Roadside-based intelligent berth management method and system

Abstract

The invention provides an intelligent parking space management method and system based on a roadside, and relates to the technical field of data processing, and the method comprises the steps: dividing a drive instruction record into a plurality of instruction stages according to an instruction turning point, carrying out the alternate nesting of all instruction stages, obtaining a stage coupling track, and carrying out the stage coupling track; the method comprises the following steps: calculating the continuous constraint degree among stages in a characteristic driving process to obtain stage stability, sequentially reconstructing position feedback records, forming an offset expansion chain, calculating the overall traction trend of a turnover plate structure in the limiting action, generating an accumulated traction amount, dividing a driving instruction into a plurality of rhythm segments according to the stage stability, and obtaining a final driving result. And forming a rhythm driving sequence, performing directional increase and decrease on the driving amplitude in each rhythm segment, generating a traction correction sequence, and controlling the turning plate to execute limiting and releasing actions. The lifting angle of the turning plate can be accurately controlled, and the problem of inaccurate lifting caused by worm and gear meshing clearance change or rotating shaft deviation is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, in particular to a roadside intelligent parking space management method and system. BACKGROUND

[0002] With the increasing number of motor vehicles in cities, roadside parking spaces are gradually managed and controlled in an intelligent manner. In the prior art, a parking space manager is usually arranged at each parking space, and the parking space manager is connected with a vehicle detection module and a control module. When a vehicle is detected to enter a parking space, the system drives a flap or a baffle mechanism to rise to physically limit the vehicle, preventing the vehicle from leaving without payment. After the vehicle owner completes payment by scanning a two-dimensional code, the system receives a payment completion signal, drives the flap or the baffle to descend, and the vehicle can leave, thereby realizing automatic charging and management without manual attendance.

[0003] Some parking space managers use a worm gear reduction mechanism to directly drive a flap rotating shaft. Since the overall volume of the driving mechanism is large, a high cabinet structure needs to be arranged to accommodate the transmission components, which may cause the upper structure of the equipment to protrude above the ground. For example, in the scene of street parking along a city trunk road, when a vehicle parks, the wheels of the vehicle are close to the curb to adjust the position, which may cause lateral extrusion or rolling impact on the protruding cabinet. Long-term repeated stress may change the meshing gap of the worm gear or cause the rotating shaft to deviate, so that the flap cannot be raised to an adequate angle or is stuck, thereby affecting the vehicle limiting effect. SUMMARY

[0004] The present application aims to provide a roadside intelligent parking space management method and system to solve the problems mentioned in the background.

[0005] To solve the above technical problems, the technical solutions of the present application are as follows: In a first aspect, a roadside intelligent parking space management method is provided, which includes: obtaining driving instruction records and position feedback records of a parking space in a limiting action; splitting the driving instruction records into several instruction stages according to instruction turning points, and alternately nesting the instruction progression direction and stage duration in each instruction stage to obtain a stage coupling trajectory; performing hierarchical recursive calculation according to the stage coupling trajectory to calculate the continuous constraint degree between stages in the driving process, and obtaining a stage stability quantity; reconstructing the position feedback records in sequence by taking the stage stability quantity as a rearrangement reference to form a feedback reorganized sequence, and performing forward and backward difference expansion processing on the feedback reorganized sequence to form an offset expansion chain; folding and aggregating the offset expansion chain to form several aggregated segments, and calculating the overall pulling trend of the flap structure in the limiting action according to each aggregated segment to generate a cumulative pulling quantity; According to the phase stability amount, the driving instruction is reconstructed in rhythm, the driving instruction is divided into several rhythm segments according to the phase stability amount, and a rhythm driving sequence is formed; According to the cumulative traction amount, the amplitude of the rhythm driving sequence is reformed, the driving amplitude in each rhythm segment is increased or decreased in direction, and a traction correction sequence is generated; According to the traction correction sequence, the limit and release actions of the flap are controlled, and after the actions are completed, the driving response record of this time is stored as the next cycle reference sequence.

[0006] Further, by splitting the driving instruction record into several instruction stages according to the instruction turning point, and alternately nesting the instruction progression direction and stage duration in each instruction stage, a stage coupling trajectory is obtained, including: According to the driving instruction record, the difference between adjacent instructions is calculated, and the values of the driving instructions in time sequence are subtracted one by one to obtain an instruction difference sequence; According to the instruction difference sequence, each instruction difference is converted into a direction identifier value, and a direction identifier sequence is formed in time sequence; According to the direction identifier sequence, the record position where the direction identifier value changes is extracted as a turning index point to obtain a turning index set; According to the turning index set, the driving instruction record between adjacent turning index points is divided into an instruction stage to obtain an instruction stage set, and the number of driving instruction records in each instruction stage is counted to obtain stage duration data; According to the direction identifier sequence and the stage duration data, the direction identifier and the stage duration corresponding to each instruction stage are staggered in stage order to obtain a stage coupling trajectory.

[0007] Further, according to the stage coupling trajectory, the hierarchical recursive calculation is performed to calculate the continuous constraint degree between stages in the driving process, and the stage stability amount is obtained, including: According to the instruction stage set and the stage duration data, the stage average amplitude of each instruction stage is calculated, and the amplitude concentration degree of each stage average amplitude in a unified scale is calculated to obtain a stage amplitude balance item; According to the direction identifier sequence, the direction average value of the corresponding direction identifier value in each instruction stage is calculated to identify the concentration state of the driving direction within each stage, and a stage direction condensation item is obtained; According to the stage amplitude balance item and the stage direction condensation item, the mutual restriction degree between the direction and the amplitude in each instruction stage is calculated to obtain a stage interaction inhibition item; According to the stage interaction inhibition item and the stage duration of adjacent instruction stages, the smoothness of the connection between adjacent instruction stages is calculated to obtain an adjacent stage continuity item; The stage interaction inhibition term is fused with the adjacent stage continuous term to calculate the continuous constraint degree between instructions in each stage in the process driven process, and a stage stability quantity is obtained.

[0008] Further, the position feedback records are sequentially reconstructed by taking the stage stability quantity as a rearrangement reference to form a feedback reorganized sequence, and the feedback reorganized sequence is subjected to a front-back difference expansion processing to form a deviation expansion chain, including: The stage stability quantity is split into a sequence weight group, and a rearrangement weight sequence corresponding to the instruction stage set is constructed to obtain a stage weight sequence; According to the stage weight sequence and the position feedback records, the position feedback records are mapped to the stage weight sequence according to the instruction stage at the time when the stage weight sequence is formed, and a weighted feedback sequence is generated; The weighted feedback sequence is arranged in order of high to low stage weight to obtain a feedback reorganized sequence; According to the feedback reorganized sequence, the adjacent position feedback records after reorganization are subjected to a difference calculation to obtain a feedback difference value, and the feedback difference value is progressively spliced according to the change direction to form a deviation expansion chain.

