Garage management method and system and terminal equipment

Abstract

The invention relates to the technical field of intelligent parking management, in particular to a garage management method and system and terminal equipment. The method comprises the following steps: acquiring standard parking space information acquired by a first sensor for a garage in a vehicle-free state; acquiring parking space information at the current moment, wherein the parking space information is acquired by a first sensor on a garage; obtaining a parking space in an idle state based on the parking space information at the current moment and the standard parking space information; acquiring first related information of the motor vehicle through a second sensor, wherein the first related information comprises license plate number information; sending second related information of the motor vehicle and the parking lot to the driver based on the license plate number information; after the motor vehicle is parked in the parking space in the idle state according to the second related information, starting to charge the motor vehicle; and after the motor vehicle leaves the parking space, the charging of the motor vehicle is ended. Therefore, the problems of unreasonable and inaccurate charging of the parking system in the prior art are solved.

Description

Technical Field

[0001] This application relates to the technical field of intelligent parking management, and in particular, to a garage management method, system, and terminal device. Background Art

[0002] At present, certain achievements have been made in the construction of intelligent parking lots in China. Some public places such as large commercial complexes, airports, and railway stations have started to use intelligent parking lot systems, which improve the management efficiency of the parking lot and the user experience through technologies such as automatic license plate recognition and automatic payment.

[0003] When charging for parking, generally, the license plate is recognized at the entrance gate of the parking lot to start charging for the vehicle, and when the vehicle exits the parking lot, it is recognized again to end the charging. However, during general holidays, the parking lot is full of vehicles, causing congestion on the roads inside the parking lot, resulting in parking overtime, and customers need to pay extra. Customers feel that the charging is unreasonable and inaccurate. Thus, it brings a very poor experience to customers. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a garage management method, system, and terminal device, which can effectively solve the problems of unreasonable and inaccurate charging in the existing intelligent parking system, etc.

[0005] In a first aspect, the embodiments of this application provide a garage management method, including:

[0006] Obtain standard parking space information collected by a first sensor for the garage in a no-vehicle state, where the first sensor includes a lidar;

[0007] Obtain the parking space information at the current moment collected by the first sensor for the garage at the current moment;

[0008] Based on the parking space information at the current moment and the standard parking space information, obtain the parking spaces in an idle state;

[0009] When a motor vehicle is at the gate of the garage, obtain first relevant information of the motor vehicle through a second sensor, where the first relevant information includes motor vehicle type information, license plate number information, and motor vehicle contour information;

[0010] Send second relevant information of the motor vehicle and the parking lot to the driver based on the license plate number information; the second relevant information includes the parking spaces in an idle state and the position information of the motor vehicle;

[0011] After the motor vehicle parks in a parking space in an idle state according to the second relevant information, start charging the motor vehicle;

[0012] After the motor vehicle leaves the parking space, end the charging of the motor vehicle and send the corresponding payment information to the driver.

[0013] In some embodiments, obtaining the vehicle type information in the first relevant information of the motor vehicle through the second sensor includes:

[0014] Divide the target detection area including the motor vehicle into at least two target sub-areas, and the target sub-areas are distributed in the vertical direction;

[0015] Obtain the vehicle type information according to the distribution of the point cloud data scanned by the second sensor in each target sub-area.

[0016] In some embodiments, the second sensor further includes a camera. Obtaining the vehicle type information in the first relevant information of the motor vehicle through the second sensor includes:

[0017] Obtain the image data collected for the motor vehicle by the camera, and obtain the first type information of the motor vehicle based on the image data;

[0018] Obtain the first point cloud data collected for the motor vehicle located at the gate by the lidar, and obtain the second type information of the motor vehicle based on the first point cloud data;

[0019] If the first type information and the second type information are inconsistent, use the first type information as the vehicle type information;

[0020] Obtaining the vehicle contour information in the first relevant information of the motor vehicle through the second sensor includes:

[0021] Obtain the vehicle contour information through the first point cloud data in combination with the vehicle type information.

[0022] In some embodiments, obtaining the vehicle contour information through the first point cloud data in combination with the vehicle type information includes:

[0023] Obtain the width information in the vehicle contour information based on the first point cloud data;

[0024] Based on the vehicle type information, search the database using the width information in the vehicle contour information as the reference data to obtain the length information in the vehicle contour information.

[0025] In some embodiments, obtaining the vehicle contour information through the first point cloud data in combination with the vehicle type information includes:

[0026] Obtain the width information in the vehicle contour information based on the first point cloud data;

[0027] Based on the first point cloud data, determine whether the height of the motor vehicle exceeds the scanning area of the lidar;

[0028] If not, obtain the height information in the motor vehicle contour information based on the first point cloud data;

[0029] If so, based on the motor vehicle type information, use the width information in the motor vehicle contour information as the index information to search the database and obtain the height information in the motor vehicle contour information.

[0030] In some embodiments, the sending the second relevant information of the motor vehicle and the parking lot to the driver based on the license plate number information includes:

[0031] Based on the license plate number information sent by the driver, obtain the first relevant information of the corresponding motor vehicle;

[0032] Based on the motor vehicle type information in the first relevant information, obtain all corresponding available parking areas in the idle state; the available parking areas include 1 parking space or at least two adjacent parking spaces;

[0033] Taking the available parking area as the center, count the number of motor vehicles to be parked with the same motor vehicle type information within a preset diameter;

[0034] If the number of motor vehicles to be parked exceeds the preset number of vehicles to be parked, the available parking area is defined as the first type of parking area, and the first type of parking area does not notify the driver;

[0035] If the number of motor vehicles to be parked does not exceed the preset number of vehicles to be parked, the available parking area is defined as the second type of parking area, and the second type of parking area is notified to the driver.

