CN113593057A - In-road parking space management method based on unmanned aerial vehicle routing inspection - Google Patents
In-road parking space management method based on unmanned aerial vehicle routing inspection Download PDFInfo
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Abstract
The invention provides an in-road parking space management method based on unmanned aerial vehicle inspection, and relates to the technical field of in-road parking management. The method comprises the following steps: and inputting a plurality of berth images acquired by the unmanned aerial vehicle into the target vehicle detection network model to obtain the berth images containing the target vehicle and the position of the target vehicle. And inputting the target vehicle image acquired by the unmanned aerial vehicle into the license plate segmentation network model to obtain a target license plate image. And processing the target license plate image to obtain a target license plate number. If the unmanned aerial vehicle patrols and shoots that the target vehicle is not in the parking space, recording the time when the unmanned aerial vehicle patrols and shoots that the target vehicle is not in the parking space, acquiring the time when the unmanned aerial vehicle patrols and shoots the target vehicle image last time, calculating the median of the two times, and taking the median as the outgoing time. And calculating the parking cost of the target vehicle according to the entrance time and the exit time. Therefore, the effect of recording and managing the vehicles on the parking spaces without manual monitoring is achieved, and the efficiency of parking charging is improved.
Description
Technical Field
The invention relates to the technical field of in-road parking management, in particular to an in-road parking space management method based on unmanned aerial vehicle routing inspection.
Background
With the increase of the quantity of the automobiles in China, the automobile parking positions are gradually tense, the difficulty in parking in cities is relieved by temporary parking positions arranged in urban roads, but the parking management of the temporary parking positions faces a great challenge.
The existing open type on-road parking management is mainly divided into manual management and traditional intelligent parking management. The manual management is that the patrol inspector holds the PDA to record the information of the vehicles entering the parking space in the management area, and charges the fees before the vehicles leave the parking space. However, in manual charging management, the management area of a toll collector is limited, charging is difficult to monitor, the arrearage cannot be paid, and the operation management labor cost is high. Traditional intelligence parking management detects the vehicle through installing parking stall lock or earth magnetism equipment on the parking stall is subaerial, through high license plate recognizer record vehicle information, though need not artifical on duty, but a high license plate recognizer can only take notes vehicle information on several berths, and every berth all need be at subaerial installation vehicle detection equipment, and construction and maintenance cost are higher. The prior art cannot provide a parking management charging method which is low in management labor cost, few in installation equipment and low in construction and operation maintenance cost.
Disclosure of Invention
The invention aims to provide an in-road parking space management method based on unmanned aerial vehicle inspection, which can provide a parking management charging method with low management labor cost, less installation equipment and low construction and operation maintenance cost.
The embodiment of the invention is realized by the following steps:
in a first aspect, an embodiment of the present application provides an in-road parking space management method based on unmanned aerial vehicle routing inspection, which includes the following steps: the unmanned aerial vehicle sails and shoots at a first flying height according to a preset routing inspection route to obtain a plurality of berth images, and the plurality of berth images are transmitted to the parking management platform. The parking management platform inputs the plurality of parking images into a preset target vehicle detection network model to obtain the parking images containing the target vehicles and the positions of the target vehicles, and the shooting time of the parking images containing the target vehicles is used as the driving time. The unmanned aerial vehicle adjusts to the second flying height according to the position of the target vehicle so as to shoot the target vehicle, so that a target vehicle image is obtained, and the target vehicle image is transmitted to the parking management platform. And the parking management platform inputs the target vehicle image into a preset license plate segmentation network model to obtain a target license plate image. And the parking management platform processes the target license plate image to obtain a target license plate number. And repeating the steps, if the unmanned aerial vehicle patrols and shoots that the target vehicle is not in the parking space, recording the time that the target vehicle is not in the parking space in the current patrolling and shooting by the parking management platform, acquiring the time that the target vehicle image is shot in the last patrolling and shooting by the unmanned aerial vehicle, calculating the median value of the two times, and taking the median value as the outgoing time. The parking management platform calculates the parking fee of the target vehicle according to the entrance time and the exit time.
In some embodiments of the present invention, before the step of inputting the parking position image into the preset target vehicle detection network model by the parking management platform, the method further includes: and establishing a target detection initial model. And obtaining a sample, wherein the sample is a vehicle in a manually marked pre-collected image. And training the target detection initial model according to the sample to obtain a trained target vehicle detection network model.
In some embodiments of the present invention, before the step of inputting the target vehicle image into the preset license plate segmentation network model by the parking management platform, the method further includes: and establishing a license plate detection initial model. And obtaining a sample, wherein the sample is a license plate in a manually marked pre-collected image. And training a license plate detection initial model according to the sample to obtain a trained license plate segmentation network model.
In some embodiments of the present invention, the step of processing the target license plate image by the parking management platform to obtain the target license plate number includes: and carrying out perspective transformation on the target license plate image to obtain a perspective transformation image. And carrying out gray level processing and smooth filtering processing on the perspective transformation image to obtain a processed image. And carrying out binarization processing on the processed image to obtain a binary image. And carrying out edge detection on the binary image to obtain the minimum bounding rectangle of the edge. And intercepting each character in the binary image by using the minimum circumscribed rectangle, and performing template matching on each character to obtain the target license plate number.