[0009] Further, the deviation expansion chain is folded and aggregated to form a plurality of aggregated segments, and the overall pulling trend of the flip plate structure in the current limiting action is calculated according to each aggregated segment to generate a cumulative pulling quantity, including: The feedback difference values with consistent change direction in the deviation expansion chain are divided into same direction sections to obtain a same direction section set; the feedback difference values in each same direction section are added in chain order, and the difference value contained in the same direction section is converted to obtain a section folding value sequence; According to the feedback difference value, the cumulative average value of all feedback difference values is calculated to obtain a difference scale reference item; According to the stage weight sequence and the difference scale reference item, the available pulling degree of the section folding quantity under the stage weight constraint is calculated to obtain a section weighted folding intensity item; According to the same direction section set, the continuity between the change directions of adjacent two same direction sections is calculated, and the correlation between the overall pulling trend and the section direction continuity is identified to obtain an adjacent section direction maintaining item; According to the section folding value sequence and the difference scale reference item, the mutation degree of the section folding value at the section boundary is calculated, and the interference of folding on the overall pulling trend is inhibited to obtain a cross-section shape disturbance inhibition item; The section weighted folding intensity item, the adjacent section direction maintaining item and the cross-section shape disturbance inhibition item are fused to calculate the overall pulling trend of the flip plate structure in the current limiting action to obtain a cumulative pulling quantity.

[0010] Further, the driving instruction is reconstructed in rhythm according to the stage stability quantity, the driving instruction is divided into several rhythm segments according to the stage stability quantity, and a rhythm driving sequence is formed, including: The stage stability quantity is mapped in rhythm scale, the stage stability quantity is mapped into a rhythm allocation coefficient, and a rhythm allocation rule set is constructed according to the rhythm allocation coefficient; According to the rhythm allocation rule set, the data corresponding to each instruction stage in the driving instruction record is matched with the rhythm allocation rule set, and a stage rhythm identification sequence is generated; According to the stage rhythm identification sequence, the driving instruction record is re-divided according to the cutting length corresponding to the stage rhythm identification, and several rhythm segments are obtained; According to the rhythm segment, the driving amplitude in each rhythm segment is rearranged according to the rhythm allocation coefficient corresponding to the stage stability quantity, and a rhythm driving sequence is formed.

[0011] Further, the amplitude of the rhythm driving sequence is reorganized according to the cumulative traction quantity, the driving amplitude in each rhythm segment is increased or decreased in direction, and a traction correction sequence is generated, including: The cumulative traction quantity is analyzed in direction, the cumulative traction quantity is split into a traction direction identification and a traction intensity value, and an amplitude reference adjustment quantity is constructed according to the traction intensity value; According to the traction direction identification and the driving direction of each rhythm segment, when the direction identification is consistent, a same direction identification is generated, otherwise a reverse direction identification is generated, and a segment direction matching sequence is obtained; According to the segment direction matching sequence, the amplitude of the rhythm segment with the same direction identification or the reverse direction identification is added or subtracted in amplitude according to the proportion of the amplitude reference adjustment quantity, and an amplitude correction segment set is obtained; According to the amplitude correction segment set, the amplitude difference between adjacent rhythm segments is smoothed and converted to ensure that the amplitude change forms a continuous transition between adjacent segments, and a traction correction sequence is generated.

[0012] In the second aspect, based on a roadside intelligent parking space management system, the system includes: A data module for obtaining driving instruction records and position feedback records of a parking space in a one-time limiting action; A trajectory module for splitting the driving instruction record into several instruction stages according to the instruction turning point, and alternately nesting the instruction progression direction and the stage duration in each instruction stage to obtain a stage coupled trajectory; A stability module for calculating the continuous constraint degree between stages in the driving process according to the stage coupled trajectory, and obtaining a stage stability quantity by layer-by-layer recursive conversion; An extension chain module is configured to sequentially reconstruct the position feedback record by rearranging the reference with the stage stability amount, form a feedback recombination sequence, and perform a front-back difference extension process on the feedback recombination sequence to form an offset extension chain. A traction module is configured to fold and aggregate the offset extension chain to form a plurality of aggregated segments, calculate the overall traction trend of the flip plate structure in the current limiting action according to each aggregated segment, and generate a cumulative traction amount. A driving module is configured to reconstruct the driving instruction according to the stage stability amount, divide the driving instruction into a plurality of rhythm segments according to the stage stability amount, and form a rhythm driving sequence. A correction module is configured to perform amplitude reformation on the rhythm driving sequence according to the cumulative traction amount, directionally increase or decrease the driving amplitude in each rhythm segment, and generate a traction correction sequence. A control module is configured to control the flip plate to perform the limiting and releasing actions according to the traction correction sequence, and store the current driving response record as a next cycle reference sequence after the action is completed.

[0013] The above scheme of the present application at least has the following beneficial effects: The present application can effectively decompose complex control signals into multiple controllable operation stages by splitting the driving instruction record into a plurality of instruction stages according to instruction turning points and alternately nesting each instruction stage to obtain a stage coupling trajectory, and can accurately optimize the control effect of each stage. By deeply analyzing the stage coupling trajectory, the duration and direction of each stage can be adjusted according to the actual situation, further optimizing the overall action execution efficiency, improving the adaptability and accuracy of the system in complex parking environments, ensuring smooth operation of the flip plate operation process, and reducing potential operation errors.

[0014] The present application can identify potential instability factors in the operation process by calculating the continuous constraint degree between each stage in the driving process to obtain the stage stability amount, and calculating the stability between each stage by recursive conversion, and can control the potential instability factors by calculating the stability amount to ensure smoother connection between each instruction stage, avoid equipment jamming problems caused by signal jumping or discontinuity in the operation process, provide real-time state feedback for the system, and enable the system to adjust in time when encountering environmental changes or operation deviations to ensure the stability and accuracy of each operation.

[0015] The present application sequentially reconstructs the position feedback record by taking the stage stable amount as the rearrangement reference, forms an offset expansion chain, effectively improves the processing precision of the system on the position feedback signal by reconstructing and differentially expanding the feedback data, can clearly identify the slight change in the feedback data through the differential analysis of the front and back of the feedback signal, and realizes the continuous processing of the data through the expansion chain mode, avoids the system malfunction caused by short-time data anomaly or error, can dynamically adjust the operation parameters, ensures that the plate action is always in the best state, and improves the accuracy of the overall operation.

[0016] The present application forms a plurality of aggregated segments by folding and aggregating through the offset expansion chain, calculates the overall pulling trend of the plate structure in this time limit action to generate the cumulative pulling amount, can integrate the feedback information of multiple stages through the expansion, folding and aggregation processing of the feedback data, comprehensively evaluates the overall trend of the plate action, accurately masters the change of the pulling amount in each action, ensures that the action force and stroke of the plate can be optimized in real time, can realize more accurate control in the operation process, reduces the waste of energy, improves the response efficiency of the plate action, and improves the overall efficiency and automation level of parking management.