[0036] In some embodiments, the notifying the driver of the second type of parking area includes:

[0037] Count the number of the second type of parking areas where the number of motor vehicles to be parked does not exceed the preset number of vehicles to be parked;

[0038] If the number of the second type of parking areas does not exceed the preset area value, notify the driver of all the second type of parking areas;

[0039] If the number of the second type of parking areas exceeds the preset area value, obtain the second type of parking areas within a preset diameter with the driver as the center, define them as the third type of parking areas, and notify the driver of the third type of parking areas.

[0040] In some embodiments, the notifying the driver of the third type of parking area includes:

[0041] Count the number of all the third - type parking areas;

[0042] If the number of the third - type parking areas does not exceed a preset area value, notify the driver of all the third - type parking areas;

[0043] If the number of the third - type parking areas exceeds the preset area value, sort the third - type parking areas in ascending order according to the number of motor vehicles to be parked corresponding to each third - type parking area as a benchmark, and then notify the driver;

[0044] If there are third - type parking areas with the same number of motor vehicles to be parked, sort the third - type parking areas in ascending order according to the distance between the third - type parking area and the driver as a benchmark, and then notify the driver.

[0045] In some embodiments, when the motor vehicle parks in an idle parking space according to the second relevant information, it includes:

[0046] Make the following judgments by combining the motor vehicle contour information and motor vehicle position information of the motor vehicle to be parked with the standard parking space information,

[0047] If the motor vehicle to be parked parks in an idle parking space and the contour of the motor vehicle to be parked does not intersect with the parking line in the standard parking space information of the idle parking space, it is determined that the motor vehicle has parked successfully;

[0048] If the motor vehicle to be parked parks in an idle parking space and the contour of the motor vehicle to be parked intersects with the parking line in the standard parking space information of the idle parking space, make the following judgments,

[0049] If the contour of the motor vehicle to be parked only intersects with the parking line in the standard parking space information of the idle parking space that contacts the motor vehicle lane, and the amplitude by which the contour of the motor vehicle to be parked exceeds the idle parking space does not exceed a preset value, it is determined that the motor vehicle has parked successfully;

[0050] Otherwise, it is determined that the motor vehicle has parked unsuccessfully, and notify the driver and / or the garage administrator of the relevant information.

[0051] In some embodiments, the start of charging for the motor vehicle includes:

[0052] If it is determined that the motor vehicle has parked successfully, start timing the stationary motor vehicle;

[0053] If the parking time of the motor vehicle exceeds the first preset time threshold, start charging the motor vehicle.

[0054] In some embodiments, the garage management method further includes:

[0055] Based on the parking space information at the current moment and the standard parking space information, time the motor vehicle located in the non-parking area of the garage;

[0056] If the time of the motor vehicle exceeds the second preset time threshold, notify the driver and / or the garage administrator of the position information of the motor vehicle.

[0057] In a second aspect, an embodiment of the present application provides a garage management system, and the system includes:

[0058] A garage management terminal, a parking space detection device, a motor vehicle identification device, and a user terminal; the parking space detection device includes a first sensor; the motor vehicle identification device includes a second sensor; the user terminal is used for communication between the driver and the garage management terminal;

[0059] The garage management terminal is used to implement a garage management method provided in the first aspect of the present application.

[0060] In a third aspect, an embodiment of the present application provides a terminal device, and the terminal device includes a processor and a memory. The memory stores a computer program, and the processor is used to execute the computer program to implement a garage management method provided in the first aspect of the present application.

[0061] The embodiments of the present application have the following beneficial effects:

[0062] The present application first uses lidar to collect the standard parking space information of the garage in a car-free state, and also uses lidar to collect the parking space information of the garage at the current moment. Then, based on the parking space information at the current moment and the standard parking space information, obtain the parking spaces in the idle state, and when passing through the gate of the garage, obtain the license plate number information of the motor vehicle. Finally, based on the license plate number information, send the parking spaces in the idle state and the position information of the motor vehicle to the driver, so as to facilitate the positioning and parking of the motor vehicle. After the motor vehicle is parked in the parking space in the idle state, start charging the motor vehicle, and after the motor vehicle leaves the parking space, end the charging of the motor vehicle. The present application avoids the problem of congestion in the garage resulting in overtime and additional payment, and can guide the motor vehicle to quickly locate the idle parking space. Thus, the present application can effectively solve the problems of unreasonable and inaccurate billing in the existing intelligent parking system. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0064] Figure 1 shows a schematic structural diagram of a garage management system according to an embodiment of the present application;

[0065] Figure 2 shows a flowchart of a garage management method according to an embodiment of the present application;

[0066] Figure 3 shows a schematic diagram of a scenario where a lidar is installed in a garage management method according to an embodiment of the present application.

[0067] Description of main component symbols:

[0068] 100 - Garage management terminal; 200 - Parking space detection device; 300 - Motor vehicle identification device; 400 - User terminal. Detailed implementation manners

[0069] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0070] Generally, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0071] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present application are only intended to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be construed as first excluding the existence or increasing the possibility of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0072] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0073] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0074] In the prior art, parking lots usually start charging when entering the parking lot gate and end charging when leaving the parking lot gate. However, parking lots are easily congested during holidays, and traffic is not smooth, causing vehicles to leave the parking lot after the time limit, and need to pay extra fees, resulting in poor customer experience and the feeling that the charging is unreasonable and inaccurate.