In some embodiments of the present invention, after the step of processing the target license plate image by the parking management platform to obtain the target license plate number, the method further includes: and inquiring the actual defaulting times of the target license plate number, and if the actual defaulting times exceed the preset defaulting times, sending a notice to a manager. And if the actual defaulting times do not exceed the preset defaulting times, recording the target license plate number and the defaulting information.
In some embodiments of the invention, the parking management platform includes: and the vehicle detection unit is used for inputting the berth image to a preset target vehicle detection network model, obtaining the berth image containing the target vehicle and the position of the target vehicle, and taking the shooting time of the berth image containing the target vehicle as the entering time. And the license plate recognition unit is used for inputting the target vehicle image into a preset license plate segmentation network model to obtain a target license plate image. And the license plate number recognition unit is used for processing the target license plate image to obtain the target license plate number. And the outgoing time calculating unit is used for recording the time that the target vehicle is not in the parking space when the unmanned aerial vehicle patrols and shoots the target vehicle not in the parking space, acquiring the time that the unmanned aerial vehicle patrols and shoots the target vehicle image last time, calculating the median value of the two times, and taking the median value as the outgoing time. And the charging unit is used for calculating the parking fee of the target vehicle according to the entrance time and the exit time.
In some embodiments of the present invention, the step of the unmanned aerial vehicle navigating at the first flying height according to the preset routing inspection route includes: according to filling electric pile position and parking stall position, set for and patrol and examine the route, patrol and examine the route and will fill electric pile position as unmanned aerial vehicle position of taking off. After unmanned aerial vehicle accomplishes a round and patrols and examines, unmanned aerial vehicle will be close to filling electric pile. When the distance between the unmanned aerial vehicle and the charging pile reaches a preset distance threshold value, the unmanned aerial vehicle slowly descends to land. After unmanned aerial vehicle landed, unmanned aerial vehicle carries out wireless charging with filling electric pile.
In some embodiments of the present invention, after the step of calculating the parking fee of the target vehicle according to the entry time and the exit time by the parking management platform, the method includes: and receiving the parking fee of the target vehicle through the payment interface, and updating the parking fee of the target vehicle.
In a second aspect, an embodiment of the present application provides an electronic device, which includes a memory for storing one or more programs; a processor. The program or programs, when executed by a processor, implement the method of any of the first aspects as described above.
In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method according to any one of the above first aspects.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:
the invention provides an in-road parking space management method based on unmanned aerial vehicle routing inspection, which comprises the following steps: the unmanned aerial vehicle sails and shoots at a first flying height according to a preset routing inspection route to obtain a plurality of berth images, and the plurality of berth images are transmitted to the parking management platform. The parking management platform inputs the plurality of parking images into a preset target vehicle detection network model to obtain the parking images containing the target vehicles and the positions of the target vehicles, and the shooting time of the parking images containing the target vehicles is used as the driving time. The unmanned aerial vehicle adjusts to the second flying height according to the position of the target vehicle so as to shoot the target vehicle, so that a target vehicle image is obtained, and the target vehicle image is transmitted to the parking management platform. And the parking management platform inputs the target vehicle image into a preset license plate segmentation network model to obtain a target license plate image. And the parking management platform processes the target license plate image to obtain a target license plate number. And repeating the steps, if the unmanned aerial vehicle patrols and shoots that the target vehicle is not in the parking space, recording the time that the target vehicle is not in the parking space in the current patrolling and shooting by the parking management platform, acquiring the time that the target vehicle image is shot in the last patrolling and shooting by the unmanned aerial vehicle, calculating the median value of the two times, and taking the median value as the outgoing time. The parking management platform calculates the parking fee of the target vehicle according to the entrance time and the exit time. A plurality of berth images are aerial-photographed by the unmanned aerial vehicle and transmitted to the parking management platform. And the parking management platform processes the plurality of parking images to obtain the position of the target vehicle. According to the determined position of the target vehicle, the unmanned aerial vehicle shoots the target vehicle image and transmits the target vehicle image to the parking management platform, the parking management platform intercepts the target license plate image in the target vehicle image, and then processes the target license plate image to obtain the target license plate number. In the process of carrying out successive routing inspection on the unmanned aerial vehicle, when detecting that no target vehicle with a target license plate number exists in the position of the target vehicle, the median of the time of shooting the image of the target vehicle and the time of shooting the position of the target vehicle in the previous routing inspection of the unmanned aerial vehicle is taken as the outgoing time of the target vehicle, the effect of recording and managing the vehicles on the parking spaces without manual monitoring is achieved, in addition, the method does not need to install parking space locks or geomagnetic equipment on each parking space, does not need a high-level license plate recognition instrument to record vehicle information, and effectively reduces the construction, operation and maintenance costs of installation equipment. And the parking management platform can also calculate the parking fee of the target vehicle according to the entrance time and the exit time, thereby improving the efficiency of parking charging.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of an in-road parking space management method based on unmanned aerial vehicle routing inspection according to an embodiment of the present invention;
fig. 2 is a block diagram of a parking management platform according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an image of a target vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a segmentation of a target license plate image according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a target license plate image according to an embodiment of the present disclosure;
FIG. 6 is a diagram illustrating an embodiment of processing an image;
fig. 7 is a schematic diagram of a binary image according to an embodiment of the present invention;
fig. 8 is a schematic diagram of edge detection on a binary image according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an image for processing each character in the image according to an embodiment of the present invention;
fig. 10 is a schematic diagram of an implementation process of the method for managing parking spaces in a road based on unmanned aerial vehicle routing inspection according to the embodiment of the present invention;
fig. 11 is a schematic structural block diagram of an electronic device according to an embodiment of the present invention.
