A kind of automatic control system for three-dimensional parking lot

Abstract

The present invention belongs to the field of parking lot control, and discloses an automatic control system for a three-dimensional parking lot, including a measuring device, a judging device, a display device, and a control device; the measuring device is used to measure the vehicle before the vehicle to be measured enters the parking area of ​​the three-dimensional parking lot, and obtain the length, width, and height of the vehicle; the judging device is used to judge whether the length, width, and height of the vehicle meet the parking conditions, and obtain the judgment result, which is met or not met; the display device is used to display the judgment result; the control device is used to open the access control device at the entrance of the three-dimensional parking lot when the judgment result is met, so that the vehicle can enter the parking area of ​​the three-dimensional parking lot. The present invention effectively reduces the probability of vehicles whose sizes do not meet the parking conditions entering the parking area of ​​the three-dimensional parking lot, thereby effectively avoiding wasting the time of the owner of the car, and reducing the probability of congestion in the three-dimensional parking lot.

Description

Technical Field

[0001] The invention relates to the field of parking lot control, and in particular to an automatic control system for a three-dimensional parking lot. Background Art

[0002] A three-dimensional parking lot refers to a new type of parking lot that utilizes space resources to park vehicles in a three-dimensional manner, saving land and maximizing its use. Before entering a three-dimensional parking lot, car owners usually need to determine whether the size of their vehicles can fit into the parking space. However, some owners of partially modified vehicles do not clearly understand the true size of their vehicles, which results in some car owners driving their vehicles to the parking spaces in the three-dimensional garage to try, only to find that they cannot park in. This not only wastes the car owners' time, but may also cause congestion on the roads inside the three-dimensional parking lot due to the car owners' repeated attempts to reverse into the parking spaces. Summary of the invention

[0003] The purpose of the present invention is to disclose an automatic control system for a multi-story parking lot, so as to solve the problem of how to allow car owners to know whether the size of their vehicles meets the requirements for parking in multi-story parking spaces before entering the parking lot, thereby avoiding wasting the car owners' time and reducing the probability of congestion in the multi-story parking lot.

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

[0005] The present invention provides an automatic control system for a three-dimensional parking lot, comprising a measuring device, a judging device, a display device and a control device;

[0006] The measuring device is used to measure the vehicle to be measured before it enters the parking area of ​​the multi-story parking lot to obtain the length, width and height of the vehicle;

[0007] The judging device is used to judge whether the length, width and height of the vehicle meet the parking conditions and obtain a judgment result, which is either met or not met;

[0008] The display device is used to display the judgment result;

[0009] The control device is used to open the access control device at the entrance of the three-dimensional parking lot when the judgment result is consistent, so that the vehicle can enter the parking area of ​​the three-dimensional parking lot.

[0010] Preferably, the multi-story parking lot further comprises a measurement area;

[0011] The measuring device is arranged in a measuring area of ​​the multi-story parking lot, and the measuring area is located outside the parking area.

[0012] Preferably, the measuring apparatus comprises a first measuring device and a second measuring device;

[0013] The first measuring device is used to obtain the height of the vehicle;

[0014] The second measuring device is used to obtain the vehicle width and length.

[0015] Preferably, the first measuring device includes an infrared transmitting module, an infrared receiving module and a height judging module;

[0016] The infrared transmitting module and the infrared receiving module are arranged at the same first height; the infrared transmitting module is arranged at one side of the entrance of the measuring area, and the infrared receiving module is arranged at the other side of the entrance of the measuring area;

[0017] The infrared transmitting module continuously transmits infrared rays to the infrared receiving module;

[0018] When the infrared transmitting module transmits infrared rays, if there is no obstacle blocking it, the infrared receiving module can receive the infrared rays emitted by the infrared transmitting module;

[0019] The height judgment module is used to set the height of the vehicle to a second height greater than the first height when the infrared receiving module fails to receive infrared rays during the process of the vehicle entering the measurement area;

[0020] And it is used to set the height of the vehicle to a third height less than the first height when the infrared receiving module can always receive infrared rays during the process of the vehicle entering the measurement area.

