A parking space detection system based on video AI recognition

Abstract

The application discloses a parking space detection system based on video AI recognition, which comprises a visual sensor and a laser ranging sensor, the visual sensor is provided with a universal support, and the angle can be adjusted through the universal support; the visual sensor and the laser ranging instrument are connected with a control system, and the control system is connected with a display screen; after the visual sensor inputs a parking space image, the image is sent to a target detection module, the parking space is detected, and the confidence degree output by the detection module is used for judgment, and when the confidence degree is greater than a set threshold value, the parking space is marked on the display screen; through combination of the visual sensor and the laser ranging sensor, the coordinates of the target parking space are corrected through the laser ranging sensor, the measurement error of the target parking space is reduced, and the accuracy of target parking space detection is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent parking, and particularly relates to a parking space detection system based on video AI recognition. BACKGROUND

[0002] With the rapid growth of the number of cars, parking space resources are increasingly scarce, and the use of parking spaces will be more complex. Only by fully sceneizing complex demand scenarios and streamlining management processes at the field end can management loopholes be effectively eliminated while meeting the use needs of car owners. With the development of the network, the monitoring range of parking lots has greatly improved, and basically full coverage and no dead angle monitoring can be achieved. However, these monitoring systems are not utilized for other purposes except for safety monitoring. With the advancement of computer technology, parking lot monitoring can be used to realize parking space navigation and car searching.

[0003] Although many parking lots on the market have navigation systems, some parking lots display the number of remaining parking spaces, but cannot solve the problems in the parking process. At present, most parking lots still require drivers to manually search for parking spaces, which is prone to collisions during the search for parking spaces, especially for parking spaces in small spaces, which are extremely prone to scratches. In some large parking lots, especially airport parking lots, the structure is complex, the shape is similar, and there is a lack of reference objects and a lack of direction, making it difficult to find the location of the car when the parking space number cannot be remembered. In some open-air parking lots, the monitoring camera is exposed for a long time, and is subjected to wind and sun for a long time, especially after rain, which is prone to dust adhesion, resulting in blurred food images, increased video recognition errors, and affecting normal use. SUMMARY

[0004] In view of the deficiencies in the prior art, the purpose of the present application is to provide a parking space detection system based on video AI recognition, which improves the convenience of parking, ensures the cleanliness of the camera lens of the vision sensor through the cleaning mechanism, improves the clarity of the image video, reduces the recognition error, and solves the problems in the background art.

[0005] The present application provides the following technical solutions:

[0006] A parking space detection system based on video AI recognition, comprising a vision sensor and a laser ranging sensor, the vision sensor being provided with a universal support capable of angle adjustment;

[0007] The vision sensor and the laser range finder are connected with a control system, and the control system is connected with a display screen; after the vision sensor inputs the parking space image, the target detection module is sent to detect the parking space, and the confidence level output by the detection module is judged; when the confidence level is greater than the set threshold, the parking space is marked on the display screen;

[0008] After detecting the parking space, the control system starts the laser ranging sensor and fuses the ranging through the acquired video image information, and displays the distance between the parking space and the vehicle owner on the display screen.

[0009] The visual sensor includes a camera lens, and the camera lens is provided with a cleaning mechanism.

[0010] Preferably, the upper portion of the visual sensor is provided with a shell, the upper portion of the shell is provided with an air guide pipe, one side of the shell is provided with a water collecting tank, the water collecting tank is provided in an open manner and is embedded in the shell; the shell is provided with a cleaning mechanism, and the air guide pipe is provided with a fan blade; the cleaning mechanism provides driving force through rotation of the fan blade; the cleaning mechanism transports the rainwater collected in the water collecting tank to the camera lens to wash the camera lens; and the cleaning mechanism dries the camera lens after washing.

[0011] Preferably, the fan blade is rotatably arranged in the air guide pipe, the fan blade is connected with a cam, the cam is rotatably connected with a connecting rod, and the connecting rod is connected with the cleaning mechanism; the cleaning mechanism comprises a sealed box body, the sealed box body is provided with a partition plate, one side of the partition plate is provided with a piston block, the piston block is sealingly and slidably connected with the inner wall of the sealed box body, one side of the piston block is connected with a moving rod, the moving rod penetrates through the sealed box body and is sealingly and slidably connected with the sealed box body, and the other end of the moving rod is connected with the connecting rod.

[0012] Preferably, one side of the sealed box body close to the water collecting tank is provided with a first inlet and a second inlet, the partition plate is provided with a first guide hole and a second guide hole at positions close to the two ends; one side of the partition plate away from the piston block is provided with an upper cavity and a lower cavity, the upper cavity and the lower cavity are separated by a partition plate, the first guide hole is in communication with the lower cavity, and the second guide hole is in communication with the upper cavity; one side of the sealed box body away from the water collecting tank is provided with an output pipe, the other end of the output pipe extends above the camera lens, the camera lens is cleaned through the output pipe, the two sides of the output pipe close to the sealed box body are connected with support rods, the support rods are connected with the outer wall of the sealed box body, the output pipe is symmetrically connected with an upper connecting pipe and a lower connecting pipe, the upper connecting pipe is in communication with the upper cavity, and the lower connecting pipe is in communication with the lower cavity.