Icon: 100-parking management platform; 110-a vehicle detection unit; 120-license plate recognition unit; 130-license plate number recognition unit; 140-an exit time calculation unit; 150-a calculation unit; 101-a memory; 102-a processor; 103-a communication interface; 1-unmanned aerial vehicle; 2-a first charging pile; and 3, a second charging pile.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", "third", etc. are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the presence of an element identified by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer", etc. are used to indicate an orientation or positional relationship based on that shown in the drawings or that the application product is usually placed in use, the description is merely for convenience and simplicity, and it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore should not be construed as limiting the present application.
In the description of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the individual features of the embodiments can be combined with one another without conflict.
Examples
Referring to fig. 1, fig. 3, fig. 4, and fig. 5, fig. 1 is a flowchart illustrating an in-road parking space management method based on unmanned aerial vehicle 1 inspection according to an embodiment of the present application, fig. 3 is a schematic diagram illustrating a target vehicle image according to an embodiment of the present application, fig. 4 is a schematic diagram illustrating a segmentation of the target license plate image according to an embodiment of the present application, and fig. 5 is a schematic diagram illustrating a target license plate image according to an embodiment of the present application. The embodiment of the application provides an in-road parking space management method based on unmanned aerial vehicle 1 routing inspection, which comprises the following steps:
s110: the unmanned aerial vehicle 1 sails and shoots at a first flight height according to a preset routing inspection route to obtain a plurality of berth images, and transmits the berth images to the parking management platform 100;
set for according to the position on parking stall and the position of filling electric pile and patrol and examine the route, it is specific, fill electric pile and install in unmanned aerial vehicle 1's the position of taking off and the terminal point position, fill electric pile and charge for unmanned aerial vehicle 1 to guarantee that unmanned aerial vehicle 1 normally patrols and examines, when the position annular on roadside parking stall was arranged, will patrol and examine the route and set for arranging unanimous annular with the position on roadside parking stall, at this moment, unmanned aerial vehicle 1's the position of taking off and terminal point position can be same position. When the position of roadside parking stall was the linear arrangement, will patrol and examine the route and set for the position arrangement unanimous straight line with roadside parking stall, at this moment, unmanned aerial vehicle 1's takeoff position and terminal position are located the both ends of above-mentioned straight line. The user can select to utilize an unmanned aerial vehicle 1 to patrol and examine or two unmanned aerial vehicles 1 patrol and examine according to actual conditions, when utilizing an unmanned aerial vehicle 1 to patrol and examine, can reduce unmanned aerial vehicle 1's quantity cost to a certain extent. When utilizing two unmanned aerial vehicle 1 to patrol and examine, two unmanned aerial vehicle 1 patrol and examine in turn and can prolong unmanned aerial vehicle 1's charging time. The time that a round of inspection is carried out to a unmanned aerial vehicle 1 is related to the length of the route of patrolling and examining, unmanned aerial vehicle 1's quantity. If the routing inspection route is longer, and only one unmanned aerial vehicle 1 is used for routing inspection, the longer the time for the unmanned aerial vehicle 1 to carry out round of inspection is. For example, the time for one round of inspection by one drone 1 may be 10 minutes.
Unmanned aerial vehicle 1 takes off from filling electric pile according to patrolling and examining the route to first flying height navigation, first flying height more is favorable to unmanned aerial vehicle 1 to utilize the whole condition on all parking stalls of high definition digtal camera shooting. Illustratively, the first flying height may be between 3m and 3.5m, considering that the height of the vehicle is typically between 1.3m and 2.2 m. Unmanned aerial vehicle 1 is flying with 3m to 3.5 m's first flying height and when not influencing unmanned aerial vehicle 1 and normally patrolling and examining, the whole condition in parking stall also can clearly be shot to high definition digtal camera. Unmanned aerial vehicle 1 shoots many berth images through high definition digtal camera at the in-process of patrolling and examining, can intercommunicate between unmanned aerial vehicle 1 and the management platform 100 that parks, then unmanned aerial vehicle 1 transmits the information of many berth images to the management platform 100 that parks. The plurality of parking space images include position information of all parking spaces in the road.
S120: the parking management platform 100 inputs a plurality of parking images into a preset target vehicle detection network model to obtain a parking image containing a target vehicle and a target vehicle position, and takes the shooting time of the parking image containing the target vehicle as the driving time;
specifically, after the target vehicle detection network detects the target vehicle in the parking image, the position of the target vehicle is labeled to obtain the position of the target vehicle. And taking the earliest time containing the berth image of the target vehicle as the entering time of the target vehicle.
S130: the unmanned aerial vehicle 1 adjusts the position of the target vehicle to a second flying height so as to shoot the target vehicle, so as to obtain a target vehicle image, and transmits the target vehicle image to the parking management platform 100;
specifically, after parking management platform 100 determines the position of the target vehicle, parking management platform 100 will send an instruction to unmanned aerial vehicle 1, and unmanned aerial vehicle 1 flies to the place ahead of the target vehicle according to the instruction and descends to a second flying height, which is lower than the first flying height. Illustratively, the second fly height may be between 2.5m and 3 m. The second flying height is more favorable to unmanned aerial vehicle 1 to utilize high definition digtal camera to shoot the target vehicle on the target vehicle position, shoots target vehicle image through high definition digtal camera to transmit target vehicle image to parking management platform 100. After the target vehicle image is completed, the unmanned aerial vehicle 1 ascends to the first flying height and continues to sail according to the routing inspection route.