[0021] Preferably, the second measuring device includes a position calculation module, a movement module, a shooting module and a measurement module;

[0022] The mobile module is used to move the shooting module to the air above the center of the measurement area after the vehicle completely enters the measurement area;

[0023] The shooting module is used to shoot vertically downward at a height H above the center of the measurement area to obtain a first image;

[0024] The position calculation module is used to obtain a shooting coordinate set according to the first image;

[0025] The moving module is further used to move the shooting module to each shooting coordinate in the shooting coordinate set, and the shooting module is used to shoot vertically downward at the shooting coordinate, and save the captured image to the image set UA;

[0026] The measurement module is used to calculate the length and width of the vehicle based on the image in UA.

[0027] Preferably, the shooting module includes a distance measuring unit and a shooting unit;

[0028] The distance measuring unit is used to obtain the distance between the shooting focus and the shooting unit when the shooting unit is shooting;

[0029] The photographing unit is used for photographing vertically downward, and the distance obtained by the distance measuring unit is saved in metadata of the image obtained by the photographing.

[0030] Preferably, acquiring a shooting coordinate set according to the first image includes:

[0031] Partition the measurement area into multiple sub-measurement areas of the same size;

[0032] Segmenting the first image to obtain a vehicle region in the first image;

[0033] A three-dimensional coordinate system is established with the ground of the measurement area as the plane where the X-axis and the Y-axis are located, and the direction perpendicular to the ground and pointing upward as the Y-axis;

[0034] Get the X-axis coordinate x of the center of the vehicle area in the three-dimensional coordinate system mid,1 and the Y-axis coordinate y mid,1 ;

[0035] Based on x mid,1 and mid,1 Get the shooting coordinates collection.

[0036] Preferably, based on x mid,1 and mid,1 Get the shooting coordinates set, including:

[0037] Respectively obtain the X-axis coordinate and Y-axis coordinate of each sub-measurement area in the three-dimensional coordinate system;

[0038] According to x mid,1 and mid,1 Calculate the number N of shooting coordinates;

[0039] Set the center of the sub-measurement area at a distance (x mid,1 ,y mid,1 ) The X-axis coordinates and Y-axis coordinates of the centers of the first N sub-measurement areas closest to the image are used as the X-axis coordinates and Y-axis coordinates of the shooting coordinates, and the preset shooting height H is used as the Z-axis coordinate of each shooting coordinate to obtain N shooting coordinates, and the N shooting coordinates are saved in the shooting coordinate set.

[0040] Preferably, according to x mid,1 and mid,1 Calculate the number of shooting coordinates N, including:

[0041] Calculate the coordinates (x mid,1 ,y mid,1) and the distance d1 from the center of the measurement area:

[0042]

[0043] x msr and msr Respectively represent the X-axis coordinate and Y-axis coordinate of the center of the measurement area in the three-dimensional coordinate system;

[0044] The calculation formula for N is:

[0045]

[0046] d max It represents the maximum distance between the center of the measurement area and the edge of the measurement area on the plane where the X-axis and the Y-axis are located, Φ represents the set constant, senwid represents the width of the sensor of the lens used by the shooting module, widstd is the preset width, aper represents the aperture used by the shooting module, aperstd represents the preset aperture, w1, w2 and w3 represent the distance weight, width weight and aperture weight respectively.

[0047] Preferably, the length and width of the vehicle are calculated based on the image in the UA, including:

[0048] The first step is to perform the following calculations on each image in UA:

[0049] For the image p in UA, the image p is segmented to obtain the vehicle area in the image p;

[0050] Get the minimum enclosing rectangle of the vehicle area;

[0051] The length and width of the minimum enclosing rectangle in real space are taken as the length and width of the vehicle in image p;

[0052] In the second step, the length and width of the vehicle in all images in UA are weighted summed to obtain the final calculated length and width.

[0053] Beneficial effects:

[0054] Compared with the existing multi-story parking lot control system, the control system of the present invention measures the vehicle before the vehicle enters the multi-story parking lot, and determines whether the vehicle meets the parking conditions based on the length, width and height of the vehicle, thereby providing a judgment result for car owners who have parking needs but are not sure whether their vehicles meet the parking conditions, effectively reducing the probability of vehicles whose sizes do not meet the parking conditions entering the parking area of ​​the multi-story parking lot, thereby effectively avoiding wasting the owner's time and reducing the probability of congestion inside the multi-story parking lot. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0056] Figure 1 The present invention is a schematic diagram of an automatic control system for a three-dimensional parking lot.

