Parking space inspection unmanned aerial vehicle integrated with parking space type roadside equipment and application method of parking space inspection unmanned aerial vehicle

Abstract

The invention discloses a parking space inspection unmanned aerial vehicle integrated with parking space type roadside equipment and an application method thereof, the parking space inspection unmanned aerial vehicle comprises an unmanned aerial vehicle carrier and the parking space type roadside equipment integrated in the unmanned aerial vehicle carrier, and the unmanned aerial vehicle carrier is a rotor wing unmanned aerial vehicle provided with a paddle protection cover and a GPS and / or Beidou positioning navigation module. The wireless network communication component comprises a processor, an identification module connected with the processor, a 5.8 GHz transceiving and awakening device, a transceiving antenna of the 5.8 GHz transceiving and awakening device, a wireless network communication component, a light switching double-camera module and a light supplementing lamp of the light switching double-camera module; according to the invention, an existing vehicle-mounted inspection technology and an unmanned aerial vehicle third-party technology are improved, and a series of construction ideas and adaptation schemes including multi-technology fusion, rain and water prevention, crossing obstacle avoidance, fixed-point landing, automatic folding and unfolding, automatic charging and the like are provided for a full-time all-weather berth parking inspection scene; and the optimization effects of extreme accuracy, extreme load reduction and extreme power saving are achieved.

Description

Technical Field

[0001] The present invention relates to a berth inspection device and an application method thereof in the fields of intelligent transportation and smart parking, and particularly to a berth inspection unmanned aerial vehicle that promotes the development of the low-altitude economy and can integrate parking space type roadside equipment, and an application method thereof. Background Art

[0002] Public information shows that existing berth inspection devices are basically mainly carried by two-wheeled electric vehicles and four-wheeled electric vehicles, which are driven out by vehicle managers according to a predetermined path and time interval for work. For example, existing invention patents "A flat ground-attached vehicle detector and a berth inspection image acquisition and processing method" (application number: 202211191995.5), and "An improved flat ground-attached vehicle detector and inspection deviation correction and reservation method" (application number: 202211544376.X), and "An ETC geomagnetism and a mobile inspection device" (application number: 202410128646.1). These solutions all collect berth parking images by installing cameras in different directions on the vehicle to identify license plates, obtain machine-readable berth numbers through radio frequency communication methods, and then transmit the relevant collected information to the background through a wireless network for further refined processing; the other solutions in the industry are also similar, and the main differences lie in the way of obtaining the berth number, with an indirect method of using front-end GPS + RTK combined with background GIS, a direct method of using video to identify the berth number, or both; if the above existing and common framework solutions are applied to the implementation of berth inspection by an unmanned aerial vehicle carrier, the following several problems will form insurmountable gaps: 1. Existing inspection devices carried by vehicles basically have extremely high power consumption and extremely serious heat generation and heat dissipation problems. If directly applied, the endurance time of the unmanned aerial vehicle will be extremely short and difficult to meet the patrol requirements. Without reducing the original performance, it is necessary to find the crux of the problem and solve it precisely; 2. Existing inspection devices are basically weighed in kilograms, which requires a huge large unmanned aerial vehicle to transport and carry out operations. If weight reduction is required, a new approach needs to be taken and there must be trade-offs; 3. Operating and charging berths are basically in the bustling areas of the urban area. The "street sweeping" low-altitude flight operation of the unmanned aerial vehicle will more or less pose a substantial and psychological safety threat to the people passing by on the road. How to eliminate the relevant negative impacts will be the key to the success or failure of the project; 4. The generally recognized industry pain point in the current roadside berth parking fee management is the problem of arrears recovery, and there is no landing project using an unmanned aerial vehicle to solve related problems, and it is also difficult to find relevant technical solutions for reference in the public channels; 5. Existing unmanned aerial vehicles on the market are mainly for civilian entertainment and video creation, and related products are difficult to be applicable to industrial applications in all-weather and harsh environments. It is necessary to propose targeted design solutions for problems related to the usability, operability, and maintainability of unmanned aerial vehicles in the parking berth management scenario; All of these urgently require new solutions to overcome and solve. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to avoid the deficiencies of the above-mentioned prior art and design and use a berth inspection drone integrating a parking space type roadside device, which is characterized by at least including: a drone vehicle and a parking space type roadside device integrated therein; the drone vehicle is a rotary-wing drone equipped with a propeller protection cover and a GPS and / or Beidou positioning and navigation module; the parking space type roadside device includes a large-capacity rechargeable battery, a processor, an identification module, a 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna, a wireless network communication component, an optical switching dual-camera module and its fill light, which are arranged on a collection board; the optical switching dual-camera module measures the light brightness of the parking berth scene through a photometric component and switches the camera module accordingly. When the light is strong, a small-aperture fixed-focus lens camera module is used for shooting, and when the light is weak, it switches to a large-aperture fixed-focus lens camera module and is supplemented by the fill light at the same time; the processor collects image data through the optical switching dual-camera module and sends it to the identification module for video license plate recognition; the processor wakes up the OBU on the berth ETC vehicle through the 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna and collects the electronic license plate and / or conducts ETC electronic toll collection; the inspection drone dynamically collects and generates flow report information according to a preset waypoint flight path, and reports it to the background through the wireless network communication component and receives relevant service data and instructions sent by the background. After the relevant reported information is further comprehensively analyzed and processed by the background, the optimal berth number and its corresponding license plate are finally determined; when a machine-readable, visually-readable, and vehicle-inspecting three-in-one parking space sign geomagnetism is deployed at the berth site, the processor also wakes up the parking space sign geomagnetism through the 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna to obtain the machine-readable berth number it feedbacks, and / or identifies the visually-readable berth verification information from the parking space sign geomagnetism through the optical switching dual-camera module and the identification module. In this case, the flow report information includes: time, machine-readable berth number and / or visually-readable berth verification information, video license plate and its confidence level, electronic license plate and / or ETC electronic toll collection information, evidentiary pictures.

