Smart parking management system based on Beidou and optoelectronic vector 3D positioning technology

Abstract

A smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology, which relates to the field of intelligent parking management, can reasonably guide parking resources, improve parking lot operation efficiency and resource utilization, improve traffic road utilization, alleviate vehicle congestion, and reduce management costs. The smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology includes: a digital twin map of urban parking spaces established based on Beidou high-precision positioning technology, and a multi-target positioning and identification module based on vector three-dimensional positioning, which includes: a passive low-power target coding modulation unit, a multi-target point synchronous dynamic identification and measurement unit, and a photoelectric vector three-dimensional positioning unit; it also includes: a multi-target positioning system prototype module for parking positioning, which includes: a target low-power miniaturization unit, a multi-target positioning system prototype unit for parking positioning, and a positioning system fast on-site calibration unit; and a smart parking management system software module.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent parking management, and in particular to an intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology. Background Art

[0002] In response to the demand for intelligent monitoring of parking space status in urban smart parking lots, a new method for identifying the vacant parking space status using Beidou high-precision positioning measurement of digital parking spaces and photoelectric vector three-dimensional positioning technology was used to carry out research on identification technology based on photoelectric vector three-dimensional positioning, development of a multi-target positioning system for parking positioning, development of a smart parking management system, and system demonstration application verification. Breakthroughs were made in key technologies such as Beidou high-precision digital parking spaces, vector three-dimensional positioning, and low-power passive coding modulation technology for optical telecom beacons, achieving simultaneous measurement of 15 parking space status information within a range of 100m, forming a parking positioning multi-target identification and positioning prototype, and conducting verification in underground and road parking environments. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology, the accuracy of displaying vacant space information is over 95%, and the system response time is less than 3 seconds; it can reasonably guide parking resources, improve parking lot operation efficiency and resource utilization, improve traffic road utilization, alleviate vehicle congestion, and reduce management costs.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] A smart parking management system based on Beidou and optoelectronic vector 3D positioning technology, including: a digital twin map of urban parking spaces based on Beidou high-precision positioning technology, which is used to lay the foundation for high-precision navigation of parking spaces; and a multi-target positioning and recognition module based on vector 3D positioning, including: a passive low-power target coding modulation unit, a multi-target point synchronous dynamic recognition and measurement unit, and an optoelectronic vector 3D positioning unit;

[0006] The passive low-power target coding modulation unit is designed by studying the luminous characteristics and light energy calculation of non-active luminous targets under long-distance outdoor conditions, and the passive high-brightness luminous target components are designed, and the low-power light feedback hardware module is customized. A high-frequency flashing scheme is designed according to the timing characteristics to modulate and encode the light feedback signal, and the near-infrared invisible light emitting light source is matched to realize the high-brightness coding feedback of the passive target, and the timing modulation coding is performed on the photoelectric receiving end device to distinguish the serial numbers of each device;

[0007] The multi-target point synchronous dynamic identification and measurement unit performs synchronous timing on the photoelectric signal receiving end by studying the photoelectric synchronization principle, the time base of the synchronous timer, the synchronous control timing and the vector array coding timing, and designs the pulse modulation timing of the vector arrays of multiple specific bands, collects the vector array signal image according to the timing, and performs image processing on the collected images in turn according to the correlation characteristics between the collected image frames, and identifies the position of each vector array in the image according to the timing coding;

[0008] The photoelectric vector-based three-dimensional positioning unit is used to compare and analyze the performance indicators and solutions of high-dynamic measurement technologies at home and abroad, design and build a high-frequency photoelectric acquisition system composed of a passive vector array and a photoelectric sensor, and determine the communication method and interface method between the various parts. By analyzing specific performance indicators, the optimal high-precision measurement synchronization mechanism is derived to achieve three-dimensional position and posture measurement of the target using a vector array and high-speed hardware;

[0009] The smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology also includes: a multi-target positioning system prototype module for parking positioning, including: a target low-power miniaturized unit, a multi-target positioning system prototype unit for parking positioning, and a positioning system fast on-site calibration unit; and a smart parking management system software module, which provides reasonable suggestions on parking routes to traveling car owners in advance based on parking space vacancy status information and high-precision location information, and has a client applet to realize parking space query, reservation, induction, and electronic payment to reduce parking payment time and return car search time, and its response time is less than 3 seconds;

