CN109191887A - Localization method and positioning system in garage based on depth recognition - Google Patents
Localization method and positioning system in garage based on depth recognition Download PDFInfo
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- CN109191887A CN109191887A CN201810885687.XA CN201810885687A CN109191887A CN 109191887 A CN109191887 A CN 109191887A CN 201810885687 A CN201810885687 A CN 201810885687A CN 109191887 A CN109191887 A CN 109191887A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
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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
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Abstract
The present invention discloses in a kind of garage based on depth recognition and positions method and system, method: M depth transducer being arranged in garage；After vehicle/personnel enter garage, the N number of depth transducer nearest apart from vehicle/personnel detects vehicle/personnel depth data, M >=N；Garage services device combines N number of depth data and the vehicle/personnel is calculated in the positioning in garage；System: including garage services device, arrange that M depth transducer and L depth read activation device, the lane and each parking stall in the depth data detection zone receiving area covering garage of the M depth transducer in garage.The utility model has the advantages that vehicle/personnel can quickly identify its identity and position after entering garage, to provide many-sided service for vehicle/personnel, such as parking stall guidance, road navigation, depth recognition can quickly obtain vehicle/personnel identity and position, and setting depth, which reads activation device, can effectively save the workload of depth transducer.
Description
Technical field
The present invention relates to garage field of locating technology, specifically, are related to positioning in a kind of garage based on depth recognition
Method and positioning system.
Background technique
Depth transducer is a kind of equipment for being integrated with RGB camera and 3D Data Detection mechanism, due to depth transducer
A 3D scene figure can be obtained with the depth data of each element in real-time detection to flat image and scene, join operation,
Precision and obtained 3D rendering are more preferable than the data that simple RGB is imaged, therefore in the identification of the limbs of people, recognition of face etc.
Field is using more, such as somatic sensation television game, faceID, but existing depth transducer is more confined to general entertainment field,
Using also seldom, market potential is not yet excavated in the field of more life-stylize.
The garage living scene high as a use degree, the vehicle identification of disengaging and vehicle/personnel are in garage
Positioning requires recognition methods rapidly and reliably to support, and depth transducer can quickly recognize distance, the side of vehicle
Position even license plate number data, also can quickly recognize face, with eye recognition very close to.Traditional is fixed by wireless signal
Method of position such as radiofrequency signal positioning, wireless network positioning etc., it is either large or small all to influence signal because of the metal material of vehicle body
Expection is not achieved to positioning accuracy in transmitting, and depth transducer will not be affected by this, therefore depth transducer is completed to vehicle
Positioning be a kind of more rapidly, easily to apply.
The defect of the prior art: RGB camera cannot identify vehicle/personnel distance and posture, and wireless signal positioning is easy
It is influenced by vehicle body metal material.
Summary of the invention
In view of the above-mentioned problems, depth transducer is applied to vehicle/personnel positioning in garage by the present invention, to propose one
Localization method and positioning system in garage of the kind based on depth recognition, after vehicle/personnel enter garage, vehicle/personnel are to every
The distance of a depth transducer can accurately identify out, form depth data, then vehicle can be calculated according to depth data
/ position of the personnel in garage, meanwhile, the license plate number of vehicle, the face feature of personnel can also be recognized by depth transducer,
Depth transducer can obtain simultaneously vehicle/personnel identity and position under the auxiliary not by other equipment.
In order to achieve the above objectives, the specific technical solution that the present invention uses is as follows:
Localization method in a kind of garage based on depth recognition, it is characterised in that:
M depth transducer, the depth data detection zone of the M depth transducer is arranged in the first step in garage
Cover the lane and each parking stall in garage；
Second step, after vehicle/personnel enter garage, the N number of depth transducer detection nearest apart from vehicle/personnel
Vehicle/personnel depth data, M >=N；
Third step, garage services device combine N number of depth data and the vehicle/personnel are calculated in the positioning in garage.
By above-mentioned design, after laying depth transducer in garage, when vehicle/personnel are in the detection zone of depth transducer
When in domain, corresponding depth transducer can read vehicle/personnel depth data, and all depth datas focus on garage clothes
Business device calculates it, can be positioned, the value of N is determined by the content of depth data, if depth data only has vehicle/personnel
Depth distance when, it is necessary to multiple depth transducers could accurate positionings, it is 3 that N minimum, which answers value, at this time, but depth data packet
When including vehicle/vehicle crew orientation in depth distance and depth image, single depth transducer can obtain vehicle/personnel
Opposite positional relationship can immediately arrive at positioning in conjunction with preset electronic map.