[0004] Further, when a visually-readable parking space sign is deployed at the berth site, the processor identifies the visually-readable berth verification information from the parking space sign through the optical switching dual-camera module and the identification module. At the same time, the processor also obtains the real-time positioning information of the GPS and / or Beidou positioning and navigation module in a direct or indirect connection manner. In this case, the flow report information includes: time, visually-readable berth verification information, real-time positioning information of the GPS and / or Beidou positioning and navigation module, video license plate and its confidence level, electronic license plate and / or ETC electronic toll collection information, evidentiary pictures.

[0005] Optionally, the drone vehicle includes at least: a rainproof housing, a flight control board, a GPS and / or Beidou positioning and navigation module wired thereto, a rotor motor, its blades and a protective cover, an obstacle avoidance module, and a remote control module; the rainproof housing uses a method of joining the connection ports with staggered heights to prevent rain from splashing and flowing back; the drone vehicle uses the obstacle avoidance module to detect the distances of objects directly in front and directly below with a millimeter-wave radar and adopts a leapfrog scheme to avoid obstacles during the inspection, receives and then executes various control instructions sent by its paired wireless remote controller through the remote control module, and feeds back relevant service data including the real-time positioning information of the GPS and / or Beidou positioning and navigation module to the remote controller as needed.

[0006] Optionally, the processor can be one or a combination of an SOC transceiver integrated single-chip microcomputer, a microprocessor, a RISC processor, a RISC-V core microcontroller, an ARM, or a DSP processor; the 5.8 or 5.9 GHz transceiver and wake-up device is a national standard ETC 5.8 GHz transceiver and wake-up device. Correspondingly, its transceiver antenna is a 5.8 GHz high-gain directional transceiver antenna.

[0007] Optionally, the small-aperture fixed-focus lens has a light passing aperture within the range of F2.4 - F3.2; the large-aperture fixed-focus lens has a light passing aperture within the range of F0.9 - F1.5.

[0008] Optionally, the wireless network communication component is: an NB-IOT, eMTC, LoRa / LoRaWAN / CLAA, Sigfox, 4G / 5G / 6G wireless network communication module and its transceiver antenna.

[0009] The present invention can also solve the above technical problems by adopting the following technical solutions: A method for applying a berth inspection drone for a parking space type roadside device is proposed, including the following steps: S100: Set up a charging tower for the takeoff and landing of the drone at a suitable position on the inspection section, which is provided with a wireless remote controller, a fast charging device, a retracting and releasing device, a 5.8 or 5.9 GHz transceiver and its transceiver antenna, and a fixed-point landing induction device; S200: Set up a berth inspection drone on the charging tower, which at least includes: a drone vehicle and a roadside device of the parking space type integrated therein; the drone vehicle is a rotary-wing drone equipped with a propeller protection cover and a GPS and / or Beidou positioning and navigation module; the roadside device of the parking space type includes a large-capacity rechargeable battery, a processor, an identification module, a 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna, a wireless network communication component, an optical switching dual-camera module and its fill light, which are arranged on the acquisition board; when the berth inspection drone is resting, it is locked in the tower and charged through the fast charging device. When the inspection time arrives, it is moved to the lifting platform by the retracting and releasing device and unlocked before departure. The tower remote control communicates and frequencies with the drone remote control module, and then after receiving the remote control instruction, it completes the calibration and calibration of the starting parameters of the starting point including GPS and / or Beidou positioning information. S300: The tower remote control first sends a "take off" instruction to let the drone take off to a preset height 1, and then sends a "waypoint flight" instruction to return along the original route to let it fly according to the instruction path and at the same time turn on the roadside device of the parking space type in the aircraft. Specifically: the optical switching dual-camera module measures the light brightness of the parking berth scene through the photometric component and switches the camera module accordingly. When the light is strong, the small-aperture fixed-focus lens camera module is used for shooting, and when the light is weak, it is switched to the large-aperture fixed-focus lens camera module and supplemented with the fill light at the same time; the processor collects image data through the optical switching dual-camera module and sends it to the identification module for video license plate recognition; the processor wakes up the OBU on the berth ETC vehicle through the 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna and collects the electronic license plate, and / or on the way back along the original route, according to the parked ETC vehicles that are successively sent by the background and listed in the pending list during the outbound journey, on-site implementation of ETC electronic toll transactions including arrears recovery is carried out under the premise of meeting the preset conditions. S400: The inspection drone dynamically collects and generates streaming reporting information according to the instruction path, and reports it to the background through the wireless network communication component and receives relevant service data and instructions sent by the background. After the relevant reporting information is further comprehensively analyzed and processed by the background, the most optimized berth number and its corresponding license plate are finally determined; when a machine-readable, visually-readable, and vehicle-inspecting three-in-one parking space sign geomagnetism is deployed at the berth site, the processor also wakes up the parking space sign geomagnetism through the 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna to obtain the machine-readable berth number it feeds back, and / or recognizes the visually-readable berth verification information from the parking space sign geomagnetism through the optical switching dual-camera module and the identification module. In this case, the streaming reporting information includes: time, machine-readable berth number and / or visually-readable berth verification information, video license plate and its confidence level, electronic license plate and / or ETC electronic toll information, evidentiary pictures. S500: When the tower controller learns from the information fed back by the UAV that the UAV is about to return, or when the departure time is greater than the preset value, it immediately powers on the 5.8 or 5.9 GHz receiver and the fixed-point landing induction device is ready, waiting to be awakened and activated by the UAV to process relevant landing work; S600: When the UAV reaches the preset air traffic control range of the tower, after the 5.8 or 5.9 GHz transceiver on the tower is awakened by the 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna on the UAV, the tower controller immediately sends a "return" command to the UAV to make it rise to the preset height 2 and then return to above the starting point according to the initial calibration of the GPS and / or Beidou positioning module. At the same time, the fixed-point landing induction device sends the horizontal deviation information between the vertical projection of the UAV on the landing plane and the landing center detected by the 5.8 or 5.9 GHz transceiver and its transceiver antenna, and / or through the tower controller, and / or the deviation correction control command to the UAV for translation adjustment. When the two coincide, it controls the UAV to descend to the preset height 3, and then sends a "land" command to the UAV to achieve its fixed-point landing. Subsequently, it shuts down the inspection-related working components in the machine including the roadside equipment of the parking space type; S700: The tower transfers the UAV into the sealed cabin for positioning and locking through the retracting device, and connects the fast charging device to quickly charge the large-capacity rechargeable battery in the UAV.

