WO2019015493A1 - 用于智能车库的基于光学图像的车辆识别系统 - Google Patents

用于智能车库的基于光学图像的车辆识别系统 Download PDF

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Publication number
WO2019015493A1
WO2019015493A1 PCT/CN2018/094866 CN2018094866W WO2019015493A1 WO 2019015493 A1 WO2019015493 A1 WO 2019015493A1 CN 2018094866 W CN2018094866 W CN 2018094866W WO 2019015493 A1 WO2019015493 A1 WO 2019015493A1
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Prior art keywords
vehicle
parking area
parking
garage
robot
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PCT/CN2018/094866
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English (en)
French (fr)
Inventor
姚剑
李远明
王磊
王政
张孙敏
齐子霞
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武汉智象机器人有限公司
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Application filed by 武汉智象机器人有限公司 filed Critical 武汉智象机器人有限公司
Publication of WO2019015493A1 publication Critical patent/WO2019015493A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks

Definitions

  • the invention relates to a vehicle identification system based on a fixed radar and a vehicle storage method, and belongs to the technical field of smart garages, in particular to an optical image-based vehicle identification system for a smart garage.
  • the intelligent parking garage on the market in the parking requirements for the driver, one is to drive the car to the tray; one is to drive the car to an area slightly larger than the ordinary parking space. Both of these methods have higher requirements for parking skills. The latter method is better than the former one, but when it comes to more cars, the efficiency is still insufficient. In the increasingly severe urban parking environment, we urgently need an efficient intelligent stereo garage to solve the problem of parking difficulties.
  • a smart parking robot which comprises a horizontal track arranged along the lateral length direction of the three-dimensional garage and a horizontal moving frame arranged on the horizontal track, the horizontal moving frame being provided thereon A sliding vertical moving frame to which a pick-up robot is connected.
  • the invention mainly discloses the structure of a parking robot, but it does not disclose how to realize fast and efficient storage of the vehicle.
  • the object of the present invention is to solve the deficiencies of the above background art, and provide an optical image-based vehicle identification system and a vehicle storage method for a smart garage, which can effectively implement a vehicle Quick access to the library.
  • the present invention discloses a vehicle warehousing method, which uses an image device above a parking area in a smart garage to acquire outer contour data of a vehicle located in a parking area, and processes a vehicle in a parking area through a data processing device.
  • the outer contour data thus obtains the position coordinates of the vehicle in the parking area; the picking robot on the smart garage grabs the vehicle into the stock according to the vehicle position coordinates.
  • the image device is an industrial camera
  • the data processing device is an industrial computer and a host computer
  • the outer contour data of the vehicle located in the parking area is obtained through an industrial camera above the parking area
  • the industrial computer transmits the above outer contour data to the upper computer to obtain the position coordinates of the vehicle; the upper computer controls the picking robot to grab the vehicle.
  • an imaging ratio of the industrial camera is obtained according to an imaging area of the industrial camera in a ground coded pattern and a linear distance from the industrial camera to the ground;
  • the image size of the vehicle located in the parking area captured by each industrial camera is converted into the physical size of the vehicle.
  • each industrial camera is provided with an identification coordinate system; a parking garage is provided with a garage coordinate system; and coordinate values of points in the identification coordinate system are converted into garage coordinates by the upper machine conversion processing. The coordinate values of each point in the system.
  • the parking area is provided with a coordinate system identifier
  • the industrial camera directly obtains vehicle position information through a vehicle outer contour and a coordinate system identifier located in the parking area (where the coordinate system identifier It can be the physical coordinate identifier set around the parking area, such as the length and width dimensions, or the virtual parking zone coordinate system identifier set inside the upper computer.
  • the coordinate system is identified as a two-dimensional code laid on the ground in the parking area, and each of the two-dimensional codes represents a point coordinate in a parking area coordinate system or the coordinate system. It is identified as an axis located on the long side and wide side of the parking area.
  • the vehicle position coordinates include a vehicle length, a vehicle width, a parking space angle, and a car center coordinate.