[0017] The present application generates a pulling correction sequence by directionally increasing and decreasing the driving amplitude in each rhythm segment, adjusts the driving amplitude by directionally increasing and decreasing, ensures that the amplitude of the plate action is smoother in the transition between each stage, can avoid the mechanical burden or energy waste caused by too drastic amplitude change, ensures the stability of the system in the long-time running process, effectively controls the dynamic change in the driving process, makes the overall control more efficient and stable, and improves the reliability of the plate control system in different scenes. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the flow chart of the road side intelligent parking space management method provided by the embodiment of the present application. DETAILED DESCRIPTION

[0019] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0020] As Figure 1 shown, the embodiment of the present application proposes a road side intelligent parking space management method, which comprises: acquiring driving instruction records and position feedback records of the parking space in a time limit action; The driving instruction record is split into several instruction stages according to instruction turning points, and the instruction progressive direction and stage duration in each instruction stage are alternately nested to obtain a stage coupling track; The stage stability quantity is obtained by calculating the continuous constraint degree between stages in the driving process according to the stage coupling track; The feedback recombination sequence is formed by sequentially reconstructing the position feedback record with the stage stability quantity as the rearrangement reference, and the offset expansion chain is formed by performing the front and rear difference expansion processing on the feedback recombination sequence; The overall pulling trend of the turning plate structure in the current limiting action is calculated according to each aggregated segment, and the cumulative pulling quantity is generated; The driving instruction is reconstructed according to the stage stability quantity, and the driving instruction is divided into several rhythm segments according to the stage stability quantity to form a rhythm driving sequence; The amplitude of the driving instruction in each rhythm segment is increased or decreased according to the cumulative pulling quantity to generate a pulling correction sequence; The turning plate performs the limiting and releasing actions according to the pulling correction sequence, and the driving response record of this time is stored as the next cycle reference sequence after the action is completed.

[0021] In the embodiment of the present application, the driving instruction record and the position feedback record of the parking space in the limiting action are obtained, which provides accurate original data for subsequent data processing and optimization, and can fully understand the details of the limiting operation process. The relationship between each instruction stage can be analyzed and controlled more carefully by splitting the driving instruction record into several instruction stages according to the instruction turning points, and alternately nesting the instruction progressive direction and stage duration in each instruction stage to obtain a stage coupling track, so that the action of each stage is more in line with the actual demand, and the seamless connection between each action stage is ensured to avoid sudden deviation or error. The stage stability quantity is obtained by calculating the continuous constraint degree between stages in the driving process according to the stage coupling track, which ensures smooth connection between stages, avoids control deviation caused by discontinuity between stages, ensures smooth operation of the turning plate, and has high response ability, and ensures long-term stable operation of the parking lot equipment. The feedback recombination sequence is formed by sequentially reconstructing the position feedback record with the stage stability quantity as the rearrangement reference, and the offset expansion chain is formed by performing the front and rear difference expansion processing on the feedback recombination sequence, which can identify and respond to the small changes in the feedback data in real time, better adapt to the changes of the environment or equipment running state, and adjust the response of the turning plate action in real time, effectively avoid control errors caused by untimely or inaccurate feedback processing, and improve the reliability of the parking lot management.

[0022] The folding aggregation is formed by offsetting and expanding the chain, and the overall pulling trend of the turning plate structure in the current limiting action is calculated according to each aggregated segment, and the cumulative pulling amount is generated, which can effectively summarize and extract the key change trend in the feedback information, further enhance the control accuracy of the turning plate action, real-time monitor the overall pulling trend of the turning plate movement, and ensure that the lifting operation of the turning plate meets the expected control mode; the driving instruction is reconstructed according to the stage stability, the driving instruction is divided into several rhythm segments according to the stage stability, and a rhythm driving sequence is formed, which can avoid unnecessary signal mutation, ensure smooth transition between each action stage, and enable the turning plate action to be stably executed; the amplitude of the rhythm segment is increased or decreased according to the cumulative pulling amount, and a pulling correction sequence is generated, which can optimize energy distribution, avoid unnecessary load fluctuation, ensure that the system maintains high consistency in the dynamic change process, and avoid control errors caused by excessive or slow amplitude adjustment; the turning plate performs the limiting and releasing actions according to the pulling correction sequence, and records the driving response of this time after the action is completed as the next cycle reference sequence, which ensures that the action amplitude of the turning plate during the limiting and releasing actions is more accurate, and avoids excessive driving or insufficient driving force that causes the turning plate to move improperly and causes wear.

[0023] The driving instruction record and the position feedback record of the parking space in one limiting action are obtained, and specifically include: The system needs to collect and record detailed data for each limiting action. First, the system generates and sends driving instructions through the control module of the parking space management system. These instructions usually include lifting control commands, movement time, rotation angle, speed and other information of the turning plate. Inside the control system, the instructions are sent to the actuators such as motors, pneumatic devices, etc., and the actions of the turning plate are controlled through these actuators. At the same time, in order to ensure the accuracy of the turning plate action, the system obtains the current state and position of the turning plate in real time through feedback devices such as position sensors, encoders or sensor networks. The position feedback record specifically includes the real-time position of the turning plate, the displacement during movement, the time point when the turning plate reaches a certain position and other key information. These driving instruction records and position feedback records are saved in real time through the data storage module, ensuring that each limiting action is accurately recorded and the data integrity is guaranteed.

[0024] The driving response record of this time is stored as the next cycle reference sequence after the action is completed, and specifically includes: The system first controls the limiting and releasing actions of the turnplate according to the traction correction sequence. The traction correction sequence is generated through data optimization adjustment after analyzing the traction force changes in each stage, ensuring that the traction force of each turnplate action is accurately adjusted within the appropriate time period. Each control instruction in the traction correction sequence contains specific values for amplitude and direction adjustment. Once the traction correction sequence is generated, the system uses it as input to control the turnplate to perform limiting or releasing actions. For example, when the turnplate needs to be raised to limit the vehicle from driving out, the system sends gradually increasing drive instructions to the turnplate actuator according to the amplitude adjustment in the traction correction sequence, ensuring smooth and stable turnplate action without sudden fluctuations. When the turnplate needs to be released, the system gradually reduces the drive amplitude according to the traction correction sequence, ensuring that the release action is neither too fast nor too slow, avoiding impact or excessive wear on mechanical components.

[0025] After the turnplate completes the limiting or releasing action, the system records the drive response of this operation, including data such as drive instructions, execution time, turnplate position, etc. These data will be stored as a reference sequence for the next cycle. The reference sequence provides a standard operation mode for the system, which can be used as a reference for the next execution. The system will fine-tune subsequent operations based on trends and deviations in historical data to ensure that each limiting action meets the expected accuracy. Through the fine adjustment of the traction correction sequence, the drive process of each turnplate action becomes smoother, avoiding mechanical fatigue or unstable operation caused by excessive adjustment. Moreover, by recording each drive response and using it as a reference sequence for the next cycle, the system can continuously optimize its control strategy, achieving self-learning and evolution.

[0026] In a preferred embodiment of the present application, the drive instruction record is divided into several instruction stages according to the instruction turning points, and the instruction progression direction and stage duration in each instruction stage are alternately nested to obtain a stage coupling trajectory, including: According to the drive instruction record, calculate the difference between adjacent instructions by subtracting the values of time-sequentially adjacent drive instructions one by one to obtain a sequence of instruction differences; According to the sequence of instruction differences, convert each instruction difference into a direction identifier value and arrange them in time sequence to form a direction identifier sequence; According to the direction identifier sequence, extract the record positions where the direction identifier value changes as turning index points to obtain a set of turning index points; According to the set of turning index points, divide the drive instruction records between adjacent turning index points into an instruction stage to obtain a set of instruction stages, and count the number of drive instruction records in each instruction stage to obtain stage duration data; According to the direction mark sequence and the stage duration length data, the direction mark corresponding to each instruction stage and the stage duration length are staggered and arranged according to the stage order, and a stage coupling track is obtained.