[0010] Further, in step S400, it further includes: when the visual reading parking space sign is deployed at the berth site, the processor obtains the visual reading berth verification information from the parking space sign through the optical switching dual-camera module and the recognition module. At the same time, the processor also obtains the real-time positioning information of the GPS and / or Beidou positioning and navigation module in a direct or indirect connection manner. In this case, the flowing water reporting information includes: time, visual reading berth verification information, real-time positioning information of the GPS and / or Beidou positioning and navigation module, video license plate and its confidence level, electronic license plate and / or ETC electronic toll information, and evidence-taking pictures.

[0011] Optionally, the UAV vehicle at least includes: a rainproof housing, a flight control board, a GPS and / or Beidou positioning and navigation module that is wired to it, a rotor motor and its blades and protective cover, an obstacle avoidance module, and a remote control module; the rainproof housing uses a method of staggered connection of the docking ports to prevent rainwater from splashing and flowing back; the UAV vehicle uses the millimeter-wave radar of the obstacle avoidance module to detect the distance of the objects directly in front and directly below and adopts a leapfrog scheme to avoid obstacles during the inspection, receives and then executes various control instructions issued by the wireless remote controller through the remote control module, and feeds back relevant service data including the real-time positioning information of the GPS and / or Beidou positioning and navigation module to the remote controller as needed; the processor can be one or a combination of an SOC transceiver integrated single-chip microcomputer, a microprocessor, a RISC processor, a RISC-V core microcontroller, an ARM, or a DSP processor; the 5.8 or 5.9 GHz transceiver is a 5.8 GHz national standard ETC radio frequency transceiver chip, and correspondingly, its transceiver antenna is a 5.8 GHz directional transceiver antenna; the small-aperture fixed-focus lens has a light passing aperture within the range of F2.4 - F3.2; the large-aperture fixed-focus lens has a light passing aperture within the range of F0.9 - F1.5; the wireless network communication component is: an NB-IOT, eMTC, LoRa / LoRaWAN / CLAA, Sigfox, 4G / 5G / 6G wireless network communication module and its transceiver antenna.

[0012] Optionally, the fixed-point landing induction device is provided with two sets of 24 GHz millimeter-wave object presence detection angle radar modules that are complementary and orthogonal to the sky at the center position of the landing plane to detect and obtain the real-time information of the distance, speed, and angle between the UAV and the landing center within the air traffic control range, so as to induce the UAV to perform fixed-point landing; the module consists of a millimeter-wave radar chip, a one-transmit two-receive microstrip antenna, an MCU, and peripheral auxiliary circuits, uses an FMCW waveform, and combines MCU radar signal processing and built-in intelligent radar algorithms for detection.

[0013] Compared with the prior art, the present invention provides a parking inspection drone integrated with parking space-type roadside equipment and an application method thereof, which have the following technical effects: 1. A low-power consumption solution suitable for parking inspection drones has been found: From the data, the existing vehicle-mounted inspection equipment has high power consumption and serious heat generation, which is the two sets of front and rear high-power fill lights. However, investigations have found that the small aperture lens is the crux of the problem. It is easy to use during the day, but at night it must have strong fill light and high energy consumption. However, this high energy consumption and high heat generation problem is not a big problem for the vehicle-mounted environment, because the battery capacity carried is large enough, and the supporting charging system and heat dissipation system are also large enough, which is exactly what the existing vehicle The root cause of the inapplicability of the vehicle-mounted solution to UAVs; for this reason, the present invention proposes a light-switching dual-camera module and its fill light as a remedy. A small-aperture fixed-focus lens camera module is used during strong light during the day, and a large-aperture fixed-focus lens camera module is switched to during weak light at night and supplemented by a low-power fill light. The power consumption is only one-sixth of that of the existing vehicle-mounted solution, and the UAV's flight cycle can be greatly extended, thus opening the first breakthrough in the practical application of UAVs; 2. Drawing on the existing vehicle-mounted solution, a tailor-made package of lightweight UAVs and their optimal patrol solutions is proposed: a. The camera resources only retain the forward components and cut off all the rest; b. Positioning navigation and berth numbering In terms of acquisition, the currently popular GPS+RTK centimeter-level ultra-high precision positioning with GIS+visual berth numbering is replaced by a lightweight elite solution of GPS and / or Beidou conventional precision positioning, machine-readable berth numbering, GIS, and / or visual berth verification information; c. Collect data again in the reverse direction by returning to the original route to check for omissions and make up for deficiencies; under the joint action of the above solutions, the parking vehicle management has front and back evidence pictures, dual video license plates and dual electronic license plates to check layer by layer, achieving the ultimate precision, extreme load reduction, and extreme power saving. 3. Proposed "lightweight design of drones, standard cruising altitude The three major security measures of "standardization, blade protection and thoughtfulness" are in place. In case of a loss of control and crash, people and animals will be safe and sound. The overall "lightweight and harmless, humanized" is used to eliminate any negative perception and psychological impact on the public brought by "heavy and dangerous, quick to avoid". This is the original intention and primary feature of the present invention; 4. The fusion solution of parking space-type roadside equipment and drones proposed in the present invention can enable drones to collect ETC electronic license plates while patrolling. On the return journey along the original route, ETC communication transactions including the collection of arrears can be completed, filling the huge charging loopholes, which will bring unparalleled and substantial benefits to parking management agencies; 5.It has improved the existing vehicle-mounted inspection technology and third-party technologies such as UAV flight control, waypoint flight, and obstacle avoidance. For the all-weather berth parking inspection scenario, it has eliminated the infrared obstacle avoidance solution that is not suitable for daytime and outdoor use and adopted the millimeter-wave radar obstacle avoidance solution instead. Regarding issues related to usability, operability, and maintainability, it has further proposed a series of construction ideas and adaptation solutions that are highly intelligent and closely related to daily use and operation management, including cross-domain multi-technology integration, rain and waterproof protection for UAV vehicles, cross-jump obstacle avoidance, fixed-point landing, automatic retraction, automatic charging, etc., creating an optimization and improvement effect where 1 + 1 > 2, laying a good foundation and clearing obstacles for the smooth implementation of UAV berth inspections and the vigorous development of the low-altitude economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 FIG. is a schematic diagram of the external structure of a berth inspection UAV integrating a parking space type roadside device according to the present invention; Figure 2 FIG. is a schematic diagram of the internal structure integration of the berth inspection UAV in Embodiment 1 of the present invention; Figure 3 FIG. is a schematic diagram of the waterproof and rainproof structure design of the berth inspection UAV in the embodiment of the present invention; Figure 4 FIG. is a rendering of the on-site operation of the berth inspection in a straight-line berth in Embodiment 1 of the present invention; Figure 5 FIG. is a schematic diagram of the on-site for initiating ETC communication transactions to recover overdue fees in Embodiment 1 of the present invention; Figure 6 FIG. is a rendering of the on-site operation of the berth inspection in a non-straight-line berth in Embodiment 2 of the present invention; Figure 7 FIG. is a schematic diagram of the internal structure integration of the berth inspection UAV in Embodiment 2 of the present invention; Figure 8 FIG. is a diagram explaining the principle of visually reading berth verification information in the embodiment of the present invention; Figure 9 FIG. is a schematic diagram of the on-site berth verification information in the second embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, two embodiments of implementing UAV inspections in a straight-line parking berth with a machine-readable, visually-readable, and vehicle-inspected triple-in-one parking space marker geomagnetism, and in a non-straight-line berth with a visually-readable parking space marker and a traditional geomagnetism are preferably deployed. It should be understood that this is only for the purpose of more convenient understanding and does not limit the protection scope of the present application.