S140: the parking management platform 100 inputs the target vehicle image into a preset license plate segmentation network model to obtain a target license plate image;
specifically, the license plate segmentation network model can segment a target license plate image from a target vehicle image. When the target vehicle image is divided into the target license plate images, the target license plate image is divided into 1 and the other parts are divided into 0, so that the target license plate image is obtained.
S150: the parking management platform 100 processes the target license plate image to obtain a target license plate number;
specifically, the parking management platform 100 may perform various processing on the target license plate image, determine each character in the target license plate image, and thereby obtain the target license plate number.
S160: repeating the steps, if the unmanned aerial vehicle 1 inspects and shoots that the target vehicle is not in the parking space, recording the time that the target vehicle is not in the parking space by the current inspection and shooting, acquiring the time that the unmanned aerial vehicle 1 inspects and shoots the image of the target vehicle last time, calculating the median value of the two times, and taking the median value as the outgoing time;
specifically, when the parking space management platform detects the parking space image shot by the unmanned aerial vehicle 1 in the inspection process, if no target vehicle is detected on the position of the target vehicle, the parking space image is shown to be left by the target vehicle, and since the target vehicle leaves between the last inspection and the current inspection, the median of the time when the unmanned aerial vehicle 1 shoots the target vehicle image and the time when the unmanned aerial vehicle 1 shoots the target vehicle position in the previous inspection is used as the running-out time of the target vehicle.
S170: the parking management platform 100 calculates a parking fee of the target vehicle according to the entrance time and the exit time.
In the above implementation process, the unmanned aerial vehicle 1 takes a plurality of parking images by aerial photography and transmits the images to the parking management platform 100. The parking management platform 100 processes the plurality of parking position images to obtain the target vehicle position. According to the determined position of the target vehicle, the unmanned aerial vehicle 1 shoots an image of the target vehicle and transmits the image to the parking management platform 100, the parking management platform 100 intercepts the image of the target license plate in the image of the target vehicle and processes the image of the target license plate to obtain the number of the target license plate. In the process of carrying out successive routing inspection on the unmanned aerial vehicle 1, when detecting that no target vehicle with a target license plate number exists in the position of the target vehicle, the median of the time of shooting the image of the target vehicle and the time of shooting the position of the target vehicle in the previous routing inspection of the unmanned aerial vehicle 1 is taken as the exit time of the target vehicle, the effect of recording and managing the vehicles on the parking spaces without manual monitoring is achieved, in addition, the method does not need to install parking space locks or geomagnetic equipment on each parking space, does not need a high-level license plate identifier to record vehicle information, and effectively reduces the construction and operation maintenance cost of installation equipment. And the parking management platform 100 can also calculate the parking fee of the target vehicle according to the entrance time and the exit time, thereby improving the efficiency of parking charging.
Referring to fig. 10, as shown in fig. 10, a schematic diagram of an implementation process of the method for managing parking spaces in a road based on routing inspection by an unmanned aerial vehicle 1 according to the embodiment of the present application is shown. Unmanned aerial vehicle 1 takes off from first filling electric pile 2, patrols and examines along predetermineeing the route, and unmanned aerial vehicle 1 shoots the image of berth through high definition digtal camera to upload the image of berth to parking management platform 100. For example, taking the parking space numbered 220123 as an example, the parking management platform 100 inputs the parking space image into the target vehicle detection network model, and obtains the parking space numbered 220123 at the target vehicle position. According to the specific position of the parking space No. 220123, the drone 1 adjusts to the second flying height to capture the image of the target vehicle at the parking space No. 220123, and transmits the image of the target vehicle to the parking management platform 100. The parking management platform 100 inputs the target vehicle image into the license plate segmentation network model to obtain a target license plate image, and processes the target license plate image to obtain a target license plate number. The parking management platform 100 inquires the defaulting condition of the target license plate number, and if the defaulting times exceed the defaulting times set by the parking management platform 100 or the defaulting amount exceeds the upper limit of the amount set by the parking management platform 100, the parking management platform 100 informs the manager to charge the user forcibly. When unmanned aerial vehicle 1 flies to the terminal point position, unmanned aerial vehicle 1's high definition digtal camera carries out image acquisition to the electric pile that fills of terminal point position to fill electric pile image upload to unmanned aerial vehicle control system, unmanned aerial vehicle control system detects the landing beacon that fills electric pile, and calculates landing beacon and unmanned aerial vehicle 1's relative position. According to relative position adjustment unmanned aerial vehicle 1's position, unmanned aerial vehicle 1's ultrasonic ranging module can measure the distance of unmanned aerial vehicle 1 and landing beacon, and when ultrasonic ranging module detected that unmanned aerial vehicle 1 and the distance of filling electric pile reached preset distance threshold, unmanned aerial vehicle 1 slowly descended to the landing. After landing, the unmanned aerial vehicle 1 carries out Bluetooth communication with the charging pile, and then the charging pile carries out wireless charging for the unmanned aerial vehicle 1. After the unmanned aerial vehicle 1 flies to the terminal position, another unmanned aerial vehicle 1 takes off from the terminal position according to the preset routing inspection to carry out a new round of inspection. Another unmanned aerial vehicle 1 will shoot the image of the parking space and upload the image of the parking space to the parking management platform 100. The parking management platform 100 processes the parking space image, when the parking management platform 100 detects that the target license plate number does not exist in the parking space with the number 220123, it indicates that the target vehicle leaves the parking space at the moment, and since the target vehicle leaves between the previous patrol and the current patrol, the median value of the time when the unmanned aerial vehicle 1 patrols and shoots the image of the target vehicle and the time when the unmanned aerial vehicle 1 patrols and shoots the position of the target vehicle at the current patrol is used as the exit time of the target vehicle. The parking management platform 100 calculates parking cost of the target vehicle according to the entrance time and the exit time, and stores information such as parking cost of the target vehicle, a target license plate number, a target vehicle position and the like as the current parking information of the target license plate number. And when the difference between the driving-in time and the driving-out time of the target vehicle is less than ten minutes, the parking information is not recorded. Thereby reached and need not artifical control and carried out the effect of record management to the vehicle on the parking stall, need not install parking stall lock or earth magnetism equipment to every parking stall moreover, also need not high-order license plate recognition appearance record vehicle information, effectively reduced the construction and the operation maintenance cost of erection equipment. And the parking management platform 100 can also calculate the parking fee of the target vehicle according to the entrance time and the exit time, thereby improving the efficiency of parking charging.
