Urban road parking drone inspection system and method

Abstract

The present invention discloses a city road parking drone inspection system, including a drone and a drone console, wherein the drone console is electrically connected to a parking management cloud platform, and the parking management cloud platform is electrically connected to a parking space identification unit and a license plate identification unit; the drone is provided with a power supply unit, a camera unit, a first transmission unit, a positioning unit and a flight unit, and the present invention also discloses a city road parking drone inspection method. In the present invention, the drone regularly inspects the parking spaces, takes photos of the parking spaces in turn, and uploads the license plates to the parking management cloud platform after identification, so that the parking management cloud platform can timely update the information of the parked vehicles in each parking space, thus realizing the unmanned management of the roadside parking spaces, and the drone flies in the air, with higher positioning accuracy, is not restricted by the road traffic conditions, and has high inspection efficiency.

Description

Technical Field

[0001] The present invention relates to the field of road parking fee collection, and in particular to an urban road parking drone inspection system and method. Background Art

[0002] With the substantial increase in the number of motor vehicles in cities, traditional parking garages can no longer meet the growing parking demand. Parking difficulties have become an urban problem that cannot be ignored. Setting up parking spaces on non-main roads in cities has become an important solution to this problem. However, due to the natural openness of road parking, it is difficult to timely grasp the entry and exit time of vehicles, making it difficult to accurately charge and collect fees.

[0003] The traditional charging method is to manually record and collect parking fees on the road, but this method requires a large number of toll collectors and has high labor costs. In recent years, mobile video patrol vehicles have appeared for urban road parking inspections. The equipment generally uses ordinary cars as carriers, installs cameras on the cars to take pictures of the vehicles, and cooperates with users to pay by mobile phone to promote unmanned parking management. However, patrol vehicles need to travel on urban roads, and their efficiency is affected by the current road traffic conditions. During peak hours, due to road congestion, the speed of patrol vehicles is generally slow, and it will also affect the normal driving of other vehicles on the road. The inspection efficiency cannot be guaranteed, and the vehicles need to be manually driven, and cannot be fully automated. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an urban road parking drone inspection system and method for regularly inspecting parking spaces.

[0005] The technical solution of the present invention is as follows:

[0006] An urban road parking drone inspection system comprises a drone and a drone console, wherein the drone console is electrically connected to a parking management cloud platform, and the parking management cloud platform is connected to a parking space recognition unit and a license plate recognition unit; the drone is provided with a power supply unit, a camera unit, a first transmission unit, a positioning unit and a flight unit, the power supply unit is electrically connected to a battery for supplying power to the camera unit, the first transmission unit, the positioning unit and the flight unit, the camera unit is used to take photos of a parking space area, the positioning unit is used to obtain the positioning coordinates of the drone in real time, and the first transmission unit is used to transmit the photos and the positioning coordinates to the drone console in a wireless communication manner;

[0007] The drone console includes a control unit and a second transmission unit, the control unit is used to set the inspection route of the drone, and the second transmission unit is used to enable the drone console to exchange data with the first transmission unit and the parking management cloud platform; the parking space recognition unit is used to identify the parking space photographed by the drone through coordinate information, and the license plate recognition unit is used to identify the license plate of each parking space in the photo. The parking management cloud platform updates the parking time and parking fee of the parked vehicle according to the recognized license plate information and parking space information.

[0008] Furthermore, the inspection system also includes a charging unit, which includes a power conversion module, and the power conversion module is used to convert the input AC voltage into a DC voltage output. The charging unit is also provided with a charging slot, and two protrusions are symmetrically provided in the charging slot, and the two protrusions are respectively provided with a first metal spring and a second metal spring. The output positive end of the power conversion module is electrically connected to the first metal spring, and the output negative end is electrically connected to the second metal spring; the drone is provided with two brackets, and the lower ends of the two brackets are respectively provided with exposed first and second metal sheets, the first metal sheet is electrically connected to the positive electrode of the battery, and the second metal sheet is electrically connected to the negative electrode of the battery. When the drone lands, the two brackets fall into the charging slot, and the first metal sheet and the second metal sheet are respectively crimped on the first metal spring and the second metal spring, so that the charging unit charges the battery.

