal screen.

It should be noted that the present invention can also be implemented in the following embodiments.
1. In the above embodiment, the parked vehicle 60 is photographed by the camera 15 and the vehicle registration number is extracted from the image. If a security camera is installed nearby in a parking lot, it is possible to manage it without recognizing the car registration number.

Generally, in such a case, surveillance cameras for crime prevention are constantly recording, and each vehicle 60 is managed by adding identification information, recording each event that occurs, and notifying the center. Therefore, minimum parking lot management is possible.
2. In the above embodiment, the parking fee is calculated based on the time the vehicle is parked in the compartment 11, but the parking fee may be calculated based on the time from entering the parking lot to settlement. In this case, since the "parking area entry time" is recorded in the vehicle information DB 31, the parking fee can be calculated based on the time from this time to the settlement time.
3. In the above-described embodiment, the management of toll parking lots involving payment has been described, but the present invention can also be applied to free parking lots. That is, in the case where it is not necessary to collect the parking fee and only manage the parking lot, management of vacant compartments and monitoring of parking at illegal positions can be performed properly and smoothly by using the present invention. It can be carried out. Also, in this case, the camera 15 can be dispensed with. In this case, except for the camera 15 and the camera control section 77, the panel control section 79 and the operation section 80, and the display section 81 in FIG. can.
4. Although the LIDAR 5 having the configuration shown in FIG. 2 is used in the above embodiment, any LIDAR having a configuration other than the configuration shown in FIG. .

As described above, according to the parking lot management system of the present invention, regardless of the size of the parking lot and whether it is an indoor parking lot or an outdoor parking lot, installation costs and maintenance and inspection costs can be reduced, and the parking lot can be managed smoothly. can do.

1 parking management server 2 network 4 data reception 5 LIDAR
6 hubs
REFERENCE SIGNS LIST 10 Parking Area 11 Vehicle Room 12 Support 13 Management Control Unit 14 Indicator 15 Camera 17 Parking Reservation System 18 Contract Store 19 Customer 20 Object 21 Power Supply 22 MCU
23 laser oscillator 24 scanning mechanism 25 condenser lens 26 light receiving element 27 measurement circuit 28 3D point group data output section 29 3D point group data 31 vehicle information DB
32 Vehicle information DB
33 Log information DB
34 Parking reservation information DB
35 Special attention vehicle information DB
40 Current state 41 Unregistered state 42 New registration state 43 Moving state 44 Stopped state 45 Parking state 50 Occurrence event 52 No movement 51 New registration 53 Movement 54 Exit 60 Vehicle 64 Coordinate system 65 Coordinate system 71 Processor 72 Memory 73 Bus 74 Interface 75 Communication Control Section 76 LIDAR Control Section 77 Camera Control Section 78 Display Control Section 79 Panel Control Section 80 Operation Section 81 Display Section 82 Money/Coin Management Section 83 Receipt Printer 100 Management Control Section 101 Parking Lot DB
102 User database
103 Parking log information DB
104 Parking lot usage history screen S1 New vehicle processing S2 Stop start processing S3 Vehicle information processing S4 Parking start processing S5 Stop continuation processing S7 Parking continuation processing S8 Movement start processing S9 Exit processing

Claims (13)

A LIDAR that irradiates a parking area with a pulse laser, receives reflected light or scattered light from an object in the parking area, measures the distance to the object, and outputs 3D point cloud data of the object. ,
Input the 3D point cloud data output from the LIDAR, recognize the vehicle from the 3D point cloud data , calculate the coordinate data of the vehicle using at least the center of gravity position information of the vehicle , and position the vehicle a vehicle position detection means for detecting the
vehicle state monitoring means for monitoring the state transition of the vehicle based on position data of the vehicle generated by the vehicle position detection means at predetermined time intervals;
a vehicle compartment position storage means for pre-creating and storing vehicle compartment position data indicating the vehicle compartment position within the parking area based on the 3D point cloud data output from the LIDAR;
When the vehicle state monitoring means detects that the vehicle has been parked after being stopped for a certain period of time, the vehicle is parked in the parking area based on the vehicle compartment position data from the vehicle compartment position storage means. parking compartment detection means for identifying a parking compartment;
an imaging means for imaging the vehicle parked in the vehicle compartment;
A parking lot management system comprising: A plurality of LIDARs are used for the LIDAR, each coordinate system of each LIDAR is converted into one standard coordinate system, and the vehicle position detection means indicates the position of the vehicle based on the standard coordinate system. 2. The parking lot management system according to claim 1, wherein coordinate data is calculated. 2. The parking lot management system according to claim 1, wherein, when photographing an image of the vehicle, the photographing means photographs under photographing conditions preset corresponding to the vehicle interior. 4. The parking lot according to claim 3, wherein a camera is installed in the parking area as the imaging means, and the vehicle registration number of the vehicle is detected and stored based on the image data captured by the camera. management system. The vehicle state monitoring means detects that the vehicle is parked based on the position data of the vehicle at predetermined time intervals, and detects that the vehicle is parked outside the vehicle compartment from the vehicle compartment position data of the vehicle compartment position storage means. 2. The parking lot management system according to claim 1, further comprising illegal parking notification means for reporting illegal parking to the vehicle when it is detected that the vehicle is parked at the position of . 2. The parking lot management system according to claim 1, further comprising a parking fee settlement means for performing settlement according to the usage time of said parking area. Reservation management means for managing reservations of parking lots is provided, and the reservation management means stores the parking date and time of the reserved compartment and the automobile registration number of the reserved vehicle based on the reservation information, and makes a reservation for the parking lot. 2. The parking lot management system according to claim 1, wherein the vehicle compartment is displayed. If the vehicle is parked in the reserved compartment at the parking date and time of the reservation and the vehicle registration number of the vehicle is different from the vehicle registration number of the reserved vehicle, the reservation management means is configured to 8. The parking lot management system according to claim 7, wherein parking information is provided. A parking lot management server for managing the parking lot is provided via a network, and indicates the parking status when the vehicle entering the parking area starts parking in the vehicle compartment and when the vehicle finishes parking. 2. The parking lot management system according to claim 1, further comprising data transmission means for transmitting data to said parking lot management server. When a vehicle that has entered the parking area finishes parking, the parking lot management server calculates a parking fee for the vehicle based on the data indicating the parking status sent from the data transmission means, and determines the parking fee in advance. 10. The parking lot management system according to claim 9, wherein the parking fee is charged to the user by the method. 11. The parking lot management system according to claim 10, wherein the parking lot management server transmits the parking lot usage status to the mobile terminal of the user when charging the parking fee. 2. The parking system according to claim 1, wherein the vehicle is monitored by the vehicle state monitoring means until the vehicle that has entered the parking area leaves the parking area, and an event log of events that have occurred for each vehicle is stored. parking management system. When the vehicle is monitored by the vehicle condition monitoring means until the vehicle exits the parking area, and an event requiring a report to the parking lot management server occurs among the events occurring for each vehicle. 10. The parking lot management system according to claim 9, wherein a report is made to the parking lot management server every time.

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