  • the physical size of the vehicle vehicle image size * imaging ratio.
  • the specific steps include: in step 1, the driver puts the parked vehicle into a parking area with a coded pattern and parks it arbitrarily, and when the vehicle is parked in the parking area, the number is The card machine obtains the vehicle number plate; in step 2, the vehicle stops. After the driver leaves, the industrial camera captures the parking vehicle in the parking area to obtain the image size of the vehicle and uploads it to the upper computer; in step 3, the upper computer according to the image size of the vehicle* The imaging ratio obtains the physical size of the vehicle and obtains the coordinate value of each point of the vehicle in the parking area coordinate system. After processing the physical size of the vehicle and the coordinate value of each point, the position coordinates of the parking vehicle in the parking area and the parking space angle are obtained.
  • Step 4 The host computer drives the pick-up robot to move to the parked vehicle position and rotate the corresponding parking space angle, and the pick-up robot lowers to realize the vehicle grabbing; in step 5, during the lowering of the pick-up robot, the single-line laser radar simultaneously scans the entire vehicle. Check the center coordinates of the vehicle picking robot and the coordinates of the center of the vehicle, the angle of the picking robot and the angle of the parking space Consistent and the width of the vehicle does not exceed the operating range of the pick-up robot, and the vehicle is parked to make it safe for storage.
  • step 1 when the parked vehicle does not have a number plate, the host computer gives the parked vehicle a unique vehicle code.
  • the present invention employs an optical image-based vehicle identification system for a smart garage that includes a stereo garage and a pick-up robot; further includes a parking area for parking the vehicle, and an industry for obtaining vehicle position coordinates in the parking area.
  • a camera and a host computer for controlling the work of the pick-up robot and a single-line laser radar for checking the position coordinates of the vehicle in the parking area;
  • the parking area is disposed beside the three-dimensional garage and located on the same side as the pick-up robot;
  • a coded pattern for enhancing contrast is disposed on the ground in the parking area;
  • the top of the stereo garage is provided with a plurality of cantilevers, and the end of each cantilever is provided with the industrial camera;
  • the industrial camera is located at Above the parking area; four single-line laser radars are arranged symmetrically at the bottom end of the pick-up robot.
  • the coded pattern comprises a two-dimensional code or a barcode or a checkerboard.
  • each of the industrial cameras can capture at least a section of the parking area and the entire industrial camera can capture the entire parking area.
  • the outer contour data of the vehicle located in the parking area is acquired by an industrial camera above the parking area; the outer contour data is transmitted to the upper computer through the industrial computer to process the position coordinates of the vehicle; The machine controls the picking robot to grab the vehicle.
  • the invention has the beneficial effects that the present invention effectively solves the prior art by setting a parking area beside the smart garage and acquiring the position coordinates of the parked vehicle by using an industrial camera as an image capturing device to control the pick-up robot to access the vehicle.
  • FIG. 1 is a front elevational view of an optical image-based vehicle identification system for a smart garage in accordance with an embodiment of the present invention
  • FIG. 2 is a top plan view of an optical image-based vehicle identification system for a smart garage in accordance with an embodiment of the present invention
  • FIG. 3 is a top plan view of an optical image-based vehicle identification system for a smart garage in accordance with an embodiment of the present invention
  • FIG. 4 is a schematic diagram showing the working state of a single industrial camera of an optical image-based vehicle identification system for a smart garage according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram showing the working state of a single industrial camera of an optical image-based vehicle identification system for a smart garage according to an embodiment of the present invention
  • FIG. 6 is a side view of an optical image-based vehicle identification system for a smart garage according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a car taking robot for an optical image-based vehicle identification system for a smart garage according to an embodiment of the present invention
  • FIG. 8 is a schematic structural diagram of a single-line laser radar for an optical image-based vehicle identification system for a smart garage according to an embodiment of the present invention
  • FIG. 9 is a schematic diagram of an industrial camera photographing area of an optical image-based vehicle identification system for a smart garage according to an embodiment of the present invention.