[0057] Figure 2 A schematic diagram of the parking area and the measuring area of ​​the present invention.

[0058] Figure 3 A schematic diagram of the installation positions of the infrared transmitting module and the infrared receiving module of the present invention. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] like Figure 1 In one embodiment shown, the present invention provides an automatic control system for a three-dimensional parking lot, including a measuring device, a judging device, a display device and a control device;

[0061] The measuring device is used to measure the vehicle to be measured before it enters the parking area of ​​the multi-story parking lot to obtain the length, width and height of the vehicle;

[0062] The judging device is used to judge whether the length, width and height of the vehicle meet the parking conditions and obtain a judgment result, which is either met or not met;

[0063] The display device is used to display the judgment result;

[0064] The control device is used to open the access control device at the entrance of the three-dimensional parking lot when the judgment result is consistent, so that the vehicle can enter the parking area of ​​the three-dimensional parking lot.

[0065] The control system of the present invention measures the vehicle before it enters the multi-story parking lot, and determines whether the vehicle meets the parking conditions based on the length, width and height of the vehicle, thereby providing a judgment result for vehicle owners who have parking needs but are not sure whether their vehicles meet the parking conditions, effectively reducing the probability of vehicles whose sizes do not meet the parking conditions entering the parking area of ​​the multi-story parking lot, thereby effectively avoiding wasting the owner's time and reducing the probability of congestion inside the multi-story parking lot.

[0066] Preferably, determining whether the length, width and height of the vehicle meet the parking conditions includes:

[0067] Determine whether the length, width and height of the vehicle are less than the preset length, width and height respectively. If so, the judgment result is compliance; if not, the judgment result is non-compliance.

[0068] For example, the preset length, width, and height may be 5 meters, 2.3 meters, and 1.8 meters, respectively.

[0069] Preferably, the access control device may be a straight-bar barrier.

[0070] The basic structure of the straight rod barrier consists of the following main parts:

[0071] 1. Chassis part: usually made of metal material, responsible for carrying and supporting the entire gate equipment.

[0072] 2. Motor and transmission device: responsible for providing power and controlling the lifting and lowering movement of the gate.

[0073] 3. Barrier arm: It is composed of straight poles, fence poles or panels and is used to block vehicles from entering or exiting.

[0074] 4. The control system is connected to the control device, receives the opening signal sent by the control device, and controls the motor to rotate, thereby raising or lowering the gate.

[0075] Preferably, the multi-story parking lot further comprises a measurement area;

[0076] The measuring device is arranged in a measuring area of ​​the multi-story parking lot, and the measuring area is located outside the parking area.

[0077] like Figure 2 As shown, the measuring area is arranged in front of the entrance of the parking area, so that after a vehicle that needs to park passes through the measuring area, it can directly drive into the parking area when it meets the parking conditions.

[0078] exist Figure 2 In the measurement, the area between the parking area and the measuring area is the passage, and vehicles that do not meet the parking conditions can turn and leave the multi-story parking lot in the passage area.

[0079] Preferably, the measuring apparatus comprises a first measuring device and a second measuring device;

[0080] The first measuring device is used to obtain the height of the vehicle;

[0081] The second measuring device is used to obtain the vehicle width and length.

[0082] Preferably, the first measuring device includes an infrared transmitting module, an infrared receiving module and a height judging module;

[0083] The infrared transmitting module and the infrared receiving module are arranged at the same first height; Figure 3 As shown, the infrared transmitting module is arranged on one side of the entrance of the measuring area, and the infrared receiving module is arranged on the other side of the entrance of the measuring area.

[0084] exist Figure 3 In the embodiment, A1 can be an infrared transmitting module or an infrared receiving module. When A1 is an infrared transmitting module, A2 is an infrared receiving module; when A1 is an infrared receiving module, A2 is an infrared transmitting module. Figure 3 The arrow in the figure indicates the direction of the vehicle's travel.