Since the accuracy of identification of depth transducer is high, recognition speed is fast, the positioning accuracy and positioning speed of this programme
Degree is all very outstanding, and garage can also identify that extension is more multi-functional through the feature of depth transducer, rather than is only limited to position
Aspect.
Concrete scheme one about localization method: the depth data is vehicle/personnel depth image, N >=1, then institute
The particular content for stating third step is as follows:
A1, the garage services device establish garage positioning map, and the garage positioning map includes each depth transducer
Depth data detection zone；
A2 extracts depth image after the garage services device receives the depth image that N number of depth transducer is read
In the vehicle/personnel and the depth transducer relative coordinate；
Relative coordinate input garage positioning map is arrived the vehicle/personnel in vehicle by A3, the garage services device
The positioning in library.
Depth image includes vehicle/personnel depth distance and the relative position in figure, then by above-mentioned design,
N minimum can value be 1, when each depth transducer fixes its detection direction, single depth transducer can be to vehicle/people
Member is positioned, but when depth transducer detection direction is not fixed, and just still needs at least three depth transducer accurate
Positioning.
Further describe, include in the depth image vehicle/personnel and the depth transducer relative coordinate,
Vehicle/personnel profile, the license board information of vehicle, personnel facial characteristics.
Depth distance and relative position are above-mentioned relative coordinate, in addition to this, in depth image also containing profile information,
The face information that the license board information and depth that RGB image itself has are read, so as to determine the body of vehicle/personnel
Part, identity is each self-positioning when having multiple vehicle/personnel in garage in conjunction with identifying plus relative coordinate, not will cause different vehicles
/ information of personnel is chaotic.
Concrete scheme two about localization method: the depth data is vehicle/personnel depth distance, N >=3, then institute
The particular content for stating third step is as follows:
B1, the garage services device establish garage positioning map, and the garage positioning map includes each depth transducer
Depth data detection zone；
B2, after the garage services device receives the depth distance that N number of depth transducer is read, respectively with each depth
Degree sensor be the center of circle, the relatively each depth transducer of vehicle/personnel depth distance be radius work justify, obtain N number of intersection
Circle, then the common point of N number of circle is vehicle/personnel relative position；
The relative position of the vehicle/personnel is inputted garage positioning map, then obtains the vehicle by B3, the garage services device
/ personnel garage positioning.
The depth transducer of above scheme only reads vehicle/personnel depth distance, due to being not required to combine image analysis
Vehicle/personnel orientation, recognition speed faster, but it is opposite just need more depth transducers to be positioned, a depth
Sensor is only capable of obtaining the circle of range by depth distance, and the anchor point of most 2 intersection points then can be obtained in two depth transducers,
It still needs to determine which anchor point is vehicle/personnel positioning at this time, therefore at least also needs a depth transducer that could obtain
To accurate anchor point, position of the vehicle/personnel in garage, certainly, the program can quickly be obtained by the point of 3 circle intersections
Also circle is necessarily clearly made, only circular arc need to be drawn in 3 depth transducer medium positions in garage positioning map and also can
Obtain intersection point.
The depth data detection zone of each of the above two scheme depth transducer is fixed area, then N takes
The detection direction of minimum value, i.e., each depth transducer is fixed, desirable 1 N in scheme one, N desirable 3 in scheme two.
The depth data detection zone of the depth transducer of above two scheme is range areas, and depth transducer
Detection direction is adjusted through rotating mechanism in the range areas, then N=3.
Since the detection direction of depth transducer is variable, the orientation of depth image becomes unreliable, makes depth sensing
The positioning of device needs minimum 3 ability accurately to calculate.
It further designs, depth is additionally provided in garage and reads activation device, only when depth reads activation device reading
After entering garage to vehicle/personnel, the depth transducer in activation device read range is read positioned at the depth and is just activated, is opened
Beginning work.
The considerations of for energy saving, the work of depth transducer is only just carried out when being activated, and depth reads and swashs
Removable mounting, which is set, can be used that detection range is bigger, normally opened more energy efficient object detecting apparatus, such as ultrasonic radar, radio frequency radar,
Need to only detect has new object to enter i.e. activation depth transducer in range detects it, and depth transducer is normally closed, can
To save power consumption, depth transducer can also reduce failure rate without constantly working.