  • FIG. 1 to FIG. 2 shows a structural diagram of an optical image-based vehicle identification system for a smart garage.
  • the present invention includes a stereo garage 1 and a pick-up robot 2; and a parking area 3 for parking the vehicle.
  • An industrial camera 4 for acquiring vehicle position coordinates in the parking area 3, a host computer for controlling the work of the pick-up robot 2, and a single-line laser radar 6 for checking the position coordinates of the vehicle in the parking area 3; the parking area 3 is provided at
  • the stereo garage 1 is located on the same side as the pick-up robot 2; a coded pattern for enhancing contrast is disposed on the ground in the parking area 3; the top of the stereo garage 1 is provided with a plurality of cantilevers, and the end of each cantilever is set
  • the coded pattern includes a two-dimensional code or a bar code or a checkerboard.
  • its main function is to enhance the contrast, thereby improving the accuracy of the industrial camera capturing the coordinates of the outer contour of the vehicle.
  • the coded pattern of the present invention is a two-dimensional code
  • the two-dimensional code is first spread in the parking area 3, and each two-dimensional code is given a given coordinate value corresponding to the coordinates of the parking area 3 coordinate system, when the industry When the camera works to photograph the parked vehicle in the parking area 3, a two-dimensional code around the vehicle is obtained, and the actual coordinate of the vehicle is obtained by converting the two-dimensional code into a single coordinate value and formulating it into the outer contour of the vehicle.
  • the length of the vehicle, the width of the vehicle, the angle of the parking space, etc., the use of the two-dimensional code can effectively improve the accuracy of the industrial camera to obtain the position information of the vehicle in the parking area 3, thereby facilitating the picking robot 2 to grab the storage vehicle; each industrial camera 4 at least A section of the parking area 3 can be photographed and all of the industrial cameras 4 can capture the entire parking area 3.
  • a coordinate system identifier is disposed in the parking area 3, and the industrial camera 4 directly obtains vehicle position information through a vehicle outer contour and a coordinate system identifier located in the parking area 3, and the coordinate system
  • the identification is located on the coordinate axis of the long side and the wide side of the parking area 3, and each industrial camera 4 is provided with an identification coordinate system; the parking area 3 is provided with a garage coordinate system; and the coordinates of each point in the identification coordinate system are passed through the upper position. After the machine conversion process, it is converted into coordinate values of each point in the garage coordinate system.
  • each camera will be calibrated after installation. Based on its imaging of the coded ground and the distance between the two, the imaging ratio of the ground in the camera can be derived from the imaging principle. Depending on the scale, the image size can be converted to the size of the object.
  • the imaging ratio of the ground in the camera can be derived from the imaging principle.
  • the image size can be converted to the size of the object.
  • each point in the image will have a coordinate value, and according to the imaging principle and scale, the coordinates of each point in the parking area coordinate system can be converted.
  • take pictures of the entering vehicle select the car in the computer software through feature extraction and edge segmentation, and then according to the car height, we take the value of 0.75m to correct the distance between the camera and the object.
  • the resulting size will be larger than the actual size of the car.
  • the length and width of the rectangular frame can be approximated to the actual length and width of the car; then the midpoint of the blue rectangular frame is selected as the coordinates of the car.
  • the invention also discloses a vehicle warehousing method based on an optical image-based vehicle identification system for a smart garage, which acquires outer contour data of a vehicle located in the parking area 3 through an industrial camera 4 above the parking area 3;
  • the machine transmits the above outer contour data to the upper computer to obtain the position coordinates of the vehicle;
  • the upper robot controls the picking robot 2 to grab the vehicle; according to the imaging area of the industrial camera 4 in the ground coded pattern and the industrial camera 4 a linear distance to the ground to obtain an imaging ratio of the industrial camera 4;
  • the image size of the vehicle located in the parking area 3 captured by each of the industrial cameras 4 is converted into a physical size of the vehicle according to an imaging ratio to obtain a vehicle position coordinate;
  • the position coordinates include the vehicle length, vehicle width, parking space angle, and vehicle center coordinates;
  • vehicle physical size vehicle image size * imaging ratio * 0.8.
