Vehicle entry inspection methods, devices, equipment, and storage media

Abstract

This invention discloses a vehicle parking detection method, apparatus, device, and storage medium, belonging to the field of vehicle detection technology. The method includes: acquiring a vehicle depth image of the target vehicle taken by a depth image acquisition device when the target vehicle is in a parking area; determining the target wheelbase of the target vehicle based on the vehicle depth data from the depth image; wherein the vehicle depth data includes the tire center position of the target vehicle, the device installation position, the device optical axis position, and the device installation angle of the depth image acquisition device; and moving the target vehicle into the parking area according to the target wheelbase. This invention improves the detection accuracy of vehicle wheelbase, facilitating more accurate vehicle handling by subsequent vehicle handling devices, avoiding damage to the vehicle during handling, and thus improving vehicle parking safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle inspection technology, and in particular to a method, apparatus, equipment, and storage medium for vehicle entry inspection. Background Technology

[0002] With the continuous growth of car ownership, large and medium-sized cities are generally facing the problem of insufficient parking spaces to meet parking demand. To solve this problem, intelligent automated parking garages have emerged. Intelligent automated parking garages utilize vehicle entry detection methods to move vehicles into the garage.

[0003] However, existing vehicle entry detection methods typically rely on photoelectric sensors, which have low detection accuracy and pose safety hazards. Summary of the Invention

[0004] This invention provides a vehicle entry detection method, apparatus, equipment, and storage medium to improve the detection accuracy of vehicle entry detection and enhance vehicle parking safety.

[0005] According to one aspect of the present invention, a vehicle entry detection method is provided, the method comprising:

[0006] When the target vehicle is in the parking area, acquire the vehicle depth image of the target vehicle captured by the depth image acquisition device;

[0007] The target wheelbase of the target vehicle is determined based on the vehicle depth data from the vehicle depth image; the vehicle depth data includes the tire center position of the target vehicle, as well as the installation position, optical axis position, and installation angle of the depth image acquisition equipment.

[0008] The target vehicle is moved into the warehouse according to the target wheelbase.

[0009] According to another aspect of the present invention, a vehicle entry detection device is provided, the device comprising:

[0010] The depth image acquisition module is used to acquire vehicle depth images of the target vehicle captured by the depth image acquisition device when the target vehicle is in the parking area.

[0011] The target wheelbase determination module is used to determine the target wheelbase of the target vehicle based on the vehicle depth data of the vehicle depth image; wherein, the vehicle depth data includes the tire center position of the target vehicle, as well as the device installation position, device optical axis position and device installation angle of the depth image acquisition device;

[0012] The vehicle entry module is used to move target vehicles into the warehouse according to the target wheelbase.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory that is communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the vehicle entry detection method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle entry detection method of any embodiment of the present invention.

[0018] The technical solution of this invention involves acquiring a vehicle depth image of the target vehicle captured by a depth image acquisition device when the target vehicle is within a parking area; determining the target wheelbase of the target vehicle based on the vehicle depth data from the depth image; wherein the vehicle depth data includes the tire center position of the target vehicle, as well as the device installation position, optical axis position, and installation angle of the depth image acquisition device; and then moving the target vehicle into the parking space based on the target wheelbase. This technical solution, by analyzing the depth data in the vehicle depth image captured by the depth image acquisition device, determines the target wheelbase of the target vehicle, improving the accuracy of wheelbase detection. This facilitates more accurate vehicle handling by subsequent vehicle handling devices, avoids damage to the vehicle during handling, and thus improves parking safety.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1A This is an installation diagram of a vehicle entry detection hardware system according to an embodiment of the present invention;

[0022] Figure 1BThis is a flowchart of a vehicle entry detection method according to Embodiment 1 of the present invention;

[0023] Figure 1C This is a schematic diagram of a top view of a parking area according to Embodiment 1 of the present invention;