[0009] Furthermore, the charging slot is a structure that is wide at the top and narrow at the bottom, and the four slot walls of the charging slot are inclined surfaces that are symmetrical in pairs.

[0010] Furthermore, the positioning unit adopts a high-precision GPS positioning module, the high-precision GPS positioning module is electrically connected to the first transmission unit, the UAV console is provided with a differential compensation unit, the differential compensation unit is electrically connected to the second transmission unit, the second transmission unit is electrically connected to the differential positioning compensation platform, the differential compensation unit obtains positioning compensation information from the differential positioning compensation platform in real time through the second transmission unit, and corrects the coordinate information sent by the high-precision GPS positioning module.

[0011] Furthermore, the flight unit includes a control MCU, an attitude sensor and a flight control system, wherein the attitude sensor is used to transmit attitude information of the drone to the control MCU, and the flight control system is used to control the flight of the drone according to instructions from the control MCU.

[0012] Furthermore, the flight unit also includes an active obstacle avoidance system, which is electrically connected to the control MCU and is used to detect whether there are obstacles on the flight route and automatically adjust the flight route after detecting an obstacle.

[0013] Furthermore, the power supply unit is also used to detect the battery power. The power supply unit is electrically connected to the control MCU. When the battery power is lower than a predetermined voltage, a power alarm signal is sent to the control MCU. After receiving the power alarm signal, the control MCU controls the drone to return.

[0014] A method for inspecting parking lots on urban roads by using a drone, using an urban road parking drone inspection system, the inspection method comprising the following steps:

[0015] Step S101, use a drone to perform inspection along the inspection route, and execute step S102;

[0016] Step S102, obtaining the coordinate information of the drone in real time, and judging whether the current position is a photo taking position according to the coordinate information, and when the current position is recognized as a photo taking position, executing step S102', otherwise, returning to executing step S102;

[0017] Step S102': the drone takes a photo of the parking space and uploads the photo to the parking management cloud platform, and then executes step S103;

[0018] Step S103, the license plate recognition unit divides the photo into multiple image areas according to the location of the parking space in the photo and recognizes them in sequence, each image area corresponds to a parking space, if the license plate information is recognized in the image area, step S104 is executed, if the license plate information is not recognized in the image area, step S111 is executed;

[0019] Step S104: the parking management cloud platform inquires whether a parking order has been generated for the parking space. If a parking order has been generated for the parking space, step S105 is executed; if no parking order has been generated for the parking space, step S110 is executed;

[0020] Step S105: the parking management cloud platform queries whether the license plate information included in the parking order of the parking space is consistent with the license plate information recognized in the image area. If they are consistent, step S106 is executed; if they are inconsistent, step S107 is executed;

[0021] Step S106: Update the timing cut-off time in the parking order of the parking space to the current time, and return to execute step S102;

[0022] Step S107, determining whether there is any outstanding payment for the parking order of the parking space, if there is any outstanding payment, executing step S108, if there is no outstanding payment, executing step S109;

[0023] Step S108: Generate a record of the vehicle's outstanding fees based on the parking order information, collect the fees through the APP, and execute step S109;

[0024] Step S109, end the parking order and execute step S110;

[0025] Step S110: Generate a new parking order at the parking space including the license plate information of the vehicle currently parked at the parking space, and return to execute step S102.

[0026] Step S111: The parking management cloud platform queries whether a parking order has been generated for the parking space. If a parking order has been generated, step S112 is executed; otherwise, the process returns to step S102.

[0027] Step S112: determine whether there is any outstanding payment for the parking order of the parking space. If there is any outstanding payment, execute step S113; if there is no outstanding payment, terminate the parking order and return to execute step S102;

[0028] Step S113: Generate an overdue payment record for the vehicle based on the parking order information, collect the payment through the APP, and then end the parking order and return to step S102.

[0029] Furthermore, the drone detects in real time during the inspection whether there are obstacles on the flight route, and automatically adjusts the flight route after detecting obstacles.

