Parking lot parking space determination method, electronic equipment and storage medium

Abstract

The invention relates to the technical field of parking lot management, and discloses a parking lot parking space determination method, electronic equipment and a storage medium, and the method comprises the steps: obtaining a parking space image which comprises a driving channel and a parking space point preset in a parking space region located on at least one side of the driving channel; a berth line segment is generated by using the berth points, one berth line segment corresponds to at least two berth points, and at least one end point of the berth line segment is the berth point; and dividing the parking space line segment into S parking space sub-line segments by using a preset parking space number S, wherein one parking space sub-line segment corresponds to one parking space. According to the method, more than one parking space included in the parking space corresponding to the parking space point can be determined only by generating one parking space line segment through the parking space point, so that the parking space line segment does not need to be drawn for each parking space, the marking workload is reduced, the marking operation efficiency is improved, the generated parking space sub-line segments are located on the same straight line, and the marking efficiency is improved. The consistency of the parking space positions determined in the parking space image is ensured.

Description

Technical Field

[0001] The present disclosure relates to the technical field of parking lot management, and in particular to a parking lot parking space determination method, electronic equipment, and storage medium. Background Art

[0002] In the field of parking lot management technology, a location camera is used to obtain parking space images of parking spaces (one parking space includes more than one parking space). The relevant technology usually generates a parking space line segment for each parking space displayed in the parking space image (that is, one parking space corresponds to one parking space line segment), or manually divides the parking space line segments of each parking space. However, on the one hand, it is difficult to ensure that the adjacent parking space line segments finally obtained are located on the same straight line, so it is difficult to ensure the consistency of the divided parking space positions. On the other hand, if there are many parking spaces monitored by the location camera, more parking space line segments need to be drawn by machine or manually, which increases the workload.

[0003] Therefore, the prior art needs to be improved.

[0004] Public Content

[0005] In view of the defects of the prior art, the present disclosure provides a parking space determination method, an electronic device, and a storage medium, aiming to solve the technical problem that the prior art usually generates a parking space line segment for each parking space displayed in a parking space image or manually divides the parking space line segments for each parking space. On the one hand, it is difficult to ensure that the adjacent parking space line segments finally obtained are located on the same straight line. On the other hand, if there are many parking spaces monitored by the location camera, it is necessary to draw more parking space line segments by machine or manually.

[0006] The technical solutions adopted by the present disclosure to solve the above technical problems are as follows:

[0007] In a first aspect, the present disclosure provides a method for determining a parking space in a parking lot, comprising the steps of:

[0008] Acquire a parking space image; wherein the parking space image includes a driving passage and a parking point preset in a parking space area located on at least one side of the driving passage;

[0009] Generate a berth line segment using the berth points; wherein a segment of the berth line segment corresponds to at least two of the berth points, and at least one endpoint of the berth line segment is the berth point; and

[0010] The parking space line segment is divided into S parking space sub-line segments using a preset number of parking spaces S; wherein one parking space sub-line segment corresponds to one parking space.

[0011] In some embodiments, the method of dividing the parking space line segment into S parking space sub-segments by using a preset number of parking spaces S includes:

[0012] Obtaining the slope of the berth line segment and the pixel coordinate values ​​of two end points of the berth line segment;

[0013] Generate S-1 movable points on the parking space line segment using the number of parking spaces S, the slope, and the two pixel coordinate values; wherein the movable points do not overlap with the two endpoints; and

[0014] The berth line segment is divided into S berth sub-line segments using S-1 movable points.

[0015] In some embodiments, generating S-1 movable points on the berth line segment includes:

[0016] S-1 movable points are generated equidistantly on the berth line segment.

[0017] In some embodiments, the step of dividing the berth line segment into S berth sub-line segments by using S-1 movable points comprises:

[0018] A moving instruction of the movable point is received, and the corresponding movable point is moved to a corresponding position between two end points of the berth line segment according to the moving instruction.