A kind of positioning system using localization method in the garage based on depth recognition, including garage services device, vehicle
M depth transducer, the vehicle in the depth data detection zone receiving area covering garage of the M depth transducer are arranged in library
Road and each parking stall；
It is additionally provided with L depth in garage and reads activation device, each depth reads the read range of activation device
It is all larger than the depth data detection zone of depth transducer, L≤M；
Each depth transducer is connected with garage services device, and each depth reads activation device and reads with it
The depth transducer in range is taken to connect.
The depth data detection zone of depth transducer only need to be pointedly by the commonly-used area on parking stall when covering garage
Domain covers, and is not required to detect each region in garage without dead angle.
By above-mentioned design, it is recognized when vehicle/personnel enter garage by depth reading activation device, is located at the depth and reads
It takes the depth transducer in the read range of activation device to be activated to start to read, positioning accuracy height and small power consumption.
It further describes, each parking stall is fitted with a depth transducer, arranges a depth transducer, a on lane
< M.
Due to most importantly parking stall in garage, the parking of vehicle and sails out of and require accurate vehicle location and know
Not, therefore each parking stall fitting depth sensor preferably service vehicle can stop, pick up the car, and the depth sensing on lane
Positioning when device is mainly completed in vehicle travel process or personnel walk about, positioning object at this time are in moving condition, then lane
On depth transducer arrangement can according to the average speed of traffic be arranged distribution density.
Further design, each depth transducer are arranged in an installation casing, and the installation casing is outstanding
It hangs and is installed in garage, the installation casing is provided with ontology and sunpender, which is installed on garage top surface, its underpart warp
Rotating mechanism is connect with ontology.
By above-mentioned design, each depth transducer suspended fixing possesses good vision, is not easy in the top in garage
It is blocked, while rotating mechanism can complete rotation control by rotating electric machine and speed change gear, depth transducer is with sunpender axle center
The case where rotation axis rotates 360 °, and detects multiple angles.
It is further described, as L=M, a depth transducer device and a depth read activation device and integrate
It is installed in same installation casing, the installation casing is additionally provided with suggestion device and wireless communication module, the suggestion device
It is used to indicate vehicle/personnel path, the wireless communication module is used for data communication.
For convenient for designing and producing, depth transducer and depth read activation device concentrated setting in same main body, i.e.,
Installation casing can save installation space in this way and simplify the design operation of packing density, while be also integrated with prompt vehicle/people
The suggestion device and wireless communication module of member, keeps the function of installation casing more, while completing the fixation and recognition on basis also
Can be that car owner etc. provide instruction, and be not required to separately to connect network cable can full garage communicate, keep garage more intelligent and conveniently.
It is further described, the depth reads activation device as in radio frequency radar, ultrasonic radar, infrared sensor
It is at least one.
Ultrasonic wave when thering is object to block can return signal, can be detected in current scene with this have new object into
Enter and blocked ultrasonic signal, and radiofrequency signal can be weakened signal by the object of the materials such as metal, water, and when radio frequency radar connects
When the time of receipts radiofrequency signal changes, then explanation has metal object to enter current scene, and radio frequency detections of radar vehicle is used to imitate
Fruit is preferable, and infrared ray is able to detect the object of temperature, and human body temperature is substantially constant at a section, therefore by infrared sensing
The temperature identification range of device is set in the section, can recognize human body and enter in scene, if using radio frequency radar, ultrasonic wave
One of radar, infrared sensor or several combine can efficiently identify vehicle/personnel in garage.
Beneficial effects of the present invention: vehicle/personnel can quickly identify its identity and position after entering garage, to be vehicle
/ the many-sided service of personnel's offer, such as parking stall guides, road navigation, depth recognition can quickly obtain vehicle/personnel body
Part and position, carry out pertinent service to it；Depth is set and reads the work for activating device that can effectively save depth transducer
Amount, makes its only opening when needing work, guarantees the accuracy of operation.
Detailed description of the invention
Fig. 1 is the flow chart of the localization method of embodiment one；
Fig. 2 is the third step method flow diagram of embodiment one；
Fig. 3 is the flow chart of the localization method of embodiment two；
Fig. 4 is the third step method flow diagram of embodiment two；
Fig. 5 is the positioning system structure schematic diagram of embodiment two；
Fig. 6 is that top view is laid in the garage of embodiment two；
Fig. 7 is the parking stall front view of embodiment two；
Fig. 8 is the installation casing structural schematic diagram of embodiment two.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:
Embodiment one: as shown in Figure 1, localization method in a kind of garage based on depth recognition:
M depth transducer 1, the depth data detection zone of the M depth transducer 1 is arranged in the first step in garage
The lane and each parking stall in domain covering garage；
Second step, after vehicle/personnel enter garage, the N number of depth transducer 1 nearest apart from vehicle/personnel is examined
Measuring car/personnel depth data, M >=N；
Third step, garage services device combine N number of depth data and the vehicle/personnel are calculated in the positioning in garage.