[0027] In the embodiment of the application, according to the adjacent instruction difference calculation based on the driving instruction record, the driving instruction values in time sequence are subtracted one by one to obtain an instruction difference sequence, accurately quantifying the change amplitude of the instruction in the time sequence, capturing the rapid change or relatively stable transition of the instruction, and ensuring that the driving instruction can be processed and optimized more carefully; according to the instruction difference sequence, each instruction difference is converted into a direction mark value, and a direction mark sequence is formed by arranging the direction mark values in time sequence, clearly capturing the trend of the instruction change, and ensuring that the boundaries of the instruction stages can be clearly divided in the subsequent data processing process; according to the direction mark sequence, the record positions where the direction mark values change are extracted as turning index points to obtain a turning index set, accurately identifying the key moment of the instruction change, realizing the detailed instruction processing, and ensuring the smoothness and accuracy of the operation process; according to the turning index set, the driving instruction records between adjacent turning index points are divided into an instruction stage to obtain an instruction stage set, and the number of driving instruction records in each instruction stage is counted to obtain stage duration length data, so that each stage can be independently analyzed and optimized, ensuring the continuity and stability of the operation process, and optimizing the overall control effect; according to the direction mark sequence and the stage duration length data, the direction mark corresponding to each instruction stage and the stage duration length are staggered and arranged according to the stage order, and a stage coupling track is obtained, accurately representing the change trend of each instruction stage in time and space, effectively reducing the gap or conflict between the instruction stages, and ensuring the stability and consistency of the system action.

[0028] According to the instruction difference sequence, each instruction difference is converted into a direction mark value, and a direction mark sequence is formed by arranging the direction mark values in time sequence, specifically including: Firstly, the system extracts all the instructions from the driving instruction record and arranges them in chronological order. Between each pair of adjacent instructions, the system calculates the difference value, i.e. the numerical difference between the current instruction and the previous instruction. By calculating the difference value between each pair of instructions, the system can understand the magnitude and direction of the change in the instruction in the time sequence. Once the difference value is calculated, the system will then convert it into a direction identification value according to the sign of the difference value. If the difference value is positive, it means that the instruction value increases, i.e. the driving direction of the system is upward or increasing, and the system will set the direction identification corresponding to the difference value to up; if the difference value is negative, it means that the instruction value decreases, i.e. the driving direction is downward or decreasing, and the system will set the direction identification value to down. The conversion of these direction identification values not only clearly expresses the movement trend of each instruction, but also provides accurate identification of the direction change of the instruction for subsequent steps. Finally, all the direction identification values will be arranged in the original chronological order to form a complete direction identification sequence.

[0029] Among them, according to the direction identification sequence, the record position where the direction identification value changes is extracted as the turning index point to obtain the turning index set, specifically including: The system will analyze the change of each direction identification value in the sequence. When the direction identification value changes, it means that the execution direction of the instruction has changed, and such a change point is the turning index point. Specifically, when the direction changes from up to down or from down to up, the system will mark this position as a turning point. The system traverses the direction identification sequence and checks the difference between each direction identification value and the previous one. If the current direction identification is different from the previous one, the system will mark the current position as a turning point. The marking of each turning point will be stored in the turning index set, which records the key moments of the conversion of each instruction phase.

[0030] Among them, according to the direction identification sequence and the phase duration length data, the direction identification corresponding to each instruction phase and the phase duration length are interleaved and arranged in phase order to obtain the phase coupling trajectory, specifically including: The system divides the instruction records into multiple independent instruction stages according to the set of turning indexes. The stages are separated by turning points, and each instruction stage contains consecutive instructions with the same direction identifier. Each stage not only has a specific direction, but also has a duration, i.e., the stage duration. The stage duration refers to the execution time of the driving instructions in each stage. At this time, the system will arrange the direction identifier of each stage according to the sequence of direction identifiers and the stage duration data. The specific operation is to pair the direction identifier of each instruction stage with the corresponding stage duration, and to arrange them alternately according to the order of the stages. This alternating arrangement is based on the duration and direction identifier of each stage, so that the action of each stage can be accurately displayed on the time axis. The result of the interleaving arrangement is to form a stage coupling track, which not only contains the direction information of each stage, but also clearly indicates the duration of each stage.

[0031] In a preferred embodiment of the present application, the stage coupling track is used for hierarchical recursive calculation to calculate the continuous constraint degree between stages in the driving process, and to obtain the stage stability quantity, including: According to the set of instruction stages and the stage duration data, the stage average amplitude of each instruction stage is calculated, and the average amplitude of each stage is calculated in the uniform scale of the amplitude set, to obtain the stage amplitude balance term; According to the sequence of direction identifiers, the direction average value of the corresponding direction identifier value in each instruction stage is calculated, and the concentration state of the driving direction inside each stage is identified, to obtain the stage direction condensation term; According to the stage amplitude balance term and the stage direction condensation term, the mutual restraint degree between the direction and the amplitude in each instruction stage is calculated, to obtain the stage interaction inhibition term; According to the stage interaction inhibition term and the stage duration of adjacent instruction stages, the smoothness of the connection between adjacent instruction stages is calculated, to obtain the adjacent stage continuity term; The stage interaction inhibition term and the adjacent stage continuity term are fused to calculate the continuous constraint degree between the instruction stages in the driving process, to obtain the stage stability quantity.

[0032] In the embodiment of the present application, according to the instruction phase set and the phase duration length data, the phase average amplitude of each instruction phase is calculated, and the amplitude concentration degree of each phase average amplitude in a unified scale is calculated to obtain a phase amplitude balance term, which quantifies the amplitude concentration degree of each instruction phase, ensures that the control strength of the system on each phase can be accurately controlled, and avoids the situation that the amplitude in some phases is too large or too small; according to the direction identifier sequence, the direction average value of the corresponding direction identifier value in each instruction phase is calculated to identify the concentration state of the driving direction inside each phase, obtain a phase direction condensation term, and evaluate whether the driving direction in each phase is consistent to ensure the coherence and accuracy of the entire limit action and avoid the system deviation or jamming phenomenon caused by inconsistent direction control; according to the phase amplitude balance term and the phase direction condensation term, the mutual restraint degree between the direction and the amplitude in each instruction phase is calculated to obtain a phase interaction inhibition term, which ensures that the interaction between the direction and the amplitude is effectively coordinated in the control process, avoids the operation error caused by the mismatch between the amplitude and the direction in each instruction phase, and prevents the mechanical parts from being prematurely worn due to operation conflict; according to the phase interaction inhibition term of adjacent instruction phases and the phase duration length, the smoothness of the connection between adjacent instruction phases is calculated to obtain an adjacent phase continuity term, which avoids equipment damage or energy waste caused by excessive switching and ensures that the action of the turning plate is both fast and smooth; the phase interaction inhibition term and the adjacent phase continuity term are fused to calculate the continuous constraint degree between each instruction phase in the driving process to obtain a phase stability quantity, which ensures that the transition of each instruction phase is within a controllable range and avoids equipment damage or malfunction caused by sudden mechanical impact or reverse motion.

