CN112085946A - Parking space double detection system and method - Google Patents
Parking space double detection system and method Download PDFInfo
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Abstract
The disclosure relates to the technical field of artificial intelligence and parking management, and provides a parking space double detection system and method. The dual detecting system of parking stall includes detection switch, image acquisition device and automatically controlled and intelligent management system, wherein: the detection switch is used for initially identifying the empty parking space information; the image acquisition device is arranged on the carrying equipment and used for acquiring images of the parking space to be stored when the carrying equipment carries the parking space to be stored to the entrance of the parking space according to the parking space information sent by the electric control and intelligent management system; and the electric control and intelligent management system is used for: allocating parking spaces for the vehicles to be parked according to the initially identified empty parking space information; and accurately judging the image of the parking space to be parked, and when the image of the parking space to be parked is accurately judged to be empty, instructing the carrying equipment to move the parking space to be parked. Through the dual detection of parking stall, can rectify stereo garage parking stall data's exactness, improve stereo garage operation security, can replace artifical vehicle total number and the occupancy of checking stereo garage.
Description
Technical Field
The disclosure relates to the technical field of artificial intelligence and parking management, in particular to a parking space double detection system and method.
Background
The parking space detection method commonly used in the existing intelligent stereo garage generally comprises photoelectric detection and ultrasonic detection. In the photoelectric detection mode, because the vehicle has a reflective condition, when the photoelectric emission light irradiates the vehicle, an error detection signal may be returned; the ultrasonic detection method often has the problem that the vehicle cannot be detected because the difference of the external dimensions of the vehicle is large, and the installation position of the ultrasonic detector is fixed. If a detection error occurs, when the parking space is empty, the system judges by mistake, the vehicle to be parked collides with the existing vehicle in the parking space, and the parking safety problem occurs easily.
In addition, a camera is installed in a parking lot, and the technology of identifying the empty parking space through image acquisition is adopted, but the working conditions of the parking lot and the stereo garage are completely different, the parking lot only needs to guide a vehicle owner to park the vehicle into the parking space after the empty parking space is identified, even if the empty parking space is identified wrongly, the vehicle owner can perform naked eye identification before parking into the parking space, so that the situation of vehicle collision rarely occurs, the stereo garage is full-automatic parking, accurate parking of the vehicle is ensured by completely depending on identification and judgment of each device, and therefore detection of the empty parking space of the stereo garage is quite complicated.
Therefore, it is necessary to provide a new parking space detection method and device.
The above information disclosed in this background section is only for enhancement of understanding of the background of the disclosure and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
An object of the present disclosure is to provide a parking space double detection system and method, which overcome one or more of the problems due to the limitations and disadvantages of the related art, at least to a certain extent.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to the first aspect of this disclosure, disclose a dual detecting system in parking stall, including detection switch, image acquisition device and automatically controlled and intelligent management system, wherein:
the detection switch is used for initially identifying the empty parking space information;
the image acquisition device is arranged on the carrying equipment and used for acquiring images of the parking space to be stored when the carrying equipment carries the parking space to be stored to the entrance of the parking space according to the parking space information sent by the electric control and intelligent management system; and
the electric control and intelligent management system is used for: allocating parking spaces for the vehicles to be parked according to the initially identified empty parking space information; and accurately judging the image of the parking space to be parked, and when the image of the parking space to be parked is accurately judged to be empty, instructing the carrying equipment to move the parking space to be parked.
According to an example embodiment of this disclosure, wherein dual detection system of parking stall is used for stereo garage.
According to an example embodiment of this disclosure, the system still includes special colour mark, sets up in the one end that every parking stall is kept away from the entry.
According to an example embodiment of the present disclosure, wherein the detection switch includes an infrared detection switch and/or an ultrasonic detection switch.
According to an example embodiment of the present disclosure, wherein the detection switch is plural.