[0075] The existing smart parking system mainly adopts the following solutions to solve the above problems:

[0076] License plate recognition: By installing cameras and license plate recognition systems, vehicles can be automatically identified and recorded. When a vehicle enters a parking space, the system automatically recognizes the license plate number and compares it with the information in the database to determine whether it is a reserved or parked vehicle.

[0077] Ultrasonic sensor detection of vehicles: By installing ultrasonic sensors on parking spaces, it is possible to monitor in real time whether there are vehicles parked in the parking spaces. When a vehicle is parked, the sensor will send a signal and transmit the information to the central controller for processing.

[0078] Geomagnetic sensor detection of vehicles: Geomagnetic sensors can also be installed on parking spaces to monitor in real time whether there are vehicles parked in the parking spaces. When a vehicle is parked, the sensor will send a signal and transmit the information to the central controller for processing.

[0079] The standard parking space information collected by the garage when there is no car is obtained through ultrasonic sensor technology or geomagnetic sensor technology, as well as the parking space information at the current moment collected in the operating state.

[0080] Video surveillance vehicles: By installing cameras at the entrance of the parking lot and around the parking spaces, real-time monitoring of the parking lot can be achieved. When a vehicle enters or leaves the parking space, the system will automatically record and identify it. However, the existing smart parking system has the following disadvantages:

[0081] 1) Whether it is an ultrasonic sensor or a geomagnetic sensor, they can only monitor individual storage locations, resulting in relatively high construction and maintenance costs.

[0082] 2) Existing ultrasonic sensors and geomagnetic sensors cannot adapt to renovation and upgrading, and require significant construction work.

[0083] 3) Ultrasonic sensors and geomagnetic sensors cannot identify the size of the vehicle body.

[0084] 4) The recognition effect of individual video monitoring is poor at night or in dark areas.

[0085] Therefore, the present application proposes a garage management method, system, and terminal device, which can effectively solve the problems of unreasonable and inaccurate billing and high costs in the existing parking management system.

[0086] Exemplarily, the present application also provides a garage management system, as Figure 1 shown, the system includes:

[0087] A garage management terminal 100, a storage location detection device 200, a motor vehicle identification device 300, and a user terminal 400; the storage location detection device 200 includes a first sensor, preferably, the first sensor includes a lidar.

[0088] The storage location detection device 200 is arranged in the garage. The storage location detection device 200 includes a central processing unit and at least one lidar. Preferably, the lidar uses a 905nm or 1550nm lidar. The lidar can be installed at a height of 3 to 20 meters according to on-site requirements. The lidar scans the parking situation in the garage under operating conditions and the parking space situation in the garage when there is no vehicle within its scanning angle range, obtains the point cloud data of the garage, and transmits it to the garage management terminal 100 by the central processor. When the storage location detection device 200 includes multiple lidars, as Figure 3 shown, multiple lidars are set in a parking lot, and each lidar is responsible for a corresponding set area, without the need to set detection devices for each storage location.

[0089] The motor vehicle identification device 300 includes a second sensor, and the second sensor includes a lidar. The user terminal 400 is used for the driver to communicate with the garage management terminal.

[0090] For example, a driver who needs to park obtains a parking space in an idle state through the user terminal 400. The user terminal 400 is wirelessly connected to the garage management terminal 100. The garage management terminal 100 recommends an idle parking space to the user terminal 400 according to the occupancy status of the parking space in the parking lot. The motor vehicle identification device 300 is used to identify the license plate number information, the motor vehicle profile information, and the motor vehicle type information. The motor vehicle identification device 300 includes a central processing unit and at least one laser radar. The laser radar is installed at the entrance and exit of the parking lot, scanning perpendicular to the vehicle entry direction, and is installed at a height of 1 to 2 meters from the ground. Naturally, it can also be installed according to actual needs, and there is no restriction here. The point cloud data obtained by the laser radar is sent to the garage management terminal 100 through the central processing unit. The garage management terminal 100 determines the motor vehicle type information based on the point cloud data. The motor vehicle identification device 300 also includes a camera, which is installed at a distance of 4 to 5 meters from the laser radar. The camera captures the motor vehicle image data after the laser radar is triggered to identify the motor vehicle license plate number information. Specifically, the license plate number is identified by the image recognition technology in the prior art.

[0091] The garage management terminal 100 is used to implement a garage management method of the present application.

[0092] The garage management method is described below in conjunction with some specific embodiments.

[0093] Figure 2 A flow chart of a garage management method according to an embodiment of the present application is shown. Exemplarily, the garage management method comprises the following steps:

[0094] S10, obtaining standard parking space information obtained by collecting data from a garage without a car through a first sensor, wherein the first sensor includes a laser radar.

[0095] In this embodiment, a unified coordinate system is set for each laser radar in the garage, the point cloud data obtained by each laser radar is converted to a unified coordinate system, and the regional point cloud data scanned by each laser radar is fused to obtain a complete point cloud data. When the point cloud data is fused, the overlapping areas need to be cropped, the areas with inappropriate angles need to be cropped, and then the cropped point cloud data are combined to obtain the point cloud data of the entire parking lot.

[0096] In the absence of a car, the first sensor is used to scan each parking area of ​​the garage to obtain the point cloud data of the garage, and the point cloud position information of the storage line corresponding to each parking space is obtained according to the point cloud data. Among them, the standard parking space information includes the point cloud position information of the storage line corresponding to each parking space and the point cloud position information inside the storage line. The point cloud position information of the storage line constitutes the contour information of the parking space, that is, the parking space boundary.

[0097] S20. Obtain the parking space information at the current moment obtained by collecting the garage at the current moment through the first sensor. The first sensor includes a lidar.

[0098] In the garage operation state, use the lidar to scan the garage in real time to obtain the point cloud data of the garage at the current moment in the operation state. The parking space information at the current moment includes the point cloud data of each parking space at the current moment.