[0010] The target low-power miniaturized unit adopts a customized miniaturized, low-power optical feedback hardware circuit board with low-power components and circuits, and is reasonably designed according to the requirements of the vehicle end for the measurement target to achieve miniaturized customized integration of the measured target;

[0011] The multi-target positioning system prototype unit of the parking positioning analyzes the parking positioning requirements, improves the functional performance of the system prototype according to specific requirements, and completes the integration and debugging of key technologies at the key component level to form a prototype and calibrate, analyze and compensate the prototype;

[0012] The positioning system fast on-site calibration unit includes a camera internal parameter subunit and a sensor structure parameter subunit. Through geometric structure parameters with clear physical meanings, such as the center, focal length, absolute position, relative position and direction of the passive vector array unit, the relationship between the passive vector array coordinate system and the measurement reference coordinate system is established. By further analyzing the factors affecting the accuracy and stability of the measurement results, the error modeling analysis of the photoelectric acquisition system is carried out to achieve fast on-site calibration and measurement of the positioning system.

[0013] In actual application, the ground parking spaces are digitized using Beidou high-precision positioning. The photoelectric coded vector beacon is sensed by the vector posture system, and the parking space status information data is calculated and transmitted to the background smart parking management system software via 4G or 5G communication methods; in addition, the measurement accuracy of the photoelectric vector three-dimensional positioning system can be compared and verified with various methods such as geomagnetism and low and high poles.

[0014] Among them, in the multi-target positioning and identification module based on vector three-dimensional positioning, the photoelectric vector three-dimensional berth vacancy status measurement is mainly composed of a measurement system host and a passive vector beacon array, and the measurement system host includes a processor and two high-speed cameras;

[0015] The host of the measurement system uses an area array camera. The infrared light fed back by the passively coded photoelectric beacon is imaged on the area array camera to obtain the two-dimensional coordinates of the camera imaging plane. In combination with the internal and external parameters of the area array camera, the three-dimensional coordinates of the photoelectric vector beacon can be obtained through comprehensive calculation. The target points arranged in the measured area are blocked and the vacancy status information of the measured berth is determined.

[0016] The passive vector beacon array is a photoelectric coded vector beacon installed on the target to be measured. The photoelectric coded vector beacon generates a light signal according to the set identification code rule. The high-speed vision system obtains the light signal coding information through continuous shooting and identifies the identity of the target to be measured.

[0017] Specifically, the area array camera is composed of a CMOS sensor and a large field of view and low distortion optical system. It uses multiple cooperative marker points as a vector array, and installs multiple photoelectric encoded vector targets on the object to be measured to form a vector target array.

[0018] Furthermore, binocular stereo vision measurement calculates the spatial three-dimensional coordinate value of the point in the measurement system coordinate system by detecting the imaging points P1 and P2 of the spatial point P on the left and right cameras respectively.

[0019] Furthermore, in the multi-target positioning and identification module based on vector three-dimensional positioning, the multi-target positioning and identification in three-dimensional space is that a photoelectric coding vector target is placed on each measured target, and a coding circuit and a timing control circuit are correspondingly set for each photoelectric coding vector target;

[0020] The coding circuit sets a unique binary identification code for each vector target. The binary identification code corresponds to the on and off of the photoelectric coding vector beacon, and the binary identification codes satisfy that one identification code cannot be obtained after "OR operation" with any other identification code;

[0021] The timing control circuit controls the on and off timing of all photoelectric coded vector beacons, and the on and off timing is synchronized with the camera timing. The photoelectric coded vector beacons continuously emit periodic light signals according to the on and off timing of the binary identification code to form a positioning coordinate system.

[0022] Furthermore, the prototype module of the multi-target positioning system for parking positioning is composed of a transmitting end system located above the parking area and a receiving end system placed on the surface of the center of the berth; wherein the transmitting end system is composed of a high-speed camera, an illumination light source, an image acquisition card, a target synchronization and channel decomposition module, a coordinate solution module, a timing control module, and a synchronization signal transmission module, and the receiving end system is composed of a liquid crystal shutter, a highly reflective material, a shutter control module, a logic controller, and a synchronization signal receiving module;

[0023] When working, the optical signal emitted by the passive photoelectric coding beacon on the ground is detected in real time. When the measuring end detects the optical signal, the coding information of the beacon is automatically solved to determine that there is no vehicle parked in the parking space. When a vehicle is parked, the beacon is blocked by the vehicle and the optical signal of the parking space is blocked, so as to realize real-time monitoring of the parking space status.