According to the second aspect of this disclosure, disclose a dual detection method of parking stall, include:
the electric control and intelligent management system initially identifies the empty parking space information according to the detection signal of the detection switch;
the electric control and intelligent management system allocates parking spaces for the vehicles to be parked according to the initially identified empty parking space information;
the carrying equipment carries the vehicle to be stored to the entrance of the parking space according to the received parking space information;
starting an image acquisition device on the carrying equipment to acquire the parking lot image and transmitting the parking lot image to an electronic control and intelligent management system for accurate judgment; and
and when the parking space to be stored is accurately judged to be empty, the carrying equipment moves the vehicle to be stored to the parking space to be stored.
According to an example embodiment of the present disclosure, the parking space double detection method is used for a stereo garage.
According to an example embodiment of the present disclosure, wherein the accurately judging includes:
selecting the most accurate parking lot image to be stored through image processing;
analyzing the most accurate parking lot image to be stored; and
and judging whether the parking space is empty or not according to the analysis result.
According to an example embodiment of the present disclosure, the selecting the most accurate parking lot image through image processing includes: and comprehensively calculating and selecting the most accurate parking lot image to be stored through the definition detection value, the brightness detection value and the color cast detection value.
According to an example embodiment of the present disclosure, the selecting the most accurate parking lot image through image processing further includes: after the most accurate parking lot image is selected, the image is subjected to light ray filtration to adjust the brightness and the contrast, then the gray scale of the image is processed, and finally the image is stored.
According to an example embodiment of the present disclosure, the analyzing the most accurate parking space image includes: and arranging a special color mark at one end of each parking space far away from the entrance, analyzing and judging whether the most accurate image of the parking space to be stored has the special color mark, if so, judging that the parking space to be stored is empty, and if not, judging that the parking space to be stored is not empty.
According to an example embodiment of the present disclosure, the analyzing and determining whether the specific color identifier exists in the most accurate parking lot image includes: the analysis and judgment are carried out through shape recognition and/or color recognition.
According to an example embodiment of the present disclosure, the analyzing the most accurate parking space image includes: and acquiring initial images of all the parking spaces when the parking spaces are idle in advance, comparing and analyzing the most accurate parking space image to be stored with the corresponding initial image, and judging the similarity of the parking space image and the corresponding initial image.
According to an example embodiment of the present disclosure, the determining the similarity of the two includes: and judging through cosine similarity and/or a perceptual hash algorithm.
According to an example embodiment of the present disclosure, the method further comprises: and when the parking space is accurately judged to be not empty, the electric control and intelligent management system redistributes the parking space for the parking vehicle.
According to some example embodiments of this disclosure, through the dual detection of parking stall, can rectify stereo garage parking stall data's exactness, improve stereo garage operation security.
According to some example embodiments of the present disclosure, the total number of vehicles and the occupancy rate of the stereo garage can be checked instead of manually through the parking space double detection.
According to some example embodiments of the present disclosure, compared with the existing parking space detection, the parking space detection method using image processing of the present disclosure aims to further correct whether a vehicle is in the parking space when the vehicle is in the parking space, so as to avoid the collision safety problem that two vehicles are allocated to the same parking space when the vehicle is parked due to light, scene and other reasons, and improve the safety of the stereo garage.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 shows a block diagram of a single-seat dual detection system according to an example embodiment of the present disclosure.
Fig. 2 shows a flow chart of a vehicle space double detection method according to an example embodiment of the present disclosure.
Fig. 3 shows a flow chart of selecting the most accurate parking lot image through image processing.
Fig. 4 shows a flow chart of a method for analyzing the most accurate parking space image.
Fig. 5 shows a flow chart of a vehicle space double detection method according to another example embodiment of the present disclosure.
