CN107610524A - A kind of method and device that parking position Intelligent Recognition is carried out using laser radar - Google Patents
A kind of method and device that parking position Intelligent Recognition is carried out using laser radar Download PDFInfo
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- CN107610524A CN107610524A CN201711063343.2A CN201711063343A CN107610524A CN 107610524 A CN107610524 A CN 107610524A CN 201711063343 A CN201711063343 A CN 201711063343A CN 107610524 A CN107610524 A CN 107610524A
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Abstract
The invention discloses a kind of method and device that parking position Intelligent Recognition is carried out using laser radar, including installing laser radar at parking position, passing through Laser Radar Scanning parking area, gather radar data and produce point cloud chart, parking stall datagram is built using point cloud chart；Discrimination module is created, judges whether there is vehicle on current parking stall by discrimination module, if there is vehicle current parking stall, gathers the model data of Current vehicle；Comparing module is created, comparison is identified to the auto model on parking stall by comparing module；Computing capability needed for specific identification is beyond the clouds or equipment end is realized respectively；Identification module is created, the Intelligent Recognition of parking stall division, mark and parking stall correlation behavior is carried out by identification module.The present invention only carries out the intelligent management of vehicle with few laser radar can to large parking lot, has an Intelligent Recognition parking stall vehicle, all weather operations, easy construction, it is easy to maintain the features such as.
Description
Technical field
It is specifically a kind of to carry out parking lot car using laser radar the present invention relates to computer and artificial intelligence field
The method and device of position Intelligent Recognition.
Background technology
Detection of traditional parking lot to parking space state is generally detected using laying earth magnetism and approach sensor, this
Kind mode is there is laying cable, construction is complicated, needs the shortcomings of periodic maintenance.Also have and stopped using camera object identification
Parking lot parking stall management, there is also cable wiring manufacture is complicated, each camera range of management is limited, by illumination weather conditions for this mode
The drawbacks such as influence.
With computer, the development of artificial intelligence technology, conventional industries and technology are by emerging industry and technology institute
Substitute.
The content of the invention
The technical assignment of the present invention is to provide a kind of easy construction, easy to maintain utilizes laser radar progress parking position intelligence
The method and device that can be identified.
The technical assignment of the present invention is realized in the following manner：
A kind of method that parking position Intelligent Recognition is carried out using laser radar, including,
Laser radar is installed at parking position, by Laser Radar Scanning parking area, collection radar data produces point cloud
Figure, parking stall datagram is built using point cloud chart；
Discrimination module is created, judges whether there is vehicle on current parking stall by discrimination module, if there is vehicle current parking stall, is gathered
The model data of Current vehicle；
Comparing module is created, comparison is identified to the auto model on parking stall by comparing module；Needed for specific identification
Computing capability is beyond the clouds or equipment end is realized respectively；
Identification module is created, the Intelligent Recognition of parking stall division, mark and parking stall correlation behavior is carried out by identification module.
Described laser radar uses single line laser radar, multi-line laser radar or solid-state laser radar.
It is described by Laser Radar Scanning parking area, including,
The scan mode that described laser radar uses is horizontal sweep or/and vertical scanning.
Described builds parking stall datagram using point cloud chart, including,
Datagram using point cloud chart structure parking stall is 2D plans or 3d space figure.
Described judges whether there is vehicle on current parking stall by discrimination module, including,
Whether described discrimination module is using machine learning method to having vehicle to differentiate above parking stall.
It is related that described identification module performance model matching and the method for machine learning carry out parking stall division, mark and parking stall
The Intelligent Recognition of state.
Described is identified comparison by comparing module to the auto model on parking stall, including,
Described auto model is the two dimensional surface or three-dimensional stereo model of automobile；The two dimensional surface of described automobile is three-dimensional vertical
Body Model is come from through using TensorFlow or machine learning algorithm and the standard steam that is formed after great amount of samples is trained
Vehicle model.
A kind of device that parking position Intelligent Recognition is carried out using laser radar, including laser radar, discrimination module, ratio
To module and identification module；
Described discrimination module is used to judge whether there is vehicle on current parking stall, if there is vehicle current parking stall, gathers current vehicle
Model data；
Described comparing module is used to comparison be identified to the auto model on parking stall；
Described identification module is used for the Intelligent Recognition for carrying out parking stall division, mark and parking stall correlation behavior.
Described laser radar is disposed using horizontal mode or/and vertical mode deployment；
The laser radar of described horizontal mode deployment carries out 360 degree of environmental scannings；
The laser radar of described vertical mode deployment is scanned with striped patterns to parking stall.