[0016] Such as Figure 1 And Figure 2As shown in the figure, a berth inspection drone integrating a parking space type roadside device of the present invention includes: a drone vehicle 1 and a parking space type roadside device 2 integrated therein; the drone vehicle is a rotary-wing drone equipped with a propeller protection cover 19, a GPS and / or Beidou positioning and navigation module 121 and its antenna 122; the parking space type roadside device 2 includes a large-capacity rechargeable battery 209, a processor 201, an identification module 202, a 5.8 or 5.9 GHz transceiver and wake-up device 2031 and its transceiver antenna 2032, a wireless network communication component 204, an optical switching dual camera module 21 and its fill light 219 which are arranged on a collection board 20; The drone vehicle 1 at least includes: a rainproof shell 100, a flight control board 10, a GPS and / or Beidou positioning and navigation module 12, a rotary-wing motor 18 and its propeller and protection cover 19, and a remote control module 14 which are connected to the flight control board 10 by wire; As Figure 3 shown, the rainproof shell 100 adopts a method of misaligned joint with a higher inner part A and a lower outer part B at the connection port to prevent rain from splashing and flowing back; As Figure 1 can be seen, the protection cover 19 adopts a fully enclosed humanized design scheme, and the protection cover can also be made orange to be more eye-catching and noticeable. Even if it accidentally touches a person, it is harmless to humans and animals and there is no damage; In order to overcome the serious problems that the existing infrared obstacle avoidance scheme for civilian drones is worse outdoors than indoors and is more likely to fail during the day than at night, as an optimal solution, both embodiments of the present invention adopt a millimeter wave radar scheme that can adapt to all-weather working environments, that is Figure 2 the forward detection and obstacle avoidance module 131 and the downward detection and obstacle avoidance module 132 shown in the figure. The drone vehicle 1 detects the distance of objects directly in front and directly below through the millimeter wave radar obstacle avoidance module and adopts a leapfrog scheme to avoid obstacles during the inspection. Specifically: the drone performs inspection operations at a preset cruise altitude (the standard cruise altitude in this embodiment is preset to 3.5 meters). When the forward obstacle avoidance module 131 detects an obstacle in front (the obstacle avoidance warning distance in this embodiment is preset to 1 meter), the flight control board 10 immediately controls the drone to rise to a height where the forward obstacle cannot be detected, and while moving forward, the downward obstacle avoidance module 132 is used to detect whether the distance of the object below is greater than the preset value (the leapfrog return safety distance in this embodiment is preset to 2 meters). If so, it indicates that the obstacle has been leapfrogged and the drone can descend back to the standard cruise altitude and continue normal flight; The drone vehicle 1 receives and then executes various control commands sent by its paired wireless remote controller through the remote control module 14, and feeds back relevant service data including the real-time positioning information of the GPS and / or Beidou positioning and navigation module to the remote controller as required; The processor 201 may be one or a combination of an SOC transceiver single-chip microcomputer, a microprocessor, a RISC processor, a RISC-V core microcontroller, an ARM or a DSP processor; preferably, in this embodiment, a solution of an SOC transceiver single-chip microcomputer combined with a RISC-V core microcontroller is selected. The former is used for ETC communication of the in-vehicle OBU and / or collecting the machine-readable berth code of the parking space sign geomagnetism, while the latter is mainly used for image acquisition and 4G communication with the background; Preferably, the 5.8 or 5.9 GHz transceiver and wake-up device 2031 is a national standard ETC 5.8 GHz transceiver and wake-up device. Correspondingly, its transceiver antenna 2032 is a 5.8 GHz high-gain directional transceiver antenna. In this embodiment, a directional 5.8 GHz microwave radio frequency communication transceiver antenna with a patent number of CN306350855S, a size of 80mm X 80mm, and a gain of about 12 dBi is adopted; Preferably, the light passing aperture of the small aperture fixed-focus lens is within the range of F2.4 - F3.2. In this embodiment, F2.7 is adopted; the light passing aperture of the large aperture fixed-focus lens is within the range of F0.9 - F1.5. In this embodiment, F1.0 is adopted; Preferably, the wireless network communication component 204 is a current mainstream 4G wireless network communication module 2041 and its transceiver antenna 2042.

