A closed parking lot full waiting system

Abstract

The present invention discloses a closed parking lot full-space waiting system, which relates to the field of intelligent parking management, including: continuously tracking off-site entrance vehicle targets and road barrier states during the full-space waiting period according to video images of the parking lot entrance collected by video acquisition and recognition equipment; when the parking management server determines that there are remaining spaces to be released, the entrance waiting monitoring algorithm server determines whether the vehicle at the parking lot entrance is a previously identified waiting vehicle according to the video images of the parking lot entrance, and directly lifts the barrier to release it if it is; passive secondary triggering of lifting the barrier by reversing the vehicle can be avoided, thereby improving the safety and efficiency of the full-space waiting management of the parking lot, while the entire process does not require human participation, and can also reduce labor costs.

Description

Technical Field

[0001] The present invention relates to the field of intelligent parking management, and in particular to a closed parking lot full parking waiting system. Background Art

[0002] With the rapid development of my country's economy and society, people's living standards have improved rapidly, and the number of cars has increased rapidly year by year. At the same time, parking lot management and parking space demand have brought increasing pressure to managers, and the phenomenon of full parking lots has become more and more common. How to manage waiting vehicles when the parking lot is full is extremely important.

[0003] At present, when the parking spaces in the parking lot are full, the vehicle must first wait at the entrance of the parking lot; when there are vacant parking spaces in the parking lot, the vehicle information at the entrance is collected again through manual control or the vehicle information collection is passively triggered by the vehicle reversing and re-entering the parking lot, and then the barrier is lifted to release the vehicle. However, there may be other vehicles waiting at the parking lot entrance, or even people passing through. Coordinated reversing will be restricted by road conditions and may even cause accidents, resulting in poor efficiency and safety of the existing parking lot full waiting management. Manual secondary collection and release will result in high labor costs and low management efficiency. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a closed parking lot full waiting system, which can solve the problems of low efficiency and low safety of existing parking lot full waiting management.

[0005] To achieve the above-mentioned object, the present invention provides a closed parking lot full waiting system, the system comprising: a video acquisition and recognition device, a parking management server, and an entrance waiting monitoring algorithm server;

[0006] The video acquisition and recognition device is configured at the parking lot entrance, and is used to acquire the video image of the parking lot entrance, and obtain the identification information of the vehicle that needs to enter the parking lot according to the video image of the parking lot entrance, and send the parking entry event information carrying the vehicle identification information to the parking management server;

[0007] The parking management server is used to send a full parking waiting monitoring start request carrying the vehicle identification information to the entrance waiting monitoring algorithm server when determining that the current parking lot is full;

[0008] The entrance waiting monitoring algorithm server is used to obtain the road pole status information and vehicle status information of the parking lot entrance in the video frame of the first preset time period according to the video image of the parking lot entrance; according to the road pole status information and vehicle status information in the video frame of the first preset time period, determine whether there is a vehicle waiting to enter the parking lot entrance; if there is and it is the same as the vehicle identification information, send a response message carrying the vehicle identification information to the parking management server;

[0009] The parking management server is used to send a query request carrying the vehicle identification information to the entrance waiting monitoring algorithm server when determining that there is a vacant parking space release event in the parking lot;

[0010] The entrance waiting monitoring algorithm server is used to obtain the vehicle identification information of the vehicle waiting to enter based on the second preset time period video frame of the parking lot entrance starting from the current time; if the vehicle identification information of the vehicle waiting to enter is the same as the vehicle identification information in the first preset time period video frame, the road barrier is controlled to lift and release the vehicle.

[0011] Furthermore, the entrance waiting monitoring algorithm server is specifically used to determine whether there is a vehicle at the parking lot entrance based on the video frame of the first preset time period and obtain the position status information of the road pole; if there is a vehicle and the road pole is in a horizontal state, then determine whether there is a vehicle waiting to enter the parking lot entrance based on the vehicle center point position information and the road pole center point position information.