[0019] In some embodiments, the berth image further includes a preset image-assisted positioning mark;

[0020] The method of dividing the berth line segment into S berth sub-line segments by using the preset number of parking spaces S includes:

[0021] Using the image-assisted positioning mark and the external parameters of the location camera that photographs the berth image, calculate the internal and external parameters of the location camera, and convert the berth image and the berth line segment into real world coordinates using the internal and external parameters;

[0022] Obtaining the world coordinate values ​​of two end points of the berth line segment and the world length value of the berth line segment; and

[0023] The berth line segment is equidistantly divided into S berth sub-line segments in the world coordinate using a preset number of parking spaces S.

[0024] In some embodiments, the image-assisted positioning identifier includes an Aruco code;

[0025] The method of using the image-assisted positioning mark and the external parameters of the location camera that takes the berth image to calculate the internal and external parameters of the location camera, and using the internal and external parameters to convert the berth image and the berth line segment into real world coordinates includes:

[0026] Sorting the Aruco codes using the identifiers of the Aruco codes, and obtaining the corner point coordinate value of each corner point of each of the Aruco codes;

[0027] Calculate the internal and external parameters of the location camera using the external parameters of the location camera that takes the berth image and the preset coordinate values ​​of all the corner points corresponding to all the Aruco codes;

[0028] The berth image and the berth line segment are converted into real world coordinates using the internal and external parameters.

[0029] In some embodiments, after using the preset number of parking spaces S to equidistantly divide the parking space line segment into S parking space sub-line segments in the world coordinates, the method further includes:

[0030] According to the inverse algorithm of the world coordinate transformation, the S berth sub-line segments in the world coordinate are displayed in the berth image.

[0031] In some embodiments, the parking spaces within the parking space line segment are continuous parking spaces.

[0032] In a second aspect, the present disclosure provides an electronic device, comprising a processor and a memory storing computer program instructions, wherein the computer program instructions implement any of the above-mentioned parking lot parking space determination methods when executed by the processor.

[0033] In a third aspect, the present disclosure provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, any of the above-mentioned parking lot parking space determination methods is implemented.

[0034] Beneficial effects: The present invention generates a parking line segment by taking the preset parking point displayed by the parking image as an end point of the parking line segment, and divides the parking line segment into parking sub-segments corresponding to the parking spaces one by one by using the preset number of parking spaces, so that only by using the parking point to generate a parking line segment, more than one parking space included in the parking space corresponding to the parking point can be determined, so that there is no need to draw a parking line segment for each parking space, which not only reduces the marking workload but also improves the marking operation efficiency. Moreover, the generated parking sub-segments are located on the same straight line, which ensures the consistency of the parking space position determined in the parking image. Therefore, compared with the prior art, the present invention does not need to draw a parking line segment for each parking space displayed by the parking image, so that the marking operation efficiency is improved and the consistency of the parking space position is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0036] Figure 1 It is a flowchart of the steps of a method for determining parking spaces in a parking lot provided by the present disclosure.

[0037] Figure 2 It is a flowchart of the steps of a method for determining parking spaces in a parking lot provided by some embodiments of the present disclosure.

[0038] Figure 3 It is a schematic diagram of a parking space, a parking point, a parking space, and an Aruco code in a parking lot parking space determination method provided by the present disclosure.

[0039] Figure 4 It is a schematic diagram of a parking space image in a parking lot parking space determination method provided by the present disclosure.

[0040] Figure 5 It is a structural block diagram of a parking lot parking space determination device provided by the present disclosure.

[0041] Figure 6 It is a structural block diagram of an electronic device provided by some embodiments of the present disclosure. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution, and effect of the present disclosure clearer and more specific, the present disclosure is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not used to limit the present disclosure.

[0043] It should be understood that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those of ordinary skill in the art to which the present disclosure belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0044] It should be understood that, unless otherwise stated, the singular forms "a", "above", "aforesaid", "said", and "the" used herein may also include plural forms. It should also be understood that the term "comprising" used herein refers to the presence of the features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should also be understood that the words "if" and "if" used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0045] It should be understood that the serial numbers and sizes of the steps in the present disclosure do not imply a sequence of execution; the sequence of execution of the steps is determined by their functions and internal logic and should not constitute any limitation to the present disclosure.