[0030] Furthermore, the drone detects the battery power in real time and automatically returns when the battery power is lower than a predetermined voltage.

[0031] Beneficial effects: In the present invention, the drone regularly inspects the parking spaces, takes photos of the parking spaces in turn, and uploads the license plates to the parking management cloud platform after recognition, so that the parking management cloud platform can timely update the parked vehicle information of each parking space, realizing unmanned management of roadside parking spaces. Moreover, the drone flies in the air, has higher positioning accuracy, is not restricted by road traffic conditions, and has high inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural block diagram of an embodiment of the urban road parking drone inspection system of the present invention;

[0033] Figure 2 This is a bottom view of the drone;

[0034] Figure 3 is a schematic diagram of the structure of the charging unit;

[0035] Figure 4 The present invention is a flow chart of an embodiment of the urban road parking drone inspection method of the present invention.

[0036] In the figure: 1. UAV, 2. UAV console, 3. Parking management cloud platform, 4. Parking space recognition unit, 5. License plate recognition unit, 6. Charging unit, 7. Differential positioning compensation platform, 11. Power supply unit, 12. Battery, 13. First transmission unit, 14. High-precision GPS positioning module, 15. Camera unit, 16. Control MCU, 17. Flight control system, 18. Attitude sensor, 19. Active obstacle avoidance system, 21. Control unit, 22. Second transmission unit, 23. Differential compensation unit, 30. Bracket, 31. First metal sheet, 32. Second metal sheet, 60. Charging slot, 61. First metal spring, 62. Second metal spring, 63. Protrusion. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention and to make the above-mentioned purposes, features and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0038] In the description of the present invention, unless otherwise specified and limited, it should be noted that the term "connection" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two elements. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0039] like Figure 1 As shown, an embodiment of the urban road parking drone inspection system of the present invention includes a drone 1 and a drone console 2, wherein the drone console 2 is electrically connected to a parking management cloud platform 3, and the parking management cloud platform 3 is electrically connected to a parking space recognition unit 4 and a license plate recognition unit 5; the drone 1 is provided with a power supply unit 11, a camera unit 15, a first transmission unit 13, a positioning unit and a flight unit, and the power supply unit 11 is electrically connected to a battery 12 for supplying power to the camera unit 15, the first transmission unit 13, the positioning unit and the flight unit; the camera unit 15 is used to take photos of the parking space area, and the camera unit 15 uses a high-definition gimbal camera with no less than 2000W pixels, adopts a mechanical shutter, supports high-speed flight shooting, can eliminate the jello effect, and effectively avoids a reduction in shooting accuracy.

[0040] The positioning unit is used to obtain the positioning coordinates of the drone 1 in real time, and the first transmission unit 13 is used to transmit photos and positioning coordinates to the drone console 2; the drone console 2 includes a control unit 21 and a second transmission unit 22, the control unit 21 is used to set the inspection route of the drone 1, and the second transmission unit 22 is used to enable the drone console 2 to interact with the first transmission unit 13 and the parking management cloud platform 3. The first transmission unit 13 and the second transmission unit 22 preferably adopt the OcuSync image transmission system, so that data is transmitted between the first transmission unit 13 and the second transmission unit 22 through the OcuSync image transmission technology. The OcuSync image transmission technology is stable and reliable, and can achieve high-definition image transmission functions up to 7 kilometers, easily meeting the distance requirements of the drone 1 inspection; of course, the first transmission unit 13 and the second transmission unit 22 can also adopt other wireless data transmission modules.

[0041] The parking space recognition unit 4 is used to identify the parking space photographed by the drone 1 through coordinate information, and the license plate recognition unit 5 is used to recognize the license plate of each parking space in the photo. The parking management cloud platform 3 determines the leaving vehicles and the new entering vehicles according to the recognized license plate information and parking space information, and updates the parking time and parking fees of the parked vehicles.