[0099] To reduce the calculation amount and ensure the detection timeliness, the lidar in this application can also scan the parking lot according to a set time interval. Among them, the set time interval can be 30 seconds, which is specifically set according to the traffic flow and is not limited here.

[0100] S30. Based on the parking space information at the current moment and the standard parking space information, obtain the parking spaces in the idle state.

[0101] The standard parking space information includes the point cloud data of each parking space in the idle state, while the parking space information at the current moment includes the point cloud data of each parking space at the current moment in the operation state. Compare and judge the point cloud data of the parking space in the idle state and the point cloud data of the parking space at the current moment in the operation state to determine whether the parking space is idle, and then obtain the parking spaces in the idle state in the entire garage.

[0102] Specifically, the lidar distributed in the parking lot scans and outputs point cloud data in real time. The point cloud data contains distance information, reflectivity, and reflection intensity. Detect the occupancy status of each parking space according to the distance information, reflectivity, and reflection intensity, and mark the occupancy status of each parking space. Judge whether there is a change in the distance information in the point cloud data between the parking space information at the current moment and the standard parking space information. If there is a vehicle parked in the parking space, the distance of the point cloud data corresponding to the parking space information at the current moment obtained after scanning by the lidar will change, and it is thus judged that the parking space is occupied, otherwise it is idle. To improve the detection accuracy, the reflection intensity or reflectivity in the point cloud data can also be used to assist the judgment. When the parking space is occupied, both the obtained emission intensity and reflectivity will change. Further determine whether the parking space is occupied according to the change in the reflection intensity or reflectivity.

[0103] S40. When the motor vehicle is at the gate of the garage, obtain the first relevant information of the motor vehicle through the second sensor. The first relevant information includes motor vehicle type information, license plate number information, and motor vehicle contour information.

[0104] The second sensor includes a lidar, which is installed at the gate. The lidar is used to scan the license plate number, and then identify the license plate number according to the different reflectivities of light. That is, the colors of the bottom plate and the numbers of the license plate are different, and the reflectivities are different. The license plate number can be identified according to the different reflectivities. When a motor vehicle enters the garage gate, the lidar scans the motor vehicle to be entered to obtain the point cloud information of the outer contour of the motor vehicle, so as to form the three-dimensional contour information of the motor vehicle.

[0105] That is, when the motor vehicle is at the gate, the license plate number information of the motor vehicle can be obtained through the lidar. The contour information of the motor vehicle is determined by the point cloud data obtained by scanning the motor vehicle with the lidar.

[0106] The above license plate number information, motor vehicle contour information, and motor vehicle contour information are stored in the database according to the license plate number information.

[0107] The second sensor may also include a camera and a lidar. When the motor vehicle is at the gate, the characteristic information and color information of the motor vehicle can be obtained through the image data captured by the camera; the motor vehicle type information can be obtained according to the characteristic information of the motor vehicle; the license plate number information can also be obtained through image recognition of the image data captured by the camera. The contour information of the motor vehicle can be obtained through the lidar. The above motor vehicle characteristic information, license plate number information, motor vehicle color information, and motor vehicle contour information are stored in the database according to the license plate number information.

[0108] In one implementation manner, the motor vehicle type information in the first relevant information of the motor vehicle obtained by the second sensor in step S40 includes:

[0109] The target detection area including the motor vehicle is divided into at least two target sub-areas, and the target sub-areas are distributed in the vertical direction; according to the distribution of the point cloud data scanned by the second sensor in each target sub-area, the motor vehicle type information is obtained.

[0110] First, the width and height of the motor vehicle are defined: when the motor vehicle enters the gate, on the side of the motor vehicle's head facing the lidar, the side parallel to the ground is the width of the motor vehicle, and the side perpendicular to the ground is the height of the motor vehicle. The detection height is determined according to the vertical field of view of the lidar, the detection width is determined according to the horizontal field of view of the lidar, or the detection height and width are determined according to actual requirements to obtain the target detection area, and the target detection area is divided into at least two target sub-areas in the vertical direction.

[0111] When a motor vehicle is at the gate of a garage, the target detection area is scanned by a lidar to obtain point cloud data. Since the height differences of various motor vehicle types vary greatly, in this embodiment, the target detection area is divided into multiple target sub-areas according to height in the order from top to bottom. For example, if the height of the target detection area is 4 meters, it is divided into one target sub-area every 1 meter along the vertical direction from high to low, which are the first target sub-area, the second target sub-area, the third target sub-area, and the fourth target sub-area respectively according to the height from high to low. If point cloud data is detected in the first target sub-area, it indicates that the motor vehicle is relatively tall and should be a large vehicle (it is known from the national standard that the maximum height of a large vehicle is 4 meters). If no point cloud data is detected in the first target sub-area, it can be determined that the motor vehicle is not a large vehicle.

[0112] The following introduces the maximum overall dimensions of the designed vehicle types of motor vehicles in the national standard:

[0113] For example, the types of motor vehicles include: mini-cars, small cars, light cars, medium cars, large cars, etc. The height differences of various types of motor vehicles are very large. The requirements for the maximum overall dimensions of various types of motor vehicles in the national standard are shown in Table 1 below.

[0114] Table 1 Maximum overall dimensions of the designed vehicle types of motor vehicles in the national standard

[0115]

[0116] That is to say, in this embodiment, the target type of the motor vehicle is confirmed according to the height. According to the point cloud data obtained by lidar scanning, the height data of the motor vehicle is obtained, and the motor vehicle type information is determined according to the height data.