[0046] Figure 1 It is a flowchart of the steps of a parking lot parking space determination method provided by the present disclosure, and the parking lot parking space determination method includes steps S101-S103.

[0047] S101, acquiring a parking space image; wherein the parking space image includes a driving passage and parking spots preset in a parking space area located on at least one side of the driving passage.

[0048] In the embodiments of the present disclosure, a parking space image refers to an image captured by a location camera installed in a parking lot; the parking space image displays a driving passage and one or more preset real parking spaces, and a parking space (i.e., a parking space area located on at least one side of the driving passage) refers to an area in a parking lot for parking, and a parking space includes more than one parking space, and parking spaces and vehicles correspond one to one. By uploading the parking space image captured by the location camera to a cloud server or a local parking lot management system, the parking space image can be called and displayed from the cloud server or the local parking lot management system through an application of a terminal (e.g., a mobile phone, a laptop, a tablet computer, a robot, a vehicle-mounted terminal, etc.), so that parking line segments can be generated and displayed on the parking space image.

[0049] The berth image further displays more than one preset berth points, which correspond to the above berths, and a berth point may be any corner point of a corresponding berth. Figure 3It is a schematic diagram of berths, berth points, parking spaces, and Aruco codes provided by the present disclosure, wherein the rectangular berth includes three parking spaces A1, A2, and A3, and also includes four corner points a1, a2, a3, and a4, and the berth point can be any corner point of a1, a2, a3, and a4, or any point on the a2a3 line segment, or any point on the a1a4 line segment. It should be noted that since the location camera is usually set above the driving channel, the acquired berth image does not necessarily contain a complete berth image, which can be referred to Figure 3 and Figure 4 ,In the parking image, only the parking line a2a3 may be captured. In this case, the parking area can also be determined only through the a2a3 line segment.

[0050] S102, generating a berthing line segment using the berthing points; wherein, one berthing line segment corresponds to at least two berthing points, and at least one endpoint of the berthing line segment is the berthing point.

[0051] In an embodiment of the present disclosure, a berthing point in a berthing image is taken as an endpoint, and a berthing line segment is generated by connecting the berthing point and another berthing point; that is, a berthing line segment corresponds to at least two berthing points, and the berthing line segment has two endpoints, the berthing point is any one of the two endpoints, and the other berthing point can be one of the two endpoints or between the two endpoints. When the other berthing point is also an endpoint, the length of the berthing line segment is the distance between the two berthing points. When the other berthing point is not an endpoint, a berthing line segment of a certain length can be generated by combining the parking space width with the number of parking spaces.

[0052] It should be noted that, since a parking point is any corner point of a parking space and a parking line segment corresponds to at least two parking points, the parking line segment is located on the parking line; that is, when a parking space includes more than one parking space, the parking spaces in the parking line segment are usually continuous parking spaces (continuous parking spaces refer to parking spaces that are adjacent to each other without partitions, and have no necessary relationship with the parking space number), that is, any point on the parking line segment (which can be any one of the two endpoints) belongs to the parking space area but not to the non-parking space area (the non-parking space area refers to the area in the parking lot where parking is not allowed, for example, the area where the parking lot pillars are located, the lanes for vehicles to pass, etc.). Of course, it is understandable that the parking spaces in the parking line segment may not meet the requirements of continuous parking spaces, but require that the parking spaces are located on the same side of the driving lane. At this time, the accurate parking sub-segments can be divided by determining the interrupted parking points of the interrupted parking spaces and the distance between the interrupted parking spaces.

[0053] S103, using a preset number of parking spaces S to divide the parking space line segment into S parking space sub-line segments; wherein one parking space sub-line segment corresponds to one parking space.