[0024] Furthermore, the infrared reflective target at the receiving end is composed of a panel made of reflective material and a liquid crystal screen, and is installed on the surface of the center of the berth; the vector target receives continuous light from the light source, which is reflected by the reflective panel through the liquid crystal;

[0025] The LCD shutter controller controls the liquid crystal to complete the switch at a specified frequency and encoding method, converts the reflected light into pulse light in the corresponding encoding format and sends it to the high-speed camera. The high-speed camera receives the light information in the corresponding format to locate the target and determine whether the target position is compliant.

[0026] In actual application, the software module of the smart parking management system is divided into a three-layer architecture of data collection layer, data processing layer and data application layer. On the basis of centrally collecting the location and status data of urban parking spaces, it can realize the comprehensive utilization of parking spaces to improve the turnover rate and utilization rate of existing parking spaces;

[0027] The data collection layer collects parking space location and status data and uploads it to the data processing layer for classification and analysis. The data application layer provides users with mobile parking services.

[0028] Among them, the longitude and latitude values ​​and azimuth values ​​of the four corner points of the parking space boundary are accurately measured by Beidou RTK measurement equipment and uploaded to the software map. A digitized parking space is generated. The longitude and latitude of adjacent parking spaces can be inferred based on the length and width of the parking space and marked on the software map. The position of each parking space can also be inferred by measuring the longitude and latitude values ​​of the four corner points of the overall large quadrilateral of the adjacent parking spaces.

[0029] Compared with the prior art, the smart parking management system based on Beidou and photoelectric vector three-dimensional positioning technology described in the present invention has the following advantages:

[0030] In the intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology provided by the present invention, Beidou high-precision positioning technology is applied to realize the accurate digitization of urban parking spaces, and a high-speed visual sensing system is combined with a passive coded photoelectric vector beacon to carry out multi-target and recognition technology research based on photoelectric vector three-dimensional positioning. By collecting, processing and analyzing the luminous information of the miniaturized coded photoelectric beacon of the measurement target, the dynamic positioning and recognition function of the parking space status is realized. Compared with the traditional video recognition technology, high-precision position solution can be realized without high resolution, which solves the contradiction between recognition and positioning accuracy and monitoring range, and reduces The cost of the measuring equipment is reduced; at the same time, the measuring equipment has a measuring range of 100 meters and can detect information of no less than 15 parking spaces at the same time in an open road parking environment; in addition, the optical and electronic beacons of the smart parking management system are miniaturized and have low power consumption. In the future, they can be installed in easily observable locations on the vehicle's exterior, and by solving the three-dimensional information of the vehicle-side encoded optical and electronic beacons, they can collect vehicle identity information such as license plate numbers, enrich the functions of the smart parking system, and improve the utilization efficiency of detection equipment; the system accesses the digital coordinate information data of parking spaces and the vacant status information data with an accuracy rate of more than 95%, and the system response time is less than 3 seconds. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the structure of a multi-target positioning and identification module based on vector three-dimensional positioning in a smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology provided by an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the structure of a binocular vision measurement model in a smart parking management system based on Beidou and photoelectric vector three-dimensional positioning technology provided by an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of synchronous pulse modulation timing in a smart parking management system based on Beidou and photoelectric vector three-dimensional positioning technology provided by an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of the structure of a prototype module of a multi-target positioning system for parking positioning in a smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The smart parking management system based on Beidou and photoelectric vector three-dimensional positioning technology provided by the embodiment of the present invention mainly has the following technical difficulties:

[0036] 1. Accurate testing of Beidou high-precision positioning technology in the realization of urban parking space digital twins: The digitization of urban parking spaces is an essential part of the new digital twin city information model. It is difficult to accurately collect the longitude and latitude coordinate data of parking spaces using Beidou high-precision positioning technology in different urban environments;

[0037] 2. Based on photoelectric vector 3D positioning technology: Through research on measurement principles, system optical path, vector array and high-speed signal acquisition, breakthroughs in key technologies from overall system design to each module are achieved, thereby meeting the requirements of dynamic measurement of technical indicators, forming a principle prototype solution, and solving the problem of high-accuracy detection of parking space status in complex and changing environments;

[0038] 3. Low-power passive coding modulation technology for optical beacons: To achieve high-precision synchronization and energy matching between the passive vector array and the sampling system, it is necessary to explore the high-precision synchronization method and energy matching relationship between the vector array and the acquisition sensor, solve the problems of long-distance synchronization delay and signal acquisition, and realize dynamic posture synchronous measurement; on the premise that the energy of the vector array meets the measurement requirements, a low-power optical feedback hardware module is selected, and a high-frequency flashing scheme is designed to modulate and encode the optical feedback signal. The light source emits near-infrared invisible light, and after coding modulation, high-brightness coding feedback of the passive target is achieved.