[0017] Embodiment 1: Conducting drone patrol in a linear berth where a machine-readable, visual-readable, and vehicle-inspection-integrated parking space sign geomagnetism is deployed According to the characteristics of the linear berth, the center distance between the front and rear berths is at least 5.7 meters long. And thanks to the adoption of a high-gain directional antenna, its effective communication angle is less than 45 degrees. Therefore, it will not accidentally trigger adjacent berths in the central area of this berth. In other words, simply collecting the machine-readable berth number already meets the accuracy requirements, without the need to additionally use video berth verification information to improve the accuracy. This allows the drone to operate efficiently with a light load. Please refer to Figure 4 , and the detailed working principle and steps are specifically described as follows: S100: Set up a charging tower 9 for the takeoff and landing of drones at a suitable position on the inspection section. A wireless remote control, a fast charging device, a retracting device, a 5.8 GHz transceiver and its transceiver antenna, and a fixed-point landing induction device are installed inside it; the bottom of the tower 9 is 2.5 meters above the ground as the takeoff plane; for the fixed-point landing induction device, two sets of 24 GHz millimeter-wave object presence detection angle radar modules that are complementary and orthogonal to the sky are set at the center position of the landing plane to detect and obtain the real-time information of the distance, speed, and angle between the drone and the landing center within the air traffic control range, so as to induce the drone to perform fixed-point landing; the module is composed of a millimeter-wave radar chip, a one-transmit two-receive microstrip antenna, an MCU, and peripheral auxiliary circuits, adopts the FMCW waveform, and combines MCU radar signal processing and built-in intelligent radar algorithms for detection; S200: Set up a berth inspection drone 1 on the charging tower. Its specific composition and corresponding preferences are as described above; the berth inspection drone 1 is locked inside the tower and charged through the fast charging device during rest. When the inspection time arrives, it is transferred to the lifting platform by the retracting device and unlocked before departure. The tower remote control and the drone remote control module communicate and pair frequencies. Subsequently, after receiving the remote control command, it completes the calibration and calibration of the starting parameters of the starting point including GPS and / or Beidou positioning information; S300: The tower remote controller first sends a "takeoff" command to make the UAV take off to a preset height 1 (in this embodiment, the takeoff height is 1 meter, plus 2.5 meters of the takeoff plane, and the total takeoff height is 3.5 meters in total), and then sends a "waypoint flight" command for a U-turn along the original route to make it fly according to the command path, that is, starting from the starting point, maintaining the height and flying straight along the left-right central axis of the berth until passing the last berth, and then turning around and returning along the original route. This path information is pre-calibrated and stored in the remote controller; at the same time, the in-vehicle parking space type roadside device 2 is turned on. Specifically: the optical switching dual-camera module 21 measures the light brightness of the parking berth scene through the photometric component 210 and accordingly switches the camera modules 211 and 212. When the light is strong, the small-aperture fixed-focus lens camera module 211 is used for shooting, and when the light is weak, it is switched to the large-aperture fixed-focus lens camera module 212 and supplemented with the fill light 219 at the same time; the processor 201 collects image data through the optical switching dual-camera module 21 and sends it to the recognition module 202 for video license plate recognition; the processor 201 wakes up the OBU 73 on the berth ETC vehicle through the national standard ETC 5.8GHz transceiver and wake-up device 2031 and its transceiver antenna 2032 and collects the electronic license plate, and on the return journey of the U-turn along the original route, according to the parked ETC vehicles that are successively sent by the background and listed in the pending list during the outbound journey, on the premise of meeting the preset conditions (set in this embodiment as the complete consistency of the electronic license plate and the video license plate), on-site implementation of ETC electronic toll transactions including arrears recovery is carried out; for example, when passing the parking space sign geomagnetic 83 during the outbound journey, the electronic license plate of the OBU 73 on the parked ETC vehicle is also collected at the same time, and the relevant transaction information is reported to the background. If it is comprehensively analyzed and finally determined that the vehicle has an arrears record, a supplementary deduction instruction is sent to the UAV 1. When the two license plates are consistent on the return journey, an arrears recovery ETC communication transaction is immediately initiated to fill the toll management gap on-site, such as Figure 5 as shown; S400: The inspection UAV 1 dynamically collects and generates transaction information for reporting according to the command path, and reports it to the background through the wireless network communication component 204 and receives relevant service data and instructions sent by the background. After the relevant reported information is further comprehensively analyzed and processed by the background, the optimal berth number and its corresponding license plate are finally determined; in the case where the machine-readable, visual-readable, and vehicle-inspection three-in-one parking space signs geomagnetics 81, 82, and 83 are deployed at the berth site, the processor also wakes up the parking space sign geomagnetics through the national standard ETC 5.8GHz transceiver and wake-up device 2031 and its transceiver antenna 2032 to obtain the machine-readable berth number fed back by it. In this case, the transaction information for reporting includes: time, machine-readable berth number, video license plate and its confidence level, electronic license plate and / or ETC electronic toll information, and evidentiary pictures; S500: When the tower 9 remote controller learns from the information fed back by the UAV 1 that the UAV is about to return, or when the departure time is greater than a preset value (which can be preset according to the actual situation on site), it immediately powers on the 5.8 GHz receiver and the fixed-point landing induction device is ready, waiting to be woken up and activated by the national standard ETC 5.8 GHz transceiver and wake-up device 2031 of the UAV 1 to process relevant landing work; S600: When the UAV 1 reaches within the preset air traffic control range of the tower, as Figure 4 shown below, the standard takeoff height of the UAV 1 is 3.5 meters, which is higher than the total height of the tower. When it approaches the starting point, after the 5.8 GHz transceiver is woken up by the national standard ETC 5.8 GHz transceiver and wake-up device 2031 and its transceiver antenna 2032 on the UAV, the tower remote controller immediately sends a "return" command to the UAV 1 to let it rise to the preset height 2 (the total return takeoff height in this embodiment is 7 meters), and then return to the sky above the starting point according to the initial calibration of the GPS and / or Beidou positioning module. At the same time, the fixed-point landing induction device sends a deviation correction control command to the UAV through the tower remote controller for translation adjustment. When the two coincide, the UAV is controlled to descend to the preset height 3 (the hovering height before landing in this embodiment is 3 meters above the ground), and then a "land" command is sent to the UAV to achieve its fixed-point landing. Subsequently, the inspection-related working components including the roadside device 2 of the parking space type in the aircraft are turned off; S700: The tower 9 transfers the UAV to the sealed cabin for homing and locking through the retracting device, and connects the fast charging device to Figure 2 quickly charge the large-capacity rechargeable battery 209 in the UAV through the charging seat 2099 as shown.