In some embodiments of this embodiment, before the step of inputting the parking space image into the preset target vehicle detection network model by the parking management platform 100, the method further includes: and establishing a target detection initial model. And obtaining a sample, wherein the sample is a vehicle in a manually marked pre-collected image. And training the target detection initial model according to the sample to obtain a trained target vehicle detection network model. Specifically, a plurality of berth images collected by the high-definition camera are collected in advance, vehicles in the plurality of the pre-collected berth images are manually marked, and the manually marked vehicles in the plurality of the berth images are used as samples. And training the target detection initial model through the samples to generate a target vehicle detection network model. The target vehicle position can be obtained by detecting a plurality of berth images through the target vehicle detection network model.
In some embodiments of this embodiment, before the step of inputting the target vehicle image into the preset license plate segmentation network model by the parking management platform 100, the method further includes: and establishing a license plate detection initial model. And obtaining a sample, wherein the sample is a license plate in a manually marked pre-collected image. And training a license plate detection initial model according to the sample to obtain a trained license plate segmentation network model. Specifically, a plurality of vehicle images collected by the high-definition camera are collected in advance, license plates in the plurality of vehicle images are manually marked, and the manually marked license plates in the plurality of vehicle images are used as samples. And training a license plate detection initial model through a sample to generate a license plate segmentation network model. The license plate segmentation network model is used for processing the target vehicle image, so that the target license plate image can be intercepted from the target vehicle image.
Referring to fig. 6 to 9, fig. 6 is a schematic diagram of a processed image according to an embodiment of the present disclosure, fig. 7 is a schematic diagram of a binary image according to an embodiment of the present disclosure, fig. 8 is a schematic diagram of edge detection on a binary image according to an embodiment of the present disclosure, and fig. 9 is a schematic diagram of an image of each character in a processed image according to an embodiment of the present disclosure. The step of processing the target license plate image by the parking management platform 100 to obtain the target license plate number includes: and carrying out perspective transformation on the target license plate image to obtain a perspective transformation image. And carrying out gray level processing and smooth filtering processing on the perspective transformation image to obtain a processed image. And carrying out binarization processing on the processed image to obtain a binary image. And carrying out edge detection on the binary image to obtain the minimum bounding rectangle of the edge. And intercepting each character in the binary image by using the minimum circumscribed rectangle, and performing template matching on each character to obtain the target license plate number. Specifically, a perspective transformation image is obtained by performing perspective transformation on the target license plate image, and the perspective transformation image is a top view of the target license plate image, that is, the target license plate image in a 2D shape in a 3D space shows a 3D visual effect. And processing the perspective transformation image through gray processing and smooth filtering processing to obtain a clearer processed image. And carrying out binarization processing on the processed image to obtain a binary image, which is more convenient for extracting image information. And inputting the binary image into a function cv2.findContours () for contour detection to obtain the contour of the target license plate image. The function cv2.findContours () is used for searching the outline of the target license plate, the input image is a binary image, and the returned result is the character outline in the target license plate image and the attribute corresponding to each outline. The outline of the target license plate image is input to a function cv2.minAreaRect () to obtain a minimum bounding rectangle of the edge of the character outline. The function cv2.minarearect () is a minimum bounding rectangle used to obtain a point set, and since the contour of the target license plate obtained by the function cv2.findcontours () is a point set, the minimum bounding rectangle of the contour of the target license plate can be found. The function return value rect of the function cv2.minarearect () includes information such as the center point coordinates, height width, and inclination angle of the minimum bounding rectangle. Inputting the function return value rect to the function cv2.boxpoints () can acquire the four vertex coordinates of the above-described minimum bounding rectangle. The function cv2.boxpoints () is used to convert the minimum circumscribed rectangle parameters such as the center point coordinates, the rectangle height width, the inclination angle, and the like obtained by the function cv2.minareaRect () into four fixed points of the minimum circumscribed rectangle, and then four vertexes of the minimum circumscribed rectangle of the target license plate outline can be obtained. And intercepting each character in the binary image according to the four vertex coordinates of the minimum circumscribed rectangle, and performing template matching on each character to obtain the target license plate number.