[0024] Figure 1D This is a schematic diagram of similar triangles in a top view of a parking area according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a vehicle entry detection method according to Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram of a vehicle entry detection device according to Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the vehicle entry detection method of this invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "objective," "first," and "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Furthermore, it should be noted that the collection, storage, use, processing, transmission, provision, and disclosure of vehicle depth data, first depth data, and second depth data involved in the technical solution of the present invention all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0031] For ease of understanding, a brief introduction to a vehicle parking detection hardware system according to an embodiment of the present invention is given first. The vehicle parking detection hardware system includes five image acquisition devices, an NVIDIA development board, and two pairs of photoelectric sensors. The five image acquisition devices aggregate the acquired data onto the NVIDIA development board. The photoelectric sensors are used for height detection of vehicles within the parking area. See the installation diagram of the vehicle parking detection hardware system. Figure 1A . Figure 1A Image acquisition devices 1-4 are detection image acquisition devices used to detect whether the target vehicle is too long or too wide, and to detect whether there are any living organisms in the parking area; Figure 1A Image acquisition device number 5 is a depth image acquisition device used to acquire depth images of the target vehicle. It should be noted that... Figure 1A All five image acquisition devices are depth cameras. When installing depth image acquisition devices, attention should be paid to their installation position and angle to ensure that they can capture images of the rear tires of vehicles in the parking area.

[0032] Example 1

[0033] Figure 1B This is a flowchart of a vehicle entry detection method provided in Embodiment 1 of the present invention. This embodiment is applicable to parking situations in intelligent automated parking garages. The method can be executed by a vehicle entry detection device, which can be implemented in hardware and / or software and can be configured in an electronic device, such as the control console of the intelligent automated parking garage. Figure 1B As shown, the method includes:

[0034] S101. When the target vehicle is in the parking area, acquire a vehicle depth image of the target vehicle taken by the depth image acquisition device.

[0035] The target vehicle refers to a vehicle that needs to park in the intelligent automated parking garage. The parking area refers to the parking area within the intelligent automated parking garage.

[0036] The depth image acquisition device is used to acquire depth images of the target vehicle. This device can be a depth camera installed in the parking area, capable of capturing images of the target vehicle's rear tires. A vehicle depth image refers to the depth image of the target vehicle captured by the depth image acquisition device. A depth image is an image where the distance from the depth image acquisition device to various points on the target vehicle is used as pixel values.

[0037] Specifically, when the target vehicle is within the parking area, a depth image of the target vehicle taken by a depth camera can be obtained.

[0038] S102. Determine the target wheelbase of the target vehicle based on the vehicle depth data from the vehicle depth image; wherein, the vehicle depth data includes the tire center position of the target vehicle, as well as the installation position of the depth image acquisition device, the optical axis position of the device, and the installation angle of the device.

[0039] Here, vehicle depth data refers to the depth data of the target vehicle captured by the depth image acquisition equipment. Target wheelbase refers to the wheelbase of the target vehicle. Tire center position refers to the center position of the target vehicle's tires, including the front and rear wheel centers. Equipment installation position refers to the installation location of the depth image acquisition equipment within the parking area. Equipment optical axis position refers to the position of the optical axis of the depth image acquisition equipment within the parking area. Optical axis refers to the center line of the depth acquisition equipment's lens. Equipment installation angle refers to the installation angle of the depth acquisition equipment within the parking area.

[0040] Specifically, the vehicle depth data from the vehicle depth image is input into a preset vehicle wheelbase detection model, and the target wheelbase of the target vehicle is obtained after processing by the preset vehicle wheelbase detection model. The preset vehicle wheelbase detection model can be preset according to actual business needs, and this embodiment of the invention does not impose specific limitations on it.

[0041] Optionally, a first vertical distance between the front wheels of the target vehicle and the depth image acquisition device can be determined based on the center position of the front wheels in the tire center position and the device installation position; a second vertical distance between the rear wheels of the target vehicle and the depth image acquisition device can be determined based on the center position of the rear wheels in the tire center position, the device installation position, the device optical axis position, and the device installation angle; and the target wheelbase of the target vehicle can be determined based on the first and second vertical distances.

[0042] The first vertical distance refers to the vertical distance between the front wheels of the target vehicle and the depth image acquisition device. The second vertical distance refers to the vertical distance between the rear wheels of the target vehicle and the depth image acquisition device.

[0043] Specifically, based on the front wheel center position (found in the tire center position) and the equipment mounting position, a preset distance measuring instrument is used to determine the first vertical distance between the front wheels of the target vehicle and the depth image acquisition device. The rear wheel center position (found in the tire center position), the equipment mounting position, the equipment optical axis position, and the equipment mounting angle are input into the distance detection model. The distance detection model processes this data to obtain the second vertical distance between the rear wheels of the target vehicle and the depth image acquisition device. The difference between the first vertical distance L and the second vertical distance x is taken as the target wheelbase of the target vehicle. Specifically, the target wheelbase can be determined using the following formula based on the first and second vertical distances:

[0044] k = Lx

[0045] Where k is the target wheelbase of the target vehicle, L is the first vertical distance between the front wheels of the target vehicle and the depth image acquisition device, and x is the second vertical distance between the rear wheels of the target vehicle and the depth image acquisition device. It should be noted that the distance detection model is used to determine the second vertical distance between the rear wheels of the target vehicle and the depth image acquisition device, and can be preset according to actual business needs; this invention does not impose specific limitations on it.