[0054] In the embodiment of the present disclosure, the preset number of parking spaces S (S is a positive integer, and S≥1) means that the parking spaces corresponding to the parking position and located on the same side of the driving lane include S parking spaces. Under the premise that the number of parking spaces S is preset, the parking line segment can be equidistantly divided into S parking sub-segments; for example, S-1 movable points are generated on the parking line segment, and then these movable points are moved to the corresponding positions by preset movement instructions to segment the parking line segment (which can be equidistant segmentation); for another example, the parking image and the parking line segment are converted into real world coordinates by obtaining the internal and external parameters of the location camera, so as to segment the parking line segment (which can be equidistant segmentation). The segmented parking sub-segments correspond to the parking spaces one by one and are displayed on the parking image, thereby realizing the use of parking sub-segments to correspond to and determine the parking spaces displayed by the parking image. Of course, it can be understood that the preset number of parking spaces S can be obtained in advance by reading the parking lot data, or the number of parking spaces S contained in the parking image can be calculated by identifying the number of parking corner points in the parking image.

[0055] The above parking lot parking space determination method provided by the present disclosure generates a parking space line segment by using the preset parking point displayed by the parking space image as an end point of the parking space line segment, and divides the parking space line segment into parking space sub-segments corresponding to the parking space one by one by using the preset number of parking spaces, so that more than one parking space included in the parking space corresponding to the parking point can be determined by only using the parking point to generate a parking space line segment, thereby not needing to draw a parking space line segment for each parking space, which not only reduces the marking workload but also improves the marking operation efficiency, and the generated parking space sub-segments are located on the same straight line, which ensures the consistency of the parking space position determined in the parking space image. Therefore, compared with the prior art, the present method does not need to draw a parking space line segment for each parking space displayed by the parking space image, thereby not only improving the marking operation efficiency but also ensuring the consistency of the parking space position.

[0056] exist Figure 1 Based on the parking lot parking space determination method shown, an exemplary embodiment of the present disclosure provides a parking lot parking space determination method. The method is exemplarily described in an implementation manner of camera calibration. The method includes steps S201-S203.

[0057] S201, acquiring a berth image; wherein the berth image includes a driving passage and berth points preset in a parking area located on at least one side of the driving passage.

[0058] Step S201 may refer to step S101 for details. In addition, in this exemplary embodiment, the parking space image further includes a preset image-assisted positioning mark (used for positioning and identification, and determining the parking point in the parking space image), and the image-assisted positioning mark includes one or more Aruco (Augmented Reality University of Cordoba) codes (but not limited to this, and may also be other marks), and each Aruco code includes four corner points. It can be understood that in addition to the Aruco code positioning mentioned in this application, the image-assisted positioning mark also includes but is not limited to: Harris corner point detection, Shi-Tomasi corner point detection, sub-pixel corner point detection and other methods to detect parking space corner points.

[0059] For an example of Aruco code assisted positioning, please refer to Figure 4 , more than one Aruco code can be laid in the non-parking area (e.g., driveway) adjacent to the parking area in the parking lot, so that the parking image taken by the location camera can simultaneously display the parking point and the Aruco code. Each Aruco code can be set as a rectangle, and the four vertices of each rectangle are the four corner points of each Aruco code. These Aruco codes can be arranged in an array to facilitate accurate identification and positioning of these Aruco codes.

[0060] It should be noted that, in order to facilitate the subsequent calculation of the internal and external parameters of the location camera, the berth point and the two corner points of the rectangular Aruco code closest to the berth point are located on the same straight line; Figure 3 As shown, the rectangular Aruco code d includes four corner points d1, d2, d3, and d4, and the berth point a3 and the two corner points d1 and d2 of the rectangular Aruco code d are located on the same straight line (in other words, c is located on the extension line of the line between d1 and d2).

[0061] S202, generating a berthing line segment using the berthing points; wherein, one berthing line segment corresponds to at least two berthing points, and at least one endpoint of the berthing line segment is the berthing point.

[0062] The details of step S202 may refer to step S102 and will not be described in detail here.

[0063] S203, using a preset number of parking spaces S to divide the parking space line segment into S parking space sub-line segments; wherein one parking space sub-line segment corresponds to one parking space.

[0064] Step S203 may refer to step S103 for details. In addition, in this exemplary embodiment, step S203 includes steps S241 - S243 .