[0085] The infrared transmitting module continuously transmits infrared rays to the infrared receiving module;

[0086] When the infrared transmitting module transmits infrared rays, if there is no obstacle blocking it, the infrared receiving module can receive the infrared rays emitted by the infrared transmitting module;

[0087] The height judgment module is used to set the height of the vehicle to a second height greater than the first height when the infrared receiving module fails to receive infrared rays during the process of the vehicle entering the measurement area;

[0088] And it is used to set the height of the vehicle to a third height less than the first height when the infrared receiving module can always receive infrared rays during the process of the vehicle entering the measurement area.

[0089] The height measurement module of the present invention does not measure a specific height, but determines whether the height of the vehicle is higher or lower than the first height when the vehicle passes through the entrance of the measurement area by setting an infrared transmitting module and a receiving module. In this setting, even if the width direction of the vehicle is not parallel to the entrance of the measurement area when the vehicle enters the measurement module, the result of the judgment of the height of the vehicle can still be accurately obtained, thereby effectively saving the cost of measuring the height and effectively reducing the difficulty of measurement, because there is no requirement for the angle formed by the width direction of the vehicle and the entrance when the vehicle passes through the entrance of the measurement area.

[0090] Specifically, the third height may be any positive integer less than the first height, and the second height may be any positive integer greater than the first height.

[0091] Preferably, the first height is the height of a parking space in a three-dimensional parking garage.

[0092] Preferably, the second measuring device includes a position calculation module, a movement module, a shooting module and a measurement module;

[0093] The mobile module is used to move the shooting module to the air above the center of the measurement area after the vehicle completely enters the measurement area;

[0094] The shooting module is used to shoot vertically downward at a height H above the center of the measurement area to obtain a first image;

[0095] The position calculation module is used to obtain a shooting coordinate set according to the first image;

[0096] The moving module is further used to move the shooting module to each shooting coordinate in the shooting coordinate set, and the shooting module is used to shoot vertically downward at the shooting coordinate, and save the captured image to the image set UA;

[0097] The measurement module is used to calculate the length and width of the vehicle based on the image in UA.

[0098] Specifically, since the width direction of the vehicle may not be parallel to the width direction of the measurement area when it is parked in the measurement area, it is difficult to conveniently obtain the width and length of the vehicle if the traditional infrared measurement method is used. Therefore, the present invention obtains a first image by taking a bird's-eye view of the measurement area, and first roughly determines the position of the vehicle in the measurement area through the first image, and then obtains a set of shooting coordinates based on the first image, and calculates the length and width through multiple images, which can effectively reduce the impact of edge distortion of the image and obtain more accurate length and width.

[0099] Preferably, the shooting module includes a distance measuring unit and a shooting unit;

[0100] The distance measuring unit is used to obtain the distance between the shooting focus and the shooting unit when the shooting unit is shooting;

[0101] The photographing unit is used for photographing vertically downward, and the distance obtained by the distance measuring unit is saved in metadata of the image obtained by the photographing.

[0102] Metadata is a tag embedded in an image, similar to file attributes, and is available in formats such as EXIF, IPTC, and XMP.

[0103] By obtaining the distance at the time of shooting, effective reference data can be provided for the subsequent calculation of the length and width of the vehicle in the image.

[0104] Preferably, the shooting focus is the center position of the viewfinder.

[0105] Preferably, acquiring a shooting coordinate set according to the first image includes:

[0106] Partition the measurement area into multiple sub-measurement areas of the same size;

[0107] Segmenting the first image to obtain a vehicle region in the first image;

[0108] Specifically, before segmenting the first image, the first image is preprocessed, and the preprocessing includes filtering.

[0109] A three-dimensional coordinate system is established with the ground of the measurement area as the plane where the X-axis and the Y-axis are located, and the direction perpendicular to the ground and pointing upward as the Y-axis;

[0110] Get the X-axis coordinate x of the center of the vehicle area in the three-dimensional coordinate system mid,1 and the Y-axis coordinate y mid,1 ;

[0111] Based on x mid,1 and mid,1 Get the shooting coordinates collection.

[0112] Preferably, the measurement area is a square area.

[0113] Preferably, the measurement area is partitioned into a plurality of sub-measurement areas of the same size, including:

[0114] The measurement area is partitioned into 20×20 sub-measurement areas of the same area.

[0115] By partitioning the measurement area, the present invention is facilitated to subsequently determine the positions of a plurality of different photographed vehicles, thereby improving the accuracy of the calculated length and width of the vehicle.