[0039] To facilitate understanding, the smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology provided by an embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.

[0040] The embodiment of the present invention provides a smart parking management system based on Beidou and photoelectric vector three-dimensional positioning technology, such as Figure 1-Figure 4 As shown, it includes: a digital twin map of urban parking spaces based on Beidou high-precision positioning technology, which is used to lay the foundation for high-precision navigation of parking spaces; and a multi-target positioning and recognition module based on vector three-dimensional positioning, including: a passive low-power target coding modulation unit, a multi-target point synchronous dynamic recognition and measurement unit, and a photoelectric vector-based three-dimensional positioning unit;

[0041] Passive low-power target coding modulation unit, by studying the luminous characteristics and light energy calculation of non-active luminous targets under long-distance outdoor conditions, designed passive high-brightness luminous target components, and customized low-power optical feedback hardware modules, designed a high-frequency flashing scheme according to the timing characteristics to modulate and encode the optical feedback signal, matched the near-infrared invisible light emitting light source to achieve high-brightness coding feedback of passive targets, and performed timing modulation coding on the optoelectronic receiving end device to distinguish the serial numbers of each device;

[0042] The multi-target point synchronous dynamic identification and measurement unit studies the principle of photoelectric synchronization, the time base of the synchronous timer, the synchronous control timing and the vector array coding timing, synchronizes the timing of the photoelectric signal receiving end, and designs the pulse modulation timing of the vector arrays of multiple specific bands. The vector array signal image is collected according to the timing, and the collected images are processed in turn according to the correlation characteristics between the collected image frames, and the position of each vector array in the image is identified according to the timing coding;

[0043] Based on the photoelectric vector three-dimensional positioning unit, it is used to compare and analyze the performance indicators and solutions of high-dynamic measurement technologies at home and abroad, design and build a high-frequency photoelectric acquisition system composed of a passive vector array and photoelectric sensors, and determine the communication method and interface method between each part. By analyzing specific performance indicators, the optimal high-precision measurement synchronization mechanism is derived to achieve the three-dimensional position and posture measurement of the target using vector arrays and high-speed hardware;

[0044] The smart parking management system based on Beidou and optoelectronic vector 3D positioning technology also includes: a multi-target positioning system prototype module for parking positioning, including: a target low-power miniaturized unit, a multi-target positioning system prototype unit for parking positioning, and a positioning system fast on-site calibration unit; and a smart parking management system software module, which provides reasonable parking route suggestions to drivers in advance based on parking space availability information and high-precision location information, and has a client applet to realize parking space query, reservation, induction, and electronic payment to reduce parking payment time and return car search time, and its response time is less than 3 seconds;

[0045] The target low-power miniaturized unit uses low-power components and circuits to customize miniaturized, low-power optical feedback hardware circuit boards. The design is reasonable based on the vehicle's requirements for the measurement target to achieve miniaturized customized integration of the measured target;

[0046] The prototype unit of the multi-target positioning system for parking positioning analyzes the parking positioning requirements, improves the functional performance of the system prototype according to specific requirements, and completes the integration and debugging of key technologies at the key component level to form a prototype and perform calibration, error analysis and compensation on the prototype;

[0047] The rapid on-site calibration unit of the positioning system includes a camera internal parameter subunit and a sensor structure parameter subunit. It establishes the relationship between the passive vector array coordinate system and the measurement reference coordinate system through geometric structure parameters with clear physical meanings, such as the center, focal length, absolute position, relative position and direction of the passive vector array unit. It also conducts error modeling analysis on the photoelectric acquisition system by further analyzing the factors that affect the accuracy and stability of the measurement results, thereby realizing rapid on-site calibration and measurement of the positioning system.