[0065] S241, using the image-assisted positioning mark and the external parameters of the location camera that photographs the berth image, calculating the internal and external parameters of the location camera, and using the internal and external parameters to convert the berth image and the berth line segment into real world coordinates;

[0066] In this step, the image-assisted positioning identifier includes the aforementioned Aruco code, and step S241 includes steps S241a-S241c.

[0067] S241a. Sort the Aruco codes by using the identifiers of the Aruco codes, and obtain the corner point coordinate value of each corner point of each of the Aruco codes.

[0068] In this exemplary embodiment, the Aruco codes are sorted by using their identifiers (ID) (they may be sorted in an S-shape, which is not limited here), so that different Aruco codes and corresponding corner point coordinate values ​​in the berth image can be accurately located.

[0069] In this exemplary embodiment, the corner point coordinate values ​​of each corner point of each Aruco code (i.e., the pixel coordinate values ​​of each corner point on the berth image) can be obtained by using a preset feature detection algorithm in the image processing technology (e.g., SIFT (Scale-Invariant Feature Transform), SURF (Speeded Up Robust Features), ORB (Oriented FAST and Rotated BRIEF), etc.), which will not be described in detail here.

[0070] S241b, using the external parameters of the location camera that captures the berth image and the preset coordinate values ​​of all the corner points corresponding to all the Aruco codes, calculate the internal and external parameters of the location camera.

[0071] In this exemplary embodiment, the preset external parameters of the location camera that takes the berth image and the aforementioned coordinate values ​​of all corner points can be obtained to calculate the internal and external parameters of the location camera to which the berth image belongs. The specific calculation method can refer to the existing technology and is not described here.

[0072] S241c: Convert the berth image and the berth line segment into real world coordinates using the internal and external parameters.

[0073] In this exemplary embodiment, after obtaining the internal and external parameters of the location camera, the berth image and berth line segment can be converted into real world coordinates using the internal and external parameters. The specific calculation method involved in the conversion process can be referred to the prior art and will not be described here.

[0074] S242: Obtain the world coordinate values ​​of the two endpoints of the berth line segment and the world length value of the berth line segment.

[0075] The pixel coordinate value of each endpoint of the berth line segment can be converted into the world coordinate value of each endpoint using the internal and external parameters. After the berth line segment is generated, the pixel coordinate values ​​of the two endpoints of the berth line segment (i.e., the pixel coordinate value of each endpoint on the berth image) can be obtained using the aforementioned feature detection algorithm in the image processing technology. After obtaining the pixel coordinate value of each endpoint, the pixel coordinate value of each endpoint can be converted into the world coordinate value of each endpoint using the aforementioned internal and external parameters of the location camera. The calculation method involved in the conversion process can refer to the prior art and will not be described here.

[0076] The world coordinate values ​​of the two endpoints can be used to determine the world length value of the berthing line segment. The world length of the berthing line segment (i.e., the length of the berthing line segment on the berthing image in the real world) is determined by the world coordinate values ​​of the two endpoints. The calculation method involved in the determination process can refer to the prior art and will not be described here.

[0077] S243: using a preset number of parking spaces S, divide the parking space line segment into S parking space sub-line segments at equal intervals in the world coordinates.

[0078] For details of step S243, reference may be made to step S103. In addition, in this exemplary embodiment, step S243 is followed by step S244.

[0079] S244: Display the S berth sub-line segments in the world coordinates in the berth image according to the inverse algorithm of the world coordinate conversion.

[0080] In this exemplary embodiment, the inverse algorithm of the world coordinate conversion may be specifically referred to in the prior art and will not be described here.