In some embodiments of this embodiment, after the step of processing the target license plate image by the parking management platform 100 to obtain the target license plate number, the method further includes: and inquiring the actual defaulting times of the target license plate number, and if the actual defaulting times exceed the preset defaulting times, sending a notice to a manager. And if the actual defaulting times do not exceed the preset defaulting times, recording the target license plate number and the defaulting information. Specifically, when the payment of the user is over, the parking fee is updated to be the arrearage, and the arrearage times of the target license plate number can be inquired according to the target license plate number. When the number of owing fees exceeds the number of owing fees set by the parking management platform 100 and the target license plate number is located in the on-road parking space again, the parking management platform 100 notifies a manager of the owing fees, and the user is charged forcibly. When the number of times of owing fee does not exceed the number of times of owing fee set by the parking management platform 100, the parking fee of the target vehicle of the target license plate number is recorded, and the user is waited to pay the fee.
As another implementation manner of this embodiment, the arrearage amount of the target license plate number may be queried according to the target license plate number. When the arrearage amount of the target license plate number exceeds the upper limit of the amount set by the parking management platform 100 and the target license plate number is located in the in-road parking space again, the parking management platform 100 notifies the manager, and the user is forced to be charged. When the arrearage amount of the target license plate number does not exceed the upper limit of the amount set by the parking management platform 100 and the arrearage times do not exceed the arrearage times set by the parking management platform 100, the parking fee of the target vehicle of the target license plate number is recorded, and the payment of the user is waited.
Referring to fig. 2, fig. 2 is a block diagram illustrating a parking management platform 100 according to an embodiment of the present disclosure. The parking management platform 100 includes: the vehicle detection unit 110 is configured to input the parking space image to a preset target vehicle detection network model, obtain a parking space image containing a target vehicle and a target vehicle position, and use a shooting time of the parking space image containing the target vehicle as an entry time. And the license plate recognition unit 120 is configured to input the target vehicle image to a preset license plate segmentation network model to obtain a target license plate image. And the license plate number recognition unit 130 is configured to process the target license plate image to obtain a target license plate number. The exit time calculation unit 140 is configured to record, if the unmanned aerial vehicle 1 patrols and shoots that the target vehicle is not in the parking space, the time when the unmanned aerial vehicle 1 patrols and shoots that the target vehicle is not in the parking space, obtain the time when the unmanned aerial vehicle 1 patrols and shoots the image of the target vehicle last time, calculate a median value of the two times, and use the median value as the exit time. And the charging unit is used for calculating the parking fee of the target vehicle according to the entrance time and the exit time. Specifically, the parking management platform 100 obtains the position of the target vehicle through the vehicle detection unit 110, obtains the image of the target license plate through the license plate recognition unit 120, obtains the number of the target license plate through the license plate number recognition unit 130, calculates the exit time through the exit time calculation unit 140, and calculates the parking fee of the target vehicle through the charging unit, so that the parking space in the road can be managed, the effect of recording and managing the vehicles on the parking space without manual monitoring is achieved, the parking fee of the target vehicle is calculated, and the parking charging efficiency is improved.
In some embodiments of this embodiment, the step of the unmanned aerial vehicle 1 navigating at the first flying height according to the preset routing inspection route includes: according to filling electric pile position and parking stall position, set for and patrol and examine the route, patrol and examine the route and will fill electric pile position as unmanned aerial vehicle 1 position of taking off. After unmanned aerial vehicle 1 accomplishes a round and patrols and examines, unmanned aerial vehicle 1 will be close to filling electric pile. When the distance between unmanned aerial vehicle 1 and the charging pile reaches a preset distance threshold, unmanned aerial vehicle 1 slowly descends to land. After unmanned aerial vehicle 1 lands, unmanned aerial vehicle 1 carries out wireless charging with filling electric pile. Specifically, all be provided with at unmanned aerial vehicle 1's the position of taking off and terminal point position and fill electric pile. Unmanned aerial vehicle 1 is connected with unmanned aerial vehicle control system, and unmanned aerial vehicle control system control unmanned aerial vehicle 1 takes off from the electric pile of taking off the position according to the predetermined route of patrolling and examining. After unmanned aerial vehicle 1 accomplishes a round and patrols and examines, unmanned aerial vehicle 1's high definition camera carries out image acquisition to the electric pile of filling of terminal point position to fill electric pile image upload to unmanned aerial vehicle control system, unmanned aerial vehicle control system detects the landing beacon of filling electric pile, and calculates landing beacon and unmanned aerial vehicle 1's relative position. According to relative position adjustment unmanned aerial vehicle 1's position, unmanned aerial vehicle 1's ultrasonic ranging module can measure the distance of unmanned aerial vehicle 1 and landing beacon, and when ultrasonic ranging module detected that unmanned aerial vehicle 1 and the distance of filling electric pile reached preset distance threshold, unmanned aerial vehicle 1 slowly descended to the landing. After landing, unmanned aerial vehicle 1 carries out bluetooth communication with charging pile, and then unmanned aerial vehicle 1 can carry out wireless charging with charging pile to guaranteed that unmanned aerial vehicle 1 can have sufficient electric quantity to patrol and examine next time.