Detailed description of the exemplary embodiments
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, steps, and so forth. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The purpose of the present disclosure is to provide a parking space double detection system and method. The dual detecting system of parking stall includes detection switch, image acquisition device and automatically controlled and intelligent management system, wherein: the detection switch is used for initially identifying the empty parking space information; the image acquisition device is arranged on the carrying equipment and used for acquiring images of the parking space to be stored when the carrying equipment carries the parking space to be stored to the entrance of the parking space according to the parking space information sent by the electric control and intelligent management system; and the electric control and intelligent management system is used for: allocating parking spaces for the vehicles to be parked according to the initially identified empty parking space information; and accurately judging the image of the parking space to be parked, and when the image of the parking space to be parked is accurately judged to be empty, instructing the carrying equipment to move the parking space to be parked. The parking space double detection method comprises the following steps: the electric control and intelligent management system initially identifies the empty parking space information according to the detection signal of the detection switch; the electric control and intelligent management system allocates parking spaces for the vehicles to be parked according to the initially identified empty parking space information; the carrying equipment carries the vehicle to be stored to the entrance of the parking space according to the received parking space information; starting an image acquisition device on the carrying equipment to acquire the parking lot image and transmitting the parking lot image to an electronic control and intelligent management system for accurate judgment; and when the parking space to be stored is accurately judged to be empty, the carrying equipment moves the vehicle to be stored to the parking space to be stored. Through the parking space double detection, the accuracy of the parking space data of the stereo garage can be corrected, the operation safety of the stereo garage is improved, and the total number and the occupancy rate of vehicles of the stereo garage can be counted manually; compared with the existing parking space detection, the parking space detection system and method utilizing image processing aim at further correcting whether a vehicle is in the parking space when the vehicle is in the parking space, so that the problem of collision safety caused by the fact that two vehicles are distributed to the same parking space when the vehicles are parked due to the light, scenes and the like is avoided, and the safety of the stereo garage is improved.
In order to solve the problem that the vehicle collision is caused by the wrong recognition of the hollow parking spaces in the stereo garage or other types of garages/parking lots, the application provides the parking space double detection system and the detection method.
The detection system comprises an image acquisition device, a detection switch, an electronic control and intelligent management system, wherein the image acquisition device is specifically a camera, the image acquisition device is installed at the front end and/or the rear end of a stereo garage or other types of garage/parking lot carrying equipment and is used for shooting images of parking spaces, the detection switch can be an infrared detection switch, an ultrasonic detection switch and the like, the detection switch is used for preliminarily detecting whether the parking spaces are empty, the image acquisition device is used for detecting the parking spaces again before the vehicles are stored in the parking spaces, so that the accuracy of parking space detection is improved, the image acquisition device and the detection switch are electrically connected with the electronic control and intelligent management system, acquired images and triggered signals are transmitted into the electronic control and intelligent management system, the electronic control and intelligent management system receives and analyzes the signals, and gives an instruction whether the parking spaces are empty.
The parking space double detection system and method of the present disclosure are described in detail below with reference to fig. 1-5, wherein fig. 1 shows a block diagram of a parking space double detection system according to an exemplary embodiment of the present disclosure; FIG. 2 illustrates a flow chart of a vehicle occupancy double detection method according to an example embodiment of the present disclosure; FIG. 3 is a flow chart of selecting the most accurate parking lot image through image processing; FIG. 4 illustrates a flow chart of a method of analyzing the most accurate parking lot image; fig. 5 shows a flow chart of a vehicle space double detection method according to another example embodiment of the present disclosure.
First, the parking space double detection system of the present disclosure is specifically described with reference to fig. 1, where fig. 1 shows a block diagram of a parking space double detection system according to an example embodiment of the present disclosure.
As shown in fig. 1, the parking space dual detection system 100 may include a detection switch 101, an image acquisition device 102, and an electric control and intelligent management system 103, wherein: the detection switch is used for initially identifying the empty parking space information; the image acquisition device is arranged on the carrying equipment (not shown) and is used for acquiring images of the parking space to be stored when the carrying equipment carries the parking space to be stored to the entrance of the parking space to be stored according to the parking space information sent by the electric control and intelligent management system; and the electric control and intelligent management system is used for: allocating parking spaces for the vehicles to be parked according to the initially identified empty parking space information; and accurately judging the image of the parking space to be parked, and when the image of the parking space to be parked is accurately judged to be empty, instructing the carrying equipment to move the parking space to be parked.
According to an example embodiment of the present disclosure, when it is accurately determined that the parking space is not empty, the electronic control and intelligent management system reallocates the parking space for the parking vehicle.
According to an example embodiment of this disclosure, wherein dual detection system of parking stall is used for stereo garage. The present disclosure is not so limited and may be used with other types of garages/parking lots.