[0033] In a preferred embodiment of the present application, the position feedback record is sequentially reconstructed by taking the phase stability quantity as the rearrangement reference to form a feedback reorganized sequence, and the feedback reorganized sequence is subjected to a front-back difference expansion process to form an offset expansion chain, including: The phase weight sequence is obtained by splitting the phase stability quantity into a sequence of weight values and constructing a rearrangement weight sequence corresponding to the instruction phase set; According to the phase weight sequence and the position feedback record, the position feedback record is mapped to the phase weight sequence according to the instruction phase when the phase weight sequence is formed to generate a weighted feedback sequence; The weighted feedback sequence is arranged in order of high to low phase weight to obtain a feedback reorganized sequence; According to the feedback reorganized sequence, the difference value of the reorganized adjacent position feedback record is calculated to obtain a feedback difference value, and the feedback difference value is progressively spliced according to the change direction to form an offset expansion chain.

[0034] In this embodiment of the invention, by splitting the stage stability quantity into sequential weight groups and constructing a rearranged weight sequence corresponding to the instruction stage set, a stage weight sequence is obtained. This clarifies the importance and priority of each instruction stage in the entire control process, ensuring that the feedback signals of key stages receive appropriate attention. A correlation mapping is performed between the stage weight sequence and the position feedback records. The position feedback records are mapped to the stage weight sequence according to the instruction stage at the time the stage weight sequence was formed, generating a weighted feedback sequence. This ensures that the influence of the feedback signal is consistent with the importance of its corresponding stage, avoiding interference from low-weighted feedback data to key stages. The weighted feedback sequence is arranged in descending order of stage weights to obtain a feedback recombination sequence. This ensures that the data of key stages has a greater influence on subsequent operations, avoiding interference from low-weighted feedback records to the entire process, accurately adjusting the actions of each stage, and ensuring the rationality of the feedback signal's influence. The feedback difference is calculated based on the feedback recombination sequence for adjacent position feedback records after recombination. The feedback difference is then progressively spliced ​​according to the direction of change to form an offset extension chain. This effectively identifies the direction and trend of feedback signal changes, avoiding unnecessary system adjustments caused by sudden signal changes, making the flip-board action smoother and more precise.

[0035] Specifically, by splitting the stage stability quantity into sequential weight groups and constructing a rearranged weight sequence corresponding to the instruction stage set, the stage weight sequence is obtained, which includes: First, the system needs to calculate the stability quantity for each stage. The stage stability quantity is a numerical value reflecting the stability of each stage; it measures the stability of different instruction stages during execution. To ensure the system can correctly identify and process the feedback signals of each stage, it divides the stage into multiple sequential weight groups based on the stage stability quantity. Each weight group represents the stability of a specific stage and its impact on system operation. The division process is based on an evaluation of key indicators for each stage, mainly including the stage's duration, operational smoothness, and the coordination of operations within the stage. Next, the system constructs a rearranged weight sequence corresponding to the instruction stage set based on the divided weight groups. Each weight group occupies a different position in the sequence, reflecting the relative importance of each stage. The order of the weights depends on the importance of the instruction stage and the level of its stability quantity. Through this ordering, the system can assign appropriate priorities to each stage so that important and stable stages are given priority in subsequent feedback signal processing.

[0036] Specifically, a correlation mapping is performed between the stage weight sequence and the location feedback records. The location feedback records are mapped to the stage weight sequence according to the instruction stage at which the stage weight sequence was formed, generating a weighted feedback sequence. This includes: The system matches each position feedback record with its corresponding instruction stage through an association mapping with the stage weight sequence. Position feedback records are real-time data obtained through sensors, typically used to reflect the current working state of the system, indicating whether the turnplate or other equipment is in the correct position. To ensure that each position feedback record is accurately processed, the system maps each feedback record to the corresponding instruction stage according to the corresponding stage weight sequence. Specifically, the system scans each position feedback record, compares its matching degree with the current stage, and binds these feedback signals to the corresponding stage according to the priority in the stage weight sequence. The purpose of this is to ensure that the system can fully consider the stability of each stage and the real-time nature of the feedback when processing the feedback. Each feedback record will have a corresponding weight, which represents the importance of the feedback record in the instruction stage and the degree of influence on subsequent decisions. Finally, the system generates a weighted feedback sequence according to the association mapping of the stage weight sequence and the position feedback record. This sequence not only includes the original feedback data, but also includes the weight information of each feedback record.

[0037] wherein the adjacent position feedback records after recombination are subjected to difference calculation according to the feedback recombination sequence to obtain feedback differences, and the feedback differences are progressively spliced according to the change direction to form an offset expansion chain, specifically comprising: The system will perform difference calculation on the adjacent position feedback records after recombination. The core purpose of this difference calculation is to identify and quantify the changes between adjacent feedback records. These feedback differences can reveal subtle position changes that may exist in the running process of the turnplate or other equipment, helping the system accurately adjust the control instructions. Specifically, the system compares the two adjacent feedback records and calculates the difference between them to obtain the feedback difference. The difference calculation not only considers the numerical value of the feedback record, but also considers its changes in time and space. Through this difference calculation, the system can identify the change trend and position deviation in each stage, providing a basis for subsequent action adjustment. The system will further process these differences. Specifically, the system progressively splices the differences according to their change direction. If the change direction of adjacent differences is consistent, i.e. the change direction of both is the same, the system will connect them into a continuous section; if the change direction is opposite, they will be processed separately. After this process, the system finally forms an offset expansion chain. The offset expansion chain is formed by splicing multiple feedback difference sections, and the change direction of the differences in each section is consistent, reflecting the stable running state of the system in that time period.

[0038] In a preferred embodiment of the present application, the offset expansion chain is folded and aggregated to form a plurality of aggregated segments, and the overall pulling trend of the turnplate structure in the current limiting action is calculated according to each aggregated segment to generate a cumulative pulling amount, comprising: The same direction section set is obtained by dividing the feedback difference with continuously changed direction consistent in the offset expansion chain into same direction sections; the feedback difference in each same direction section is accumulated in chain order, and the number of differences contained in the same direction section is converted to obtain a section folding value sequence; According to the feedback difference, the cumulative average of all feedback differences is calculated to obtain a difference scale reference item; According to the stage weight sequence and the difference scale reference item, the available pulling degree of the section folding amount under the stage weight constraint is calculated to obtain a section weighted folding intensity item; According to the same direction section set, the continuity between the change directions of two adjacent same direction sections is calculated, and the correlation between the overall pulling trend and the section direction continuity is identified to obtain an adjacent section direction maintaining item; According to the section folding value sequence and the difference scale reference item, the mutation degree of the section folding value at the section boundary is calculated, and the interference of folding on the overall pulling trend is inhibited to obtain a cross-section form disturbance inhibition item; The section weighted folding intensity item, the adjacent section direction maintaining item and the cross-section form disturbance inhibition item are fused to calculate the overall pulling trend of the flip plate structure in the current limiting action to obtain a cumulative pulling amount.