[0081] The above parking lot parking space determination method provided by this exemplary embodiment realizes the calibration of the location camera by using the extrinsic parameters of the location camera and the pixel coordinate values ​​of the Aruco code corner points to obtain the extrinsic parameters of the location camera to which the parking space image belongs; and realizes the equidistant segmentation of the parking space segment by using the extrinsic parameters of the location camera and the world coordinate values ​​of the two end points of the parking space segment and the world length of the parking space segment. This method obtains the equidistant segmentation of the parking space segment through the mapping relationship between the camera calibration and the pixel coordinate values ​​and the world coordinate values, and realizes that only by using the parking point to generate a parking space segment, more than one parking space included in the parking area corresponding to the parking point can be divided and determined, so that there is no need to draw a parking space segment for each parking space, which reduces the marking workload and improves the marking operation efficiency, and the generated parking space sub-segments are located on the same straight line, ensuring the consistency of the parking space position determined in the image.

[0082] exist Figure 1 Based on the parking lot parking space determination method shown, another exemplary embodiment of the present disclosure provides a parking lot parking space determination method. The method is exemplarily described in a non-camera calibration implementation manner, and the method includes steps S301-S303.

[0083] S301, acquiring a berth image; wherein the berth image includes a driving passage and berth points preset in a parking area located on at least one side of the driving passage.

[0084] The details of step S301 may refer to step S101 and will not be described in detail here.

[0085] S302, generating a berth line segment using the berth points; wherein, one berth line segment corresponds to at least two berth points, and at least one endpoint of the berth line segment is a berth point.

[0086] The details of step S302 may refer to step S102 and will not be described in detail here.

[0087] S303, using a preset number of parking spaces S to divide the parking space line segment into S parking space sub-line segments; wherein one parking space sub-line segment corresponds to one parking space.

[0088] Step S303 may refer to step S103 for details. In addition, in this exemplary embodiment, Figure 2 As shown, step S303 includes steps S341-S343.

[0089] S341. Obtain the slope of the berth line segment and the pixel coordinate values ​​of the two end points of the berth line segment.

[0090] In this exemplary embodiment, the slope of the berth line segment refers to the slope of the berth line segment relative to the x-axis or y-axis. After the berth line segment is generated, the pixel coordinate values ​​of the two endpoints of the berth line segment (i.e., the pixel coordinate values ​​of each endpoint on the berth image) can be obtained by using the aforementioned feature detection algorithm in the image processing technology.

[0091] S342: Generate S-1 movable points on the parking space line segment using the number of parking spaces S, the slope, and the two pixel coordinate values; wherein the movable points do not overlap with the two endpoints.

[0092] In this exemplary embodiment, under the premise that the number of parking spaces S, the slope of the parking line segment, and the pixel coordinate values ​​of the two endpoints of the parking line segment are determined, the S-1 movable points generated on the parking image (the S-1 movable points can be generated at equal intervals, so that the generated S-1 movable points are evenly distributed on the parking line segment, avoiding the movable points from being clustered together, which is not conducive to resolution and increases the difficulty of adjusting the movable points) can be constrained on the parking line segment, so that the parking sub-segments obtained by subsequent segmentation can be more accurately guaranteed to be located on the same straight line. Moreover, under the premise that the number of parking spaces S, the slope of the parking line segment, and the pixel coordinate values ​​of the two endpoints of the parking line segment are determined, the S-1 movable points generated on the parking image can be constrained between the two endpoints of the parking line segment and do not overlap with the endpoints, so as to prevent the parking sub-segments obtained by subsequent segmentation from being located on the extension line of the parking line segment, thereby preventing the parking space corresponding to the parking sub-segment from being located in the non-parking area of ​​the parking lot.

[0093] S343. Use S-1 movable points to divide the berth line segment into S berth sub-segments.

[0094] In this exemplary embodiment, since all movable points are located between the two end points of the parking line segment, the parking line segment can be segmented by moving the movable points, and the segmented parking sub-segments correspond to the parking spaces one by one. In some embodiments, the parking line segment can be segmented by receiving a moving instruction of the movable point (the moving instruction can be generated by a manual adjustment instruction or automatically generated by an image correction algorithm), and moving the corresponding movable point to a corresponding position between the two end points of the parking line segment according to the moving instruction.