According to an example embodiment of this disclosure, the system still includes special colour mark, sets up in the one end that every parking stall is kept away from the entry. That is, a special color mark is arranged at one end of the parking space far away from the conveying equipment, and whether the processed image has the special color mark, such as a green triangle mark, is analyzed. The method specifically comprises the following steps: firstly, shape recognition: firstly, preprocessing an image, including gray level conversion and image smoothing of the image; then, the image is divided into various regions through the characteristics formed by consistency in the image, and the images of the various regions are extracted and then post-processed according to morphological operation. Comparing the shapes according to the simple geometric characteristics and the transform domain characteristics of the special mark, and judging whether the special mark of the shape exists in the image or not; secondly, color recognition: calculating the pixel coordinate distribution of the image in the original image from the shape of the special mark in the acquired image, acquiring the color of the shape, and comparing the color with the special color mark. And finally, integrating the recognition results of the two aspects to judge. If yes, judging that the parking space to be stored is empty, and controlling the carrying equipment to store the vehicle to be stored in the parking space by the electronic control and intelligent management system; if not, the parking space to be stored is judged to be not empty, and the electric control and intelligent management system reallocates the parking space for the vehicle to be stored at the moment, so that the parking space management system is suitable for non-double-row garage types.
According to an example embodiment of the present disclosure, wherein the detection switch includes an infrared detection switch and/or an ultrasonic detection switch.
According to an example embodiment of the present disclosure, the detection switches may be multiple, and distributed at various positions in a stereo garage or other types of garages/parking lots (even the detection switches may be disposed at each parking space) to better cover all parking spaces.
In particular, the detection system comprises an image acquisition device, a detection switch and an electric control and intelligent management system, wherein the image acquisition device is a camera, which is mounted to the front and/or rear end of a stereo garage or other type of garage/parking lot handling equipment, the parking space detection device is used for shooting images of parking spaces, the detection switch can be an infrared detection switch, an ultrasonic detection switch and the like, the detection switch is used for primarily detecting whether the parking spaces are empty or not, the image acquisition device is used for detecting again before the vehicles are stored in the parking spaces, the image acquisition device and the detection switch are electrically connected with the electric control and intelligent management system, the acquired image and the triggered signal are transmitted into the electric control and intelligent management system, and the electric control and intelligent management system receives and analyzes the signals and gives an instruction whether the parking space is empty or not. When the parking space to be stored is accurately judged to be empty, the command/guide handling equipment moves the vehicle to be stored to the parking space, and when the parking space to be stored is accurately judged to be not empty, the electric control and intelligent management system redistributes the parking space to be stored for the vehicle to be stored.
Through the parking space double detection, the accuracy of the parking space data of the stereo garage can be corrected, the operation safety of the stereo garage is improved, and the total number and the occupancy rate of vehicles of the stereo garage can be counted manually; compared with the existing parking space detection, the parking space detection system and method utilizing image processing aim at further correcting whether a vehicle is in the parking space when the vehicle is in the parking space, so that the problem of collision safety caused by the fact that two vehicles are distributed to the same parking space when the vehicles are parked due to the light, scenes and the like is avoided, and the safety of the stereo garage is improved.
The parking space double detection method of the present disclosure is described in detail below with reference to fig. 2-4, wherein fig. 2 shows a flowchart of a parking space double detection method according to an example embodiment of the present disclosure; FIG. 3 is a flow chart of selecting the most accurate parking lot image through image processing; fig. 4 shows a flow chart of a method for analyzing the most accurate parking space image.
Fig. 2 shows a flow chart of a vehicle space double detection method according to an example embodiment of the present disclosure.
In S201, the electronic control and intelligent management system initially identifies the empty space information according to the detection signal of the detection switch. The detection switch can be an infrared detection switch, an ultrasonic detection switch and the like, and is used for preliminarily detecting whether the parking space is empty or not.
According to an example embodiment of the present disclosure, the detection switches may be multiple, and distributed at various positions in a stereo garage or other types of garages/parking lots (even the detection switches may be disposed at each parking space) to better cover all parking spaces.