[0013] Preferably, the output pipe is provided with a baffle inside one end close to the sealed box body, the baffle is connected with a rotating block, and the rotating block is rotatably connected with the output pipe; the baffle can shield the upper connecting pipe and the lower connecting pipe when rotating through the rotating block.

[0014] Preferably, the water collecting tank is provided with a water storage bin, one side of the water storage bin is provided with a cylinder, the upper part of the cylinder is a sealing structure, the lower part of the cylinder is an open structure, the inside of the cylinder is provided with a piston plate, the position close to the upper part of the cylinder is provided with a water inlet, and the other end of the water inlet is arranged in the water collecting tank.

[0015] Preferably, the other end of the rotating rod is connected with a rotating shaft, the rotating shaft is rotatably connected with a fixed rod, and the other end of the fixed rod is fixedly connected with the shell; the rotating shaft is connected with an upper clamping jaw and a lower clamping jaw, one end of the moving rod close to the connecting rod is connected with a pressing rod, the pressing rod can drive the upper clamping jaw and the lower clamping jaw to move up and down when the moving rod moves up and down, and the rotating shaft rotates when the upper clamping jaw and the lower clamping jaw are driven.

[0016] Preferably, the piston plate is provided with at least one through hole, and the upper part of the through hole is provided with a rubber gasket connected with the piston plate through screws.

[0017] Preferably, the piston plate can be made of rubber, and the diameter of the rubber piston plate is greater than the inner diameter of the cylinder.

[0018] Preferably, the laser ranging sensor is arranged on the two-axis turntable, and the two-axis turntable can rotate in a two-dimensional plane.

[0019] Preferably, the parking space target detection module detects the parking space based on YOLOV4, collects video data of the parking lot through a visual sensor, the video data set includes 100000 high-definition videos, key frames are sampled at the 15th second of each video to obtain 100000 pictures, the pictures are classified and trained, in the image classification process, the default parameters are as follows: the training step is 1000000, the maximum batch and the minimum batch are 64 and 32 respectively, an attenuation learning rate scheduling strategy is used, and the initial learning rate is 0.1; the MS-coco target detection method is used for parking space detection, and the parameters are as follows: the training step is 500500, the initial learning rate is 0.01, the momentum and the weight decay are 0.9 and 0.0005 respectively.

[0020] Preferably, the method for fusion ranging of the parking space is that a coordinate system is established according to the spatial position relationship between the visual sensor and the target parking space, A1 and A2 are the positions of the camera lenses of the two visual sensors, B is the position of the laser ranging sensor, and C is the target parking space. Then, coordinate systems A1XYZ and BX1Y1Z1 are established. In the coordinate system A1XYZ, the camera lens A1 is the origin, the extension line direction of the other camera lens A2 is the X axis, the Y axis is perpendicular to A1 and A2, the Z axis is perpendicular to the X axis and the Y axis, and the coordinates of the target parking space C are (X c ,Y c ,Z c ). In the coordinate system BX1Y1Z1, the point B is the origin, the directions of the X axis, the Y axis and the Z axis are the same as those of the coordinate system A1XYZ, the coordinates of the target parking space C and the camera lens A1 are (X c1 ,Y c1 ,Z c1 ) and (X1, Y1, Z1) respectively, the projection of the point C on the X1BY1 is C0, the angle between BC0 and the Y1 axis is α, and the included angle between BC and the X1BZ1 is β.

[0021] The target C position obtaining step is as follows. First, the coordinate system A1XYZ is set as the reference coordinate system, the two visual sensors first obtain the spatial position of the target parking space, and then the measurement data is transmitted to the control system through the controller. Second, the coordinates of the target parking space obtained by the two visual sensors in the coordinate system A1XYZ are transformed into the coordinate system BX1Y1Z1, the elevation angle and the deflection angle are obtained, the coordinates (X c1 ,Y c1 ,Z c1 ) are as follows, and |X c1 ,Y c1 ,Z c1 | = [X c ,Y c ,Z c ]*Rot(x, m)*Rot(y, n)*Rot(z, k) + [X1, Y1, Z1]. Rot(x, m) is a rotation matrix around the X axis, m is the rotation angle, Rot(y, n) and Rot(z, k) are the same, α = arctan(X c1 / Z c1 ), and β = arctan(|Y c1 | / (X c1 2 + Z c1 2 ) 1 / 2The third step involves sending the deflection angle α and the positive angle β of the two-dimensional turntable to the controller. After adjusting the turntable to the designated position, the controller controls the laser rangefinder to emit a laser towards the target parking space, and the distance value BC=l is returned to the controller. The fourth step uses the laser rangefinder's measurement value l to correct the vision sensor's measurement value along the Z-axis. Because the vision sensor has high accuracy along the vertical optical axis, the coordinates on the X and Y axes are used as the measurement values. The Z-coordinate of point C in the coordinate system BX1Y1Z1 satisfies: Z c =lcosαcosβ; Z is obtained through coordinate transformation. c1 Coordinates satisfy: Z c1 = Z c ·Rot(x,m)* Rot(y,n)* Rot(z,k)+Z1; then after correction by the laser rangefinder, the new Z-axis coordinate value of point C in the coordinate system A1XYZ is Z. cn Satisfy: Z cn =(lcosαcosβ) / [ Rot(x,m)* Rot(y,n)* Rot(z,k)]; then the final coordinates of point C in coordinate system A1XYZ are (X c ,Y c Z cn )= (X c ,Y c ,(lcosαcosβ) / [ Rot(x,m)* Rot(y,n)* Rot(z,k)]); By combining a visual sensor and a laser rangefinder, the coordinates of the target parking space are corrected by the laser rangefinder, reducing the measurement error of the target parking space and improving the accuracy of target parking space detection.