[0039] In the embodiment of the present application, by dividing the feedback difference values with consistent change direction in the offset expansion chain into same-direction sections, a same-direction section set is obtained, effectively avoiding misjudgment caused by excessive data fluctuation; the feedback difference values in each same-direction section are accumulated in chain order and converted by the number of difference values contained in the same-direction section, to obtain a section folding value sequence, which can fully reflect the cumulative effect of feedback data in each section, accurately calculate the contribution of each section to the overall traction, and ensure that the traction trend of the turning plate action is more stable and real; according to the feedback difference values, the cumulative average of all feedback difference values is calculated to obtain a difference scale reference item, which converts the actual operation traction into a unified scale to optimize the traction calculation and adjustment of the turning plate control system; according to the stage weight sequence and the difference scale reference item, the available traction degree of the section folding amount under the stage weight constraint is calculated to obtain a section weighted folding intensity item, so that each feedback difference value is reasonably weighted according to its relative importance in the overall traction calculation, ensuring that the feedback regulation of the system is more accurate; according to the same-direction section set, the continuity between the change directions of adjacent same-direction sections is calculated, and the correlation between the overall traction trend and the section direction continuity is identified to obtain an adjacent section direction maintaining item, effectively avoiding the sudden change or jump of the direction between different stages, ensuring the coherence and consistency of the action when the system performs the turning plate action, and avoiding unintended operation caused by instruction interruption or error during operation; according to the section folding value sequence and the difference scale reference item, the mutation degree of the section folding value at the section boundary is calculated, and the interference of folding on the overall traction trend is suppressed to obtain a cross-section form disturbance suppression item, which effectively suppresses the interference of the transition mutation between sections on the overall traction effect, ensuring that the traction of the turning plate action remains stable; the section weighted folding intensity item, the adjacent section direction maintaining item and the cross-section form disturbance suppression item are fused to calculate the overall traction trend of the turning plate structure in this limit action, to obtain the cumulative traction, effectively improving the accuracy, stability and response efficiency of the turning plate action, and ensuring the efficient operation of the intelligent parking management system.

[0040] In the embodiment of the present application, by dividing the feedback difference values with consistent change direction in the offset expansion chain into same-direction sections, a same-direction section set is obtained; the feedback difference values in each same-direction section are accumulated in chain order and converted by the number of difference values contained in the same-direction section, to obtain a section folding value sequence, specifically including: Firstly, the system analyzes each feedback difference in the offset expansion chain and detects the change direction between each pair of adjacent feedback differences. The change direction of each feedback difference is determined by its sign. For example, if the change directions of two feedback differences are consistent, i.e., their signs are the same, then it can be considered that the two feedback differences belong to the same direction. The system finds all feedback differences with the same direction in the entire expansion chain and divides them into same-direction sections. The division of same-direction sections is based on the following principle: if the directions of adjacent feedback differences are consistent, then these differences will be classified into the same section until a feedback difference with a changed direction is encountered. When the direction changes, the system ends the current section and starts to divide the feedback differences with the new direction into a new same-direction section. Through this method, the system can divide the feedback signal into multiple same-direction section sets according to the change trend, which facilitates subsequent data processing and analysis.

[0041] Next, the system accumulates the feedback differences in each same-direction section in chain order. Specifically, the system starts from the first feedback difference in each same-direction section and accumulates the values of the feedback differences one by one. Through this accumulation method, the system can calculate the total feedback change in each same-direction section, reflecting the overall traction change experienced by the flap structure in that section. For example, if a same-direction section contains three feedback differences, the system will add these three differences to obtain the total change in that section. The system also converts the number of feedback differences in each same-direction section. In specific implementation, the system normalizes and converts according to the number of feedback differences contained in the section. The conversion method is usually to divide the total change of the section by the number of differences in the section to obtain a weighted feedback change value, which can more accurately represent the traction effect of the flap structure in the same-direction section. The purpose of conversion is to ensure that same-direction sections of different lengths occupy a reasonable proportion in the calculation, avoiding calculation errors caused by the length difference of the sections.

[0042] Through the accumulation and conversion of feedback differences, the system generates a section folding value sequence. This sequence contains the sum of feedback differences in each same-direction section and is weighted according to the number of differences in the section. The section folding value sequence can effectively describe the contribution of each same-direction section to the overall traction force, while avoiding the problem of uneven calculation caused by some longer or shorter sections. The folding value sequence provides a stable reference for subsequent calculations, enabling more accurate and smooth traction control of the flap action. The above steps provide an accurate and smooth feedback data sequence for the system by dividing the feedback differences according to their consistent direction, accumulating and converting the number of differences. This sequence can reflect the traction effect of each section in the flap action and provide key input data for the calculation of the overall traction.

[0043] In a preferred embodiment of the present application, the driving instruction is restructured according to the phase stability quantity, the driving instruction is divided into several rhythm segments according to the phase stability quantity, and a rhythm driving sequence is formed, comprising: The phase stability quantity is mapped to a rhythm distribution coefficient according to the rhythm scale mapping, and a rhythm distribution rule set is constructed according to the rhythm distribution coefficient; The data corresponding to each instruction phase in the driving instruction record is matched with the rhythm distribution rule set according to the rhythm distribution rule set, and a phase rhythm identification sequence is generated; The driving instruction record is re-divided according to the cutting length corresponding to the phase rhythm identification according to the phase rhythm identification sequence, and several rhythm segments are obtained; The rhythm segments are re-sequenced according to the rhythm distribution coefficient corresponding to the phase stability quantity, and a rhythm driving sequence is formed.

[0044] In an embodiment of the present application, the phase stability quantity is mapped to a rhythm distribution coefficient according to the rhythm scale mapping, and a rhythm distribution rule set is constructed according to the rhythm distribution coefficient, so as to accurately control the execution time and intensity of each phase driving instruction; the data corresponding to each instruction phase in the driving instruction record is matched with the rhythm distribution rule set according to the rhythm distribution rule set, so as to effectively adjust the control strategy of each phase, ensure smooth operation, and avoid misoperation or action delay phenomenon caused by mismatched rhythm between phases; the driving instruction record is re-divided according to the cutting length corresponding to the phase rhythm identification according to the phase rhythm identification sequence, so as to avoid stuttering or delay problem caused by inconsistent time interval in the instruction execution process, and improve the adaptability of the system to different load conditions and environmental changes; the rhythm segments are re-sequenced according to the rhythm distribution coefficient corresponding to the phase stability quantity, and a rhythm driving sequence is formed, so as to ensure that the execution order of the driving instruction meets the system requirements.

[0045] The phase stability quantity is mapped to a rhythm distribution coefficient according to the rhythm scale mapping, and a rhythm distribution rule set is constructed according to the rhythm distribution coefficient, specifically comprising: The system first obtains the stability quantities of each stage calculated in advance. These stability quantities are obtained by analyzing the driving instructions and position feedback of each instruction stage, reflecting the interaction and stability between stages. The system will map these stability quantities to generate rhythm allocation coefficients. There is a direct mapping relationship between the stability quantity of each stage and the rhythm allocation coefficient. The higher the stability quantity of a stage, the larger the allocation coefficient, indicating that the driving instruction of that stage will be given more execution intensity or longer execution time. Conversely, the lower the stability quantity of a stage, the smaller the allocation coefficient, indicating that the stage needs less execution intensity or shorter execution time. Through this mapping, the system can allocate appropriate rhythm to each stage, making subsequent control more accurate and balanced. The rhythm allocation coefficient provides a basis for the construction of rhythm rules and instruction matching in subsequent steps, so that the actions of each stage can adapt to the requirements of its stability, avoiding unstable operation or equipment damage due to rhythm mismatch. The system constructs a rule set according to the rhythm allocation coefficient to guide the rhythm arrangement of each stage. Specifically, the rhythm allocation rule set is set by setting the rhythm requirements of each stage to further refine the role and function of each stage in the overall operation sequence. For example, the rule set may specify that some stages need to be executed quickly, while other stages need a slower rhythm or longer intervals. This rule set not only adjusts according to the rhythm allocation coefficient, but also considers the operation needs and physical limitations of each stage, such as device load, speed, etc. By constructing this rule set, the system can ensure smooth connection between the actions of each stage, avoiding equipment impact or reaction lag due to rhythm mismatch. Finally, the rhythm allocation rule set provides specific operation standards for subsequent driving instruction matching and execution, making the overall control strategy more refined and personalized.