According to an example embodiment of this disclosure, wherein dual detection system of parking stall is used for stereo garage. The present disclosure is not so limited and may be used with other types of garages/parking lots.
In S202, the electronic control and intelligent management system allocates parking spaces to the vehicles to be parked according to the initially identified empty space information, that is, selects one of the initially identified empty spaces to be allocated to the vehicle to be parked as the parking space.
In S203, the transporting device transports the vehicle to be stored to the entrance of the parking space according to the received parking space information. The planning of the path to the parking space to be stored can be carried out by a carrying device or an electric control and intelligent management system.
And S204, starting an image acquisition device on the carrying equipment to acquire the images/pictures of the parking lot to be stored and transmitting the images/pictures to an electronic control and intelligent management system for accurate judgment.
According to an example embodiment of the present disclosure, wherein the accurately judging includes: selecting the most accurate parking lot image/picture to be stored through image processing; analyzing the most accurate parking lot image/picture to be stored; and judging whether the parking space is empty or not according to the analysis result.
According to an example embodiment of the present disclosure, the selecting the most accurate parking lot image/picture through image processing includes: and comprehensively calculating and selecting the most accurate parking lot image/picture through the definition detection value, the brightness detection value and the color cast detection value.
Specifically, after images/pictures shot by a camera on the carrying equipment are obtained, the most accurate images/pictures are selected through comprehensive calculation of a definition detection value, a brightness detection value and a color cast detection value.
Definition: the definition of the picture can be evaluated by the statistical characteristics of the gradient, and generally, the higher the gradient value is, the richer the edge information of the picture is, the clearer the image is, and the definition can be measured by the sum of the squares of the image gradient and the sum of the absolute values of the gradient.
Luminance deviation: the brightness detection is similar to the color cast detection, the mean value and the variance of the image on the gray scale image are calculated, when the brightness is abnormal, the mean value deviates from a mean value point, and the variance is small; by calculating the mean and variance of the gray scale map, the image brightness deviation can be evaluated.
And (3) color cast detection: the RGB image is transformed into the CIE L a b space, where L denotes the image brightness, a denotes the image red/green component and b denotes the image yellow/blue component. When the image has color deviation, the mean values on the a and b components are far away from the original point, and the variance is small; the degree of color shift of the image is evaluated by calculating the mean and variance of the image over the a and b components.
According to an example embodiment of the present disclosure, the selecting the most accurate parking lot image/picture through image processing further includes: after the most accurate parking lot image/picture is selected, the image/picture is subjected to light ray filtration to adjust the brightness and the contrast, then the gray level of the image/picture is processed, and finally the image/picture is stored. That is, as shown in fig. 3, after the most accurate image/picture is selected, the image/picture is subjected to light filtering, the brightness and contrast of the image/picture are adjusted, the gray scale of the image/picture is processed, and the processed image/picture is stored.
According to an example embodiment of the present disclosure, the analyzing the most accurate parking space image/picture includes: and arranging a special color mark at one end of each parking space far away from the entrance, analyzing and judging whether the most accurate image/picture of the parking space to be stored has the special color mark, if so, judging that the parking space to be stored is empty, and if not, judging that the parking space to be stored is not empty.
According to an example embodiment of the present disclosure, the analyzing and determining whether the most accurate parking lot image/picture has the special color identifier includes: the analysis and judgment are carried out through shape recognition and/or color recognition. That is, as shown in fig. 4, a special color mark is provided at an end of the parking space far from the conveying device, and the processed image is analyzed to determine whether the special color mark, such as a green triangle mark, exists. The method specifically comprises the following steps: firstly, shape recognition: firstly, preprocessing an image/picture, including gray level conversion and image smoothing of the image/picture; then, the image/picture is divided into various regions according to the characteristics formed by consistency in the image/picture, and the images of the various regions are extracted and then post-processed according to morphological operation. Comparing the shapes according to the simple geometric characteristics and the transform domain characteristics of the special mark, and judging whether the special mark of the shape exists in the image/picture; secondly, color recognition: calculating the pixel coordinate distribution of the image in the original image from the shape of the special mark in the acquired image/picture, acquiring the color of the shape, and comparing the color with the special color mark. And finally, integrating the recognition results of the two aspects to judge. If yes, judging that the parking space to be stored is empty, and controlling the carrying equipment to store the vehicle to be stored in the parking space by the electronic control and intelligent management system; if not, the parking space to be stored is judged to be not empty, and the electric control and intelligent management system reallocates the parking space for the vehicle to be stored at the moment, so that the parking space management system is suitable for non-double-row garage types.