[0022] In addition, when the cleaning mechanism is working, rainwater is collected by the water collecting tank after rain, so as to achieve the purpose of water saving and avoid the complicated water supply problem. A certain amount of rainwater is collected in the water collecting tank, the wind blade arranged in the air guide pipe rotates with the wind, the wind blade drives the cam to rotate, the cam drives the connecting rod and the moving rod to reciprocate up and down, the moving rod drives the pressing rod to move synchronously, when the pressing rod moves upward, the upper clamping jaw is pushed upward, the upper clamping jaw drives the rotating shaft to rotate counterclockwise, at the same time, the rotating rod connected with the rotating shaft rotates counterclockwise downward, the sliding rod slides relative to the through slot, at the same time, the rotating rod drives the telescopic rod to move downward, the telescopic rod drives the piston plate to move downward in the cylinder, when the piston plate moves downward, since the bottom of the cylinder is open and communicates with the water collecting tank, the water in the water collecting tank flows into the cylinder from the bottom of the cylinder, when the piston plate moves downward, if the piston plate is made of rubber material and the diameter of the piston plate is greater than the inner diameter of the cylinder, the piston plate can be sealingly and slidably connected with the cylinder, when the piston plate moves downward, the piston plate is bent upward under the water pressure, and the water enters the upper side of the piston plate through the gap; if the piston plate is made of hard material, when the piston plate moves downward, the water at the bottom of the cylinder flows upward through the through hole, the rubber gasket arranged above the through hole is opened under the water pressure, and the water enters the upper side of the piston plate. It should be understood that, in order to prevent the pressing plate with a mass g from being opened by the water pressure, the mass g of the pressing plate satisfies: 1 / 3ρh·r 2 ≤m / π<ρh·r 2 ; in the above formula, m is in units of gram, ρ is the water density, g / ml, h is the height of the piston plate from the liquid surface, cm, and r is the radius of the through hole, cm; when the moving rod moves downward, the pressing rod moves, the lower clamping jaw is pushed downward, the lower clamping jaw drives the rotating shaft to rotate clockwise, the rotating rod rotates clockwise upward, the sliding rod slides in the through slot, drives the telescopic rod and the piston plate to move upward, and the water above the piston plate is drawn into the water storage compartment through the upper water inlet when the piston plate moves upward; the water is drawn into the water storage compartment through the above arrangement, the water surface height in the water storage compartment is increased, the water pressure is increased, the water can quickly enter the sealing box body, the piston plate arranged in the water collecting tank plays a filtering role on the water in the water collecting tank, and the impurities with a large volume such as leaves are prevented from entering the sealing box body and causing blockage; when the lowest height of the piston plate is higher than the liquid surface, the water washing of the camera lens is stopped, the cleaning mechanism is changed to blowing, and the camera lens is dried to prevent the residual water droplets from blocking the camera lens.

[0023] When the moving rod and the piston block move downward, the movable valve of the first inlet is closed under pressure, the movable valve of the second inlet is opened under vacuum negative pressure, the water in the water storage bin enters the upper side of the piston block through the connecting pipe, and the water below the piston block enters the lower cavity through the first guide hole, then enters the output pipe through the lower connecting pipe, when the water is discharged through the lower connecting pipe, the baffle rotates under the action of water pressure and blocks the upper connecting pipe to prevent water from entering the upper cavity through the upper connecting pipe; when the moving rod drives the piston block to move upward, the principle is the same as above, the second inlet is closed and the first inlet is opened, water enters the lower side of the piston block through the first inlet, the water pressure above the piston block increases, enters the upper cavity and then enters the output pipe through the upper connecting pipe, and the baffle rotates in the opposite direction to block the lower connecting pipe; through the above setting, water can be continuously supplied to the output pipe, and the water pressure is increased, so that the water in the water supply pipe is quickly sprayed out to clean the camera lens, not only keeping the camera lens clean, but also effectively saving water resources and avoiding complicated water supply devices; in order to further improve the cleaning degree and prevent the water pressure from being too low to have a good flushing effect on the camera lens, the water flow speed v of the water supply pipe and the water pressure P of the sealing box body satisfy: P / ρ=λ·v 2 / (2g+H); in the above formula, P is in units of pascal; ρ is the density of water, 1g / ml; v is the water flow speed, cm / s; g is the gravitational constant, H is the drop height of the output pipe, unit: cm; λ is the adjustment coefficient, the value range is 1.26-3.55. The above formula is an empirical formula. The water in the water collecting tank is first pumped into the water storage bin by the piston plate arranged in the cylinder, and the water is secondly pressurized in the sealing box body, so as to ensure the water supply pressure of the water supply pipe and further clean the stubborn sticky soil on the camera lens. After cleaning, if the water in the water collecting tank is used up, the moving rod and the piston block can be indirectly driven by the fan blade to work, increase the air pressure in the output pipe, and blow the camera lens, the working principle of blowing is the same as above, so as to prevent the residual water droplets from blocking the camera lens and affecting the clarity of shooting.