[0018] It should be noted that this embodiment focuses on the working principle of the berth inspection UAV, and for other functions of the parking space sign geomagnetism, such as sending data to the background when a vehicle enters to start order timing and charging, and also sending data to the background when the vehicle exits to stop timing and end the order, etc., these are all common functions of the geomagnetism and the background, which are briefly mentioned here and will not be elaborated.

[0019] Embodiment 2: Conduct UAV inspection on a non-shaped berth equipped with a visual parking space sign and a traditional geomagnetism As Figure 6 known, the characteristics of a non-shaped berth are that the left and right adjacent berths are close, the distance between the centers of the berths is generally less than 3 meters, and the UAV collects information in a horizontal flight posture over the road. This operation mode is not suitable for using the national standard ETC 5.8 GHz transceiver and wake-up device transceiver antenna 2032 in Embodiment 1, nor is it suitable for using the forward detection and obstacle avoidance module 131 in Embodiment 1; for this reason, combined with Figure 2 and Figure 7, this embodiment has the following local adjustment solutions: 1. Move the fill light 219 to a suitable place on the belly of the aircraft (figure omitted), and then set a 5.8GHz microstrip antenna 2032 on the circuit board between the camera modules 211 and 212 (see Figure 7 left), so that it has the same elevation angle as the camera and can better carry out ETC communication with the on-site vehicle-mounted OBU; 2. Remove the forward detection and obstacle avoidance module 131, and replace it with two forward detection and obstacle avoidance modules 1311 and 1312 flying horizontally to match the inspection flight direction.

[0020] In addition, since the traditional geomagnetism is deployed at the center of the on-site berth, it cannot provide machine-readable berth numbers, and there are visual reading parking space signs outside the berth line. Therefore, the berth number will be obtained by using GPS and / or Beidou positioning + visual reading berth verification information, combined with the background GIS; the so-called visual reading berth verification information is to add graphic verification information on the basis of the visual reading parking space sign, such as Figure 5 830 in; in this embodiment, the last two digits of the berth number are used for the berth verification information, taking the remainder of 8, and the obtained result is Figure 8 The following method is used to obtain the verification pattern, and then attach it above the parking space sign (for one-character berths) or below (for non-character berths); the principle is that since GPS and / or Beidou positioning usually have a positioning deviation of about 0.3-3 meters, and in addition, occasional delays caused by urban building occlusion generate a larger positioning deviation. Therefore, other methods must be used to correct it. At present, there is a scheme for video recognition of berth numbers, but due to the involvement of more character recognition and the characters are also small, the confidence level is generally low and the use effect is not obvious; in order to overcome related problems, the present invention proposes to adopt a concise verification information scheme, which is characterized by a larger pattern, a simple structure, easy to identify and a high confidence level, such as Figure 8 , the last two digits of the berth number 073637 are 37, taking the remainder of 8, and the corresponding one is the pattern at the top; after applying this scheme, if there is a 20-meter deviation in GPS and / or Beidou positioning, and an incorrect berth number such as 073634 is obtained from the GIS accordingly, but the on-site visual reading verification information is 5, it proves that the berth number obtained by the GPS method is questionable and deviated. At this time, it can be corrected manually through background warning, or directly use the berth number corresponding to the verification information as the preferred number.

[0021] In this embodiment, the method for inspecting non-character berths by using a berth inspection unmanned aerial vehicle integrating a parking space type roadside device of the present invention is also adopted. The specific working principle and process steps are basically the same as those in Embodiment 1 and will not be repeated here. The main points that need to be supplemented and emphasized are as follows: 1. In step S400, such as Figure 9As shown, when visual parking space signs 81-83 are deployed at the parking space, the processor 201 obtains visual parking space verification information from the parking space signs 81-83 through the optical switching dual-camera module 21 and the recognition module 202. At the same time, the processor also obtains the real-time positioning information of the GPS and / or Beidou positioning and navigation module 121 in a direct or indirect connection. In this case, the flow reporting information includes: time, visual parking space verification information, real-time positioning information of the GPS and / or Beidou positioning and navigation module, video license plate and its confidence, electronic license plate and / or ETC electronic toll collection information, and evidence pictures; 2. The outbound and return trips of the drone 1 need to use the corresponding horizontal forward detection and obstacle avoidance module 1311 or 1312; 3. Since the parking spaces are closely adjacent to each other, the field of view of the two lenses in step S200 can be preset to be slightly wider than that of a single parking space, so as to avoid misjudgment caused by including the license plates of the left and right parking spaces, i.e., multiple license plates in one picture.