  • Step 1 The driver puts the parked vehicle into the parking area 3 with the coded pattern and parks it arbitrarily.
  • the number plate machine 5 obtains the vehicle number plate;
  • the host computer gives the parked vehicle a unique vehicle code;
  • Step 2 After the vehicle is stopped, the industrial camera 4 captures the parking vehicle in the parking area 3 to obtain the image size of the vehicle and uploads it to the upper computer;
  • Step 3 the host computer obtains the physical size of the vehicle according to the image size of the vehicle* imaging ratio*0.8 of the industrial camera 4 and obtains the coordinate value of each point of the vehicle in the parking area coordinate system, and the physical size of the vehicle and the coordinates of each point. After the value is processed, the position coordinates of the parked vehicle in the parking area 3 and the parking space angle are obtained;
  • Step 4 the upper computer drives the picking robot 2 to move to the parked vehicle position and rotate the corresponding parking space angle, and the picking robot lowers to realize the vehicle grabbing;
  • Step 5 During the process of lowering the vehicle manipulator, the single-line laser radar 6 simultaneously scans the entire vehicle, checks the center coordinates of the vehicle pick-up robot and the vehicle center coordinates, and the angle of the pick-up robot is consistent with the parking space angle and the vehicle width is not exceeded. The operating range of the vehicle manipulator is held and parked to make it safe for storage.
  • the parking area is an area that can accommodate several or even dozens of cars. For such an area, when the driver drives the car into the area, it can be parked at will.