According to an example embodiment of the present disclosure, the analyzing the most accurate parking space image/picture includes: and acquiring initial images/pictures of all the vacant parking spaces in advance, comparing and analyzing the most accurate parking space image/picture to be stored with the corresponding initial image/picture, and judging the similarity of the two images/pictures.
According to an example embodiment of the present disclosure, the determining the similarity of the two includes: and judging through cosine similarity and/or a perceptual hash algorithm.
Specifically, as shown in fig. 4, the initial images/pictures of all the parking spaces in an idle state may be obtained in advance, the processed images/pictures are compared with the initial images/pictures for analysis, and the similarity between the processed images/pictures and the initial images/pictures is determined, where the similarity determination methods include two methods:
1. cosin similarity (cosine similarity): representing the images/pictures into a vector, and representing the similarity of the two images/pictures by calculating the cosine distance between the vectors;
2. perceptual hashing algorithm: and generating a corresponding fingerprint character string for each image/picture according to a certain rule. Comparing fingerprint strings between different images/pictures, the closer the result, the more similar the images/pictures. The algorithm idea of the fingerprint character string is as follows:
1) inputting an image/picture, 2) graying, 3) normalizing the image/picture size to 8 × 8, 4) simplifying the grays to reduce the amount of computation, e.g., dividing all grays by 5, 5) computing an average grayscale value avg, 6) comparing the 8 × 8 pixels with the average grayscale value avg, and if the average grayscale value avg is large, it is 1, and if the average grayscale value avg is small, it is 0, and arranging the values in a regular order to form a 64-bit 2-ary fingerprint code. 7) And comparing the fingerprint codes of the two images/pictures, and calculating the similarity. If the similarity reaches a certain value, for example 90, the parking space is judged to be empty, and at the moment, the electric control and intelligent management system controls the carrying equipment to store the vehicle to be stored in the parking space; if the similarity is smaller than the certain value, the parking space to be stored is judged to be not empty, and the electric control and intelligent management system reallocates the parking space for the vehicle to be stored at the moment, so that the method is suitable for non-repeated warehouse types.
It should be noted that, the two above-mentioned methods for analyzing the most accurate parking lot image/picture, that is, the method for identifying the special color mark and the method for comparing the similarity, may be performed in one of the methods, or may be performed in two methods at the same time, and the analysis results in the two methods are combined to perform comprehensive judgment, so as to further improve the accuracy of the analysis.
In S205, when the parking space is accurately determined to be empty, the handling device moves the vehicle to be parked to the parking space. That is to say, whether a vehicle exists in the processed image/picture is analyzed, if not, the parking space to be stored is judged to be empty, and at the moment, the electric control and intelligent management system controls the carrying equipment to store the vehicle to be stored in the parking space; if yes, the parking space to be stored is judged to be not empty, and the electric control and intelligent management system reallocates the parking space for the vehicle to be stored at the moment, so that the method is applicable to the lane wide stereo garage. The present disclosure is not so limited and may be used in other types of stereo garages and other types of garages/parking lots
Fig. 5 shows a flowchart of a vehicle space double detection method according to another exemplary embodiment of the present disclosure, wherein S501-S505 are the same as S201-S205, which are not repeated herein, and only S506 is described below:
at 506, when the parking space is accurately judged to be not empty, the electronic control and intelligent management system reallocates the parking space for the vehicle to be parked, namely, reselects one of the parking spaces which are initially identified as empty and allocates the vehicle to be parked as a new parking space.
Those skilled in the art will readily appreciate from the foregoing detailed description that the systems and methods according to embodiments of the present disclosure have one or more of the following advantages.
According to some example embodiments of this disclosure, through the dual detection of parking stall, can rectify stereo garage parking stall data's exactness, improve stereo garage operation security.