[0042] The positioning unit adopts a high-precision GPS positioning module 14, preferably an RTK positioning module, the RTK positioning module is electrically connected to the first transmission unit 13, the UAV console 2 is provided with a differential compensation unit 23, the differential compensation unit 23 is electrically connected to the second transmission unit 22, the second transmission unit 22 is electrically connected to the differential positioning compensation platform 7, the differential compensation unit 23 obtains positioning compensation information from the differential positioning compensation platform 7 in real time through the second transmission unit 22, and corrects the coordinate information sent by the RTK positioning module. The corrected vertical positioning accuracy can reach 1.5cm+1ppm, and the horizontal positioning accuracy can reach 1cm+1ppm, ppm means that the error increases by 1mm for every 1km the aircraft moves.

[0043] The flight unit includes a control MCU 16, an attitude sensor 18 and a flight control system 17. The attitude sensor 18 is used to transmit the attitude information of the drone 1 to the control MCU 16, and the flight control system 17 is used to control the flight of the drone 1 according to the instructions of the control MCU 16; the flight unit also includes an active obstacle avoidance system 19, which is electrically connected to the control MCU 16 and is used to detect whether there are obstacles on the flight route and automatically adjust the flight route after detecting obstacles; the power supply unit 11 is also used to detect the power of the battery 12. The power supply unit 11 is electrically connected to the control MCU 16. When the power of the battery 12 is lower than a predetermined voltage, it sends a power alarm signal to the control MCU 16. After receiving the power alarm signal, the control MCU 16 controls the drone 1 to return.

[0044] like Figure 2 and Figure 3 As shown, the inspection system also includes a charging unit 6, and the charging unit 6 includes a power conversion module, and the power conversion module is used to convert the input mains voltage into a DC voltage output. The charging unit 6 is also provided with a charging slot 60 that is wide at the top and narrow at the bottom, and the four slot walls of the charging slot 60 are inclined planes that are symmetrical in pairs; a drainage hole is provided at the bottom of the charging slot 60, and two protrusions 63 are symmetrically provided in the charging slot 60, and the two protrusions 63 are respectively provided with a first metal spring 61 and a second metal spring 62, and the output positive end of the power conversion module is connected to the first metal spring 6 1, and the negative output terminal is electrically connected to the second metal spring 62; the drone 1 is provided with two brackets 30, and the lower ends of the two brackets 30 are respectively provided with exposed first metal sheets 31 and second metal sheets 32, the first metal sheet 31 is electrically connected to the positive electrode of the battery 12, and the second metal sheet 32 ​​is electrically connected to the negative electrode of the battery 12. When the drone 1 lands, the two brackets 30 fall into the charging slot 60, and the first metal sheet 31 and the second metal sheet 32 ​​are respectively crimped on the first metal spring 61 and the second metal spring 62, so that the charging unit 6 charges the battery 12.

[0045] The drone 1 can achieve microsecond-level synchronization of the flight control, camera and RTK clock systems, and millisecond-level error in camera imaging. It can also compensate for the optical center position of the camera lens and the antenna center point position of the RTK positioning module, reduce the time error between the position information and the camera, and provide more accurate position information for photos.

[0046] An embodiment of the urban road parking drone inspection method of the present invention adopts the above-mentioned urban road parking drone inspection system, and the inspection method is as follows:

[0047] Before work, the parking spaces are numbered, and the inspection route of the drone 1 is set by the control unit 21 according to the distribution of the parking spaces. To prevent the drone 1 from being stolen, the starting position of the inspection route is generally set at a higher position (such as the roof of a low-rise building). According to the inspection height of the drone 1 and the shooting angle of the camera unit 15, multiple photo positions are selected on the inspection route so that the photo positions can cover all parking spaces, and a coordinate range is set for each photo position according to the positioning accuracy. The camera pixel of the drone 1 is about 2000W pixels, and the camera viewing angle is about 84°. The current license plate recognition algorithm recommends that the license plate recognition pixel is generally 90-150 pixels. For parallel parking spaces, according to the length of a single parking space of 6 meters, when the drone 1 is directly above the parking space, the simple projection calculation is used to calculate that the flight height of the drone 1 is about 10 meters to 15 meters, and the license plate viewing angle is about 15°-45°. At a height of 10 meters, the camera field of view can manage four parking spaces, and the pixels of the license plate imaging are about 220*70, and its imaging quality is higher than the requirements for recognizing license plates. At a height of 15 meters, there are about 6 parking spaces. The viewing angle will be better for inclined parking spaces and vertical parking spaces, and the camera field of view can manage more parking spaces. The following example uses the inspection height of drone 1 at 10 meters to manage parallel parking spaces. Since a single shot can identify the license plates of four parking spaces, every four consecutive parking spaces can be grouped into a group, a suitable photo point is selected, and the coordinate range of the photo point is set. Of course, the number of parking spaces in a group can be less than four. Then, set the inspection time according to the predetermined time interval. At each inspection time, drone 1 automatically conducts an inspection. Since parking at night is generally free of charge, drone 1 can be recovered at night to avoid loss or damage.