Described laser radar is arranged on the top of fix bar, and the bottom of described fix bar is fixedly mounted on base,
The top of described fix bar is provided with angle demodulator, passes through the described laser thunder of the rotation adjustment of described angle demodulator
The position reached, reach and plane-parallel or vertical purpose.
A kind of method and device and prior art that parking position Intelligent Recognition is carried out using laser radar of the present invention
Compare, only carry out the intelligent management of vehicle to large parking lot with few laser radar can, there is Intelligent Recognition parking stall
Vehicle, all weather operations, easy construction, it is easy to maintain the features such as.
Brief description of the drawings
Fig. 1 is that a kind of radar vertical scanning for the device that parking position Intelligent Recognition is carried out using laser radar is implemented to show
It is intended to.
Fig. 2 is that a kind of radar horizon scanning implementation of device that parking position Intelligent Recognition is carried out using laser radar is shown
It is intended to.
In figure：1st, base, 2, fix bar, 3, angle demodulator, 4, laser radar.
Embodiment
Embodiment 1：
Configuration device：
A kind of device that parking position Intelligent Recognition is carried out using laser radar, including laser radar 4, discrimination module, comparison
Module and identification module；
Described discrimination module is used to judge whether there is vehicle on current parking stall, if there is vehicle current parking stall, gathers current vehicle
Model data；
Described comparing module is used to comparison be identified to the auto model on parking stall；
Described identification module is used for the Intelligent Recognition for carrying out parking stall division, mark and parking stall correlation behavior.
Described laser radar 4 is disposed using horizontal mode or/and vertical mode deployment；Described horizontal mode deployment
Laser radar 4 carries out 360 degree of environmental scannings；The laser radar 4 of described vertical mode deployment is carried out with striped patterns to parking stall
Scanning.
Described laser radar 4 is arranged on the top of fix bar 2, and the bottom of described fix bar 2 is fixedly mounted on base 1
On, the top of described fix bar 2 is provided with angle demodulator 3, described by the rotation adjustment of described angle demodulator 3
The position of laser radar 4, reach and plane-parallel or vertical purpose.
Operating method：
A kind of method that parking position Intelligent Recognition is carried out using laser radar, including,
Laser radar 4 is installed at parking position, parking area is scanned by laser radar 4, collection radar data produces point
Cloud atlas, parking stall datagram is built using point cloud chart；
Discrimination module is created, judges whether there is vehicle on current parking stall by discrimination module, if there is vehicle current parking stall, is gathered
The model data of Current vehicle；
Comparing module is created, comparison is identified to the auto model on parking stall by comparing module；Needed for specific identification
Computing capability is beyond the clouds or equipment end is realized respectively；
Identification module is created, the Intelligent Recognition of parking stall division, mark and parking stall correlation behavior is carried out by identification module.
Described laser radar uses single line laser radar, multi-line laser radar or solid-state laser radar.
It is described by Laser Radar Scanning parking area, including, the scan mode that described laser radar uses is water
Simple scan or/and vertical scanning.
Described builds parking stall datagram using point cloud chart, including, the datagram that parking stall is built using point cloud chart is
2D plans or 3d space figure.
Described judges whether there is vehicle on current parking stall by discrimination module, including, described discrimination module uses machine
Whether device learning method above parking stall to having vehicle to differentiate.
It is related that described identification module performance model matching and the method for machine learning carry out parking stall division, mark and parking stall
The Intelligent Recognition of state.
Described is identified comparison by comparing module to the auto model on parking stall, including, described auto model
For the two dimensional surface or three-dimensional stereo model of automobile；The two dimensional surface or three-dimensional stereo model of described automobile, which come from through, to be adopted
With TensorFlow or machine learning algorithm and the standard automobile model that is formed after great amount of samples is trained.
By embodiment above, the those skilled in the art can readily realize the present invention.But should
Work as understanding, the present invention is not limited to above-mentioned several embodiments.On the basis of disclosed embodiment, the technology
The technical staff in field can be combined different technical characteristics, so as to realize different technical schemes.
Claims (10)
- A kind of 1. method that parking position Intelligent Recognition is carried out using laser radar, it is characterised in that including,Laser radar is installed at parking position, by Laser Radar Scanning parking area, collection radar data produces point cloud Figure, parking stall datagram is built using point cloud chart；Discrimination module is created, judges whether there is vehicle on current parking stall by discrimination module, if there is vehicle current parking stall, is gathered The model data of Current vehicle；Comparing module is created, comparison is identified to the auto model on parking stall by comparing module；Needed for specific identification Computing capability is beyond the clouds or equipment end is realized respectively；Identification module is created, the Intelligent Recognition of parking stall division, mark and parking stall correlation behavior is carried out by identification module.