[0046] Optionally, the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device can be determined based on the rear wheel center position in the tire center position, the device mounting position, the device optical axis position, and the device mounting angle. This can be achieved by: determining the target depth between the rear wheel of the target vehicle and the depth image acquisition device based on the rear wheel center position in the tire center position and the device mounting position; determining the horizontal distance between the rear wheel center position and the device optical axis position; and determining the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device based on the device mounting angle, the target depth, and the horizontal distance.

[0047] The target depth refers to the depth between the rear wheels of the target vehicle and the depth image acquisition device.

[0048] Specifically, taking the top-down view of the parking area as an example (see...) Figure 1C Based on the rear wheel center position (found in the tire center position) and the equipment installation position, the target depth between the rear wheel of the target vehicle and the depth image acquisition device is determined using a preset distance measuring instrument, denoted as h. Based on the rear wheel center position and the device optical axis position, the horizontal distance between the rear wheel center position and the device optical axis position is determined using the preset distance measuring instrument, denoted as w. Based on the principle of similar triangles, the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device is determined according to the equipment installation angle, the target depth, and the horizontal distance. It should be noted that the preset distance measuring instrument can be pre-set according to actual business needs. For example, the preset distance measuring instrument can be a laser rangefinder, or it can be an infrared rangefinder; this embodiment of the invention does not specifically limit its use.

[0049] Optional, with Figure 1D Taking similar triangles as an example, based on the device installation angle, target depth, and horizontal distance, the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device is determined using the following formula:

[0050]

[0051] Where x is the second vertical distance, β is the equipment installation angle, h is the target depth, and w is the horizontal distance.

[0052] Furthermore, based on the above formula, the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device is obtained:

[0053] x = h cosβ - w sinβ

[0054] Optional, still based on Figure 1D Taking similar triangles as an example, based on the device installation angle, target depth, and horizontal distance, the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device is determined using the following formula:

[0055]

[0056] Furthermore, based on the above formula, the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device is obtained:

[0057]

[0058] Where c is the hypotenuse of the triangle containing the equipment installation angle, x is the second vertical distance, β is the equipment installation angle, h is the target depth, and w is the horizontal distance.

[0059] S103. Move the target vehicle into the warehouse according to the target wheelbase.

[0060] Specifically, the target wheelbase of the target vehicle can be sent to the vehicle transport device, so that the vehicle transport device can accurately clamp the wheels of the target vehicle and transport the target vehicle to the designated position in the intelligent automated parking garage, thereby improving the safety of vehicle parking.

[0061] The technical solution of this invention involves acquiring a vehicle depth image of the target vehicle captured by a depth image acquisition device when the target vehicle is within a parking area; determining the target wheelbase of the target vehicle based on the vehicle depth data from the depth image; wherein the vehicle depth data includes the tire center position of the target vehicle, as well as the device installation position, optical axis position, and installation angle of the depth image acquisition device; and then moving the target vehicle into the parking space based on the target wheelbase. This technical solution, by analyzing the depth data in the vehicle depth image captured by the depth image acquisition device, determines the target wheelbase of the target vehicle, improving the accuracy of wheelbase detection. This facilitates more accurate vehicle handling by subsequent vehicle handling devices, avoids damage to the vehicle during handling, and thus improves parking safety.

[0062] Based on the above embodiments, as an optional embodiment of the present invention, the target vehicle can be moved into the warehouse according to the target wheelbase. Alternatively, if no living organisms are detected in the parking area, the vehicle moving device can be adjusted according to the target wheelbase, and the target vehicle can be moved into the warehouse using the vehicle moving device.

[0063] The organism can be a human or an animal, and this embodiment of the invention does not specifically limit it.

[0064] Specifically, when no living organisms are detected in the parking area, the spacing between the two clamping trolleys in the vehicle transporter is adjusted according to the target wheelbase of the target vehicle, so that the spacing is equal to the target wheelbase. This ensures that the clamping trolleys in the vehicle transporter accurately clamp the wheels of the target vehicle and transport the target vehicle to the designated location in the intelligent automated parking garage. This avoids harm to living organisms during vehicle transport, ensures the safety of living organisms, and thus improves the safety of vehicle parking.