[0048] like Figure 4 As shown, the workflow of each inspection by drone 1 includes the following steps:

[0049] Step S101, control MCU16 to send an inspection instruction to the flight control system 17, so that the flight control system 17 drives the UAV 1 to inspect in a predetermined direction and speed, and execute step S102;

[0050] The inspection speed is generally set to 15-20 km / h to ensure that the photos taken are of high quality. Take a drone 1 managing 200 parking spaces (200 parking spaces cover a road length of about 2.4 km) as an example. Since the flight speed of the drone 1 is not restricted by ground traffic and the speed is relatively stable, it takes about 7 minutes for the drone 1 to complete an inspection at a cruising speed of 20 km / h.

[0051] Step S102, the high-precision GPS positioning module 14 sends the coordinate information to the differential compensation unit 23 in real time, the differential compensation unit 23 obtains the ground differential compensation information from the differential positioning compensation platform 7, and corrects the coordinate information in combination with the ground differential compensation information before sending it to the parking management cloud platform 3, the parking space recognition unit 4 compares the corrected coordinate information with the coordinate range set for each photographing position, and determines whether the current position is a photographing position, if the current position is a photographing position, execute step S102', otherwise, return to execute step S102;

[0052] Step S102', the parking space recognition unit 4 continues to recognize the number information of the four parking spaces in the group of parking spaces, and enables the parking management cloud platform 3 to send a photo command to the control unit 21. After receiving the photo command, the control unit 21 controls the camera unit 15 to take a photo of the parking space and uploads the photo to the parking management cloud platform 3, and executes step S103;

[0053] Step S103, the parking management cloud platform 3 sends the photo information to the license plate recognition unit 5, and the license plate recognition unit 5 divides the photo into four image areas according to the positions of the four parking spaces in the photo and recognizes them in turn. If the license plate information is recognized in the image area, step S104 is executed; if the license plate information is not recognized in the image area, step S111 is executed; since the positioning coordinates of the high-precision GPS positioning module 14 are differentially compensated, the positioning accuracy can reach 1 cm. Therefore, each time a photo is taken, the position of the four parking spaces in the photo changes very little, which will not affect the license plate recognition.

[0054] Step S104: the parking management cloud platform 3 queries whether a parking order has been generated for the parking space according to the parking space number information corresponding to the image area and the recognized license plate information. If a parking order has been generated for the parking space, step S105 is executed; if no parking order has been generated for the parking space, step S110 is executed;

[0055] Step S105, the parking management cloud platform 3 queries whether the license plate information included in the parking order of the parking space is consistent with the license plate information recognized in the image area, if consistent, executing step S106, if inconsistent, executing step S107;

[0056] Step S106: Update the timing cut-off time in the parking order of the parking space to the current time, and return to execute step S102;

[0057] Step S107, determining whether there is any outstanding payment for the parking order of the parking space, if there is any outstanding payment, executing step S108, if there is no outstanding payment, executing step S109;

[0058] Step S108: Generate a record of the vehicle's outstanding fees based on the parking order information, collect the fees through the APP, and execute step S109;

[0059] Step S109, end the parking order and execute step S110;

[0060] Step S110: Generate a new parking order at the parking space including the license plate information of the vehicle currently parked at the parking space, and return to execute step S102.