[0024] Compared with the prior art, the present application has the following beneficial effects:

[0025] The parking space detection system based on video AI recognition combines a visual sensor and a laser ranging sensor, corrects the coordinates of a target parking space through the laser ranging sensor, reduces target parking space measurement error, and improves the accuracy of target parking space detection.

[0026] The water is drawn into the water storage bin through the above setting, the water surface height in the water storage bin is increased, the water pressure is increased, the water is quickly introduced into the sealed box body, the piston plate is arranged to filter the water in the water collecting tank, and the blockage caused by the large impurities such as leaves in the sealed box body is prevented; when the lowest height of the piston plate is higher than the liquid level, the water washing of the camera lens is stopped, the cleaning mechanism is changed to blowing, and the camera lens is air dried.

[0027] The water in the water collecting tank is drawn into the water storage bin through the piston plate arranged in the cylinder, the water is secondarily pressurized in the sealed box body, the water pressure of the water delivery pipe is ensured, the camera lens is further cleaned, and the camera lens is cleaned.

[0028] Through the above setting, the camera lens can be cleaned when it rains, and the camera lens can be blown when it does not rain, dust is prevented from adhering to the camera lens, and the clarity of the camera lens is further improved.

[0029] The relationship between the water flow speed of the water delivery pipe and the water pressure of the sealed box body is limited, the cleaning degree is further improved, and the camera lens is not washed well due to low water pressure. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced below, and it should be understood that the following drawings only show some embodiments of the present application, and should not be regarded as a limitation to the scope, and other related drawings can be obtained by those skilled in the art without creative labor.

[0031] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0032] Figure 2 It is a schematic diagram of the internal structure of the present application.

[0033] Figure 3 It is a schematic diagram of the cleaning mechanism of the present application.

[0034] Figure 4 It is a schematic diagram of the cleaning mechanism of the present application.

[0035] Figure 5 It is a schematic diagram of the A local enlarged structure of the present application.

[0036] Figure 6It is the air duct internal structure schematic diagram of the application.

[0037] Figure 7 It is the parking space detection system flow chart of the application.

[0038] Figure 8 It is the parking space distance detection principle diagram of the application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0040] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0041] Example one:

[0042] As Figures 1-3 shown, a parking space detection system based on video AI recognition includes a visual sensor 1 and a laser ranging sensor, the visual sensor 1 is provided with a universal support, which can be angle-adjusted through the universal support;

[0043] The visual sensor 1 and the laser range finder are connected with a control system, and the control system is connected with a display screen; after the visual sensor 1 inputs the parking space image into the target detection module, the parking space is detected, and the confidence level output by the detection module is judged, when the confidence level is greater than the set threshold, the parking space is marked on the display screen;

[0044] After detecting the parking space, the control system starts the laser ranging sensor, and fuses the ranging through the obtained video image information, and displays the distance between the parking space and the owner on the display screen;

[0045] The visual sensor 1 comprises a camera lens 2, the camera lens 2 is provided with a cleaning mechanism 6, the cleaning mechanism 6 can collect rainwater through the water collecting tank 4, after raining, the camera lens 2 is washed through the cleaning mechanism 6, and after the rainwater in the water collecting tank 4 is used up, the cleaning mechanism 6 continues to provide a rapid airflow to the camera lens 2, blows off the residual water droplets, prevents the camera lens 2 from being stained with dust, makes the camera lens 2 dry quickly, and keeps the camera lens 2 clean.

[0046] The laser ranging sensor is arranged on the two-axis turntable, and the two-axis turntable can rotate in a two-dimensional plane.

[0047] The parking space target detection module detects the parking space based on YOLOV4, collects video data of the parking lot through the visual sensor 1, the video data set comprises 100000 high-definition videos, key frames of the 15th second of each video are sampled to obtain 100000 pictures, the pictures are classified and trained, in the image classification process, the default parameters are as follows, the training step is 1000000, the maximum batch and the minimum batch are 64 and 32 respectively, the decay learning rate scheduling strategy is used, and the initial learning rate is 0.1; the MS-coco target detection method is used for parking space detection, and the parameters are as follows: the training step is 500500, the initial learning rate is 0.01, the momentum and the weight decay are 0.9 and 0.0005 respectively.

[0048] The method for fusing the ranging of the parking space is that a coordinate system is established according to the spatial position relationship between the visual sensor 1 and the target parking space, A1 and A2 are the positions of the camera lenses 2 of the two visual sensors 1, B is the position of the laser ranging sensor, and C is the target parking space, then the coordinate systems A1XYZ and BX1Y1Z1 are established; in the coordinate system A1XYZ, the camera lens 2 A1 is the origin, the extension line direction of the other camera lens 2 A2 is the X axis, the Y axis is perpendicular to A1 and A2, the Z axis is perpendicular to the X axis and the Y axis, and the coordinates of the target parking space C are (X c ,Y c ,Z c ); in the coordinate system BX1Y1Z1, the point B is the origin, the directions of the X axis, the Y axis and the Z axis are the same as those of the coordinate system A1XYZ, and the coordinates of the target parking space C and the camera lens 2 A1 are (X c1 ,Y c1 ,Z c1 ) and (X1, Y1, Z1) respectively; the projection of the point C on the X1BY1 is C0; the angle between BC0 and the Y1 axis is α, and the included angle between BC and the X1BZ1 is β.