It should be noted that, after the unmanned aerial vehicle 1 completes one round of inspection, the unmanned aerial vehicle control system controls another unmanned aerial vehicle 1 to take off from the terminal point position according to the predetermined inspection route to perform a new round of inspection.
In some embodiments of the present embodiment, after the step of calculating the parking fee of the target vehicle according to the entry time and the exit time by the parking management platform 100, the method includes: and receiving the parking fee of the target vehicle through the payment interface, and updating the parking fee of the target vehicle. Specifically, the user can inquire the defaulting condition of the target license plate number and pay the parking fee through a vehicle fee inquiry interface provided by the WeChat applet or the APP. When the payment interface receives the parking fee actually paid by the user, the target vehicle parking fee is cleared, or the target vehicle parking fee is saved after the parking fee actually paid by the user is subtracted.
Referring to fig. 11, fig. 11 is a schematic structural block diagram of an electronic device according to an embodiment of the present disclosure. The electronic device comprises a memory 101, a processor 102 and a communication interface 103, wherein the memory 101, the processor 102 and the communication interface 103 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 101 may be used to store software programs and modules, such as program instructions/modules corresponding to the parking management platform 100 provided in the embodiments of the present application, and the processor 102 executes the software programs and modules stored in the memory 101, so as to execute various functional applications and data processing. The communication interface 103 may be used for communicating signaling or data with other node devices.
The Memory 101 may be, but is not limited to, a Random Access Memory 101 (RAM), a Read Only Memory 101 (ROM), a Programmable Read Only Memory 101 (PROM), an Erasable Read Only Memory 101 (EPROM), an electrically Erasable Read Only Memory 101 (EEPROM), and the like.
The processor 102 may be an integrated circuit chip having signal processing capabilities. The Processor 102 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It will be appreciated that the configuration shown in fig. 11 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 11 or have a different configuration than shown in fig. 11. The components shown in fig. 11 may be implemented in hardware, software, or a combination thereof.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory 101 (ROM), a Random Access Memory 101 (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
To sum up, the in-road parking space management method based on unmanned aerial vehicle 1 routing inspection provided by the embodiment of the application comprises the following steps: the unmanned aerial vehicle 1 sails at a first flying height according to a preset routing inspection route for shooting to obtain a plurality of berth images, and transmits the plurality of berth images to the parking management platform 100. The parking management platform 100 inputs a plurality of parking images to a preset target vehicle detection network model to obtain a target vehicle position, and takes the time of obtaining the parking image corresponding to the target vehicle position as the entrance time. The unmanned aerial vehicle 1 adjusts to a second flying height according to the position of the target vehicle to shoot the target vehicle, so as to obtain an image of the target vehicle, and transmits the image of the target vehicle to the parking management platform 100. The parking management platform 100 inputs the target vehicle image into a preset license plate segmentation network model to obtain a target license plate image. The parking management platform 100 processes the target license plate image to obtain a target license plate number. Repeating the steps, if the unmanned aerial vehicle 1 patrols and shoots that the target vehicle leaves the parking space, recording the time of shooting the position of the target vehicle by the current patrol by the parking management platform 100, acquiring the time of shooting the image of the target vehicle by the unmanned aerial vehicle 1 in the last patrol, calculating the median of the two times, and taking the median as the outgoing time. The parking management platform 100 calculates a parking fee of the target vehicle according to the entrance time and the exit time. A plurality of images of the parking lot are aerial-photographed by the unmanned aerial vehicle 1 and transmitted to the parking management platform 100. The parking management platform 100 processes the plurality of parking position images to obtain the target vehicle position. According to the determined position of the target vehicle, the unmanned aerial vehicle 1 shoots an image of the target vehicle and transmits the image to the parking management platform 100, the parking management platform 100 intercepts the image of the target license plate in the image of the target vehicle and processes the image of the target license plate to obtain the number of the target license plate. In the process of carrying out successive routing inspection on the unmanned aerial vehicle 1, when detecting that no target vehicle with a target license plate number exists in the position of the target vehicle, the median of the time of shooting the image of the target vehicle and the time of shooting the position of the target vehicle in the previous routing inspection of the unmanned aerial vehicle 1 is taken as the exit time of the target vehicle, the effect of recording and managing the vehicles on the parking spaces without manual monitoring is achieved, in addition, the method does not need to install parking space locks or geomagnetic equipment on each parking space, does not need a high-level license plate identifier to record vehicle information, and effectively reduces the construction and operation maintenance cost of installation equipment. And the parking management platform 100 can also calculate the parking fee of the target vehicle according to the entrance time and the exit time, thereby improving the efficiency of parking charging.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. An in-road parking space management method based on unmanned aerial vehicle routing inspection is characterized by comprising the following steps:
the unmanned aerial vehicle sails and shoots at a first flight height according to a preset routing inspection route to obtain a plurality of berth images, and the berth images are transmitted to a parking management platform;
the parking management platform inputs the plurality of parking images into a preset target vehicle detection network model to obtain parking images containing target vehicles and positions of the target vehicles, and shooting time of the parking images containing the target vehicles is used as driving time;
the unmanned aerial vehicle is adjusted to a second flying height according to the position of the target vehicle to shoot the target vehicle so as to obtain a target vehicle image, and the target vehicle image is transmitted to the parking management platform;
the parking management platform inputs the target vehicle image into a preset license plate segmentation network model to obtain a target license plate image;
the parking management platform processes the target license plate image to obtain a target license plate number;
repeating the steps, if the unmanned aerial vehicle patrols and shoots that the target vehicle is not in the parking space, recording the time that the target vehicle is not in the parking space by the current patrolling and shooting, acquiring the time that the target vehicle image is shot by the unmanned aerial vehicle in the last patrolling and shooting, calculating the median value of the two times, and taking the median value as the outgoing time;
and the parking management platform calculates the parking cost of the target vehicle according to the entrance time and the exit time.