[0048] Compared with the prior art, the smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology described in the embodiment of the present invention has the following advantages:

[0049] In the smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology provided by the embodiment of the present invention, Beidou high-precision positioning technology is applied to realize the accurate digitization of urban parking spaces, and a high-speed visual sensing system is combined with a passive coded optoelectronic vector beacon to carry out multi-target and recognition technology research based on optoelectronic vector three-dimensional positioning. By collecting, processing and analyzing the luminous information of the miniaturized coded optoelectronic beacon of the measurement target, the dynamic positioning and recognition function of the parking space status is realized. Compared with the traditional video recognition technology, high-precision position solution can be realized without high resolution, which solves the contradiction between recognition and positioning accuracy and monitoring range. The cost of the measuring equipment is reduced; at the same time, the measuring equipment has a measuring range of 100 meters and can simultaneously detect information on no less than 15 parking spaces in an open road parking environment; in addition, the optical and telegraphic beacons of the smart parking management system are miniaturized and have low power consumption. In the future, they can be installed in easily observable locations on the vehicle's exterior, and by solving the three-dimensional information of the vehicle-side encoded optical and telegraphic beacons, they can collect vehicle identity information such as license plate numbers, enrich the functions of the smart parking system, and improve the utilization efficiency of detection equipment; the system accesses the digital coordinate information data of parking spaces and the vacant status information data with an accuracy rate of more than 95%, and the system response time is less than 3 seconds.

[0050] In actual application, the ground parking spaces are digitized using Beidou high-precision positioning. The photoelectric coded vector beacon is sensed by the vector posture system, and the parking space status information data is calculated and transmitted to the background smart parking management system software via 4G or 5G communication methods; in addition, the measurement accuracy of the photoelectric vector three-dimensional positioning system can be compared and verified with various methods such as geomagnetism and low and high poles.

[0051] Among them, Figure 1 As shown, in the above-mentioned multi-target positioning and identification module based on vector three-dimensional positioning, the photoelectric vector three-dimensional berth vacancy status measurement is mainly composed of a measurement system host and a passive vector beacon array, and the measurement system host includes a processor and two high-speed cameras;

[0052] The host of the measurement system uses an area array camera. The infrared light fed back by the passively coded photoelectric beacon is imaged on the area array camera to obtain the two-dimensional coordinates of the camera imaging plane. In combination with the internal and external parameters of the area array camera, the three-dimensional coordinates of the photoelectric vector beacon can be obtained through comprehensive calculation. The target points arranged in the measured area are blocked and the vacancy status information of the measured berth is determined.

[0053] The passive vector beacon array is a photoelectric coded vector beacon installed on the target to be measured. The photoelectric coded vector beacon generates a light signal according to the set identification code rule. The high-speed vision system obtains the light signal coding information through continuous shooting and identifies the identity of the target to be measured.

[0054] Specifically, the area array camera is composed of a CMOS sensor and a large field of view and low distortion optical system. It uses multiple cooperative marker points as a vector array, and installs multiple photoelectric encoded vector targets on the object to be measured to form a vector target array.

[0055] Furthermore, binocular stereo vision measurement calculates the spatial three-dimensional coordinate value of the point in the measurement system coordinate system by detecting the imaging points P1 and P2 of the spatial point P on the left and right cameras respectively.

[0056] like Figure 2 As shown in the figure, the coordinate system of the binocular vision measurement system is assumed to be the left camera coordinate system. The parameter calibration of the system includes the intrinsic parameters of the two cameras and the extrinsic parameters of the relative orientation relationship between the two cameras. The binocular vision measurement system model can be established based on the calibration parameters:

[0057] Assume that the pixel coordinates of imaging points p1 and p2 are (u1, v1) and (u2, v2) respectively, and the projection matrices of the calibrated left and right cameras are ML and MR respectively, we can get:

[0058]

[0059]

[0060] Substituting ρ in equations (1) and (2) L , R Eliminate and get four linear equations about X, Y, and Z. Use the least squares method to solve the coordinates of point P (X, Y, Z).

[0061] Furthermore, if Figure 3 As shown, in the above-mentioned multi-target positioning and identification module based on vector three-dimensional positioning, the multi-target positioning and identification in three-dimensional space is that a photoelectric coding vector target is placed on each measured target, and a coding circuit and a timing control circuit are correspondingly set for each photoelectric coding vector target;

[0062] The coding circuit sets a unique binary identification code for each vector target. The binary identification code corresponds to the on and off of the photoelectric coding vector beacon, and the binary identification codes satisfy that one identification code cannot be obtained after "OR operation" with any other identification code;

[0063] The timing control circuit controls the on and off timing of all photoelectric coded vector beacons, and the on and off timing is synchronized with the camera timing. The photoelectric coded vector beacons continuously emit periodic light signals according to the on and off timing of the binary identification code to form a positioning coordinate system.