[0049] The target C point position obtaining step is as follows: first, the coordinate system A1XYZ is set as a reference coordinate system, two visual sensors 1 first obtain the spatial position of the target parking space, and then the measurement data is transmitted to the control system through the controller; second, the coordinates of the target parking space obtained by the two visual sensors 1 are in the coordinate system A1XYZ, the obtained coordinate position is transformed into the coordinate system BX1Y1Z1, the elevation angle and the deflection angle are obtained, the coordinates (X c1 ,Y c1 ,Z c1 ) are as follows: | X c1 ,Y c1 ,Z c1 | = [X c ,Y c ,Z c ]*Rot(x,m)*Rot(y,n)*Rot(z,k)+[X1,Y1,Z1]; wherein Rot(x,m) is a rotation matrix around the x axis; m is a rotation angle; Rot(y,n) and Rot(z,k) are the same; then α=arctan(X c1 / Z c1 ); β=arctan(|Y c1 | / (X c1 2 +Z c1 2 ) 1 / 2 ); third, the deflection angle α and the elevation angle β of the two-dimensional turntable are transmitted to the controller, the turntable is adjusted to a specified position, the controller controls the laser ranging sensor to emit laser to the target parking space, and the distance value BC=l is returned to the controller; fourth, the measurement value l of the laser ranging sensor is used to correct the measurement value of the visual sensor 1 along the Z axis, since the visual sensor 1 has high accuracy along the vertical optical axis, the coordinates on the X axis and the Y axis are used as the measurement value, the Z coordinate of the C point in the coordinate system BX1Y1Z1 satisfies: Z c =lcosαcosβ; the Z c1 coordinate obtained through coordinate transformation satisfies: Z c1 =Z c ·Rot(x,m)*Rot(y,n)*Rot(z,k)+Z1; then after correction by the laser ranging sensor, the new Z axis coordinate value Z cn of the C point in the coordinate system A1XYZ satisfies: Z cn =(lcosαcosβ) / [Rot(x,m)*Rot(y,n)*Rot(z,k)]; and the coordinate value of the C point in the coordinate system A1XYZ is (X c ,Y c ,Z cn )=(X c ,Yc (lcosαcosβ) / [ Rot(x,m)* Rot(y,n)* Rot(z,k)]);By the combination of the visual sensor 1 and the laser ranging sensor, the coordinates of the target parking space are corrected by the laser ranging sensor, the measurement error of the target parking space is reduced, and the accuracy of the target parking space detection is improved.

[0050] Embodiment two:

[0051] Please refer to Figures 1-6 On the basis of the first embodiment, the upper side of the visual sensor 1 is provided with a shell 3, the upper side of the shell 3 is provided with a wind guide pipe 5, one side of the shell 3 is provided with a water collecting tank 4, the water collecting tank 4 is provided with an open side, and the water collecting tank 4 is embedded in the shell 3; The shell 3 is provided with a cleaning mechanism 6, the wind guide pipe 5 is provided with a fan blade 51, the cleaning mechanism 6 provides driving force through the rotation of the fan blade 51, the cleaning mechanism 6 transports the rainwater collected in the water collecting tank 4 to the camera lens 2, and the camera lens 2 is washed, and the cleaning mechanism 6 dries the camera lens 2 after washing.

[0052] The fan blade 51 is rotatably arranged in the wind guide pipe 5, the output shaft of the fan blade 51 is connected with a cam 52, the cam 52 is rotatably connected with a connecting rod 65, and the connecting rod 65 is connected with the cleaning mechanism 6 through a driving rod; The cleaning mechanism 6 comprises a sealed box body 61, the sealed box body 61 is provided with a partition plate 62, one side of the partition plate 62 is provided with a piston block 63, the piston block 63 is sealingly and slidably connected with the inner wall of the sealed box body 61, one side of the piston block 63 is connected with a moving rod 64, the moving rod 64 penetrates through the sealed box body 61, and the moving rod 64 is sealingly and slidably connected with the sealed box body 61, and the other end of the moving rod 64 is connected with the connecting rod 65.

[0053] The first inlet 67 and the second inlet 68 are arranged on one side of the sealed box body 61 close to the water collecting tank 4, the first guide hole 69 and the second guide hole 610 are arranged on the partition plate 62 close to both ends, the upper cavity 612 and the lower cavity 611 are arranged on the side of the partition plate 62 away from the piston block 63, the first guide hole 69 and the lower cavity 611 are in communication, the second guide hole 610 and the upper cavity 612 are in communication, the output pipe 616 is arranged on the side of the sealed box body 61 away from the water collecting tank 4, the other end of the output pipe 616 extends above the camera lens 2, the camera lens 2 is cleaned through the output pipe 616, the support rods 613 are connected to both sides of the output pipe 616 close to the sealed box body 61, the support rods 613 are connected to the outer wall of the sealed box body 61, the upper connecting pipe 614 and the lower connecting pipe 615 are symmetrically connected to the output pipe 616, the upper connecting pipe 614 and the upper cavity 612 are in communication, and the lower connecting pipe 615 and the lower cavity 611 are in communication. The inner side of one end of the output pipe 616 close to the sealed box body 61 is provided with the baffle 617, the baffle 617 is connected with the rotating block 618, and the rotating block 618 is rotationally connected with the output pipe 616; the baffle 617 can shield the upper connecting pipe 614 and the lower connecting pipe 615 when rotating through the rotating block 618.