[0012] Furthermore, the entrance waiting monitoring algorithm server is also used to confirm that there is a vehicle waiting to enter if the ordinate value of the center point of the vehicle is less than the difference between the ordinate value of the center point of the road pole and a preset threshold.

[0013] Furthermore, the entry waiting monitoring algorithm server is also used to calculate the vehicle center point position information according to the formulas x_car=x_bbox+1 / 2*w_bbox and y_car=y_bbox+1 / 2*h_bbox, wherein x_car is the horizontal coordinate of the vehicle center point, x_bbox is the starting point of the horizontal coordinate of the vehicle target detection box, w_bbox is the width of the vehicle target detection box, y_car is the vertical coordinate of the vehicle center point, y_bbox is the starting point of the vertical coordinate of the vehicle target detection box, and h_bbox is the height of the vehicle target detection box.

[0014] Furthermore, the entrance waiting monitoring algorithm server is also used to confirm that the vehicle is in the process of entering the parking lot if it is determined according to the video frame that the road pole is in a vertical state, and the longitudinal coordinate of the center point of the vehicle is less than or equal to the sum of the longitudinal coordinate value of the center point of the road pole and a preset threshold value and is greater than the difference between the longitudinal coordinate value of the center point of the road pole and the preset threshold value; and report the entry event information carrying the vehicle identification information to the parking management server.

[0015] Furthermore, the entrance waiting monitoring algorithm server is also used to confirm that the vehicle has completed entry if it is judged that the road pole is in a horizontal state according to the video frame, and the vertical coordinate of the center point of the vehicle is greater than the sum of the vertical coordinate value of the center point of the road pole and a preset threshold; and report the entry completion event information carrying the vehicle identification information to the parking management server.

[0016] Furthermore, the entrance waiting monitoring algorithm server is also used to confirm that there is no vehicle waiting to enter the parking lot and report to the parking management server if the road pole is in a horizontal state and there is no vehicle at the parking lot entrance.

[0017] Furthermore, the parking management server is also used to control the barrier to lift and release the vehicle if it is determined that there are vacant parking spaces in the current parking lot.

[0018] Furthermore, the parking management server is also used to determine whether there is abnormal following behavior at the entrance of the parking lot based on the video image of the entrance of the parking lot; if so, output an alarm message.

[0019] Furthermore, the parking management server is also used to determine whether there is any abnormal lifting behavior of the barrier at the entrance of the parking lot based on the video image of the entrance of the parking lot, and if so, output an alarm message.

[0020] The present invention provides a closed parking lot full-space waiting system, which continuously tracks the vehicle targets and road barrier states at the off-site entrance during the full-space waiting period based on the video image of the parking lot entrance collected by the video acquisition and recognition equipment. When the parking management server determines that there are remaining spaces to be released, the entrance waiting monitoring algorithm server determines whether the vehicle at the parking lot entrance is a waiting vehicle that has been identified before based on the video image of the parking lot entrance. If so, the road barrier is directly lifted to release it. This can avoid passive secondary triggering of road barrier lifting by vehicle reversing, thereby improving the safety and efficiency of full-space waiting management in the parking lot. The entire process does not require human participation, and can also reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a closed parking lot full-space waiting system provided by the present invention. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments.

[0023] The embodiment of the present invention provides a closed parking lot full waiting system, such as Figure 1 As shown, the system includes: a video acquisition and recognition device 11, a parking management server 12, and an entrance waiting monitoring algorithm server 13;

[0024] The video acquisition and recognition device 11 is configured at the entrance of the parking lot, and is used to collect video images of the parking lot entrance, and obtain identification information of vehicles that need to enter the parking lot based on the video images of the parking lot entrance, and send parking entry event information carrying the vehicle identification information to the parking management server.

[0025] The parking management server 12 is used to send a full parking waiting monitoring start request carrying the vehicle identification information to the entrance waiting monitoring algorithm server when it is determined that the current parking lot is full.