[0095] The parking lot parking space determination method provided by the present exemplary embodiment does not use camera calibration, but instead constrains the movable point on the parking space segment and between the two endpoints of the parking space segment and does not overlap with the two endpoints by acquiring the slope of the parking space segment and the pixel coordinate values ​​of the two endpoints of the parking space segment. This achieves that by only using the parking point to generate a parking space segment, more than one parking space included in the parking area corresponding to the parking point can be divided and determined, thereby eliminating the need to draw a parking space segment for each parking space, thereby reducing the marking workload and improving the marking operation efficiency, and further ensuring that the generated parking space sub-segments are located on the same straight line, thereby ensuring the consistency of the parking space positions determined in the image.

[0096] It should be understood that the various steps in the parking lot parking space determination method in the above method embodiment can be reordered, added, or deleted, and can be executed in parallel, sequentially, or in a different order, as long as the expected results of the technical solution of the present disclosure can be achieved, without limitation herein.

[0097] Figure 54 is a structural block diagram of a parking lot parking space determination device provided by the present disclosure. The parking lot parking space determination device includes: an acquisition module 41, a generation module 42, and a segmentation module 43.

[0098] The acquisition module 41 is used to acquire a parking space image; wherein the parking space image includes a driving passage and parking spots preset in a parking space area located on at least one side of the driving passage.

[0099] The generating module 42 is used to generate a berthing line segment using the berthing point; wherein, one berthing line segment corresponds to at least two berthing points, and at least one endpoint of the berthing line segment is the berthing point.

[0100] The segmentation module 43 is used to segment the parking space line segment into S parking space sub-segments using a preset number of parking spaces S; wherein one parking space sub-segment corresponds to one parking space.

[0101] The working principles of the various modules and units in the parking lot parking space determination device in the above device embodiment are the same as the principles of the various steps in the parking lot parking space determination method in the above method embodiment, and will not be repeated here.

[0102] See also Figure 6 The present disclosure provides an electronic device, which may include a processor 301 and a memory 302 storing computer program instructions. The processor reads and executes the computer program instructions stored in the memory to implement any one of the parking lot space determination methods in the above embodiments.

[0103] The processor may include a central processing unit (CPU) or an application specific integrated circuit (ASIC).

[0104] The memory may include a large capacity memory for storing data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive (FDD), a flash memory (Flash Memory), a compact disc (CD), a magnetic tape (Magnetic Tape), or a universal serial bus (USB) drive or a combination of two or more of these. In one embodiment, the memory is a non-volatile solid-state memory.

[0105] The electronic device may further include a communication interface 303 and a bus 310, such as Figure 6As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0106] The communication interface is mainly used to implement communication between various modules, devices, units, and / or equipment of the present disclosure.

[0107] The bus includes hardware, software, or a combination of both, and is used to couple the parts of the electronic device to each other. By way of example and not limitation, the bus may include an Accelerated Graphical Port (AGP), an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a Memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a High Speed ​​Serial Computer Extension (PCI Express, PCI E) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VESA local bus, VLB) or a combination of two or more of these. The bus may be one or more interconnects.

[0108] In addition, the present disclosure provides a computer-readable storage medium, which stores computer program instructions. When the computer program instructions are executed by a processor, any one of the parking lot parking space determination methods in the above embodiments is implemented.

[0109] Computer-readable storage media may include random access memory (RAM), hard disk drive (HDD), read-only memory (ROM), erasable programmable read only memory (EPROM), optical fiber (Optical Fiber), compact disc read only memory (CD ROM), optical storage (Optical Storage), magnetic disk storage (Magnetic Disk Storage), etc.

[0110] The functional blocks in the block diagram of the present disclosure can be implemented as hardware, software, or a combination of hardware and software. When implemented in hardware, it can be an electronic circuit (Electronic Circuit), an application-specific integrated circuit (ASIC), etc. When implemented in software, it can be a program or code segment used to perform the required task. The code segment can be downloaded through computer networks such as the Internet (Internet), Intranet (Intranet). The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried by a carrier. The machine-readable medium may include any medium capable of storing or transmitting information. The machine-readable medium may include an electronic circuit, a semiconductor memory (Semiconductor Memory), a read-only memory, a flash memory, an erasable read-only memory (Erasable Read-Only Memory, EROM), a floppy disk drive, a portable compact disk read-only memory, an optical disk, a hard disk drive, an optical fiber, a radio frequency (Radio Frequency, RF) link, etc.