[0117] In an implementation manner, when using a lidar to identify the type of a motor vehicle, since the lidar is set at the gate, the length information of the motor vehicle cannot be recognized, and the height recognition of the motor vehicle may be incomplete. At this time, the motor vehicle type information obtained by the lidar may be inaccurate. In order to improve the recognition accuracy of the motor vehicle type. Therefore, in this embodiment, the second sensor further includes a camera, and the motor vehicle type information is obtained through the sensor, including:

[0118] 1) Obtain the image data of the motor vehicle collected by the camera, and obtain the first type information of the motor vehicle based on the image data. For example, based on the above image data, neural network is used for image recognition to obtain the motor vehicle feature information, and the motor vehicle type information is determined according to the motor vehicle feature information.

[0119] 2) Obtain the first point cloud data collected by the lidar for the motor vehicle located at the gate, and obtain the second type information of the motor vehicle based on the first point cloud data. The motor vehicle contour information obtained from the first point cloud data, and the motor vehicle type information determined according to the motor vehicle contour information.

[0120] 3) If the first type information and the second type information are inconsistent, use the first type information as the motor vehicle type information.

[0121] Further, the motor vehicle contour information included in the first related information of the motor vehicle obtained by the second sensor includes:

[0122] Obtain the motor vehicle contour information through the first point cloud data in combination with the motor vehicle type information. Among them, the first point cloud data is the point cloud data obtained by the lidar scanning the motor vehicle at the gate.

[0123] Obtain the motor vehicle feature information from the image data captured by the camera, and obtain the motor vehicle type information according to the motor vehicle feature information. The width information of the motor vehicle can be obtained from the point cloud data obtained by lidar scanning. The length, width, and height information of the motor vehicle can be obtained from the database according to the motor vehicle type information and the width information of the motor vehicle. The database stores the parameter information of various types of motor vehicles. The parameter information includes information such as length, width, and height.

[0124] In one implementation, in order to further improve the accuracy of obtaining the motor vehicle contour, the obtaining the motor vehicle contour information through the first point cloud data in combination with the motor vehicle type information includes:

[0125] Obtain the width information in the motor vehicle contour information based on the first point cloud data;

[0126] Based on the motor vehicle type information, search the database using the width information in the motor vehicle contour information as the reference data to obtain the length information in the motor vehicle contour information.

[0127] In one implementation, since the distance between the lidar and the motor vehicle to be detected is too close, or the vertical field of view of the lidar is small, or the height of the lidar from the ground is not large enough, resulting in incomplete height information of the lidar scanning the motor vehicle, causing the obtained motor vehicle contour to be incorrect. Therefore, in this example, the obtaining the motor vehicle contour information through the first point cloud data in combination with the motor vehicle type information includes:

[0128] Obtain the width information in the motor vehicle contour information based on the first point cloud data;

[0129] Based on the first point cloud data, judge whether the height of the motor vehicle exceeds the scanning area of the lidar;

[0130] If not, obtain the height information in the motor vehicle contour information based on the first point cloud data;

[0131] If so, based on the motor vehicle type information, use the width information in the motor vehicle contour information as index information to search the database to obtain the height information in the motor vehicle contour information.

[0132] S50, send the second relevant information of the motor vehicle and the parking lot to the driver based on the license plate number information; the second relevant information includes the idle parking spaces and the position information of the motor vehicle.

[0133] Send the idle parking spaces and the position information of the motor vehicle to the driver according to the license plate number information, so as to facilitate the driver to quickly and accurately locate himself and the idle parking spaces for parking.

[0134] After the motor vehicle enters the garage, based on the point cloud data scanned by the lidar set in the garage, the motor vehicle can be tracked in real time and its position information can be obtained.

[0135] To solve the problem of tracking loss, at least one lidar is set in the garage according to the needs of the garage. The at least one lidar fully covers the garage and can scan the license plate number information of each motor vehicle in the garage. According to the license plate number information, the motor vehicle can be located again, and it can be located according to its corresponding point cloud data to obtain its position information.

[0136] Further, to improve the accuracy of identifying motor vehicles, when the motor vehicle is at the gate, the feature information and color information of the motor vehicle can be obtained through the image data captured by the camera; the license plate number information and the motor vehicle contour information of the motor vehicle can be obtained through the lidar. The above motor vehicle feature information, license plate number information, motor vehicle color information and motor vehicle contour information are stored in the database according to the license plate number information. In this embodiment, the garage can also be provided with a camera, that is, the first sensor also includes a camera. The motor vehicle feature information and motor vehicle color information are obtained according to the image data captured by the camera. Therefore, the license plate number information of the motor vehicle can also be obtained by searching the database according to the motor vehicle feature information and motor vehicle color information, and it can be located according to its corresponding point cloud data to obtain its position information.

[0137] When sending the second relevant information of the motor vehicle and the parking lot to the driver based on the license plate number information, the user terminal 400 can be used to send the second relevant information to the driver.

[0138] In one embodiment, the dedicated motor vehicle garage can be designed according to the external dimensions of the parked motor vehicles, and different parking areas can be divided according to different types of motor vehicles. In order to facilitate the driver to park according to the type of motor vehicle and to avoid too many vehicles waiting to park in the same parking area, in step S50, the second relevant information of the motor vehicle and the parking lot is sent to the driver based on the license plate number information, including:

[0139] 1) Based on the license plate number information sent by the driver, the first relevant information of the corresponding motor vehicle is obtained. The driver can send his own license plate number information to the garage management terminal 100 through the APP built in the user terminal 400, and the garage management terminal 100 searches for the first relevant information of the motor vehicle in the database according to the license plate number information.