[0022] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A berth inspection UAV integrating roadside equipment for parking spaces, characterized in that, At least including: An unmanned aerial vehicle (UAV) vehicle and a parking space type roadside device integrated therein; the UAV vehicle is a rotary-wing UAV equipped with a propeller protection cover and a GPS and / or Beidou positioning and navigation module; The parking space type roadside device includes a large-capacity rechargeable battery, a processor, an identification module, a 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna, a wireless network communication component, an optical switching dual camera module and its fill light disposed on a collection board; the optical switching dual camera module measures the brightness of the parking space scene through a photometric component and switches the camera module accordingly. When the light is strong, a small aperture fixed-focus lens camera module is used for shooting, and when the light is weak, it switches to a large aperture fixed-focus lens camera module and is supplemented by the fill light at the same time; the processor collects image data through the optical switching dual camera module and transmits it to the identification module for video license plate recognition; the processor wakes up the OBU on the berth ETC vehicle through the 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna and collects the electronic license plate and / or conducts ETC electronic toll collection; the inspection UAV dynamically collects and generates streaming reporting information according to a preset waypoint flight path, and reports it to the background through the wireless network communication component and receives relevant service data and instructions issued by the background. After the relevant reporting information is further comprehensively analyzed and processed by the background, the most optimized berth number and its corresponding license plate are finally determined; when a machine-readable, visually-readable, and vehicle-inspected three-in-one parking space sign geomagnetism is deployed at the berth site, the processor also wakes up the parking space sign geomagnetism through the 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna to obtain the machine-readable berth number it feedbacks, and / or identifies the visually-readable berth verification information from the parking space sign geomagnetism through the optical switching dual camera module and the identification module. In this case, the streaming reporting information includes: time, machine-readable berth number and / or visually-readable berth verification information, video license plate and its confidence level, electronic license plate and / or ETC electronic toll collection information, evidentiary pictures.

2. The berth inspection UAV of a road-side device integrating parking spaces according to claim 1, wherein, It further includes: when a visually-readable parking space sign is deployed at the berth site, the processor identifies the visually-readable berth verification information from the parking space sign through the optical switching dual camera module and the identification module, and at the same time the processor also obtains the real-time positioning information of the GPS and / or Beidou positioning and navigation module in a direct or indirect connection manner. In this case, the streaming reporting information includes: time, visually-readable berth verification information, real-time positioning information of the GPS and / or Beidou positioning and navigation module, video license plate and its confidence level, electronic license plate and / or ETC electronic toll collection information, evidentiary pictures.

3. The berth inspection UAV for the integrated parking space type roadside device according to any one of claims 1 or 2, characterized in that, The drone vehicle at least includes: a rainproof housing, a flight control board, a GPS and / or Beidou positioning and navigation module that is wired to the flight control board, a rotor motor, its blades and a protective cover, an obstacle avoidance module, and a remote control module; the rainproof housing uses a method of staggered connection of the docking ports to prevent rain from splashing and flowing back into the interior; the drone vehicle uses a millimeter-wave radar through the obstacle avoidance module to detect the distance of objects directly in front and directly below, and adopts a leapfrog scheme to avoid obstacles during inspection, receives and then executes various control commands sent by its paired wireless remote control through the remote control module, and feeds back relevant service data including real-time positioning information of the GPS and / or Beidou positioning and navigation module to the remote control as required.

4. The berth inspection UAV for the integrated parking space type roadside equipment according to claim 3, characterized in that, The processor can be one or a combination of an SOC transceiver integrated single-chip microcomputer, a microprocessor, a RISC processor, a RISC-V core microcontroller, an ARM or a DSP processor; the 5.8 or 5.9 GHz transceiver and wake-up device is a national standard ETC 5.8 GHz transceiver and wake-up device. Correspondingly, its transceiver antenna is a 5.8 GHz high-gain directional transceiver antenna.

5. The berth inspection UAV for the integrated parking space type roadside equipment according to any one of claims 1 or 2, characterized in that The small-aperture fixed-focus lens has a light passing aperture within the range of F2.4 - F3.2; the large-aperture fixed-focus lens has a light passing aperture within the range of F0.9 - F1.

5.

6. The berth inspection UAV for the integrated parking space type roadside equipment according to any one of claims 1 or 2, characterized in that, The wireless network communication component is: an NB-IOT, eMTC, LoRa / LoRaWAN / CLAA, Sigfox, 4G / 5G / 6G wireless network communication module and its transceiver antenna.