[0065] Example 2

[0066] Figure 2 This is a flowchart of a vehicle entry detection method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment provides an implementation scheme for determining whether the target vehicle exceeds the boundary limits of the parking area before moving the target vehicle into the parking space according to the target wheelbase. It should be noted that parts not described in detail in this embodiment can be referred to in the relevant descriptions of other embodiments. For example... Figure 2 As shown, the method includes:

[0067] S201. When the target vehicle is in the parking area, acquire a vehicle depth image of the target vehicle taken by a depth image acquisition device.

[0068] S202. Determine the target wheelbase of the target vehicle based on the vehicle depth data from the vehicle depth image; wherein, the vehicle depth data includes the tire center position of the target vehicle, as well as the installation position of the depth image acquisition device, the optical axis position of the device, and the installation angle of the device.

[0069] S203. Acquire a first depth image of the parking area when there are no cars, and acquire a second depth image of the parking area when there are cars, captured by the image acquisition device in the parking area.

[0070] The image acquisition device is used to detect whether the target vehicle exceeds the allowed length or width limits, and to detect the presence of living organisms in the parking area, such as people. Optionally, the image acquisition device can be a depth camera to simplify installation and reduce the probability of device malfunction in the parking area. Optionally, the installation location of the image acquisition device can be pre-set according to actual business needs; for example, the image acquisition device can be installed around the perimeter of the parking area, or it can be installed on top of the parking area. This embodiment of the invention does not impose specific limitations on these locations.

[0071] The first depth image refers to the depth image captured by the detection image acquisition device when there are no cars in the parking area. The second depth image refers to the depth image captured by the detection image acquisition device when there are cars in the parking area.

[0072] Specifically, the system can obtain the first depth image of the parking area when there are no cars in the database of the intelligent automated parking garage control console, and the second depth image of the parking area when there are cars in the parking area, captured by the detection image acquisition device.

[0073] S204. Determine the difference between the first depth data on the parking restriction line in the first depth image and the second depth data on the parking restriction line in the second depth image.

[0074] The parking restriction line is a virtual line located in the center of the depth image captured by the image acquisition device. The first depth data refers to the depth data along the parking restriction line in the first depth image. The second depth data refers to the depth data along the parking restriction line in the second depth image. The degree of difference refers to the extent of the difference between the first and second depth data.

[0075] Optionally, a first degree of difference is determined between the first depth data on the parking restriction line in the first depth image and the second depth data on the parking restriction line in the second depth image; a second degree of difference is determined between the data within the first depth data; and a third degree of difference is determined between the data within the second depth data.

[0076] Here, the first degree of difference refers to the difference between the first depth data and the second depth data. The second degree of difference refers to the difference between the data within the first depth data. The third degree of difference refers to the difference between the data within the second depth data.

[0077] Specifically, based on the covariance algorithm, the first degree of difference between the first depth data on the parking restriction line in the first depth image and the second depth data on the parking restriction line in the second depth image can be determined, denoted as cov(X,Y), where X represents the first depth data and Y represents the second depth data; based on the variance algorithm, the second degree of difference between the data within the first depth data can be determined, denoted as Var[X], and the third degree of difference between the data within the second depth data can be determined, denoted as Var[Y].

[0078] S205. Based on the degree of difference and the preset correlation coefficient, determine whether the target vehicle exceeds the boundary limit of the parking area.

[0079] The boundary restrictions of the parking area can be preset according to actual business needs. For example, the boundary restrictions of the parking area can be vehicle length restrictions, vehicle width restrictions, or both vehicle length and width restrictions. This embodiment of the invention does not impose specific limitations on these restrictions.

[0080] Specifically, based on the first, second, and third differences, the target correlation coefficient between the first depth data on the parking restriction line in the first depth image and the second depth data on the parking restriction line in the second depth image can be determined using the following formula:

[0081]

[0082] Where ρ(X,Y) is the target correlation coefficient, cov(X,Y) is the first difference, Var[X] is the second difference, and Var[Y] is the third difference. The target correlation coefficient refers to the correlation coefficient between the first depth data on the parking restriction line in the first depth image and the second depth data on the parking restriction line in the second depth image.

[0083] Next, it checks whether the target correlation coefficient is less than the preset correlation coefficient. If so, it is determined that the target vehicle has not exceeded the boundary limit of the parking area. Otherwise, if the target correlation coefficient is equal to or greater than the preset correlation coefficient, it is determined that the target vehicle has exceeded the boundary limit of the parking area.