According to some example embodiments of the present disclosure, the total number of vehicles and the occupancy rate of the stereo garage can be checked instead of manually through the parking space double detection.
According to some example embodiments of the present disclosure, compared with the existing parking space detection, the parking space detection method using image processing of the present disclosure aims to further correct whether a vehicle is in the parking space when the vehicle is in the parking space, so as to avoid the collision safety problem that two vehicles are allocated to the same parking space when the vehicle is parked due to light, scene and other reasons, and improve the safety of the stereo garage.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (15)
1. The utility model provides a dual detecting system in parking stall, includes detection switch, image acquisition device and automatically controlled and intelligent management system, wherein:
the detection switch is used for initially identifying the empty parking space information;
the image acquisition device is arranged on the carrying equipment and used for acquiring images of the parking space to be stored when the carrying equipment carries the parking space to be stored to the entrance of the parking space according to the parking space information sent by the electric control and intelligent management system; and
the electric control and intelligent management system is used for: allocating parking spaces for the vehicles to be parked according to the initially identified empty parking space information; and accurately judging the image of the parking space to be parked, and when the image of the parking space to be parked is accurately judged to be empty, instructing the carrying equipment to move the parking space to be parked.
2. The system of claim 1, wherein the dual parking detection system is used in a stereo garage.
3. The system of claim 1 or 2, further comprising a color-specific marker disposed at an end of each vehicle remote from the entrance.
4. A system according to claim 1 or 2, wherein the detection switch comprises an infrared detection switch and/or an ultrasonic detection switch.
5. The system according to claim 1 or 2, wherein the detection switch is plural.
6. A parking space double detection method comprises the following steps:
the electric control and intelligent management system initially identifies the empty parking space information according to the detection signal of the detection switch;
the electric control and intelligent management system allocates parking spaces for the vehicles to be parked according to the initially identified empty parking space information;
the carrying equipment carries the vehicle to be stored to the entrance of the parking space according to the received parking space information;
starting an image acquisition device on the carrying equipment to acquire the parking lot image and transmitting the parking lot image to an electronic control and intelligent management system for accurate judgment; and
and when the parking space to be stored is accurately judged to be empty, the carrying equipment moves the vehicle to be stored to the parking space to be stored.
7. The method of claim 6, wherein the dual parking space detection method is used in a stereo garage.
8. The method of claim 6 or 7, wherein the accurate determination comprises:
selecting the most accurate parking lot image to be stored through image processing;
analyzing the most accurate parking lot image to be stored; and
and judging whether the parking space is empty or not according to the analysis result.
9. The method of claim 8, wherein the selecting the most accurate parking lot image through image processing comprises: and comprehensively calculating and selecting the most accurate parking lot image to be stored through the definition detection value, the brightness detection value and the color cast detection value.
10. The method of claim 9, wherein the step of selecting the most accurate parking lot image by image processing further comprises: after the most accurate parking lot image is selected, the image is subjected to light ray filtration to adjust the brightness and the contrast, then the gray scale of the image is processed, and finally the image is stored.
11. The method of claim 8, wherein analyzing the most accurate parking space image comprises: and arranging a special color mark at one end of each parking space far away from the entrance, analyzing and judging whether the most accurate image of the parking space to be stored has the special color mark, if so, judging that the parking space to be stored is empty, and if not, judging that the parking space to be stored is not empty.
12. The method of claim 11, wherein analyzing the most accurate parking lot image to determine whether the specific color identifier is included comprises: the analysis and judgment are carried out through shape recognition and/or color recognition.
13. The method of claim 8, wherein analyzing the most accurate parking space image comprises: and acquiring initial images of all the parking spaces when the parking spaces are idle in advance, comparing and analyzing the most accurate parking space image to be stored with the corresponding initial image, and judging the similarity of the parking space image and the corresponding initial image.
14. The method of claim 13, wherein determining the similarity comprises: and judging through cosine similarity and/or a perceptual hash algorithm.
15. The method of claim 6, further comprising: and when the parking space is accurately judged to be not empty, the electric control and intelligent management system redistributes the parking space for the parking vehicle.
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