7. A method for applying a berth inspection drone with an integrated parking space type roadside device, characterized in that, It includes the following steps: S100: Set up a charging tower for the takeoff and landing of the drone at a suitable position on the inspection section, which is provided with a wireless remote control, a fast charging device, a retracting device, a 5.8 or 5.9 GHz transceiver and its transceiver antenna, and a fixed-point landing induction device. S200: Set up a berth inspection drone on the charging tower, which at least includes: a drone vehicle and a parking space type roadside device integrated therein; the drone vehicle is a rotor drone equipped with a blade protective cover and a GPS and / or Beidou positioning and navigation module; the parking space type roadside device includes a large-capacity rechargeable battery, a processor, an identification module wired to the processor, a 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna, a wireless network communication component, an optical switching dual camera module and its fill light; the berth inspection drone is locked in the tower for charging through the fast charging device during rest, and is transferred to the lifting platform by the retracting device and unlocked before departure when the inspection time arrives. The tower remote control and the drone remote control module communicate and frequency-align, and then complete the calibration and calibration of the starting parameters of the starting point including GPS and / or Beidou positioning information after receiving the remote control command. S300: The tower remote controller first sends a "takeoff" command to let the UAV take off to the preset height 1, and then sends a "waypoint flight" command for a U-turn to let it fly according to the command path and simultaneously activate the in-vehicle parking space type roadside device. Specifically: The optical switching dual camera module measures the light brightness of the parking berth scene through the photometric component and switches the camera module accordingly. When the light is strong, the small aperture fixed-focus lens camera module is used for imaging, and when the light is weak, it switches to the large aperture fixed-focus lens camera module and simultaneously supplements the light with the fill light; The processor collects image data through the optical switching dual camera module and transmits it to the recognition module for video license plate recognition; The processor wakes up the OBU on the berth ETC vehicle through the 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna and collects the electronic license plate, and / or on the return journey of the U-turn, according to the parked ETC vehicles successively sent by the background and listed in the pending list during the outbound journey, on-site implements ETC electronic toll transactions including overdue payment collection under the premise of meeting the preset conditions; S400: The inspection UAV dynamically collects and generates streaming reporting information according to the command path, and reports it to the background through the wireless network communication component and receives relevant service data and commands sent by the background. After the relevant reporting information is further comprehensively analyzed and processed by the background, the optimal berth number and its corresponding license plate are finally determined; When a combined machine-readable, visually-readable, and vehicle-detecting parking space sign geomagnetism is deployed at the berth site, the processor also wakes up the parking space sign geomagnetism through the 5.8 or 5.9 GHz transceiver and wake-up device and its transceiver antenna to obtain the machine-readable berth number it feedbacks, and / or obtains the visually-readable berth verification information from the parking space sign geomagnetism through the optical switching dual camera module and the recognition module. In this case, the streaming reporting information includes: time, machine-readable berth number and / or visually-readable berth verification information, video license plate and its confidence level, electronic license plate and / or ETC electronic toll information, evidentiary pictures; S500: When the tower remote controller learns from the information feedback by the UAV that the UAV is about to return and arrive, or when the flight time is greater than the preset value, it immediately powers on the 5.8 or 5.9 GHz receiver and the fixed-point landing induction device and waits to be woken up and activated by the UAV to handle the relevant landing work; S600: When the drone reaches the preset air traffic control range of the tower, after the 5.8 or 5.9 GHz transceiver on the drone is awakened by the 5.8 or 5.9 GHz transceiver and wake-up device on the drone and its transceiver antenna, the tower remote controller immediately sends a "return flight" instruction to the drone to make it rise to the preset height 2 and then return to the airspace above the departure point according to the initial calibration of the GPS and / or Beidou positioning module. At the same time, the fixed-point landing induction device sends the horizontal deviation information between the vertical projection of the drone on the landing plane and the landing center detected by the 5.8 or 5.9 GHz transceiver and its transceiver antenna, and / or through the tower remote controller, and / or the deviation correction control instruction to the drone for translation adjustment. When the two coincide, the drone is controlled to descend to the preset height 3, and then a "land" instruction is sent to the drone to achieve its fixed-point landing. Subsequently, the inspection-related working components in the machine including the parking space type roadside equipment are turned off; S700: The tower transfers the drone into the sealed cabin for positioning and locking through the retracting device, and connects the fast charging device to quickly charge the large-capacity rechargeable battery in the drone.

8. The berth inspection unmanned aerial vehicle application method for a fusion parking space type roadside device according to claim 7, characterized in that, In step S400, it further includes: when a visual reading parking space sign is deployed at the berth site, the processor obtains the visual reading berth verification information from the parking space sign through the optical switching dual-camera module and the recognition module. At the same time, the processor also obtains the real-time positioning information of the GPS and / or Beidou positioning and navigation module in a direct or indirect connection manner. In this case, the flowing water reporting information includes: time, visual reading berth verification information, real-time positioning information of the GPS and / or Beidou positioning and navigation module, video license plate and its confidence level, electronic license plate and / or ETC electronic toll information, and evidence-taking pictures.

9. Any method for applying a berth inspection UAV for a fusion parking space type roadside device as described in claim 7 or 8, characterized in that: The UAV vehicle at least includes: a rainproof housing, a flight control board, a GPS and / or Beidou positioning and navigation module that is wired to it, a rotor motor, its blades and a protective cover, an obstacle avoidance module, and a remote control module; the rainproof housing uses a method of joining with staggered heights of the connection ports to prevent rain from splashing and flowing back into the interior; the UAV vehicle uses the obstacle avoidance module to detect the distances of objects directly in front and directly below with a millimeter-wave radar and adopts a leapfrog scheme to avoid obstacles during the inspection, receives and then executes various control instructions sent by the wireless remote control through the remote control module, and feeds back relevant service data including real-time positioning information of the GPS and / or Beidou positioning and navigation module to the remote control as required; the processor can be one or a combination of an SOC transceiver integrated single-chip microcomputer, a microprocessor, a RISC processor, a RISC-V core microcontroller, an ARM, or a DSP processor; the 5.8 or 5.9 GHz transceiver is a 5.8 GHz national standard ETC radio frequency transceiver chip, and correspondingly, its transceiver antenna is a 5.8 GHz directional transceiver antenna; the small-aperture fixed-focus lens has a light passing aperture within the range of F2.4 - F3.2; the large-aperture fixed-focus lens has a light passing aperture within the range of F0.9 - F1.5; the wireless network communication component is: an NB-IOT, eMTC, LoRa / LoRaWAN / CLAA, Sigfox, 4G / 5G / 6G wireless network communication module and its transceiver antenna.

10. Any method for applying a berth inspection UAV for a fusion parking space type roadside device according to claim 7 or 8, characterized in that, The fixed-point landing induction device is provided with two sets of 24 GHz millimeter-wave object presence detection angle radar modules that are complementary and orthogonal to the sky above at the center position of the landing plane, detect and obtain the real-time information of the distance, speed, and angle between the UAV and the landing center within the air traffic control range, so as to induce the UAV to perform fixed-point landing; the module consists of a millimeter-wave radar chip, a one-transmitter two-receiver microstrip antenna, an MCU, and peripheral auxiliary circuits, adopts an FMCW waveform, and combines MCU radar signal processing and built-in intelligent radar algorithms for detection.

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