[0026] The entrance waiting monitoring algorithm server 13 is used to obtain the road pole status information and vehicle status information of the parking lot entrance in the video frame of the first preset time period based on the video image of the parking lot entrance; based on the road pole status information and vehicle status information in the video frame of the first preset time period, determine whether there is a vehicle waiting to enter the parking lot entrance; if there is and it is the same as the vehicle identification information, send a response message carrying the vehicle identification information to the parking management server.

[0027] Among them, the status of vehicles and road poles at the entrance of the parking lot may include but are not limited to no vehicle at the horizontal bar, vehicle outside the horizontal bar, vehicle inside the horizontal bar, no vehicle at the vertical bar, vehicle outside the vertical bar, vehicle inside the vertical bar, and vehicle entering the vertical bar. The horizontal bar means the road pole is in a horizontal state, and the vertical bar means the road pole is in a vertical state. In the embodiment of the present invention, the targets can be defined as the following three categories: vehicle, horizontal bar, and vertical bar. The specific image classification algorithm uses a convolutional neural network, and there are multiple implementation schemes, including the popular VGG, ResNet, Reception, MobileNet, etc. in the industry, or a self-designed convolutional neural network. The embodiment of the present invention does not limit it.

[0028] The parking management server 12 is used to send a query request carrying the vehicle identification information to the entrance waiting monitoring algorithm server when determining that there is a vacant parking space release event in the parking lot.

[0029] The entrance waiting monitoring algorithm server 13 is used to obtain the vehicle identification information of the vehicle waiting to enter based on the second preset time period video frame of the parking lot entrance starting from the current time; if the vehicle identification information of the vehicle waiting to enter is the same as the vehicle identification information in the first preset time period video frame, the barrier is controlled to lift and release the vehicle.

[0030] Among them, the second preset time period video frame is usually a video frame after the first preset time period video frame, and the frame numbers of the second preset time period video frame and the first preset time period video frame can be set according to actual needs, and the embodiment of the present invention does not limit it. It should be noted that if the vehicle identification information of the vehicle waiting to enter is the same as the vehicle identification information in the first preset time period video frame, it means that the vehicle waiting to enter at this time is the vehicle that triggered the entry event, and the barrier can be directly lifted to release it, which can improve the management efficiency of the parking lot entrance.

[0031] Furthermore, the entrance waiting monitoring algorithm server 13 is specifically used to determine whether there is a vehicle at the parking lot entrance based on the video frame of the first preset time period and obtain the position status information of the road pole; if there is a vehicle and the road pole is in a horizontal state, then determine whether there is a vehicle waiting to enter the parking lot entrance based on the vehicle center point position information and the road pole center point position information.

[0032] Furthermore, the entrance waiting monitoring algorithm server 13 is also used to confirm that there is a vehicle waiting to enter if the ordinate value of the center point of the vehicle is less than the difference between the ordinate value of the center point of the road pole and a preset threshold.

[0033] Furthermore, the entry waiting monitoring algorithm server 13 is also used to calculate the vehicle center point position information according to the formulas x_car=x_bbox+1 / 2*w_bbox and y_car=y_bbox+1 / 2*h_bbox, wherein x_car is the horizontal coordinate of the vehicle center point, x_bbox is the starting point of the horizontal coordinate of the vehicle target detection box, w_bbox is the width of the vehicle target detection box, y_car is the vertical coordinate of the vehicle center point, y_bbox is the starting point of the vertical coordinate of the vehicle target detection box, and h_bbox is the height of the vehicle target detection box.

[0034] For the embodiment of the present invention, it should be noted that the function of the target positioning task is to find the detection frame of the vehicle and the road pole, including the pixel position of the upper left corner represented by the two-dimensional pixel coordinates (x, y), and the detection frame BBox of the vehicle target. This step will also calculate the coordinates of the center point of the vehicle based on the coordinates of the upper left corner of the target positioning detection frame and the size of the bounding box, which is used to determine whether the vehicle is inside or outside the field.