Depth data described in the present embodiment is vehicle/personnel depth image, and the depth of each depth transducer 1
Data Detection region is fixed area, then N is minimized.
N is preferably 1, and the third step is as shown in Figure 2:
A1, the garage services device establish garage positioning map, and the garage positioning map includes each depth transducer 1
Depth data detection zone；
A2 after the garage services device receives the depth image of a depth transducer 1 reading, is extracted in depth image
The relative coordinate of the vehicle/personnel and the depth transducer；
Relative coordinate input garage positioning map is arrived the vehicle/personnel in vehicle by A3, the garage services device
The positioning in library.
It include relative coordinate, the vehicle/people of the vehicle/personnel and the depth transducer 1 in the depth image
The profile of member, the license board information of vehicle, personnel facial characteristics.
Embodiment two, as shown in figure 3, localization method in a kind of garage based on depth recognition:
M depth transducer 1, the depth data detection zone of the M depth transducer 1 is arranged in the first step in garage
The lane and each parking stall in domain covering garage；
Second step, after vehicle/personnel enter garage, depth reading activation device reads vehicle/personnel and enters garage
Afterwards, the depth transducer that the depth is read in activation device read range is started to work；
Third step, after vehicle/personnel enter garage, the N number of depth transducer 1 nearest apart from vehicle/personnel is examined
Measuring car/personnel depth data, M >=N；
4th step, garage services device combine N number of depth data and the vehicle/personnel are calculated in the positioning in garage.
Depth data described in the present embodiment is vehicle/personnel depth distance, and the depth data of the depth transducer 1
Detection zone is range areas, and depth transducer adjusts detection direction through rotating mechanism 32 in the range areas, then N=3.
N is preferably 3, then the third step is as shown in Figure 4:
B1, the garage services device establish garage positioning map, and the garage positioning map includes each depth transducer 1
Depth data detection zone；
B2, after the garage services device receives the depth distance of 3 depth transducers 1 reading, respectively with each depth
Sensor 1 is that the depth distance of the relatively each depth transducer 1 of the center of circle, vehicle/personnel is that radius work is justified, and obtains 3 intersections
Circle, then 3 round common points are vehicle/personnel relative position；
The relative position of the vehicle/personnel is inputted garage positioning map, then obtains the vehicle by B3, the garage services device
/ personnel garage positioning.
It is preferably provided with depth in the present embodiment garage and reads activation device 2, is only read when depth reads activation device 2
After vehicle/personnel enter garage, the depth transducer 1 in activation 2 read range of device is read positioned at the depth and is just activated, is opened
Beginning work.
As shown in figure 5, a kind of positioning system using localization method in the garage based on depth recognition, including garage
Server arranges M depth transducer 1, the depth data detection zone receiving area of the M depth transducer 1 in garage
Cover the lane and each parking stall in garage；
It is additionally provided with L depth in garage and reads activation device 2, each depth reads the reading model of activation device 2
Enclose the depth data detection zone for being all larger than depth transducer 1, L≤M；
Each depth transducer 1 is connected with garage services device, and each depth reading activates device 2 and it
Depth transducer 1 in read range connects.
Preferably, each parking stall is fitted with a depth transducer 1 in the present embodiment, arranges a depth on lane
Sensor 1, a < M, as shown in Figure 6.
As shown in fig. 7, each depth transducer 1 is arranged in an installation casing 3, the installation casing 3 is outstanding
It hangs and is installed in garage, the installation casing 3 is provided with ontology and sunpender 31, which is installed on garage top surface,
Lower part is connect through rotating mechanism 32 with ontology, and the rotating mechanism 32 of the present embodiment is the rotary electric machine equipped with speed changer.
L=M in the present embodiment, a depth transducer device 1 and depth read activation 2 integrated installation of device in
In same installation casing 3, the installation casing 3 is additionally provided with suggestion device 33 and wireless communication module, and the suggestion device is used
In instruction vehicle/personnel path, the wireless communication module is used for data communication.
The suggestion device of the present embodiment is preferably display screen 33, and wireless communication module is preferably bluetooth and WiFi.
Preferably, it is the combination in radio frequency radar and infrared sensor that the depth, which reads activation device 2,.