[0084] Optionally, if the target vehicle exceeds the boundary limits of the parking area, an alarm message will be generated to prompt the operator to handle the target vehicle.

[0085] Specifically, if the length of the target vehicle exceeds the preset length of the parking area, and / or the width of the target vehicle exceeds the preset width of the parking area, an alarm message will be generated to prompt the operator not to move the target vehicle into the parking area.

[0086] It is understandable that generating an alarm message when the target vehicle exceeds the boundary limit of the parking area facilitates subsequent judgment on whether to move the target vehicle into the parking space based on the target wheelbase, thus avoiding damage to the vehicle.

[0087] It should be noted that there is no explicit order for S201-S202 and S203-S205. S203-S205 can be executed before S201.

[0088] S206. Move the target vehicle into the warehouse according to the target wheelbase.

[0089] The technical solution of this invention detects the excessive length and / or width of the target vehicle in the parking area before moving the target vehicle into the parking space according to the target wheelbase. If the target vehicle does not exceed the boundary limit of the parking area, the target vehicle is moved into the parking space according to the target wheelbase, which further improves the safety of vehicle parking.

[0090] Example 3

[0091] Figure 3 This is a schematic diagram of a vehicle entry detection device provided in Embodiment 3 of the present invention. This embodiment is applicable to parking situations in intelligent automated parking garages. The device can be implemented in hardware and / or software and can be configured in an electronic device, which can be the control console of the intelligent automated parking garage. Figure 3 As shown, the device includes:

[0092] The depth image acquisition module 301 is used to acquire a vehicle depth image of the target vehicle captured by the depth image acquisition device when the target vehicle is in the parking area.

[0093] The target wheelbase determination module 302 is used to determine the target wheelbase of the target vehicle based on the vehicle depth data of the vehicle depth image; wherein, the vehicle depth data includes the tire center position of the target vehicle, as well as the device installation position, device optical axis position and device installation angle of the depth image acquisition device;

[0094] The vehicle entry module 303 is used to move and enter the target vehicle into the warehouse according to the target wheelbase.

[0095] The technical solution of this invention involves acquiring a vehicle depth image of the target vehicle captured by a depth image acquisition device when the target vehicle is within a parking area; determining the target wheelbase of the target vehicle based on the vehicle depth data from the depth image; wherein the vehicle depth data includes the tire center position of the target vehicle, as well as the device installation position, optical axis position, and installation angle of the depth image acquisition device; and then moving the target vehicle into the parking space based on the target wheelbase. This technical solution, by analyzing the depth data in the vehicle depth image captured by the depth image acquisition device, determines the target wheelbase of the target vehicle, improving the accuracy of wheelbase detection. This facilitates more accurate vehicle handling by subsequent vehicle handling devices, avoids damage to the vehicle during handling, and thus improves parking safety.

[0096] Optionally, the target wheelbase determination module 302 includes:

[0097] The first vertical distance determination unit is used to determine the first vertical distance between the front wheel of the target vehicle and the depth image acquisition device based on the front wheel center position in the tire center position and the device installation position;

[0098] The second vertical distance determination unit is used to determine the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device based on the rear wheel center position in the tire center position, the device installation position, the device optical axis position and the device installation angle.

[0099] The target wheelbase determination unit is used to determine the target wheelbase of the target vehicle based on the first vertical distance and the second vertical distance.

[0100] Optionally, the second vertical distance determination unit is specifically used for:

[0101] Based on the rear wheel center position in the tire center position and the equipment installation position, determine the target depth between the rear wheel of the target vehicle and the depth image acquisition equipment;

[0102] Determine the horizontal distance between the center position of the rear wheel and the optical axis of the equipment;

[0103] Based on the equipment installation angle, target depth, and horizontal distance, determine the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device.

[0104] Optional, vehicle entry module 303, specifically used for:

[0105] If no living organisms are detected in the parking area, the vehicle handling device is adjusted according to the target wheelbase, and the target vehicle is moved into the parking space using the vehicle handling device.

[0106] Optionally, the device may also include:

[0107] The depth image acquisition module is used to acquire a first depth image of the parking area when there are no cars, and to acquire a second depth image of the parking area when there are cars, captured by the image acquisition device in the parking area.

[0108] The difference determination module is used to determine the difference between the first depth data on the parking limit line in the first depth image and the second depth data on the parking limit line in the second depth image;

[0109] The boundary detection module is used to determine whether the target vehicle exceeds the boundary limit of the parking area based on the difference and a preset correlation coefficient.