[0116] Preferably, based on x mid,1 and mid,1 Get the shooting coordinates set, including:

[0117] Respectively obtain the X-axis coordinate and Y-axis coordinate of each sub-measurement area in the three-dimensional coordinate system;

[0118] According to x mid,1 and mid,1 Calculate the number N of shooting coordinates;

[0119] Set the center of the sub-measurement area at a distance (x mid,1 ,y mid,1 ) The X-axis coordinates and Y-axis coordinates of the centers of the first N sub-measurement areas closest to the image are used as the X-axis coordinates and Y-axis coordinates of the shooting coordinates, and the preset shooting height H is used as the Z-axis coordinate of each shooting coordinate to obtain N shooting coordinates, and the N shooting coordinates are saved in the shooting coordinate set.

[0120] Preferably, the preset shooting height is the lowest height at which the captured image can include the complete measurement area when the shooting module shoots at a height H above the center of the measurement area. This is related to the parameters of the lens specifically used by the shooting module.

[0121] Preferably, according to x mid,1 and mid,1 Calculate the number of shooting coordinates N, including:

[0122] Calculate the coordinates (x mid,1 ,y mid,1 ) and the distance d1 from the center of the measurement area:

[0123]

[0124] x msr and msr Respectively represent the X-axis coordinate and Y-axis coordinate of the center of the measurement area in the three-dimensional coordinate system;

[0125] The calculation formula for N is:

[0126]

[0127] d max It represents the maximum distance between the center of the measurement area and the edge of the measurement area on the plane where the X-axis and the Y-axis are located, Φ represents the set constant, senwid represents the width of the sensor of the lens used by the shooting module, widstd is the preset width, aper represents the aperture used by the shooting module, aperstd represents the preset aperture, w1, w2 and w3 represent the distance weight, width weight and aperture weight respectively.

[0128] The number of calculation coordinates of the present invention is not randomly selected, but is obtained by comprehensive calculation of parameters in three different directions: shooting distance, sensor width, and aperture. The calculated value of N can be closely related to the degree of distortion of the vehicle area in the first image. When the vehicle area is farther from the center of the measurement area, the smaller the width of the sensor and the smaller the value of the aperture, the more serious the degree of distortion of the measurement area in the first image captured. At this time, the larger the value of N, the present invention chooses to increase the shooting coordinates to obtain more images to calculate the length and width of the vehicle, thereby improving the more accurate length and width of the vehicle. On the contrary, the present invention reduces the number of N to increase the speed of obtaining the judgment result, which is conducive to reducing the waiting time of the car owner. Therefore, the value of N of the present invention can be adaptively balanced between the accuracy of the calculation and the waiting time of the car owner, and when the accuracy is guaranteed, the waiting time can be effectively reduced.

[0129] Preferably, the sensor of the lens is a CMOS sensor.

[0130] Preferably, the set constant is equal to the total number of sub-measurement areas.

[0131] Preferably, the preset width is 60 mm.

[0132] Preferably, the preset aperture is F64.

[0133] Preferably, the distance weight, width weight and aperture weight are 0.5, 0.3 and 0.2 respectively.

[0134] Preferably, the length and width of the vehicle are calculated based on the image in the UA, including:

[0135] The first step is to perform the following calculations on each image in UA:

[0136] For the image p in UA, the image p is segmented to obtain the vehicle area in the image p;

[0137] Get the minimum enclosing rectangle of the vehicle area;

[0138] The length and width of the minimum enclosing rectangle in real space are taken as the length and width of the vehicle in image p;

[0139] In the second step, the length and width of the vehicle in all images in UA are weighted summed to obtain the final calculated length and width.

[0140] Preferably, the length and width of the minimum circumscribed rectangle in real space are calculated as follows:

[0141] lenreal=lenimg×clr

[0142] lenreal represents the length of the minimum enclosing rectangle in real space, lenimg represents the number of pixels that the side of the minimum enclosing rectangle passes through at the length of p, and clr represents the conversion factor, which is the real length represented by 1 pixel.

[0143] widreal=widimg×clr

[0144] widreal represents the width of the minimum enclosing rectangle in real space, and widimg represents the number of pixels passed by the side of the minimum enclosing rectangle with a width of p.