2. The unmanned aerial vehicle inspection tour based on in-road parking space management method of claim 1, wherein before the step of the parking management platform inputting the parking space image to a preset target vehicle detection network model, the method further comprises:
establishing a target detection initial model;
obtaining a sample, wherein the sample is a vehicle in a manually marked pre-collected image;
and training the target detection initial model according to the sample to obtain a trained target vehicle detection network model.
3. The unmanned aerial vehicle inspection based in-road parking space management method according to claim 1, wherein before the step of inputting the target vehicle image to a preset license plate segmentation network model by the parking management platform, the method further comprises:
establishing a license plate detection initial model;
obtaining a sample, wherein the sample is a license plate in a manually marked pre-collected image;
and training the license plate detection initial model according to the sample to obtain a trained license plate segmentation network model.
4. The unmanned aerial vehicle inspection-based in-road parking space management method according to claim 1, wherein the step of processing the target license plate image by the parking management platform to obtain a target license plate number comprises:
carrying out perspective transformation on the target license plate image to obtain a perspective transformation image;
carrying out gray level processing and smooth filtering processing on the perspective transformation image to obtain a processed image;
carrying out binarization processing on the processed image to obtain a binary image;
performing edge detection on the binary image to obtain a minimum circumscribed rectangle of an edge;
and intercepting each character in the binary image by using the minimum circumscribed rectangle, and performing template matching on each character to obtain a target license plate number.
5. The unmanned aerial vehicle inspection based in-road parking space management method according to claim 1, wherein after the step of processing the target license plate image by the parking management platform to obtain the target license plate number, the method further comprises:
inquiring the actual defaulting times of the target license plate number, and if the actual defaulting times exceed the preset defaulting times, sending a notice to a manager;
and if the actual defaulting times do not exceed the preset defaulting times, recording the target license plate number and the defaulting information.
6. The unmanned aerial vehicle inspection tour-based in-road parking space management method according to claim 1, wherein the parking management platform comprises:
the vehicle detection unit is used for inputting the berth image to a preset target vehicle detection network model to obtain a berth image containing a target vehicle and a target vehicle position, and taking the shooting time of the berth image containing the target vehicle as the entering time;
the license plate recognition unit is used for inputting the target vehicle image into a preset license plate segmentation network model to obtain a target license plate image;
the license plate number recognition unit is used for processing the target license plate image to obtain a target license plate number;
the exit time calculation unit is used for recording the time that the target vehicle is not in the parking space when the unmanned aerial vehicle patrols and shoots the target vehicle not in the parking space, acquiring the time that the unmanned aerial vehicle patrols and shoots the target vehicle image last time, calculating the median value of the two times, and taking the median value as the exit time;
and the charging unit is used for calculating the parking fee of the target vehicle according to the entrance time and the exit time.
7. The unmanned aerial vehicle inspection-based in-road parking space management method according to claim 1, wherein the step of navigating the unmanned aerial vehicle at the first flying height according to the preset inspection route comprises:
setting an inspection route according to the position of a charging pile and the position of a parking space, wherein the inspection route takes the position of the charging pile as a take-off position of the unmanned aerial vehicle;
after the unmanned aerial vehicle finishes one round of inspection, the unmanned aerial vehicle approaches the charging pile;
when the distance between the unmanned aerial vehicle and the charging pile reaches a preset distance threshold value, the unmanned aerial vehicle slowly descends to land;
after unmanned aerial vehicle landed, unmanned aerial vehicle carries out wireless charging with filling electric pile.
8. The unmanned aerial vehicle inspection tour based on in-road parking space management method of claim 1, wherein after the step of calculating the parking fee of the target vehicle according to the entry time and the exit time by the parking management platform, the method comprises:
and receiving the parking fee of the target vehicle through a payment interface, and updating the parking fee of the target vehicle.
9. An electronic device, comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the method of any of claims 1-8.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-8.
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| CN111402436A (en) * | 2020-04-21 | 2020-07-10 | 重庆盘古美天物联网科技有限公司 | Urban road parking unmanned aerial vehicle inspection system and method |
| CN111784857A (en) * | 2020-06-22 | 2020-10-16 | 浙江大华技术股份有限公司 | Parking space management method and device and computer storage medium |
| CN112150644A (en) * | 2020-09-17 | 2020-12-29 | 北京停简单信息技术有限公司 | Parking inspection method and device, electronic equipment and parking monitoring management system |
| CN112201051A (en) * | 2020-11-27 | 2021-01-08 | 中航金城无人***有限公司 | Unmanned aerial vehicle end road surface vehicle illegal parking detection and evidence obtaining system and method |
| CN112580651A (en) * | 2020-12-23 | 2021-03-30 | 蚌埠学院 | License plate rapid positioning and character segmentation method and device |
| CN112650298A (en) * | 2020-12-30 | 2021-04-13 | 广东工业大学 | Unmanned aerial vehicle tracking landing method and system |
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