[0064] Furthermore, if Figure 4 As shown, the prototype module of the multi-target positioning system for parking positioning is composed of a transmitting end system located above the parking area and a receiving end system placed on the surface of the center of the berth; wherein the transmitting end system is composed of a high-speed camera, an illumination light source, an image acquisition card, a target synchronization and channel decomposition module, a coordinate solution module, a timing control module, and a synchronization signal transmission module, and the receiving end system is composed of a liquid crystal shutter, a high-reflective material, a shutter control module, a logic controller, and a synchronization signal receiving module;

[0065] When working, the optical signal emitted by the passive photoelectric coding beacon on the ground is detected in real time. When the measuring end detects the optical signal, the coding information of the beacon is automatically solved to determine that there is no vehicle parked in the parking space. When a vehicle is parked, the beacon is blocked by the vehicle and the optical signal of the parking space is blocked, so as to realize real-time monitoring of the parking space status.

[0066] Furthermore, the infrared reflective target at the receiving end is composed of a panel made of reflective material and a liquid crystal screen, and is installed on the surface of the center of the berth; the vector target receives continuous light from the light source, which is reflected by the reflective panel through the liquid crystal;

[0067] The LCD shutter controller controls the liquid crystal to complete the switch at a specified frequency and encoding method, converts the reflected light into pulse light in the corresponding encoding format and sends it to the high-speed camera. The high-speed camera receives the light information in the corresponding format to locate the target and determine whether the target position is compliant.

[0068] In actual application, the above-mentioned smart parking management system software module is divided into a three-layer architecture of data collection layer, data processing layer and data application layer. On the basis of centrally collecting the location and status data of urban parking spaces, it can realize the comprehensive utilization of parking spaces to improve the turnover rate and utilization rate of existing parking spaces;

[0069] The data collection layer collects parking space location and status data and uploads it to the data processing layer for classification and analysis. The data application layer provides users with mobile parking services.

[0070] Among them, in response to the chaos in parking fees, the fee management method was changed, electronic payment was uniformly adopted, and the parking fee payment process was traced through the platform to reduce leakage of parking fees and provide citizens with transparent, supervised and reasonable fee standards;

[0071] The mobile mini program provides car owners with services such as obtaining real-time parking information, finding required parking resources, reserving parking spaces, providing parking guidance, and paying parking fees. Mobile payment can support WeChat, Alipay, or bank clients.

[0072] Specifically, the longitude and latitude values ​​and azimuth values ​​of the four corner points of the parking space boundary are accurately measured through Beidou RTK measurement equipment, and uploaded to the software map. A digitized parking space is generated. The longitude and latitude of adjacent parking spaces can be inferred based on the length and width of the parking space and marked on the software map. The position of each parking space can also be inferred by measuring the longitude and latitude values ​​of the four corner points of the overall large quadrilateral of the adjacent parking spaces.

[0073] Furthermore, the indicators of the multi-target positioning system for parking positioning are as follows: Beidou high-precision digital parking and photoelectric vector three-dimensional positioning accuracy: 10cm / m; working distance: 100m; number of targets recognized within the field of view: 15; photoelectric target volume: ≤100mm×70mm×30mm; accurate detection of parking spaces based on vector three-dimensional positioning is achieved;

[0074] Indicators of the smart parking management system: compatible with Beidou high-precision digital parking spaces and vector three-dimensional positioning to identify parking space status data with an accuracy rate of over 95%; vacant space remaining information display accuracy rate of over 95%, system response time of less than 3 seconds; client applet to realize parking space query, reservation, and electronic payment functions.

[0075] The smart parking management system based on Beidou and optoelectronic vector 3D positioning technology provided by the embodiment of the present invention has achieved good results in the high-frequency transient 3D measurement technology project, realizing transient 3D deformation measurement of complex components, high-dynamic real-time acquisition and storage of deformation data, and real-time display of 3D graphics. Through third-party testing, the deformation measurement accuracy reaches 0.02mm / m, and the measurement frequency is greater than 2KHz, which can realize the measurement of complex components with an outer size of 1m to 30m; there is no technical risk in the core CMOS sensor device, multi-target dynamic measurement principle and multi-target positioning and identification technology of optoelectronic vector 3D positioning. In addition, in terms of market promotion, the measured optoelectronic beacon is affixed to the surface of the center of the parking lot, and the beacon adopts a low-power miniaturized design. After productization, the management cost of a single parking space is lower than the existing facilities in the current market, and the market promotion risk is low.