[0035] Furthermore, the entrance waiting monitoring algorithm server 13 is also used to confirm that the vehicle is in the process of entering the parking lot if it is determined according to the video frame that the road pole is in a vertical state, and the longitudinal coordinate of the center point of the vehicle is less than or equal to the sum of the longitudinal coordinate value of the center point of the road pole and a preset threshold value and is greater than the difference between the longitudinal coordinate value of the center point of the road pole and the preset threshold value; and report the entry event information carrying the vehicle identification information to the parking management server.

[0036] Furthermore, the entrance waiting monitoring algorithm server 13 is also used to confirm that the vehicle has completed entry if it is judged that the road pole is in a horizontal state according to the video frame, and the vertical coordinate of the center point of the vehicle is greater than the sum of the vertical coordinate value of the center point of the road pole and a preset threshold value; and report the entry completion event information carrying the vehicle identification information to the parking management server.

[0037] Furthermore, the entrance waiting monitoring algorithm server 13 is also used to confirm that there is no vehicle waiting to enter the parking lot and report to the parking management server if the road pole is in a horizontal state and there is no vehicle at the parking lot entrance.

[0038] For the embodiment of the present invention, the specific function implementation process of the entrance waiting monitoring algorithm server 13 can be as follows, but is not limited to this, for example: Step 1: (1) Crossbar rotation angle measurement: Take an image of the gate in the crossbar state captured by a surveillance camera, and measure the rotation angle between the crossbar and the horizontal line of the image, which is recorded as r = angle value / 360 degrees * 2 * Pi. Save this parameter for subsequent rotation processing of each frame. (2) Centerline y value setting Assume that (x, y) represents pixel coordinates, where y represents the vertical coordinate, which is the pixel value from the top of the rotated frame image downward. For example, for a 1600*900 image frame, the crossbar centerline is measured at y = 500, then y_barrier = 500 is set. (3) Position judgment threshold y_threshold initialization: y_threshold is the threshold for judging the position relationship between the vehicle and the entrance crossbar line, and the unit is pixel value. Initialization is performed here, for example, based on empirical values, it can be set to 20 pixels. (4) Frame number initialization: frame_identification information x is initialized to 0.

[0039] Step 2: 1) Frame number: frame_identification information x + 1; 2) Rotate the image by an angle of -r; 3) Invoke the object detection algorithm to obtain the object detection results for each frame: objects_in_frame; 4) If objects_in_frame contains only crossbars, the frame status is no vehicle at the crossbar; 5) If objects_in_frame contains only vertical poles, the frame status is no vehicle at the vertical pole; 6) If objects_in_frame contains a vehicle and a crossbar, then determine whether the y-value y_car of the vehicle center point is less than the y-value y_barrier of the crossbar center line, and consider the threshold y_threshold; 6A) If y_car < y_barrier - y_threshold and y_threshold is the threshold, it is determined that there is a vehicle outside the crossbar; 6B) If y_car > y_barrier + y_threshold, it is determined that there is a vehicle inside the crossbar; 7) If objs_in_frame contains a vehicle and a vertical pole, then determine whether the y-value y_car of the vehicle center point is less than the y-value y_barrier of the crossbar center line, and consider the threshold y_threshold; 7A) If y_car < y_barrier - y_threshold, it is determined that there is a vehicle outside the vertical pole; 7B) If y_car > y_barrier + y_threshold, it is determined that there is a vehicle inside the vertical pole; 7C) If y_car <= y_barrier + y_threshold and y_car > y_barrier - y_threshold, it is determined that a vehicle is entering at the vertical pole; 8) Record the vehicle identification information captured for each frame for vehicle tracking between adjacent frames.