- 2. according to the method for claim 1, it is characterised in that described laser radar is using single line laser radar, multi-thread Laser radar or solid-state laser radar.
- 3. according to the method for claim 1, it is characterised in that it is described by Laser Radar Scanning parking area, including,The scan mode that described laser radar uses is horizontal sweep or/and vertical scanning.
- 4. according to the method for claim 1, it is characterised in that described utilizes point cloud chart structure parking stall datagram, bag Include,Datagram using point cloud chart structure parking stall is 2D plans or 3d space figure.
- 5. according to the method for claim 1, it is characterised in that it is described by discrimination module judge on current parking stall whether There is vehicle, including,Whether described discrimination module is using machine learning method to having vehicle to differentiate above parking stall.
- 6. according to the method for claim 1, it is characterised in that described identification module performance model matching and machine learning Method carry out parking stall division, the Intelligent Recognition of mark and parking stall correlation behavior.
- 7. according to the method for claim 1, it is characterised in that it is described by comparing module to the auto model on parking stall Comparison is identified, including,Described auto model is the two dimensional surface or three-dimensional stereo model of automobile；The two dimensional surface of described automobile is three-dimensional vertical Body Model is come from through using TensorFlow or machine learning algorithm and the standard steam that is formed after great amount of samples is trained Vehicle model.
- 8. a kind of device that parking position Intelligent Recognition is carried out using laser radar, it is characterised in that including laser radar, sentence Other module, comparing module and identification module；Described discrimination module is used to judge whether there is vehicle on current parking stall, if there is vehicle current parking stall, gathers current vehicle Model data；Described comparing module is used to comparison be identified to the auto model on parking stall；Described identification module is used for the Intelligent Recognition for carrying out parking stall division, mark and parking stall correlation behavior.
- 9. device according to claim 8, it is characterised in that described laser radar using horizontal mode dispose or/and Vertical mode is disposed；The laser radar of described horizontal mode deployment carries out 360 degree of environmental scannings；The laser radar of described vertical mode deployment is scanned with striped patterns to parking stall.
- 10. device according to claim 8, it is characterised in that described laser radar is arranged on the top of fix bar, institute The bottom for the fix bar stated is fixedly mounted on base, and the top of described fix bar is provided with angle demodulator, by described Angle demodulator the described laser radar of rotation adjustment position, reach and plane-parallel or vertical purpose.
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| CN108198241A (en) * | 2018-02-02 | 2018-06-22 | 北京卡雷尔机器人技术有限公司 | A kind of method and apparatus of 3-D view structure |
| CN108919256A (en) * | 2018-07-24 | 2018-11-30 | 河北德冠隆电子科技有限公司 | Four-dimensional outdoor scene traffic simulation overspeed of vehicle all-the-way tracking detection alarm system and method |
| CN109159709A (en) * | 2018-11-13 | 2019-01-08 | 广州小鹏汽车科技有限公司 | The automatic localization charging method and system of electric car |
| CN110162899A (en) * | 2019-05-28 | 2019-08-23 | 禾多科技（北京）有限公司 | Field end laser radar quick deployment method |
| CN110322726A (en) * | 2019-07-03 | 2019-10-11 | 北京精英路通科技有限公司 | A kind of semiclosed Roadside Parking management system and method based on elevated video |
| CN110969773A (en) * | 2019-12-12 | 2020-04-07 | 中智华清（北京）科技有限公司 | NB-IoT based shared parking stall lock system and method |
| CN111047901A (en) * | 2019-11-05 | 2020-04-21 | 珠海格力电器股份有限公司 | Parking management method, parking management device, storage medium and computer equipment |
| WO2020133694A1 (en) * | 2018-12-26 | 2020-07-02 | 上海图森未来人工智能科技有限公司 | Precise truck parking method, device, and system in quayside container crane area |
| WO2020133693A1 (en) * | 2018-12-26 | 2020-07-02 | 上海图森未来人工智能科技有限公司 | Precise parking method, apparatus and system of truck in shore-based crane area |
| CN113096434A (en) * | 2020-12-18 | 2021-07-09 | ***股份有限公司 | Method, computer system, and computer readable medium for managing parking spaces |
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| WO2020133694A1 (en) * | 2018-12-26 | 2020-07-02 | 上海图森未来人工智能科技有限公司 | Precise truck parking method, device, and system in quayside container crane area |
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| CN113096434A (en) * | 2020-12-18 | 2021-07-09 | ***股份有限公司 | Method, computer system, and computer readable medium for managing parking spaces |
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