[0054] The water storage bin 41 is arranged in the water collecting tank 4, the cylinder 42 is arranged on one side of the water storage bin 41, the upper part of the cylinder 42 is a sealed structure, the lower part of the cylinder 42 is an open structure, the piston plate 43 is arranged in the cylinder 42, the water inlet 45 is arranged on the upper part of the cylinder 42, and the other end of the water inlet 45 is arranged in the water collecting tank; the side of the piston plate 43 is connected with the telescopic rod 44, the other end of the telescopic rod 44 is slidingly connected with the rotating rod 49, the rotating rod 49 is provided with the through groove 410, the other end of the telescopic rod 44 is connected with the sliding rod 46, the sliding rod 46 is arranged in the through groove 410, and the sliding rod 46 is slidingly connected with the through groove 410 in a matched mode. The other end of the rotating rod 49 is connected with the rotating shaft 48, the rotating shaft 48 is rotationally connected with the fixed rod 47, the other end of the fixed rod 47 is fixedly connected with the shell 3, the rotating shaft 48 is connected with the upper clamping jaw 411 and the lower clamping jaw 412, the one end of the moving rod 64 close to the connecting rod 65 is connected with the pressing rod 66, the pressing rod 66 can drive the upper clamping jaw 411 and the lower clamping jaw 412 when moving up and down along with the moving rod 64, and the rotating shaft 48 rotates when the upper clamping jaw 411 and the lower clamping jaw 412 are driven. The piston plate 43 is provided with at least one through hole 431, the upper part of the through hole 431 is provided with the rubber gasket 432, the rubber gasket 432 is connected with the piston plate 43 through screws, the upper part of the rubber gasket 432 is connected with the pressing plate 433, and the diameter of the pressing plate 433 is greater than that of the through hole 431. The piston plate 43 can be made of rubber, and the diameter of the rubber piston plate 43 is greater than the inner diameter of the cylinder 42.

[0055] Example three

[0056] On the basis of embodiment two, when the cleaning mechanism 6 is working, rainwater is collected by the water collecting tank 4 after rain, achieving the purpose of water saving and avoiding the cumbersome water supply problem. A certain amount of rainwater is collected in the water collecting tank 4, the wind blade 51 arranged in the air guide pipe 5 rotates with the wind, the wind blade 51 rotates to drive the connected cam 52 to rotate, the cam 52 drives the connecting rod 65 and the moving rod 64 to reciprocate up and down, the moving rod 64 drives the pressing rod 66 to move synchronously, when the pressing rod 66 moves upward, the upper claw 411 is pushed upward, the upper claw 411 drives the rotating shaft 48 to rotate counterclockwise, at the same time, the rotating rod 49 connected with the rotating shaft 48 rotates counterclockwise downward with the rotating shaft 48, the sliding rod 46 slides relative to the through slot 410, at the same time, the rotating rod 49 drives the telescopic rod 44 to move downward, the telescopic rod 44 drives the piston plate 43 to move downward in the cylinder body 42, when the piston plate 43 moves downward, since the bottom of the cylinder body 42 is open and communicates with the water collecting tank 4, the water in the water collecting tank 4 flows into the cylinder body 42 from the bottom of the cylinder body 42, when the piston plate 43 moves downward, if the piston plate 43 is made of rubber material and the diameter of the piston plate 43 is greater than the inner diameter of the cylinder body 42, the piston plate 43 can be sealingly and slidably connected with the cylinder body 42, when the piston plate 43 moves downward, the lower part of the piston plate 43 is bent upward under the action of the water pressure, and the water enters the upper part of the piston plate 43 through the gap; if the piston plate 43 is made of hard material, when the piston plate 43 moves downward, the water at the bottom of the cylinder body 42 flows upward through the through hole 431, the rubber gasket 432 arranged above the through hole 431 is opened under the action of the water pressure, and the water enters the upper part of the piston plate 43. It should be understood that, in order to prevent the pressing plate 433 with a mass g from being opened by the water pressure, the mass g of the pressing plate 433 satisfies: 1 / 3ρh·r 2 ≤m / π<ρh·r 2 ; in the above formula, m is in units of grams, ρ is the water density, g / ml, h is the height of the piston plate 43 from the liquid surface, unit: cm, and r is the radius of the through hole 431, unit: cm; when the moving rod 64 moves downward to drive the pressing rod 66 to move, the pressing rod 66 downwardly drives the lower claw 412, the lower claw 412 drives the rotating shaft 48 to rotate clockwise, the rotating rod 49 rotates clockwise upward, the sliding rod 46 slides in the through slot 410 to drive the telescopic rod 44 and the piston plate 43 to move upward, and the piston plate 43 moves upward to draw the water above the piston plate 43 into the water storage compartment 41 through the upper water inlet 45; through the above arrangement, the water is drawn into the water storage compartment 41, which can increase the water surface height in the water storage compartment 41, increase the water pressure, and help the water to quickly enter the sealing box body 61; at the same time, the piston plate 43 arranged can filter the water in the water collecting tank 4, preventing large impurities such as leaves from entering the sealing box body 61 to cause blockage; when the lowest height of the piston plate 43 is higher than the liquid surface, the water washing of the camera lens 2 is stopped, the cleaning mechanism 6 is changed to blowing, and the camera lens 2 is dried to prevent residual water droplets from blocking the camera lens 2.