[0040] Step 3: Object tracking between multiple frames. Use a classic Kalman filtering method such as the deepsort algorithm to track and record the same object between frames, using the vehicle identification information as the unique identifier. For a specific vehicle identification information, it is further divided into the following events:

[0041] 1) Vehicle waiting event, event code 10: If the vehicle is detected continuously for N frames and the frame status is no vehicle outside the crossbar, report this event to the algorithm service and report the vehicle identification information together. When receiving the waiting event, the algorithm service determines whether it is the first waiting event after the algorithm starts: A) If it is the first, save the correspondence between the vehicle identification information and the license plate number and return a startup success message to the parking business management platform. B) If it is not the first, save and record this event; when the continuous same event records accumulate to a certain number, the same type of event records can be filtered and some records can be discarded.

[0042] 2) Entry event, event code 11: If the vehicle is detected in M ​​consecutive frames and the frame status is "entry through pole", the event is reported to the algorithm service, and the vehicle identification information is also reported. If the vehicle identification information in the event is the previously waited vehicle identification information, it is determined that the vehicle is entering the venue, and further successful entry events are continued to be waited.

[0043] 3) Successful entry event, event code 12: If the vehicle is detected in consecutive P frames and the frame status is that there is a vehicle in the horizontal bar field, the event is reported to the algorithm service, and the vehicle identification information is also reported. If the vehicle identification information in the event is the identification information of a vehicle waiting and / or entering the field that has been reported previously, the vehicle is judged to have successfully entered the field, and the license plate number is queried based on the identification information, and then a successful entry message is sent to the parking business management platform, with the license plate number in the message.

[0044] 4) No car event on the horizontal bar, event code 13: If the continuous Q frames detect that there is no car on the horizontal bar, the event will be reported to the algorithm service. After receiving the event, the algorithm service searches for historical events. If the last event received is a waiting event for a certain vehicle identification information, the corresponding license plate number will be searched and marked as exit waiting. The exit waiting event of the license plate number will be sent to the parking business management platform.

[0045] Furthermore, the parking management server 12 is also used to control the barrier to lift and release the vehicle if it is determined that there are vacant parking spaces in the current parking lot.

[0046] Furthermore, the parking management server 12 is also used to determine whether there is abnormal following behavior at the entrance of the parking lot based on the video image of the entrance of the parking lot; if so, output an alarm message.

[0047] According to the embodiment of the present invention, when abnormal following behavior is identified at the entrance of the parking lot, the safety of parking lot management can be further improved by outputting alarm information.

[0048] Furthermore, the parking management server 12 is also used to determine whether there is any abnormal lifting behavior of the barrier at the entrance of the parking lot based on the video image of the entrance of the parking lot, and if so, output an alarm message.

[0049] According to the embodiment of the present invention, when it is identified that the barrier at the entrance of the parking lot has abnormal lifting behavior, the safety of the parking lot management can be further improved by outputting an alarm message.

[0050] For the embodiment of the present invention, the specific implementation process of the system can be as follows, but is not limited thereto, for example: 1) The entrance waiting monitoring algorithm server receives the full waiting monitoring start request carrying vehicle identification information sent by the parking management server, notifies the entrance target tracking algorithm to start, and stores the correspondence between the license plate number carried in the request and the vehicle ID reported by the entrance target tracking algorithm, and sets the full waiting state of the entrance to True, and stores it in a medium such as a memory or a hard disk. 2) The entrance waiting monitoring algorithm server receives the full waiting state query request sent by the parking management server, and queries the corresponding vehicle ID from a storage such as a memory, a hard disk database, a file, a log, etc. according to the license plate number carried in the request, and then queries the event record of the corresponding vehicle reported by the tracking algorithm within n seconds or m frames according to the vehicle ID, and then determines the waiting state of the vehicle, and returns a response message to the parking management server whether it is in the waiting state. 3) The entrance waiting monitoring algorithm server receives the full waiting monitoring completion request sent by the parking management server, and queries the vehicle ID from the storage such as memory, hard disk database, file, log, etc. according to the license plate number carried in the request, stops the entrance target tracking algorithm, and sets the full waiting state to False.