[0110] Optional, a difference determination module, specifically used for:

[0111] Determine the first degree of difference between the first depth data on the parking limit line in the first depth image and the second depth data on the parking limit line in the second depth image;

[0112] Determine the second degree of difference between data within the first depth data, and determine the third degree of difference between data within the second depth data.

[0113] Optionally, the device may also include:

[0114] The alarm notification module generates an alarm notification if the target vehicle exceeds the boundary limit of the parking area, so as to prompt the operator to handle the target vehicle.

[0115] The vehicle entry detection device provided in this embodiment of the invention can execute the vehicle entry detection method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing each vehicle entry detection method.

[0116] Example 4

[0117] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0118] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0119] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0120] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a vehicle parking detection method.

[0121] In some embodiments, the vehicle parking detection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle parking detection method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle parking detection method by any other suitable means (e.g., by means of firmware).

[0122] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0124] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0125] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0126] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0127] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0128] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0129] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle entry detection method characterized by comprising: include: When the target vehicle is in the parking area, acquire a vehicle depth image of the target vehicle captured by a depth image acquisition device; The target wheelbase of the target vehicle is determined based on the vehicle depth data from the vehicle depth image; wherein, the vehicle depth data includes the tire center position of the target vehicle, as well as the device installation position, device optical axis position, and device installation angle of the depth image acquisition device; The target vehicle is moved into the warehouse according to the target wheelbase. Before moving the target vehicle into the warehouse according to the target wheelbase, the method further includes: Acquire a first depth image of the parking area when there are no cars, and acquire a second depth image of the parking area when there are cars, captured by the image acquisition device in the parking area. Determine the degree of difference between the first depth data on the parking restriction line in the first depth image and the second depth data on the parking restriction line in the second depth image; Based on the difference degree and the preset correlation coefficient, it is determined whether the target vehicle exceeds the boundary limit of the parking area.

2. The method of claim 1, wherein, Determining the target wheelbase of the target vehicle based on the vehicle depth data from the vehicle depth image includes: Based on the center position of the front wheel in the tire center position and the installation position of the device, determine the first vertical distance between the front wheel of the target vehicle and the depth image acquisition device; Based on the rear wheel center position in the tire center position, the device installation position, the device optical axis position, and the device installation angle, determine the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device; The target wheelbase of the target vehicle is determined based on the first vertical distance and the second vertical distance.

3. The method of claim 2, wherein, The step of determining the second vertical distance between the rear wheel of the target vehicle and the depth image acquisition device based on the rear wheel center position in the tire center position, the device mounting position, the device optical axis position, and the device mounting angle includes: Based on the rear wheel center position in the tire center position and the device installation position, the target depth between the rear wheel of the target vehicle and the depth image acquisition device is determined; Determine the horizontal distance between the center position of the rear wheel and the optical axis position of the device; Based on the device installation angle, the target depth, and the horizontal distance, a second vertical distance is determined between the rear wheel of the target vehicle and the depth image acquisition device.

4. The method of claim 1, wherein, The process of moving the target vehicle into the warehouse according to the target wheelbase includes: If no living organisms are detected in the parking area, the vehicle handling device is adjusted according to the target wheelbase, and the target vehicle is moved into the parking space using the vehicle handling device.

5. The method of claim 1, wherein, Determining the difference between the first depth data on the parking restriction line in the first depth image and the second depth data on the parking restriction line in the second depth image includes: Determine a first degree of difference between the first depth data on the parking restriction line in the first depth image and the second depth data on the parking restriction line in the second depth image; A second degree of difference between the data within the first depth data is determined, and a third degree of difference between the data within the second depth data is determined.

6. The method of claim 1, wherein, The method further includes: If the target vehicle exceeds the boundary limit of the parking area, an alarm message is generated to prompt the operator to handle the target vehicle.

7. A vehicle entry detection device for executing the vehicle entry detection method according to any one of claims 1 to 6, characterized by include: The depth image acquisition module is used to acquire a vehicle depth image of the target vehicle captured by the depth image acquisition device when the target vehicle is in the parking area. The target wheelbase determination module is used to determine the target wheelbase of the target vehicle based on the vehicle depth data of the vehicle depth image; wherein, the vehicle depth data includes the tire center position of the target vehicle, as well as the device installation position, device optical axis position, and device installation angle of the depth image acquisition device; The vehicle entry module is used to move the target vehicle into the warehouse according to the target wheelbase.

8. An electronic device, comprising: The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle entry detection method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle entry detection method according to any one of claims 1-6.

Images