  • the upper part of the area has an industrial camera with a coded pattern in the parking area to capture the length, width, height, parking angle, wheel position, rear view mirror position, etc. of the entering vehicle.
  • the number plate opportunity acquires the vehicle number plate. If there is no number plate, the upper opportunity gives it a code name, and the code name is unique in the whole system.

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Abstract

一种用于智能车库的基于光学图像的车辆识别系统，其利用智能车库内停车区（3）上方的影像设备（4）获取位于停车区（3）内车辆的外轮廓数据，并通过数据处理设备处理停车区（3）内车辆的外轮廓数据从而获得车辆位于停车区（3）内的位置坐标；智能车库上的取车机械手（2）根据上述车辆位置坐标抓取车辆入库存放。通过在智能车库旁设置停车区（3）并通过采用工业相机（4）作为图像采集的设备获取停放车辆的位置坐标从而控制取车机械手（2）存取车辆。

Description

用于智能车库的基于光学图像的车辆识别系统 技术领域
本发明涉及一种基于固定雷达的车辆识别系统及车辆入库方法，属于智能车库技术领域，具体涉及一种用于智能车库的基于光学图像的车辆识别系统。
背景技术
目前市面上的智能停车库，在对司机的停车要求上，一种是将车开到托盘上；一种是将车开到一个比普通停车位略大的区域内。这两种方式对停车技巧的要求都比较高。后一种方式较前一种有改进，但面对较多来车时，效率依然不足。在日益严峻的城市停车环境下，我们亟待出现高效的智能立体车库来解决停车难的问题。
在中国发明专利CN105937323A的说明书中公开了一种智能停车机器人，包括沿立体车库的横向长度方向布置的水平轨道和设置于水平轨道上的水平移动架，所述水平移动架上设有沿其上下滑动的垂直移动架，所述垂直移动架上连接有取车机械手。该发明主要公开了一种停车机器人的结构，但是别没有公开如何实现车辆的快速高效入库。
发明内容
针对上述现有技术存在的缺陷，本发明的目的就是要解决上述背景技术的不足，提供一种用于智能车库的基于光学图像的车辆识别系统及车辆入库方法，其能够有效地实现车辆的快速入库。
为解决上述技术问题，本发明公开了一种车辆入库方法，其利用智能车库内停车区上方的影像设备获取位于停车区内车辆的外轮廓数据，并通过数据处理设备处理停车区内车辆的外轮廓数据从而获得车辆位于停车区内的位置坐标；智能车库上的取车机械手根据上述车辆位置坐标抓取车辆入库存放。
在本发明的一种优选实施方案中，所述影像设备为工业相机，所述数据处理设备为工控机和上位机；通过停车区上方的工业相机获取位于停车区内车辆的外轮廓数据；通过工控机将上述外轮廓数据传输给上位机处理得到车辆的位置坐标；通过上位机控 制取车机械手抓取车辆。
在本发明的一种优选实施方案中，根据所述工业相机在地面码化图案内的成像面积与所述工业相机至地面的直线距离获得所述工业相机的成像比例；根据成像比例将所述每个工业相机拍摄到的位于停车区内的车辆图像尺寸换算为车辆实物尺寸。
在本发明的一种优选实施方案中，每个工业相机内设置有识别坐标系；停车区内设置有车库坐标系；识别坐标系内的各点坐标值通过上位机换算处理后转化为车库坐标系内的各点坐标值。
在本发明的一种优选实施方案中，所述停车区内设置有坐标系标识，所述工业相机通过位于停车区内的车辆外轮廓和坐标系标识直接得到车辆位置信息(其中，坐标系标识可以为设置于停车区四周的实体坐标标识，如长宽尺寸等，也可以是设置于上位机内部的虚拟停车区坐标系标识)。
在本发明的一种优选实施方案中，所述坐标系标识为铺设于停车区内地面上二维码，每个所述二维码代表一个停车区坐标系内的点坐标或者所述坐标系标识为位于标识于停车区长边和宽边的坐标轴。
在本发明的一种优选实施方案中，所述车辆位置坐标包括车辆的车长、车宽、车位角和汽车中心坐标。