[0145] Preferably, segmenting the image p to obtain the vehicle region in the image p includes:

[0146] Preprocess the image p to obtain image p1;

[0147] The image p1 is segmented to obtain the vehicle region in p1. Since the sizes of p1 and p are the same, the region in p with the same coordinates as the vehicle region in p1 is the vehicle region in image p.

[0148] Preferably, preprocessing the image p to obtain the image p1 includes:

[0149] Calculate the side length L of the square filter window of image p;

[0150] Use a square filter window with a side length of L to filter each pixel in p1 to obtain image p1.

[0151] Filtering can reduce the impact of noise on the segmentation process and obtain more accurate segmentation results.

[0152] Preferably, segmenting the image p1 includes:

[0153] Image p1 is segmented using algorithms such as region growing algorithm, split-merge algorithm, and threshold-based segmentation algorithm.

[0154] Preferably, the calculation formula of the side length L is:

[0155]

[0156] dist p The X-axis coordinate and Y-axis coordinate in the shooting coordinate of image p are the points on the plane where the X-axis and Y-axis are located and (x mid,1 ,y mid,1 ), dist max The X-axis coordinate and Y-axis coordinate in the shooting coordinate of the image in UA are the points on the plane where the X-axis and Y-axis are located and (x mid,1 ,ymid,1 ), stdL represents the preset side length.

[0157] The side length L of the present invention is not fixed, but is related to the X-axis coordinate and Y-axis coordinate of the shooting coordinate of the image p. mid,1 ,y mid,1 ), the longer the distance, the smaller the side length L, because the longer the distance, the greater the possibility of distortion of the vehicle area in the image p. At this time, the present invention reduces the filter window to minimize the influence of distortion, because the greater the possibility of distortion, the greater the possibility of containing pixels that are actually far away from the current filtering in the filter window of the same size, so the filtering result is less accurate. When the distance is closer, the possibility of distortion of the vehicle area is smaller. At this time, the present invention expands the filter window to obtain a more accurate filtering result.

[0158] Preferably, the length and width of the vehicle in all images in the UA are weighted and summed to obtain the final calculated length and width, including:

[0159] The final calculated length lenfin is calculated as follows:

[0160]

[0161] dist i The X-axis coordinate and Y-axis coordinate of the captured image i in the plane where the X-axis and Y-axis are located are (x mid,1 ,y mid,1 ), dist max The X-axis coordinate and Y-axis coordinate in the shooting coordinate of the image in UA are the points on the plane where the X-axis and Y-axis are located and (x mid,1 ,y mid,1 ) is the maximum distance between i represents the length of the vehicle in image i;

[0162] The final calculated length lenfin is calculated as follows:

[0163]

[0164] wid i represents the width of the vehicle in image i.

[0165] When calculating the length and width, the point where the shooting coordinates are on the plane where the X-axis and Y-axis are located is (x mid,1 ,y mid,1), the larger the distance between them, the smaller their weight, thereby reducing the reference degree to the image with a high probability that the vehicle area is at the edge of the image, and the present invention obtains the final length and width through multiple images, which can effectively reduce the influence of accidental errors and obtain more accurate results.