Claims (12)
1. localization method in a kind of garage based on depth recognition, it is characterised in that:
M depth transducer (1), the depth data detection zone of the M depth transducer (1) is arranged in the first step in garage
The lane and each parking stall in domain covering garage；
Second step, after vehicle/personnel enter garage, N number of depth transducer (1) detection nearest apart from vehicle/personnel
Vehicle/personnel depth data, M >=N；
Third step, garage services device combine N number of depth data and the vehicle/personnel are calculated in the positioning in garage.
2. localization method in the garage according to claim 1 based on depth recognition, it is characterised in that: the depth data
For vehicle/personnel depth image, N >=1, then the particular content of the third step is as follows:
A1, the garage services device establish garage positioning map, and the garage positioning map includes each depth transducer (1)
Depth data detection zone；
A2 after the garage services device receives the depth image that N number of depth transducer (1) is read, extracts depth image
In the vehicle/personnel and the depth transducer relative coordinate；
Relative coordinate input garage positioning map is arrived the vehicle/personnel in garage by A3, the garage services device
Positioning.
3. localization method in the garage according to claim 2 based on depth recognition, it is characterised in that: the depth image
In include the relative coordinate of the vehicle/personnel and the depth transducer (1), vehicle/personnel profile, vehicle license plate
Information, personnel facial characteristics.
4. localization method in the garage according to claim 1 based on depth recognition, it is characterised in that: the depth data
For vehicle/personnel depth distance, N >=3, then the particular content of the third step is as follows:
B1, the garage services device establish garage positioning map, and the garage positioning map includes each depth transducer (1)
Depth data detection zone；
B2, after the garage services device receives the depth distance that N number of depth transducer (1) is read, respectively with each depth
Degree sensor (1) is that the depth distance of the relatively each depth transducer (1) of the center of circle, vehicle/personnel is that radius work is justified, and is obtained N number of
The circle of intersection, then the common point of N number of circle is vehicle/personnel relative position；
The relative position of the vehicle/personnel is inputted garage positioning map by B3, the garage services device, then obtain the vehicle/
Positioning of the personnel in garage.
5. localization method in the garage according to claim 2 or 4 based on depth recognition, it is characterised in that: each described
The depth data detection zone of depth transducer (1) is fixed area, then N is minimized.
6. localization method in the garage according to claim 2 or 4 based on depth recognition, it is characterised in that: the depth
The depth data detection zone of sensor (1) be range areas, and depth transducer in the range areas through rotating mechanism
(32) detection direction is adjusted, then N=3.
7. localization method in the garage according to claim 1 based on depth recognition, it is characterised in that: also set up in garage
There is depth to read activation device (2), only after depth reading activation device (2), which reads vehicle/personnel, enters garage, being located at should
The depth transducer (1) that depth is read in activation device (2) read range is just activated, and starts to work.
8. a kind of positioning system using localization method in the garage based on depth recognition, including garage services device, special
Sign is: M depth transducer (1) is arranged in garage, the depth data detection zone of the M depth transducer (1) receives
The lane in region overlay garage and each parking stall；
It is additionally provided with L depth in garage and reads activation device (2), each depth reads the reading model of activation device (2)
Enclose the depth data detection zone for being all larger than depth transducer (1), L≤M；
Each depth transducer (1) is connected with garage services device, and each depth reading activates device (2) and it
Depth transducer (1) connection in read range.
9. positioning system according to claim 8, it is characterised in that: each parking stall is fitted with a depth transducer
(1), a depth transducer (1), a < M are arranged on lane.
10. positioning system according to claim 8, it is characterised in that: each depth transducer (1) is arranged at one
On a installation casing (3), in garage, the installation casing (3) is provided with ontology and hangs installation casing (3) suspended fixing
Bar (31), sunpender (31) top are installed on garage top surface, and its underpart is connect through rotating mechanism (32) with ontology.
11. positioning system according to claim 10, it is characterised in that: as L=M, a depth transducer device
(1) and a depth reads activation device (2) integrated installation on same installation casing (3), and the installation casing (3) also sets up
There are suggestion device (33) and wireless communication module, the suggestion device is used to indicate vehicle/personnel path, the radio communication mold
Block is used for data communication.
12. positioning system according to claim 8, it is characterised in that: it is radio frequency thunder that the depth, which reads activation device (2),
It reaches, at least one of ultrasonic radar, infrared sensor.
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| CN113724526A (en) * | 2021-07-29 | 2021-11-30 | 北京千方科技股份有限公司 | Parking guidance method, device and system for parking lot and storage medium |
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Application publication date: 20190111 |