在本发明的一种优选实施方案中，车辆实物尺寸＝车辆图像尺寸*成像比例。
在本发明的一种优选实施方案中，其具体步骤包括：步骤一，驾驶员将待停车辆放驶入带有码化图案的停车区并任意停放，待停车辆驶入停车区时，号牌机获取车辆号牌；步骤二，车辆停稳驾驶员离开后，工业相机拍摄停车区内的停放车辆获取车辆图像尺寸并上传至上位机；步骤三，上位机根据车辆图像尺寸*工业相机的成像比例得到车辆实物尺寸并得到车辆位于停车区域坐标系内的每个点的坐标值，对上述车辆实物尺寸和每个点的坐标值处理后得到停放车辆位于停车区内的位置坐标以及车位角；步骤四，上位机驱动取车机械手移动至停放车辆位置以及旋转相应的车位角，取车机械手下降实现车辆抓取；步骤五，取车机械手下降过程中，单线激光雷达同时对全车进行扫描、校核取车机械手的中心坐标与车辆中心坐标重合、取车机械手的角度与车位角一致且车宽未超出取车机械手操作范围，夹持停放车辆使其安全入库。
在本发明的一种优选实施方案中，步骤一中，当停放车辆没有号牌时，上位机赋予该停放车辆一个唯一的车辆代号。
本发明采用了这样一种用于智能车库的基于光学图像的车辆识别系统，其包括立体车库和取车机械手；还包括用于停放车辆的停车区、用于获取停车区内车辆位置坐标的工业相机和用于控制取车机械手工作的上位机和用于校核停车区内车辆位置坐标的单线激光雷达；所述停车区设置于所述立体车库旁且与所述取车机械手位于同一侧；所述停车区区域内的地面上设置有用于加强对比度的码化图案；所述立体车库的顶端设置有多个悬臂，每个悬臂的端部设置有所述工业相机；所述工业相机位于所述停车区上方；所述取车机械手底端对称布置有四个所述单线激光雷达。
在本发明的一种优选实施方案中，所述码化图案包括二维码或条形码或棋盘格。
在本发明的一种优选实施方案中，所述每个工业相机至少可拍摄到所述停车区内的一段区域且所述所有的工业相机可拍摄到整个所述停车区。
在本发明的一种优选实施方案中，通过停车区上方的工业相机获取位于停车区内车辆的外轮廓数据；通过工控机将上述外轮廓数据传输给上位机处理得到车辆的位置坐标；通过上位机控制取车机械手抓取车辆。
在本发明的一种优选实施方案中，所述单线激光雷达的扫描面与地面之间存在一夹角θ，15°<θ<90°。
本发明的有益效果是：本发明通过在智能车库旁设置停车区并通过采用工业相机作为图像采集的设备获取停放车辆的位置坐标从而控制取车机械手存取车辆，有效地解决了现有技术中停车难、停车效率低的技术问题，简化停车技巧和提高停车效率。
附图说明
图1是本发明实施例一种用于智能车库的基于光学图像的车辆识别系统的主视图；
图2是本发明实施例一种用于智能车库的基于光学图像的车辆识别系统的俯视图；
图3是本发明实施例一种用于智能车库的基于光学图像的车辆识别系统的俯视图；
图4是本发明实施例一种用于智能车库的基于光学图像的车辆识别系统的单个工业相机工作状态示意图；
图5是本发明实施例一种用于智能车库的基于光学图像的车辆识别系统的单个工业相机工作状态示意图；
图6是本发明实施例一种用于智能车库的基于光学图像的车辆识别系统的侧视图；
图7是本发明实施例一种用于智能车库的基于光学图像的车辆识别系统的取车机械手示意图；
图8是本发明实施例一种用于智能车库的基于光学图像的车辆识别系统的单线激光雷达结构示意图；
图9是本发明实施例一种用于智能车库的基于光学图像的车辆识别系统的工业相机拍摄区域示意图；
图中：1-立体车库，2-取车机械手，3-停车区，4-工业相机，5-号牌机，6-单线激光雷达，A1-车位角，C1-前轮距，D1-后轮距，(X1，Y1)-车辆坐标。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