[0166] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A three-dimensional parking lot automatic control system, characterized in that: It includes measuring device, judging device, display device and control device; The measuring device is used to measure the vehicle to be measured before it enters the parking area of ​​the multi-story parking lot to obtain the length, width and height of the vehicle; The judging device is used to judge whether the length, width and height of the vehicle meet the parking conditions and obtain a judgment result, which is either met or not met; The display device is used to display the judgment result; The control device is used to open the access control device at the entrance of the three-dimensional parking lot when the judgment result is in compliance, so that the vehicle can enter the parking area of ​​the three-dimensional parking lot; The multi-storey car park also includes a measurement area; The measuring device is arranged in a measuring area of ​​the multi-storey parking lot, and the measuring area is located outside the parking area; The measuring device comprises a first measuring device and a second measuring device; The first measuring device is used to obtain the height of the vehicle; The second measuring device is used to obtain the width and length of the vehicle; The second measuring device includes a position calculation module, a movement module, a shooting module and a measurement module; The mobile module is used to move the shooting module to the air above the center of the measurement area after the vehicle completely enters the measurement area; The shooting module is used to shoot vertically downward at a height H above the center of the measurement area to obtain a first image; The position calculation module is used to obtain a shooting coordinate set according to the first image; The moving module is further used to move the shooting module to each shooting coordinate in the shooting coordinate set, and the shooting module is used to shoot vertically downward at the shooting coordinate, and save the captured image to the image set UA; The measurement module is used to calculate the length and width of the vehicle based on the image in UA; Acquiring a shooting coordinate set according to the first image, including: Partition the measurement area into multiple sub-measurement areas of the same size; Segmenting the first image to obtain a vehicle region in the first image; A three-dimensional coordinate system is established with the ground of the measurement area as the plane where the X-axis and the Y-axis are located, and the direction perpendicular to the ground and pointing upward as the Y-axis; Get the X-axis coordinate x of the center of the vehicle area in the three-dimensional coordinate system mid,1 and the Y-axis coordinate y mid,1 ; Based on x mid,1 and mid,1 Get the shooting coordinate set; Based on x mid,1 and mid,1 Get the shooting coordinates set, including: Respectively obtain the X-axis coordinate and Y-axis coordinate of each sub-measurement area in the three-dimensional coordinate system; According to x mid,1 and mid,1 Calculate the number N of shooting coordinates; Set the center of the sub-measurement area at a distance (x mid,1 ,y mid,1 ) using the X-axis coordinate and Y-axis coordinate of the center of the first N sub-measurement areas as the X-axis coordinate and Y-axis coordinate of the shooting coordinate, using the preset shooting height H as the Z-axis coordinate of each shooting coordinate, obtaining N shooting coordinates, and saving the N shooting coordinates into a shooting coordinate set; According to x mid,1 and mid,1 Calculate the number of shooting coordinates N, including: Calculate the coordinates (x mid,1 ,y mid,1 ) and the distance d1 from the center of the measurement area: x msr and msr Respectively represent the X-axis coordinate and Y-axis coordinate of the center of the measurement area in the three-dimensional coordinate system; The calculation formula for N is: d max It represents the maximum distance between the center of the measurement area and the edge of the measurement area on the plane where the X-axis and the Y-axis are located, Φ represents the set constant, senwid represents the width of the sensor of the lens used by the shooting module, widstd is the preset width, aper represents the aperture used by the shooting module, aperstd represents the preset aperture, w1, w2 and w3 represent the distance weight, width weight and aperture weight respectively.

2. The automatic control system for a three-dimensional parking lot according to claim 1 is characterized in that: The first measuring device includes an infrared transmitting module, an infrared receiving module and a height judging module; The infrared transmitting module and the infrared receiving module are arranged at the same first height; the infrared transmitting module is arranged at one side of the entrance of the measuring area, and the infrared receiving module is arranged at the other side of the entrance of the measuring area; The infrared transmitting module continuously transmits infrared rays to the infrared receiving module; When the infrared transmitting module transmits infrared rays, if there is no obstacle blocking it, the infrared receiving module can receive the infrared rays emitted by the infrared transmitting module; The height judgment module is used to set the height of the vehicle to a second height greater than the first height when the infrared receiving module fails to receive infrared rays during the process of the vehicle entering the measurement area; And it is used to set the height of the vehicle to a third height less than the first height when the infrared receiving module can always receive infrared rays during the process of the vehicle entering the measurement area.

3. The automatic control system for a three-dimensional parking lot according to claim 1 is characterized in that: The shooting module includes a distance measuring unit and a shooting unit; The distance measuring unit is used to obtain the distance between the shooting focus and the shooting unit when the shooting unit is shooting; The photographing unit is used for photographing vertically downward, and the distance obtained by the distance measuring unit is saved in metadata of the image obtained by the photographing.

4. The automatic control system for a three-dimensional parking lot according to claim 1 is characterized in that: Calculate the length and width of the vehicle based on the image in UA, including: The first step is to perform the following calculations on each image in UA: For the image p in UA, the image p is segmented to obtain the vehicle area in the image p; Get the minimum enclosing rectangle of the vehicle area; The length and width of the minimum enclosing rectangle in real space are taken as the length and width of the vehicle in image p; In the second step, the length and width of the vehicle in all images in UA are weighted summed to obtain the final calculated length and width.

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