[0076] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A smart parking management system based on Beidou and photoelectric vector three-dimensional positioning technology, characterized in that: include: The digital twin map of urban parking spaces built based on Beidou high-precision positioning technology is used to lay the foundation for high-precision navigation of parking spaces; And a multi-target positioning and identification module based on vector three-dimensional positioning, including: a passive low-power target coding modulation unit, a multi-target point synchronous dynamic identification and measurement unit, and a photoelectric vector-based three-dimensional positioning unit; The passive low-power target coding modulation unit is designed by studying the luminous characteristics and light energy calculation of non-active luminous targets under long-distance outdoor conditions, and the passive high-brightness luminous target components are designed, and the low-power light feedback hardware module is customized. A high-frequency flashing scheme is designed according to the timing characteristics to modulate and encode the light feedback signal, and the near-infrared invisible light emitting light source is matched to realize the high-brightness coding feedback of the passive target, and the timing modulation coding is performed on the photoelectric receiving end device to distinguish the serial numbers of each device; The multi-target point synchronous dynamic identification and measurement unit performs synchronous timing on the photoelectric signal receiving end by studying the photoelectric synchronization principle, the time base of the synchronous timer, the synchronous control timing and the vector array coding timing, and designs the pulse modulation timing of the vector arrays of multiple bands, collects the vector array signal image according to the timing, and performs image processing on the collected images in turn according to the correlation characteristics between the collected image frames, and identifies the position of each vector array in the image according to the timing coding; The photoelectric vector-based three-dimensional positioning unit is used to compare and analyze the performance indicators and solutions of high-dynamic measurement technologies at home and abroad, design and build a high-frequency photoelectric acquisition system composed of a passive vector array and a photoelectric sensor, and determine the communication method and interface method between the various parts. By analyzing specific performance indicators, the optimal high-precision measurement synchronization mechanism is derived to achieve three-dimensional position and posture measurement of the target using a vector array and high-speed hardware; The smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology also includes: a multi-target positioning system prototype module for parking positioning, including: a target low-power miniaturized unit, a multi-target positioning system prototype unit for parking positioning, and a positioning system fast on-site calibration unit; and a smart parking management system software module, which provides reasonable suggestions on parking routes to traveling car owners in advance based on parking space vacancy status information and high-precision location information, and has a client applet to realize parking space query, reservation, induction, and electronic payment to reduce parking payment time and return car search time, and its response time is less than 3 seconds; The target low-power miniaturized unit adopts a customized miniaturized, low-power optical feedback hardware circuit board with low-power components and circuits, and is reasonably designed according to the requirements of the vehicle end for the measurement target to achieve miniaturized customized integration of the measured target; The multi-target positioning system prototype unit of the parking positioning analyzes the parking positioning requirements, improves the functional performance of the system prototype according to the requirements, and completes the integration and debugging of key technologies at the key component level to form a prototype and calibrate, analyze and compensate the prototype; The positioning system fast on-site calibration unit includes a camera internal parameter subunit and a sensor structure parameter subunit. Through geometric structure parameters with clear physical meanings, the center, focal length, absolute position, relative position and direction of the passive vector array unit, the relationship between the passive vector array coordinate system and the measurement reference coordinate system is established. By further analyzing the factors affecting the accuracy and stability of the measurement results, the error modeling analysis of the photoelectric acquisition system is carried out to achieve fast on-site calibration and measurement of the positioning system.

2. The intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology according to claim 1 is characterized in that: The ground parking spaces are digitized using Beidou high-precision positioning. The photoelectric coded vector beacons are sensed by the vector posture system, and the parking space status information data is calculated and transmitted to the background smart parking management system software via 4G or 5G communication methods. In addition, the measurement accuracy of the photoelectric vector three-dimensional positioning system can be compared and verified with multiple methods such as geomagnetism and low and high poles.