[0111] It should be understood that the above embodiments are only used to illustrate the present disclosure, rather than to limit the protection scope of the present disclosure; all modifications or changes made without violating the spirit of the present disclosure are within the protection scope of the present disclosure.

Claims

1. A method for determining parking spaces in a parking lot, characterized in that: Includes steps: Acquire a parking space image; wherein the parking space image includes a driving passage and a parking point preset in a parking space area located on at least one side of the driving passage; Generate a berth line segment using the berth points; wherein a segment of the berth line segment corresponds to at least two of the berth points, and at least one endpoint of the berth line segment is the berth point; and The parking space line segment is divided into S parking space sub-line segments using a preset number of parking spaces S; wherein one parking space sub-line segment corresponds to one parking space.

2. The method for determining parking spaces in a parking lot according to claim 1, characterized in that: The method of dividing the berth line segment into S berth sub-line segments by using the preset number of parking spaces S includes: Obtaining the slope of the berth line segment and the pixel coordinate values ​​of two end points of the berth line segment; Generate S-1 movable points on the parking space line segment using the number of parking spaces S, the slope, and the two pixel coordinate values; wherein the movable points do not overlap with the two endpoints; and The berth line segment is divided into S berth sub-line segments using S-1 movable points.

3. The method for determining parking spaces in a parking lot according to claim 2, characterized in that: The step of generating S-1 movable points on the berth line segment comprises: S-1 movable points are generated equidistantly on the berth line segment.

4. The method for determining parking spaces in a parking lot according to claim 2 or 3, characterized in that: The method of using S-1 movable points to divide the berth line segment into S berth sub-line segments includes: A moving instruction of the movable point is received, and the corresponding movable point is moved to a corresponding position between two end points of the berth line segment according to the moving instruction.

5. The method for determining parking spaces in a parking lot according to claim 1, characterized in that: The berth image also includes a preset image auxiliary positioning mark; The method of dividing the berth line segment into S berth sub-line segments by using the preset number of parking spaces S includes: Using the image-assisted positioning mark and the external parameters of the location camera that photographs the berth image, calculate the internal and external parameters of the location camera, and convert the berth image and the berth line segment into real world coordinates using the internal and external parameters; Obtaining the world coordinate values ​​of two end points of the berth line segment and the world length value of the berth line segment; and The berth line segment is equidistantly divided into S berth sub-line segments in the world coordinate using a preset number of parking spaces S.

6. The method for determining parking spaces in a parking lot according to claim 5, characterized in that: The image-assisted positioning identifier includes an Aruco code; The method of using the image-assisted positioning mark and the external parameters of the location camera that takes the berth image to calculate the internal and external parameters of the location camera, and using the internal and external parameters to convert the berth image and the berth line segment into real world coordinates includes: Sorting the Aruco codes using the identifiers of the Aruco codes, and obtaining the corner point coordinate value of each corner point of each of the Aruco codes; Calculate the internal and external parameters of the location camera using the external parameters of the location camera that takes the berth image and the preset coordinate values ​​of all the corner points corresponding to all the Aruco codes; The berth image and the berth line segment are converted into real world coordinates using the internal and external parameters.

7. The method for determining parking spaces in a parking lot according to claim 5, characterized in that: After the berth line segment is divided into S berth sub-line segments at equal intervals in the world coordinates by using the preset number of parking spaces S, the method further includes: According to the inverse algorithm of the world coordinate transformation, the S berth sub-line segments in the world coordinate are displayed in the berth image.

8. The method for determining parking spaces in a parking lot according to any one of claims 1 to 3 and 5 to 7, characterized in that: The parking spaces within the parking line segment are continuous parking spaces.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory storing computer program instructions, and the computer program instructions, when executed by the processor, implement the parking lot parking space determination method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the parking lot parking space determination method according to any one of claims 1 to 8 is implemented.

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