[0057] When the moving rod 64 and the piston block 63 move downward, the movable valve of the first inlet 67 is closed under the pressure, and the movable valve of the second inlet 68 is opened under the negative pressure, so that the water in the water storage tank 41 enters the upper part of the piston block 63 through the connecting pipe 413, and the water below the piston block 63 enters the lower cavity 611 through the first guide hole 69, and then enters the output pipe 616 through the lower connecting pipe 615. When the water is discharged through the lower connecting pipe 615, the baffle 617 is rotated under the water pressure and blocks the upper connecting pipe 614, preventing the water from entering the upper cavity 612 through the upper connecting pipe 614. When the moving rod 64 drives the piston block 63 to move upward, the principle is the same as above, the second inlet 68 is closed, the first inlet 67 is opened, and the water enters the lower part of the piston block 63 through the first inlet 67. The water pressure above the piston block 63 increases, and then enters the output pipe 616 through the upper connecting pipe 413 after entering the upper cavity 612. The baffle 617 is reversely rotated to block the lower connecting pipe 413. Through the above arrangement, water can be continuously supplied to the output pipe 616, and the water pressure is increased, so that the water in the water supply pipe is quickly sprayed out to clean the camera lens 2. Not only the camera lens 2 is kept clean, but also the water resource is effectively saved, and the complicated water supply device is avoided. In order to further improve the cleaning degree and prevent the water pressure from being too low to effectively wash the camera lens 2, the water flow speed v of the water supply pipe and the water pressure P of the sealed box body 61 satisfy the formula: P / ρ=λ·v 2 / (2g+H); in the formula, P is in pascal, ρ is the density of water, 1 g / ml, v is the water flow speed, cm / s, g is the gravitational constant, H is the drop height of the output pipe 616, cm, and λ is the adjustment coefficient, which is in the range of 1.26-3.55. The above formula is an empirical formula. The water in the water collecting tank 4 is first pumped into the water storage tank 41 by the piston plate 43 arranged in the cylinder body 42, and then the water is secondly pressurized in the sealed box body 61, so as to ensure the water supply pressure of the water supply pipe and further clean the stubborn sticky soil on the camera lens 2. After cleaning, if the water in the water collecting tank 4 is used up, the moving rod 64 and the piston block 63 can be indirectly driven to work by the fan blade 51, so as to increase the air pressure in the output pipe 616 and blow the camera lens 2. The working principle of the blowing is the same as above, which prevents the residual water droplets from blocking the camera lens 2 and affecting the clarity of the shooting.

[0058] The device obtained by the technical scheme is a parking space detection system based on video AI recognition, coordinates of the target parking space are corrected by the laser ranging sensor, measurement error of the target parking space is reduced, and accuracy of target parking space detection is improved. The water is drawn into the water storage bin through the above setting, the water surface height in the water storage bin is increased, the water pressure is increased, which helps the water to quickly enter the sealed box body; at the same time, the piston plate set plays a filtering role on the water in the water collecting tank, preventing large impurities such as leaves from entering the sealed box body and causing blockage; when the lowest height of the piston plate is higher than the liquid level, the water washing of the camera lens is stopped, and the cleaning mechanism is changed to blowing, and the camera lens is air dried. The water in the water collecting tank is drawn into the water storage bin by the piston plate set for the first time to increase the water pressure, and the water in the sealed box body is pressurized for the second time to ensure the water pressure of the water delivery pipe, which can further clean the stubborn mud adhered to the camera lens. After cleaning, if the water in the water collecting tank is used up, the moving rod and the piston block can be indirectly driven by the fan blade to increase the air pressure in the output pipe, and the camera lens is blown, the working principle of blowing is the same as above, to prevent residual water droplets from blocking the camera lens and affecting the clarity of the shot. Through the above setting, the camera lens can be cleaned when it rains, and at the same time, the camera can be blown when it does not rain, preventing dust from adhering to the camera lens, and further improving the clarity of the camera lens. By limiting the relationship between the water flow speed of the water delivery pipe and the water pressure of the sealed box body, the cleaning degree is further improved, and the water pressure is too low to have a good flushing effect on the camera lens.

[0059] Other technical solutions not described in detail in the present application are existing technologies in the art, and will not be described here.