[0061] Step S111, the parking management cloud platform 3 queries whether a parking order has been generated for the parking space, and if so, executes step S112, otherwise, returns to execute step S102;

[0062] Step S112: determine whether there is any outstanding payment for the parking order of the parking space. If there is any outstanding payment, execute step S113; if there is no outstanding payment, terminate the parking order and return to execute step S102;

[0063] Step S113: Generate an overdue payment record for the vehicle based on the parking order information, collect the payment through the APP, and then end the parking order and return to step S102.

[0064] During the inspection process, the power supply unit 11 detects the power level of the battery 12 in real time. If the power level of the battery 12 is less than a predetermined value, the power supply unit 11 sends a low power alarm signal to the control MCU 16. After receiving the low power alarm signal, the control MCU 16 sends a return command to the flight control system 17 to make the drone 1 return.

[0065] After the inspection, the drone 1 automatically returns to the starting position of the inspection route, and a charging unit 6 can be set at the starting position. Since the positioning accuracy of the drone 1 is very high, the two brackets 30 can accurately fall into the charging slot 60 when landing. Since the charging slot 60 is a wide-upper-narrow-lower structure, even if there is a position deviation after the two brackets 30 fall into the charging slot 60, the position can be corrected through the inclined slot wall of the charging slot 60, so that the first metal sheet 31 and the second metal sheet 32 ​​are respectively crimped on the first metal spring 61 and the second metal spring 62, so that the charging unit 6 charges the battery 12. Of course, when there is no suitable location to set the charging unit, the charging unit can also be not set, and the backup battery 12 can be manually replaced to recharge the drone 1.

[0066] The parts not described in the present invention are consistent with the prior art and will not be described in detail here.

[0067] The above are only implementation modes of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure made using the contents of the present invention's specification and drawings, directly or indirectly used in other related technical fields, are also within the patent protection scope of the present invention.

Claims

1. An urban road parking drone inspection system, characterized in that , including a drone and a drone console, the drone console is electrically connected to a parking management cloud platform, the parking management cloud platform is electrically connected to a parking space recognition unit and a license plate recognition unit; the drone is provided with a power supply unit, a camera unit, a first transmission unit, a positioning unit and a flight unit, the power supply unit is electrically connected to a battery for supplying power to the camera unit, the first transmission unit, the positioning unit and the flight unit, the camera unit is used to take photos of the parking space area, the positioning unit is used to obtain the positioning coordinates of the drone in real time, and the first transmission unit is used to transmit the photos and positioning coordinates to the drone console in a wireless communication manner; The drone console includes a control unit and a second transmission unit, wherein the control unit is used to set the inspection route of the drone, and the second transmission unit is used to enable the drone console to exchange data with the first transmission unit and the parking management cloud platform; the parking space recognition unit is used to recognize the parking space photographed by the drone through coordinate information, and the license plate recognition unit is used to recognize the license plate of each parking space in the photo, and the parking management cloud platform updates the parking time and parking fee of the parked vehicle according to the recognized license plate information and parking space information; The inspection system also includes a charging unit arranged at the starting position of the inspection route of the drone, the charging unit includes a power conversion module, the power conversion module is used to convert the input mains voltage into a DC voltage output, and the charging unit is also provided with a charging slot, the charging slot is a structure of being wide at the top and narrow at the bottom, and the four slot walls of the charging slot are inclined planes that are symmetrical in pairs; Two protrusions are symmetrically provided in the charging slot, and a first metal spring and a second metal spring are respectively provided on the two protrusions. The output positive end of the power conversion module is electrically connected to the first metal spring, and the output negative end is electrically connected to the second metal spring; the drone is provided with two brackets, and the lower ends of the two brackets are respectively provided with exposed first and second metal sheets, the first metal sheet is electrically connected to the positive electrode of the battery, and the second metal sheet is electrically connected to the negative electrode of the battery. When the drone lands, both brackets fall into the charging slot, and the first metal sheet and the second metal sheet are respectively crimped on the first metal spring and the second metal spring, so that the charging unit charges the battery.