[0046] Among them, according to the rhythm allocation rule set, the data corresponding to each instruction stage in the driving instruction record is matched with the rhythm allocation rule set to generate a stage rhythm identification sequence, specifically including: The system will match the driving instructions according to the rhythm allocation rule set constructed in the previous step. First, the system will identify the phase corresponding to each driving instruction and compare it with the relevant requirements in the rule set. The purpose of this matching process is to ensure that the instructions of each phase are executed according to the predetermined rhythm, thereby avoiding excessive friction or lag caused by inconsistent rhythm between instructions. For example, if the rules of a certain phase require a longer execution period for that phase, the system will extend the execution time of the driving instructions for that phase according to the rule set; conversely, it will shorten the time. By precisely matching the data of each instruction phase with the rhythm allocation rule set, the system can generate a phase rhythm identification sequence that identifies the rhythm execution requirements of each phase and associates these identification sequences with specific driving instructions. This matching method enables each phase to be executed in accordance with its rhythm requirements.

[0047] wherein the rhythm segments are sequentially reorganized according to the rhythm allocation coefficients corresponding to the phase stability amounts, forming a rhythm driving sequence, specifically comprising: The system will first sort all the rhythm segments according to the generated phase rhythm identification sequence. This sorting is based on the stability amount and rhythm allocation coefficient of each rhythm segment. Specifically, the system will rearrange the order of the rhythm segments according to the stability amount of each phase and the high and low of the rhythm allocation coefficient. Phases with high stability amounts will be executed first or given greater control intensity, while phases with low stability amounts will be adjusted to smaller execution intensity or shorter execution time. Through this adjustment of the order, the system can ensure that the transition between phases is smoother, avoiding situations where the transition is not smooth or the movement is not coordinated. The final formation of the rhythm driving sequence is a highly optimized control instruction set, and the system can accurately control the action of the flip plate structure according to this sequence, thereby ensuring that each limit action can be completed at the most appropriate time and intensity.

[0048] In a preferred embodiment of the present application, the amplitude of the rhythm driving sequence is reorganized according to the cumulative traction amount, and the driving amplitude in each rhythm segment is increased or decreased in a targeted manner to generate a traction correction sequence, comprising: According to the cumulative traction amount, the cumulative traction amount is split into a traction direction identifier and a traction intensity value, and an amplitude reference adjustment amount is constructed according to the traction intensity value; According to the traction direction identifier and the driving direction of each rhythm segment, when the direction identifier is consistent, a same direction identifier is generated, otherwise an opposite direction identifier is generated, and a segment direction matching sequence is obtained; According to the segment direction matching sequence, the amplitude of the rhythm segments with the same direction identifier or the opposite direction identifier is added or subtracted in proportion to the amplitude reference adjustment amount to obtain an amplitude correction segment set; According to the amplitude correction segment set, the amplitude difference between adjacent rhythm segments is smoothed and converted to ensure that the amplitude change forms a continuous transition between adjacent segments, and a traction correction sequence is generated.

[0049] In the embodiments of the present application, the cumulative traction amount is analyzed according to the direction, the cumulative traction amount is split into traction direction identifier and traction intensity value, and the amplitude reference adjustment amount is constructed according to the traction intensity value, so as to accurately grasp the movement direction and intensity of the flip plate structure, ensure that each operation link follows a suitable traction mode, ensure that the driving intensity of each stage fluctuates within a reasonable range, and avoid equipment instability or excessive wear caused by unbalanced driving intensity; the traction direction identifier and the driving direction of each rhythm segment are compared, when the direction identifiers are consistent, a same direction identifier is generated, otherwise a reverse direction identifier is generated, a segment direction matching sequence is obtained, which effectively identifies and labels which rhythm segments are forward and which are reverse, and ensures that each segment can have appropriate traction correction when needed; according to the segment direction matching sequence, the amplitude of the rhythm segments with the same direction identifier or the reverse direction identifier is added or deducted according to the proportion of the amplitude reference adjustment amount, to obtain an amplitude correction segment set, so as to ensure the balance and smoothness of the traction amplitude during operation, and avoid the problems of excessive wear of mechanical parts or action jam caused by excessive or insufficient driving intensity; according to the amplitude correction segment set, the amplitude difference between adjacent rhythm segments is smoothed and converted to ensure that the amplitude change forms a continuous transition between adjacent segments, and a traction correction sequence is generated, which effectively eliminates the abruptness of the amplitude change, makes the amplitude transition of the traction correction sequence more stable, and avoids the mechanical part wear or load change caused by the amplitude fluctuation during operation.

[0050] Among them, according to the cumulative traction amount, the cumulative traction amount is split into traction direction identifier and traction intensity value, and the amplitude reference adjustment amount is constructed according to the traction intensity value, specifically including: Firstly, the system analyzes the direction according to the cumulative traction amount calculated in real time. The cumulative traction amount refers to the sum of all traction forces applied during the operation of the flip plate structure, which is usually accumulated based on time. Through this data, the system decomposes the traction amount into two key parameters: traction direction identifier and traction intensity value. The traction direction identifier is a description of the traction direction, which is usually divided into forward and reverse, with forward indicating the lifting of the flip plate and reverse indicating the lowering of the flip plate. The traction intensity value is a quantitative value of the traction force, usually represented by a numerical value, reflecting the size of the traction force required by the driving system. The system constructs the amplitude reference adjustment amount according to the traction intensity value. The amplitude reference adjustment amount is an adjustment factor generated based on the traction intensity value, which is used to provide a standard for subsequent amplitude adjustment. Specifically, the system standardizes the traction intensity value into the amplitude reference adjustment amount, so as to use it as a reference for adjusting the amplitude in subsequent steps.

[0051] The amplitude of the rhythm segment with the same direction identifier or the reverse direction identifier is superimposed or deducted by the proportion of the amplitude reference adjustment amount to obtain an amplitude modified segment set, specifically including: The system processes the direction of each rhythm segment according to the segment direction matching sequence. The segment direction matching sequence refers to comparing the driving direction of each rhythm segment with the traction direction identifier to determine which segments are in the same direction and which segments are in the reverse direction. If the driving direction of the segment is consistent with the traction direction, the system will assign it a same direction identifier; if the driving direction is opposite to the traction direction, the system will assign it a reverse direction identifier. For the rhythm segment with the same direction identifier, the system will perform amplitude superposition on the basis of the amplitude reference adjustment amount. Amplitude superposition means that the system will enhance the traction of the segment to ensure that the flipping action has enough power in the same direction. Specifically, the system will superimpose the amplitude reference adjustment amount and the initial amplitude of the same direction identifier rhythm segment to enhance the traction and ensure that the flipping action has enough power to complete the task in the positive traction process. For the rhythm segment with the reverse direction identifier, the system will perform amplitude deduction on the basis of the amplitude reference adjustment amount. Amplitude deduction means that the system will reduce the traction of the segment to avoid excessive traction in the reverse traction process, which will affect the flipping action. This process is achieved by reducing the initial amplitude of the reverse direction identifier rhythm segment by a certain proportion of the amplitude reference adjustment amount to reduce the traction of the reverse direction, so that the reverse operation is more stable. These operations generate an amplitude modified segment set, which contains the modified amplitude information of all rhythm segments, ensuring that the driving amplitude of each rhythm segment meets the actual traction requirements, whether it is positive or reverse traction.