3. The intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology according to claim 1 is characterized in that: In the multi-target positioning and identification module based on vector three-dimensional positioning, the photoelectric vector three-dimensional berth vacancy status measurement is composed of a measurement system host and a passive vector beacon array, and the measurement system host includes a processor and two high-speed cameras; The host of the measurement system uses an area array camera. The infrared light fed back by the passively coded photoelectric beacon is imaged on the area array camera to obtain the two-dimensional coordinates of the camera imaging plane. In combination with the internal and external parameters of the area array camera, the three-dimensional coordinates of the photoelectric vector beacon can be obtained through comprehensive calculation. The target points arranged in the measured area are blocked and the vacancy status information of the measured berth is determined. The passive vector beacon array is a photoelectric coded vector beacon installed on the target to be measured. The photoelectric coded vector beacon generates a light signal according to the set identification code rule. The high-speed vision system obtains the light signal coding information through continuous shooting and identifies the identity of the target to be measured.

4. The intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology according to claim 3 is characterized in that: The area array camera consists of a CMOS sensor and a large field of view and low distortion optical system. It uses multiple cooperative markers as a vector array and installs multiple photoelectric encoded vector targets on the object to be measured to form a vector target array.

5. The intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology according to claim 4 is characterized in that: Binocular stereo vision measurement calculates the spatial three-dimensional coordinate value of the point in the measurement system coordinate system by detecting the imaging points P1 and P2 of the spatial point P on the left and right cameras respectively.

6. The intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology according to claim 3 is characterized in that: In the multi-target positioning and identification module based on vector three-dimensional positioning, the multi-target positioning and identification in three-dimensional space is that a photoelectric coding vector target is placed on each measured target, and a coding circuit and a timing control circuit are correspondingly set for each photoelectric coding vector target; The coding circuit sets a unique binary identification code for each vector target. The binary identification code corresponds to the on and off of the photoelectric coding vector beacon, and the binary identification codes satisfy that one identification code cannot be obtained by OR operation with any other identification code; The timing control circuit controls the on and off timing of all photoelectric coded vector beacons, and the on and off timing is synchronized with the camera timing. The photoelectric coded vector beacons continuously emit periodic light signals according to the on and off timing of the binary identification code to form a positioning coordinate system.

7. The intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology according to claim 3 is characterized in that: The prototype module of the multi-target positioning system for parking positioning is composed of a transmitting end system located above the parking area and a receiving end system placed on the surface of the center of the berth; wherein the transmitting end system is composed of a high-speed camera, an illumination light source, an image acquisition card, a target synchronization and channel decomposition module, a coordinate solution module, a timing control module, and a synchronization signal transmission module, and the receiving end system is composed of a liquid crystal shutter, a highly reflective material, a shutter control module, a logic controller, and a synchronization signal receiving module; When working, the optical signal emitted by the passive photoelectric coding beacon on the ground is detected in real time. When the measuring end detects the optical signal, the coding information of the beacon is automatically solved to determine that there is no vehicle parked in the parking space. When a vehicle is parked, the beacon is blocked by the vehicle and the optical signal of the parking space is blocked, so as to realize real-time monitoring of the parking space status.

8. The intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology according to claim 7 is characterized in that: The infrared reflective target at the receiving end is composed of a panel made of reflective material and an LCD screen, and is installed on the surface at the center of the berth; The vector target receives continuous light from the light source, which is reflected by the reflective panel through the liquid crystal; The LCD shutter controller controls the liquid crystal to complete the switch at a specified frequency and encoding method, converts the reflected light into pulse light in the corresponding encoding format and sends it to the high-speed camera. The high-speed camera receives the light information in the corresponding format to locate the target and determine whether the target position is compliant.

9. The intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology according to claim 1 is characterized in that: The software module of the smart parking management system is divided into a three-layer architecture of data collection layer, data processing layer and data application layer. On the basis of centrally collecting the location and status data of urban parking spaces, it can realize the comprehensive utilization of parking spaces to improve the turnover rate and utilization rate of existing parking spaces; The data collection layer collects parking space location and status data and uploads it to the data processing layer for classification and analysis. The data application layer provides users with mobile parking services.

10. The intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology according to claim 1 is characterized in that: The longitude and latitude and azimuth values ​​of the four corner points of the parking space boundary are accurately measured by Beidou RTK measurement equipment and uploaded to the software map. A digitized parking space is generated. The longitude and latitude of adjacent parking spaces can be inferred based on the length and width of the parking space and marked on the software map. The position of each parking space can also be inferred by measuring the longitude and latitude values ​​of the four corner points of the overall large quadrilateral of the adjacent parking spaces.

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