2. The urban road parking drone inspection system according to claim 1 is characterized in that The positioning unit adopts a high-precision GPS positioning module, which is electrically connected to the first transmission unit. The UAV console is provided with a differential compensation unit, which is electrically connected to the second transmission unit. The second transmission unit is electrically connected to the differential positioning compensation platform. The differential compensation unit obtains positioning compensation information from the differential positioning compensation platform in real time through the second transmission unit, and corrects the coordinate information sent by the high-precision GPS positioning module.

3. The urban road parking drone inspection system according to claim 1 is characterized in that The flight unit includes a control MCU, an attitude sensor and a flight control system. The attitude sensor is used to transmit the attitude information of the drone to the control MCU, and the flight control system is used to control the flight of the drone according to the instructions of the control MCU.

4. The urban road parking drone inspection system according to claim 1 is characterized in that The flight unit also includes an active obstacle avoidance system, which is electrically connected to the control MCU and is used to detect whether there are obstacles on the flight route and automatically adjust the flight route after detecting obstacles.

5. The urban road parking drone inspection system according to claim 3 is characterized in that The power supply unit is also used to detect the battery power. The power supply unit is electrically connected to the control MCU. When the battery power is lower than a predetermined voltage, a power alarm signal is sent to the control MCU. After receiving the power alarm signal, the control MCU controls the drone to return.

6. A method for inspecting parking lots on urban roads by using drones, characterized in that: Using the urban road parking drone inspection system according to any one of claims 1 to 5, the inspection method comprises the following steps: Step S101, use a drone to perform inspection along the inspection route, and execute step S102; Step S102, obtaining the coordinate information of the drone in real time, and judging whether the current position is a photo taking position according to the coordinate information, and when the current position is recognized as a photo taking position, executing step S102', otherwise, returning to executing step S102; Step S102': the drone takes a photo of the parking space and uploads the photo to the parking management cloud platform, and then executes step S103; Step S103, the license plate recognition unit divides the photo into multiple image areas according to the location of the parking space in the photo and recognizes them in sequence, each image area corresponds to a parking space, if the license plate information is recognized in the image area, step S104 is executed, if the license plate information is not recognized in the image area, step S111 is executed; Step S104: the parking management cloud platform inquires whether a parking order has been generated for the parking space. If a parking order has been generated for the parking space, step S105 is executed; if no parking order has been generated for the parking space, step S110 is executed; Step S105: the parking management cloud platform queries whether the license plate information included in the parking order of the parking space is consistent with the license plate information recognized in the image area. If they are consistent, step S106 is executed; if they are inconsistent, step S107 is executed; Step S106: Update the timing cut-off time in the parking order of the parking space to the current time, and return to execute step S102; Step S107, determining whether there is any outstanding payment for the parking order of the parking space, if there is any outstanding payment, executing step S108, if there is no outstanding payment, executing step S109; Step S108: Generate a record of the vehicle's outstanding fees based on the parking order information, collect the fees through the APP, and execute step S109; Step S109, end the parking order, and execute step S110; Step S110: Generate a new parking order for the parking space including the license plate information of the vehicle currently parked in the parking space, and return to step S102. Step S111: The parking management cloud platform queries whether a parking order has been generated for the parking space. If a parking order has been generated, step S112 is executed; otherwise, the process returns to step S102; Step S112: determine whether there is any outstanding payment for the parking order of the parking space. If there is any outstanding payment, execute step S113; if there is no outstanding payment, terminate the parking order and return to execute step S102; Step S113: Generate an overdue payment record for the vehicle based on the parking order information, collect the payment through the APP, and then end the parking order and return to step S102.

7. The urban road parking drone inspection method according to claim 6 is characterized in that ,During the inspection process, the UAV detects in real time whether there are obstacles on the flight ,route, and automatically adjusts the flight route after detecting obstacles.

8. The urban road parking drone inspection method according to claim 6 is characterized in that ,The drone detects the battery power in real time and automatically returns when the battery power is ,lower than a predetermined voltage.

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