[0140] 2) Based on the motor vehicle type information in the first relevant information, all corresponding available parking areas in the idle state are obtained; the available parking areas include 1 parking space or at least two adjacent parking spaces.

[0141] 3) Taking the available parking area as the center, count the number of motor vehicles to be parked with the same motor vehicle type information within a preset diameter.

[0142] 4) If the number of motor vehicles to be parked exceeds the preset value for waiting to park, the available parking area is defined as the first type of parking area, and the first type of parking area is not notified to the driver.

[0143] 5) If the number of motor vehicles to be parked does not exceed the preset value for waiting to park, the available parking area is defined as the second type of parking area, and the second type of parking area is notified to the driver.

[0144] In this example, it is set according to the requirement that one parking space can park 3 vehicles, and one parking area includes 3 parking spaces. Among them, the preset value for waiting to park can be 3. Naturally, the preset value for waiting to park can also be set to other values according to the requirement, and this application does not limit it. The preset diameter is 50 meters. Naturally, the preset diameter can also be set to other values according to the requirement, and this application does not limit it.

[0145] Furthermore, in order to facilitate parking and recommend a parking area with a short distance and multiple available parking spaces to the motor vehicle, in this embodiment, the available parking spaces in the idle state within the nearest set range to the motor vehicle are recommended to the motor vehicle. The notifying the driver of the second type of parking area includes:

[0146] Count the number of the second type of parking areas where the number of motor vehicles to be parked does not exceed the preset value for waiting to park;

[0147] If the number of the second type of parking areas does not exceed the preset area value, all the second type of parking areas are notified to the driver;

[0148] If the number of the second - type parking areas exceeds a preset area value, taking the driver as the center, the second - type parking areas within a preset diameter are obtained and defined as the third - type parking areas, and the driver is notified of the third - type parking areas.

[0149] Further, in order to recommend the parking areas with fewer vehicles to be parked and shorter distances in the parking areas to the motor vehicle. The notifying the driver of the third - type parking areas includes:

[0150] Count the number of all the third - type parking areas;

[0151] If the number of the third - type parking areas does not exceed the preset area value, all the third - type parking areas are notified to the driver; for example, the preset area value can be 3 or 4.

[0152] If the number of the third - type parking areas exceeds the preset area value, taking the number of motor vehicles to be parked corresponding to each third - type parking area as a benchmark, the third - type parking areas are sorted in ascending order and then notified to the driver;

[0153] If there are third - type parking areas with the same number of motor vehicles to be parked, taking the distance between the third - type parking area and the driver as a benchmark, the third - type parking areas are sorted in ascending order and then notified to the driver. For example, the parking area within 30 meters from the driver, but this application does not limit this distance.

[0154] S60. After the motor vehicle parks in the idle parking space according to the second - related information, start charging the motor vehicle.

[0155] The motor vehicle parks according to the recommended idle parking space and the position information of the motor vehicle, and starts charging the motor vehicle after determining that the motor vehicle has successfully parked in the parking space.

[0156] In one implementation, in step S60, the motor vehicle parks in the idle parking space according to the second - related information, including:

[0157] 1) According to the motor - vehicle contour information and motor - vehicle position information of the motor vehicle to be parked, combined with the standard parking - space information, make the following judgments:

[0158] If the motor vehicle to be parked is parked in an idle parking space and the outline of the motor vehicle to be parked does not intersect with the parking line in the standard parking space information of the idle parking space, it is determined that the motor vehicle has been successfully parked. That is to say, when the motor vehicle is completely within the parking space, it is determined as successfully parked. Demonstratively, the obtained motor vehicle outline information is projected onto the ground (horizontal plane) to obtain the length and width data of the motor vehicle, and compared with the parking lines of the parking space to determine whether there is an intersection.

[0159] If the motor vehicle to be parked is parked in an idle parking space and the outline of the motor vehicle to be parked intersects with the parking line in the standard parking space information of the idle parking space, the following judgments are made:

[0160] If the outline of the motor vehicle to be parked only intersects with the parking line in the standard parking space information of the idle parking space that contacts the motor vehicle lane, and the extent to which the outline of the motor vehicle to be parked exceeds the idle parking space does not exceed a preset value, it is determined that the motor vehicle has been successfully parked; that is to say, even if the motor vehicle extends a little forward, it is also determined as successfully parked;

[0161] Otherwise, it is determined that the motor vehicle has failed to park, and the relevant information is notified to the driver and the garage administrator. That is to say, if the motor vehicle exceeds the preset value on both sides and at the rear of the parking space, it is determined as a parking failure.

[0162] In one implementation, the charging of the motor vehicle starts in step S60, including:

[0163] 1) If it is determined that the motor vehicle has been successfully parked, the timing of the stationary motor vehicle starts. For example, it is judged whether the position of the motor vehicle changes according to the point cloud data of the motor vehicle. When the position of the motor vehicle does not change, it is determined that the timing of the motor vehicle starts.

[0164] 2) If the parking time of the motor vehicle exceeds the first preset time threshold, the charging of the motor vehicle starts. For example, the first preset time threshold can be any value within 3 minutes.

[0165] S70. After the motor vehicle leaves the parking space, the charging of the motor vehicle ends, and the corresponding payment information is sent to the driver.

[0166] It is judged whether the position of the motor vehicle changes according to the point cloud data of the motor vehicle to further determine that the motor vehicle has left the parking space, and the charging of the motor vehicle is stopped based on the license plate number information identified by lidar scanning.