[0051] The present invention provides a closed parking lot full-space waiting system, which continuously tracks the vehicle targets and road barrier states at the off-site entrance during the full-space waiting period based on the video image of the parking lot entrance collected by the video acquisition and recognition equipment. When the parking management server determines that there are remaining spaces to be released, the entrance waiting monitoring algorithm server determines whether the vehicle at the parking lot entrance is a waiting vehicle that has been identified before based on the video image of the parking lot entrance. If so, the road barrier is directly lifted to release it. This can avoid passive secondary triggering of road barrier lifting by vehicle reversing, thereby improving the safety and efficiency of full-space waiting management in the parking lot. The entire process does not require human participation, and can also reduce labor costs.

[0052] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0053] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0054] The disclosed embodiments are described above to enable any person skilled in the art to implement or use the present invention. Various modifications of these embodiments are obvious to those skilled in the art, and the general principles defined herein may also be applied to other embodiments without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.

[0055] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

[0056] Those skilled in the art may also understand that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention may be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units, and steps described above have generally described their functions. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present invention.

[0057] The various illustrative logic blocks or units described in the embodiments of the present invention can be implemented or operated by a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field programmable gate array or other programmable logic system, a discrete gate or transistor logic, a discrete hardware component, or any combination of the above. The general-purpose processor can be a microprocessor, and optionally, the general-purpose processor can also be any conventional processor, controller, microcontroller or state machine. The processor can also be implemented by a combination of computing systems, such as a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0058] The steps of the method or algorithm described in the embodiments of the present invention can be directly embedded in hardware, a software module executed by a processor, or a combination of the two. The software module can be stored in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or other storage media of any form in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and the storage medium can be arranged in an ASIC, and the ASIC can be arranged in a user terminal. Optionally, the processor and the storage medium can also be arranged in different components in the user terminal.

[0059] In one or more exemplary designs, the above functions described in the embodiments of the present invention can be implemented in hardware, software, firmware or any combination of the three. If implemented in software, these functions can be stored on a computer-readable medium, or transmitted in the form of one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media that facilitate the transfer of computer programs from one place to another. The storage medium can be any available medium that can be accessed by any general or special computer. For example, such computer-readable media can include but are not limited to RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage systems, or any other medium that can be used to carry or store program codes in the form of instructions or data structures and other forms that can be read by general or special computers, or general or special processors. In addition, any connection can be appropriately defined as a computer-readable medium, for example, if the software is transmitted from a website site, server or other remote resource through a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wirelessly, such as infrared, wireless and microwave, it is also included in the defined computer-readable medium. The disk and disc include compact disk, laser disk, optical disk, DVD, floppy disk and blue-ray disk. Disks usually copy data magnetically, while discs usually copy data optically with lasers. The above combination can also be included in computer readable media.

[0060] The specific implementations described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A closed parking lot full waiting system, characterized in that: The system includes: video acquisition and recognition equipment, parking management server, and entrance waiting monitoring algorithm server; The video acquisition and recognition device is configured at the parking lot entrance, and is used to acquire the video image of the parking lot entrance, and obtain the identification information of the vehicle that needs to enter the parking lot according to the video image of the parking lot entrance, and send the parking entry event information carrying the vehicle identification information to the parking management server; The parking management server is used to send a full parking waiting monitoring start request carrying the vehicle identification information to the entrance waiting monitoring algorithm server when determining that the current parking lot is full; The entrance waiting monitoring algorithm server is used to obtain the road pole status information and vehicle status information of the parking lot entrance in the video frame of the first preset time period according to the video image of the parking lot entrance; according to the road pole status information and vehicle status information in the video frame of the first preset time period, determine whether there is a vehicle waiting to enter the parking lot entrance; if there is and it is the same as the vehicle identification information, send a response message carrying the vehicle identification information to the parking management server; The parking management server is used to send a query request carrying the vehicle identification information to the entrance waiting monitoring algorithm server when determining that there is a vacant parking space release event in the parking lot; The entrance waiting monitoring algorithm server is used to obtain the vehicle identification information of the vehicle waiting to enter based on the second preset time period video frame of the parking lot entrance starting from the current time; if the vehicle identification information of the vehicle waiting to enter is the same as the vehicle identification information in the first preset time period video frame, the road barrier is controlled to lift and release the vehicle.