[0060] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various changes and modifications to the present application; any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A parking space detection system based on video AI recognition, characterized in that, Including visual sensor (1), and laser ranging sensor, visual sensor (1) is equipped with gimbals, angle adjustment can be carried out through gimbals; Visual sensor (1) and laser range finder are connected with control system, and control system is connected with display screen;After visual sensor (1) inputs parking space image, it is sent to target detection module, and the parking space is detected, and it is judged according to the confidence level output by detection module, when the confidence level is greater than the set threshold, this parking space is marked on the display screen; After detecting the parking space, the control system starts the laser ranging sensor, and the distance between the parking space and the owner is displayed on the display screen by fusing ranging through the obtained video image information; Visual sensor (1) includes camera lens (2), camera lens (2) is equipped with cleaning mechanism (6), cleaning mechanism (6) can collect rainwater through the setting water collecting tank (4), after raining, camera lens (2) is washed through cleaning mechanism (6), and after the rainwater in water collecting tank (4) is used up, cleaning mechanism (6) continues to provide rapid airflow to camera lens (2), blows off residual water droplets, prevents camera lens (2) from being stained with dust, makes camera lens (2) dry quickly, and keeps clean; The upper side of the visual sensor (1) is provided with a shell (3), the upper side of the shell (3) is provided with a wind guide pipe (5), one side of the shell (3) is provided with a water collecting tank (4), the water collecting tank (4) is provided with an open side, and the water collecting tank (4) is embedded in the shell (3); The shell (3) is provided with a cleaning mechanism (6), the wind guide pipe (5) is provided with a fan blade (51), the cleaning mechanism (6) is driven by the rotation of the fan blade (51), and the cleaning mechanism (6) sends the rainwater collected in the water collecting tank (4) to the camera lens (2) to wash the camera lens (2), and the cleaning mechanism (6) is dried after washing the camera lens (2); The fan blade (51) is rotatably arranged in the wind guide pipe (5), the output shaft of the fan blade (51) is connected with a cam (52), the cam (52) is rotatably connected with a connecting rod (65), and the connecting rod (65) is connected with the cleaning mechanism (6); The cleaning mechanism (6) comprises a sealed box body (61), a partition plate (62) is arranged in the sealed box body (61), a piston block (63) is arranged on one side of the partition plate (62), the piston block (63) is sealingly and slidably connected with the inner wall of the sealed box body (61), a moving rod (64) is connected with one side of the piston block (63), the moving rod (64) penetrates through the sealed box body (61), and the moving rod (64) is sealingly and slidably connected with the sealed box body (61), and the other end of the moving rod (64) is connected with the connecting rod (65). The sealing box body (61) is provided with a first inlet (67) and a second inlet (68) near one side of the water collecting tank (4), and the partition plate (62) is provided with a first guide hole (69) and a second guide hole (610) near the positions of the two ends; the side of the partition plate (62) away from the piston block (63) is provided with an upper cavity (612) and a lower cavity (611), the upper cavity (612) and the lower cavity (611) are separated by a partition plate arranged therebetween, the first guide hole (69) is in communication with the lower cavity (611), and the second guide hole (610) is in communication with the upper cavity (612); the sealing box body (61) is provided with an output pipe (616) away from the water collecting tank (4), one end of the output pipe (616) extends above the camera lens (2), the camera lens (2) is cleaned through the output pipe (616), and the two sides of the output pipe (616) near the sealing box body (61) are connected with supporting rods (613), the supporting rods (613) are connected with the outer wall of the sealing box body (61) through arrangement, the output pipe (616) is symmetrically connected with an upper connecting pipe (614) and a lower connecting pipe (615), the upper connecting pipe (614) is in communication with the upper cavity (612), and the lower connecting pipe (615) is in communication with the lower cavity (611).

2. The parking space detection system based on video AI recognition of claim 1, wherein, The end of the output pipe (616) near the sealing box body (61) is internally provided with a baffle (617), the baffle (617) is connected with a rotating block (618), and the rotating block (618) is rotatably connected with the output pipe (616); the baffle (617) can shield the upper connecting pipe (614) and the lower connecting pipe (615) when rotating through the rotating block (618).

3. The parking space detection system based on video AI recognition of claim 1, wherein, The water collecting tank (4) is internally provided with a water storage bin (41), one side of the water storage bin (41) is provided with a cylinder (42), the upper portion of the cylinder (42) is of a sealing structure, the lower portion of the cylinder (42) is of an open structure, the inside of the cylinder (42) is provided with a piston plate (43), the cylinder (42) is provided with a water inlet (45) near the upper portion, and the other end of the water inlet (45) is arranged in the water storage tank; one side of the piston plate (43) is connected with an extension rod (44), the other end of the extension rod (44) is slidably connected with a rotating rod (49), the rotating rod (49) is provided with a through slot (410), the other end of the extension rod (44) is connected with a sliding rod (46), the sliding rod (46) is arranged in the through slot (410), and the sliding rod (46) is slidably connected with the through slot (410) in a matched mode.

4. The parking space detection system based on video AI recognition of claim 3, wherein, The other end of the rotating rod (49) is connected with a rotating shaft (48), the rotating shaft (48) is rotatably connected with a fixed rod (47), and the other end of the fixed rod (47) is fixedly connected with the shell (3); the rotating shaft (48) is connected with an upper clamping jaw (411) and a lower clamping jaw (412), one end of the moving rod (64) near the connecting rod (65) is connected with a pressing rod (66), the pressing rod (66) can drive the upper clamping jaw (411) and the lower clamping jaw (412) to move up and down along with the moving rod (64), and the rotating shaft (48) rotates when the upper clamping jaw (411) and the lower clamping jaw (412) are driven.

5. The parking space detection system based on video AI recognition of claim 4, wherein, The piston plate (43) is provided with at least one through hole (431), and a rubber gasket (432) is arranged above the through hole (431), the rubber gasket (432) is connected with the piston plate (43) through screws, and a pressing plate (433) is connected above the rubber gasket (432), and the diameter of the pressing plate (433) is greater than that of the through hole (431).

6. The parking space detection system based on video AI recognition of claim 4, wherein, The piston plate (43) can be made of rubber, and the diameter of the rubber piston plate (43) is greater than the inner diameter of the cylinder (42).

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