[0167] In one implementation, in order to facilitate the management of illegally parked motor vehicles, the garage management method further includes:

[0168] 1) Timing the motor vehicle located in the non-parking area of the garage based on the parking space information at the current moment and the standard parking space information;

[0169] 2) If the time of the motor vehicle exceeds the second preset time threshold, notify the driver and the garage administrator of the position information of the motor vehicle. Naturally, the license plate number information of the motor vehicle is obtained by scanning the license plate of the motor vehicle with a lidar, and the motor vehicle is identified through the license plate number information.

[0170] This application can provide a parking lot management method that is completely unmanned and efficiently pushes parking spaces. From the user terminal 400 (which can be the user's mobile phone APP) to the garage management terminal 100 to the acquisition of information inside the actual parking lot, it can operate autonomously and update parking data in real time, reducing labor costs and operating costs.

[0171] In this application, by setting up parking space detection devices in the parking lot, the standard parking space information is obtained by scanning the parking lot with the parking space detection devices in a completely idle state. Specifically, the point cloud data scanned in the car-free state and the parking lot layout map are used to calibrate each parking space, and the standard parking space information including the point cloud coordinate information of each parking space is obtained; after being put into operation, the parking space detection devices are used to scan the parking lot in the operating state to obtain the parking space information at the current moment; then, the standard parking space information and the parking space information at the current moment are compared to obtain the usage status of each parking space in the parking lot; in this application, the motor vehicle is identified according to the recognized license plate number information, and the parking information and the information of leaving the parking space of the motor vehicle are judged through the scanned point cloud data of the parking lot, so as to realize accurate and reasonable parking charging for the motor vehicle.

[0172] In this application, wireless connections can be used between all devices, and communication can be achieved only by powering a local area. All hardware does not require large-area wiring and maintenance, reducing construction and maintenance costs.

[0173] In this application, the 905nm / 1550nm lidar can operate safely both during the day and at night. It can not only detect parking spaces, but also detect various intruding objects in the parking lot, and is not affected by light and sound.

[0174] In this application, illegal parking can also be detected and alarmed, and the owner is notified in real time through the mobile phone APP (user terminal 400), with a high degree of automation.

[0175] This application mainly includes a camera and multiple lidars. Among them, the motor vehicle identification device 300 and the central processing unit form a front-end device, which is simple to install, has a small construction volume, can reduce infrastructure investment, does not need to damage the road surface, and is not affected by road construction.

[0176] This application is applicable to large parking lots, small parking lots, indoor parking lots, outdoor parking lots, etc.

[0177] Figure 1 A schematic structural diagram of a garage management system according to an embodiment of the present application is shown. Exemplarily, the garage management system includes: a garage management terminal 100, a parking space detection device 200, a motor vehicle identification device 300, and a user terminal 400; the parking space detection device 200 includes a first sensor; the first sensor includes a lidar; the motor vehicle identification device 300 includes a second sensor, and the second sensor includes a camera and a lidar; the user terminal 400 is used for the driver to communicate with the garage management terminal 100. For example, a mobile APP is installed in the driver's mobile phone, and the driver uses the mobile APP to communicate with the garage management terminal 100; the garage management terminal 100 is used to implement a garage management method of the present application.

[0178] It can be understood that the garage management terminal 100 in the system of this embodiment corresponds to the garage management method in the above embodiment, and the optional items in the above embodiment are equally applicable to this embodiment, so they will not be described repeatedly here.

[0179] The present application also provides a terminal device. Exemplarily, the terminal device includes a processor and a memory. Among them, the memory stores a computer program, and the processor runs the computer program to enable the terminal device to execute the above-mentioned garage management method or the functions of each module in the above-mentioned garage management system.

[0180] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application.

[0181] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Among them, the memory is used to store a computer program, and after receiving an execution instruction, the processor can execute the computer program accordingly.

[0182] This application also provides a readable storage medium for storing the computer program used in the above terminal device.

[0183] In several embodiments provided by this application, it should be understood that the disclosed device and method can also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and structure diagrams in the drawings show the possible architectures, functions, and operations of the device, method, and computer program product according to multiple embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, program segment, or part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the blocks can occur in a different order than marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the structure diagram and / or flowchart, as well as the combination of blocks in the structure diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0184] In addition, each functional module or unit in each embodiment of this application can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0185] When the above-mentioned functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0186] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application.

Claims

1. A garage management method, characterized in that, it includes: Obtain the standard parking space information collected by the first sensor for the garage in a no-vehicle state, where the first sensor includes a lidar; Obtain the parking space information at the current moment collected by the first sensor for the garage at the current moment; Based on the parking space information at the current moment and the standard parking space information, obtain the parking spaces in an idle state; When a motor vehicle is at the gate of the garage, obtain the first relevant information of the motor vehicle through the second sensor, where the first relevant information includes motor vehicle type information, license plate number information, and motor vehicle contour information; Send the second relevant information of the motor vehicle and the parking lot to the driver based on the license plate number information; the second relevant information includes the parking spaces in an idle state and the position information of the motor vehicle; After the motor vehicle parks in the parking space in an idle state according to the second relevant information, start charging the motor vehicle; After the motor vehicle leaves the parking space, end the charging of the motor vehicle and send the corresponding payment information to the driver.

2. The garage management method according to claim 1, characterized in that, Obtaining the motor vehicle type information in the first relevant information of the motor vehicle through the second sensor includes: Dividing the target detection area including the motor vehicle into at least 2 target sub-areas, where the target sub-areas are distributed vertically; according to the distribution of the point cloud data scanned by the second sensor in each target sub-area, obtain the motor vehicle type information.