由图1至图2所示的一种用于智能车库的基于光学图像的车辆识别系统的结构示意图可知，本发明包括立体车库1和取车机械手2；还包括用于停放车辆的停车区3、用于获取停车区3内车辆位置坐标的工业相机4和用于控制取车机械手2工作的上位机和用于校核停车区3内车辆位置坐标的单线激光雷达6；停车区3设置于立体车库1旁且与取车机械手2位于同一侧；停车区3区域内的地面上设置有用于加强对比度的码化图案；立体车库1的顶端设置有多个悬臂，每个悬臂的端部设置有工业相机4；工业相机4位于停车区3上方；取车机械手2底端对称布置有四个单线激光雷达6，单线激光雷达6的扫描面与地面之间存在一夹角θ，15°<θ<90°。码化图案包括二维码或条形码或棋盘格，当本发明的码化图案采用条形码或者棋盘格时，其主要作用是为了增强对比度，从而提高工业相机捕捉车辆外轮廓坐标点的精确性，当本发明的码化图案时二维码时，首先在停车区3内铺满二维码，并将每一个二维码赋予一定给定的坐标 值对应于停车区3坐标系的坐标，当工业相机工作拍摄位于停车区3内的停放车辆时，会获取车辆周围一圈的二维码，通过对二维码换算为单一的坐标值并拟化为车辆的外轮廓从而得到车辆的实际坐标以及车长、车宽、车位角等数据，二维码的使用可以有效提高工业相机获取停车区3内车辆位置信息的精确度，从而便于取车机械手2抓取存放车辆；每个工业相机4至少可拍摄到停车区3内的一段区域且所有的工业相机4可拍摄到整个停车区3。当停车区3内铺设有条形码或者棋盘格时，停车区3内设置有坐标系标识，所述工业相机4通过位于停车区3内的车辆外轮廓和坐标系标识直接得到车辆位置信息，坐标系标识为位于标识于停车区3长边和宽边的坐标轴，每个工业相机4内设置有识别坐标系；停车区3内设置有车库坐标系；识别坐标系内的各点坐标值通过上位机换算处理后转化为车库坐标系内的各点坐标值。
使用本发明时，首先，每台相机在安装完毕后，会做一个标定。根据其对码化地面的成像以及两者之间的距离，由成像原理可以得出地面在相机中的成像比例。根据比例，图像尺寸就可以换算成实物的尺寸。我们对图像建立一个坐标，那么图像中每一点都会有一个坐标值，同样根据成像原理及比例，即可换算出停车区域坐标系中每一点的坐标。再次，对进入的车辆拍照，通过特征提取、边缘分割，在计算机软件中框选出该汽车，然后根据车高，我们取0.75m这个值来修正相机与被拍物之间的距离。小汽车在相机中的成像若按地面与相机之间的距离来换算，得到的尺寸会较大于汽车实际尺寸。我们在计算机软件中取了0.75m这个值来修正距离，最后得到的框如附图4中的蓝色线。该矩形框的长和宽即可近似于汽车实际的长和宽；再选取蓝色矩形框的中点作为汽车的坐标。
本发明还公开了一种基于用于智能车库的基于光学图像的车辆识别系统的车辆入库方法，其通过停车区3上方的工业相机4获取位于停车区3内车辆的外轮廓数据；通过工控机将上述外轮廓数据传输给上位机处理得到车辆的位置坐标；通过上位机控制取车机械手2抓取车辆；根据所述工业相机4在地面码化图案内的成像面积与所述工业相机4至地面的直线距离获得所述工业相机4的成像比例；根据成像比例将所述每个工业相机4拍摄到的位于停车区3内的车辆图像尺寸换算为车辆实物尺寸从而得到车辆位置坐标；车辆位置坐标包括车辆的车长、车宽、车位角和汽车中心坐标；车 辆实物尺寸＝车辆图像尺寸*成像比例*0.8。
具体实施步骤包括：步骤一，驾驶员将待停车辆放驶入带有码化图案的停车区3并任意停放，待停车辆驶入停车区3时，号牌机5获取车辆号牌；当停放车辆没有号牌时，上位机赋予该停放车辆一个唯一的车辆代号；
步骤二，车辆停稳驾驶员离开后，工业相机4拍摄停车区3内的停放车辆获取车辆图像尺寸并上传至上位机；
步骤三，上位机根据车辆图像尺寸*工业相机4的成像比例*0.8得到车辆实物尺寸并得到车辆位于停车区域坐标系内的每个点的坐标值，对上述车辆实物尺寸和每个点的坐标值处理后得到停放车辆位于停车区3内的位置坐标以及车位角；
步骤四，上位机驱动取车机械手2移动至停放车辆位置以及旋转相应的车位角，取车机械手下降实现车辆抓取；
步骤五，取车机械手下降过程中，单线激光雷达6同时对全车进行扫描、校核取车机械手的中心坐标与车辆中心坐标重合、取车机械手的角度与车位角一致且车宽未超出取车机械手操作范围，夹持停放车辆使其安全入库。
本发明的技术方案中停车区是一个可以容纳几辆甚至几十辆汽车的区域，对于这样一个区域，当司机将车开进该区域时，可以随意停放。该区域的上部的有工业相机配合停车区内的码化图案获取进入车辆的长、宽、高、车位角度、车轮位置、后视镜位置等。而在车进入该区域时，号牌机会对车辆号牌进行获取，若无号牌，上位机会为其赋予一个代号，代号在整个系统中是独一无二的。
应当理解的是，以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本领域的技术人员在本发明所揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。