2. A closed parking lot full waiting system according to claim 1, characterized in that: The entrance waiting monitoring algorithm server is specifically used to determine whether there is a vehicle at the parking lot entrance based on the video frame of the first preset time period and obtain the position status information of the road pole; if there is a vehicle and the road pole is in a horizontal state, then determine whether there is a vehicle waiting to enter the parking lot entrance based on the vehicle center point position information and the road pole center point position information.

3. A closed parking lot full waiting system according to claim 2, characterized in that: The entrance waiting monitoring algorithm server is also used to confirm that there is a vehicle waiting to enter if the ordinate value of the center point of the vehicle is less than the difference between the ordinate value of the center point of the road pole and a preset threshold.

4. A closed parking lot full waiting system according to claim 2, characterized in that: The entry waiting monitoring algorithm server is also used to calculate the vehicle center point position information according to the formulas x_car=x_bbox+1 / 2*w_bbox and y_car=y_bbox+1 / 2*h_bbox, wherein x_car is the horizontal coordinate of the vehicle center point, x_bbox is the starting point of the horizontal coordinate of the vehicle target detection box, w_bbox is the width of the vehicle target detection box, y_car is the vertical coordinate of the vehicle center point, y_bbox is the starting point of the vertical coordinate of the vehicle target detection box, and h_bbox is the height of the vehicle target detection box.

5. A closed parking lot full waiting system according to claim 1, characterized in that: The entrance waiting monitoring algorithm server is further configured to confirm that the vehicle is in the process of entering the venue if it is determined according to the video frame that the road pole is in a vertical state, and the longitudinal coordinate of the center point of the vehicle is less than or equal to the sum of the longitudinal coordinate value of the center point of the road pole and a preset threshold value and is greater than the difference between the longitudinal coordinate value of the center point of the road pole and the preset threshold value; Report the entry event information carrying the vehicle identification information to the parking management server.

6. A closed parking lot full waiting system according to claim 5, characterized in that: The entrance waiting monitoring algorithm server is further used to confirm that the vehicle has completed entry if it is determined according to the video frame that the road pole is in a horizontal state and the longitudinal coordinate of the center point of the vehicle is greater than the sum of the longitudinal coordinate value of the center point of the road pole and a preset threshold value; Reporting the entry completion event information carrying the vehicle identification information to the parking management server.

7. A closed parking lot full waiting system according to claim 1, characterized in that: The entrance waiting monitoring algorithm server is also used to confirm that there is no vehicle waiting to enter the parking lot and report to the parking management server if the road pole is in a horizontal state and there is no vehicle at the parking lot entrance.

8. A closed parking lot full waiting system according to claim 1, characterized in that: The parking management server is also used to control the barrier to lift and release the vehicle if it is determined that there are vacant parking spaces in the current parking lot.

9. A closed parking lot full waiting system according to claim 1, characterized in that: The parking management server is also used to determine whether there is abnormal following behavior at the parking lot entrance based on the video image of the parking lot entrance; if so, output an alarm message.

10. A closed parking lot full waiting system according to claim 1, characterized in that: The parking management server is further used to determine whether there is abnormal lifting behavior of the barrier at the entrance of the parking lot based on the video image of the entrance of the parking lot, and if so, output an alarm message.

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