3. The garage management method according to claim 1 or 2, characterized in that, The second sensor further includes a camera. Obtaining the motor vehicle type information in the first relevant information of the motor vehicle through the second sensor includes: Obtain the image data collected by the camera for the motor vehicle, and obtain the first type information of the motor vehicle based on the image data; Obtain the first point cloud data collected by the lidar for the motor vehicle located at the gate, and obtain the second type information of the motor vehicle based on the first point cloud data; If the first type information and the second type information are inconsistent, use the first type information as the motor vehicle type information; Obtaining the motor vehicle contour information in the first relevant information of the motor vehicle through the second sensor includes: Based on the first point cloud data and in combination with the motor vehicle type information, obtain the motor vehicle contour information.

4. The garage management method according to claim 3, characterized in that, The obtaining the motor vehicle contour information based on the first point cloud data and in combination with the motor vehicle type information includes: Obtain the width information in the motor vehicle contour information based on the first point cloud data; Based on the motor vehicle type information, search the database using the width information in the motor vehicle contour information as the reference data to obtain the length information in the motor vehicle contour information.

5. The garage management method according to claim 3, characterized in that, The obtaining the motor vehicle contour information based on the first point cloud data and in combination with the motor vehicle type information includes: Obtain the width information in the motor vehicle contour information based on the first point cloud data; Determine whether the height of the motor vehicle exceeds the scanning area of the lidar based on the first point cloud data; If not, obtain the height information in the motor vehicle contour information based on the first point cloud data; If so, based on the motor vehicle type information, search the database using the width information in the motor vehicle contour information as the index information to obtain the height information in the motor vehicle contour information.

6. The garage management method according to claim 1, 2, 4 or 5, characterized in that The sending the second relevant information of the motor vehicle and the parking lot to the driver based on the license plate number information includes: Based on the license plate number information sent by the driver, obtain the first relevant information of the corresponding motor vehicle; Based on the motor vehicle type information in the first relevant information, obtain all corresponding idle parking areas; the parking areas include 1 parking space or at least two adjacent parking spaces; Taking the parking area as the center, count the number of motor vehicles to be parked with the same motor vehicle type information within a preset diameter; If the number of motor vehicles to be parked exceeds the preset number of vehicles to be parked, the parking area is defined as the first type of parking area, and the first type of parking area is not notified to the driver; If the number of motor vehicles to be parked does not exceed the preset number of vehicles to be parked, the parking area is defined as the second type of parking area, and the second type of parking area is notified to the driver.

7. The garage management method according to claim 6, characterized in that The notifying the driver of the second type of parking area includes: Count the number of the second type of parking areas where the number of motor vehicles to be parked does not exceed the preset number of vehicles to be parked; If the number of the second type of parking areas does not exceed the preset area value, all the second type of parking areas are notified to the driver; If the number of the second type of parking areas exceeds the preset area value, obtain the second type of parking areas within a preset diameter with the driver as the center, define them as the third type of parking areas, and notify the driver of the third type of parking areas.

8. The garage management method according to claim 7, characterized in that The notifying the driver of the third type of parking area includes: Count the number of all the third type of parking areas; If the number of the third type of parking areas does not exceed the preset area value, all the third type of parking areas are notified to the driver; If the number of the third type of parking areas exceeds the preset area value, sort the third type of parking areas from small to large according to the number of motor vehicles to be parked corresponding to each third type of parking area as the criterion and notify the driver; If there are third type of parking areas with the same number of motor vehicles to be parked, sort the third type of parking areas from small to large according to the distance between the third type of parking area and the driver as the criterion and notify the driver.

9. The garage management method according to claim 1, 2, 4, 5, 7 or 8, characterized in that When the motor vehicle is parked in the idle parking space according to the second relevant information, it includes: According to the motor vehicle contour information and the motor vehicle position information of the motor vehicle to be parked, and combining the standard parking space information, make the following judgments, If the motor vehicle to be parked is parked in an idle parking space and the outline of the motor vehicle to be parked does not intersect with the stop line in the standard parking space information of the idle parking space, it is determined that the motor vehicle is parked successfully; If the motor vehicle to be parked is parked in an idle parking space and the outline of the motor vehicle to be parked intersects with the stop line in the standard parking space information of the idle parking space, the following judgment is made. If the outline of the motor vehicle to be parked only intersects with the stop line in the standard parking space information of the idle parking space that contacts the motor vehicle lane, and the extent to which the outline of the motor vehicle to be parked exceeds the idle parking space does not exceed a preset value, it is determined that the motor vehicle is parked successfully; If not, it is determined that the motor vehicle is parked unsuccessfully, and the relevant information is notified to the driver and / or the garage administrator.

10. The garage management method according to claim 9, characterized in that the starting to charge the motor vehicle includes: If it is determined that the motor vehicle is parked successfully, the timing of the stationary motor vehicle is started; If the parking time of the motor vehicle exceeds the first preset time threshold, the charging of the motor vehicle is started.

11. The garage management method according to claim 1, 2, 4, 5, 7, 8 or 10, characterized in that the garage management method further includes: Based on the current parking space information and the standard parking space information, timing is carried out on the motor vehicle located in the non-parking area of the garage; If the time of the motor vehicle exceeds the second preset time threshold, the position information of the motor vehicle is notified to the driver and / or the garage administrator.

12. A garage management system, characterized in that the system includes: A garage management terminal, a parking space detection device, a motor vehicle identification device and a user terminal; the parking space detection device includes a first sensor; the motor vehicle identification device includes a second sensor; the user terminal is used for the driver and the garage management terminal to communicate; The garage management terminal is used to implement the garage management method according to any one of claims 1-11.

13. A terminal device, characterized in that the terminal device includes a processor and a memory, the memory stores a computer program, and the processor is used to execute the computer program to implement the garage management method according to any one of claims 1-11.

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