Claims (10)

  1. 一种基于光学图像的车辆识别系统的车辆入库方法，其特征在于：利用智能车库内停车区(3)上方的影像设备获取位于停车区(3)内车辆的外轮廓数据，并通过数据处理设备处理停车区(3)内车辆的外轮廓数据从而获得车辆位于停车区(3)内的位置坐标；智能车库上的取车机械手(2)根据上述车辆位置坐标抓取车辆入库存放。
  2. 根据权利要求1所述的一种基于光学图像的车辆识别系统的车辆入库方法，其特征在于：所述影像设备为工业相机(4)，所述数据处理设备为工控机和上位机；通过停车区(3)上方的工业相机(4)获取位于停车区(3)内车辆的外轮廓数据；通过工控机将上述外轮廓数据传输给上位机处理得到车辆的位置坐标；通过上位机控制取车机械手(2)抓取车辆。
  3. 根据权利要求2所述的一种基于光学图像的车辆识别系统的车辆入库方法，其特征在于：每个工业相机(4)内设置有识别坐标系；停车区(3)内设置有车库坐标系；识别坐标系内的各点坐标值通过上位机换算处理后转化为车库坐标系内的各点坐标值。
  4. 根据权利要求2所述的一种基于光学图像的车辆识别系统的车辆入库方法，其特征在于：所述停车区(3)内设置有坐标系标识，所述工业相机(4)通过位于停车区(3)内的车辆外轮廓和坐标系标识直接得到车辆位置信息。
  5. 根据权利要求4所述的一种基于光学图像的车辆识别系统的车辆入库方法，其特征在于：所述坐标系标识为铺设于停车区(3)内地面上二维码，每个所述二维码代表一个停车区(3)坐标系内的点坐标或者所述坐标系标识为位于标识于停车区(3)长边和宽边的坐标轴。
  6. 根据权利要求1所述的一种基于光学图像的车辆识别系统的车辆入库方法，其特征在于：其具体步骤包括：
    步骤一，驾驶员将待停车辆放驶入带有码化图案的停车区(3)并任意停放，待停车辆驶入停车区(3)时，号牌机(5)获取车辆号牌；当停放车辆没有号牌时，上位机赋予该停放车辆一个唯一的车辆代号；
    步骤二，车辆停稳驾驶员离开后，工业相机(4)拍摄停车区(3)内的停放车辆获 取车辆图像尺寸并上传至上位机；
    步骤三，上位机根据车辆图像尺寸*工业相机(4)的成像比例得到车辆实物尺寸并得到车辆位于停车区域坐标系内的每个点的坐标值，对上述车辆实物尺寸和每个点的坐标值处理后得到停放车辆位于停车区(3)内的位置坐标以及车位角；
    步骤四，上位机驱动取车机械手(2)移动至停放车辆位置以及旋转相应的车位角，取车机械手下降实现车辆抓取；
    步骤五，取车机械手下降过程中，单线激光雷达(6)同时对全车进行扫描、校核取车机械手的中心坐标与车辆中心坐标重合、取车机械手的角度与车位角一致且车宽未超出取车机械手操作范围，夹持停放车辆使其安全入库。
  7. 一种用于智能车库的基于光学图像的车辆识别系统，包括立体车库(1)和取车机械手(2)；其特征在于：
    还包括用于停放车辆的停车区(3)、用于获取停车区(3)内车辆位置坐标的工业相机(4)和用于控制取车机械手(2)工作的上位机和用于校核停车区(3)内车辆位置坐标的单线激光雷达(6)；
    所述停车区(3)设置于所述立体车库(1)旁且与所述取车机械手(2)位于同一侧；所述停车区(3)区域内的地面上设置有用于加强对比度的码化图案；所述立体车库(1)的顶端设置有多个悬臂，每个悬臂的端部设置有所述工业相机(4)；所述工业相机(4)位于所述停车区(3)上方；所述取车机械手(2)底端对称布置有四个所述单线激光雷达(6)。
  8. 根据权利要求7所述的一种用于智能车库的基于光学图像的车辆识别系统，其特征在于：所述码化图案包括二维码或条形码或棋盘格。
  9. 根据权利要求7所述的一种用于智能车库的基于光学图像的车辆识别系统，其特征在于：所述每个工业相机(4)至少可拍摄到所述停车区(3)内的一段区域且所述所有的工业相机(4)可拍摄到整个所述停车区(3)。
  10. 根据权利要求7所述的一种用于智能车库的基于光学图像的车辆识别系统，其特征在于：所述单线激光雷达(6)的扫描面与地面之间存在一夹角θ，15°<θ<90°。
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