[0052] The amplitude difference between adjacent rhythm segments is smoothed and converted to generate a traction correction sequence, specifically including: The system smoothes the amplitude difference in the amplitude correction segment set to generate the traction correction sequence. Due to the possible large fluctuations in the amplitude changes between each rhythm segment, directly applying the amplitude difference may cause the flipping plate action to be not smooth, and even produce unnecessary mechanical impact. Therefore, the system needs to ensure smooth transition of the amplitude changes between adjacent rhythm segments through smoothing calculation. The system first analyzes the amplitude difference between adjacent rhythm segments and calculates the amplitude change between each pair of adjacent segments. If the difference is too large, the system will apply a smoothing algorithm, such as linear interpolation or other smoothing algorithms, to adjust the amplitude to a continuous transition value. In this way, the system can avoid the instability caused by the sharp change in amplitude, making the lifting and lowering action of the flipping plate more smooth. During the smoothing calculation, the system adjusts the amplitude change between adjacent rhythm segments according to the actual situation of each segment and the amplitude reference adjustment amount, to ensure a continuous transition of the amplitude between adjacent segments. The purpose of this is to avoid uneven load on the equipment caused by excessive amplitude fluctuations, reduce the wear and tear of mechanical parts, and improve the service life of the equipment. Finally, the generated traction correction sequence contains the correction amplitude information of all rhythm segments, and these amplitude information has smoothness in the transition process, ensuring that the operation of the flipping plate structure is more stable and efficient. The traction correction sequence provides a smooth and continuous driving instruction for the system, making the flipping plate control process more stable and reliable, and reducing mechanical damage or system errors caused by sudden changes in amplitude.

[0053] Embodiments of the present application also provide a roadside intelligent parking space management system, which comprises: A data module for obtaining driving instruction records and position feedback records of the parking space in a one-time limiting action; A trajectory module for splitting the driving instruction records into several instruction stages according to the instruction turning points, and alternately nesting the instruction progression direction and stage duration in each instruction stage to obtain a stage coupling trajectory; A stability module for calculating the continuous constraint degree between stages in the driving process according to the stage coupling trajectory to obtain a stage stability quantity; An expansion chain module for reconstructing the position feedback records in sequence with the stage stability quantity as the rearrangement reference to form a feedback reorganization sequence, and performing forward and backward difference expansion processing on the feedback reorganization sequence to form an offset expansion chain; A traction module for folding and aggregating the offset expansion chain to form several aggregated segments, and calculating the overall traction trend of the flipping plate structure in the one-time limiting action according to each aggregated segment to generate a cumulative traction quantity; A driving module for reconstructing the driving instruction according to the stage stability quantity, dividing the driving instruction into several rhythm segments according to the stage stability quantity to form a rhythm driving sequence; A correction module is configured to perform amplitude rectification on the rhythm driving sequence according to the accumulated traction amount, to increase or decrease the driving amplitude in each rhythm segment in a targeted manner, and to generate a traction correction sequence; A control module is configured to control the flap to perform the limiting and releasing actions according to the traction correction sequence, and to store the driving response record of this time as the next cycle reference sequence after the actions are completed.

[0054] It should be noted that the system corresponds to the above method, and all the implementation manners in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0055] Embodiments of the present application also provide a computing device, comprising a processor and a memory storing a computer program, wherein the computer program is run by the processor to execute the method described above. All the implementation manners in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0056] Embodiments of the present application also provide a computer readable storage medium storing instructions, which, when run on a computer, cause the computer to execute the method described above. All the implementation manners in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0057] The above is the preferred embodiment of the present application. It should be noted that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered within the scope of protection of the present application.

Claims

1. A method for intelligent parking space management based on roadside, characterized in that, The method comprises: acquiring a driving instruction record and a position feedback record in a one-time limiting action of the parking space; splitting the driving instruction record into a plurality of instruction stages according to instruction turning points, and alternately nesting the instruction progression direction and the stage duration in each instruction stage to obtain a stage coupling track; calculating the continuity constraint degree between each stage in the driving process according to the stage coupling track to obtain a stage stability quantity; reconstructing the position feedback record in sequence according to the stage stability quantity as a rearrangement reference to form a feedback reorganization sequence, and performing a forward and backward difference expansion process on the feedback reorganization sequence to form an offset expansion chain; forming a plurality of aggregated segments by folding and aggregating the offset expansion chain, and calculating the overall pulling trend of the flip plate structure in the one-time limiting action according to each aggregated segment to generate a cumulative pulling quantity; reconstructing the driving instruction according to the stage stability quantity, dividing the driving instruction into a plurality of rhythm segments according to the stage stability quantity to form a rhythm driving sequence; reforming the rhythm driving sequence according to the cumulative pulling quantity, and directionally increasing or decreasing the driving amplitude in each rhythm segment to generate a pulling correction sequence; controlling the flip plate to perform a limiting and releasing action according to the pulling correction sequence, and storing the driving response record of this time as a next cycle reference sequence after the action is completed. 2.The roadside-based intelligent parking stall management method of claim 1, wherein, The stage coupling track is obtained by splitting the driving instruction record into a plurality of instruction stages according to instruction turning points, and alternately nesting the instruction progression direction and the stage duration in each instruction stage, comprising: calculating the difference value of adjacent instructions according to the driving instruction record, and subtracting the values of time-sequentially adjacent driving instructions one by one to obtain an instruction difference value sequence; according to the instruction difference value sequence, converting each instruction difference value into a direction identification value, and arranging the direction identification values in time sequence to form a direction identification sequence; according to the direction identification sequence, extracting the record positions where the direction identification values change as turning index points to obtain a turning index set; according to the turning index set, dividing the driving instruction record between adjacent turning index points into an instruction stage to obtain an instruction stage set, and counting the number of driving instruction records in each instruction stage to obtain stage duration data; according to the direction identification sequence and the stage duration data, interleaving the direction identification and the stage duration corresponding to each instruction stage according to the stage order to obtain the stage coupling track. 3.The roadside intelligent parking space management method according to claim 2, wherein, The stage stability quantity is obtained by calculating the continuity constraint degree between each stage in the driving process according to the stage coupling track, comprising: according to the instruction stage set and the stage duration data, calculating the stage average amplitude of each instruction stage, and calculating the amplitude concentration degree of each stage average amplitude in a unified scale to obtain a stage amplitude balance item; according to the direction identification sequence, calculating the direction average value of the corresponding direction identification value in each instruction stage to identify the concentration state of the driving direction within each stage to obtain a stage direction condensation item; according to the stage amplitude balance item and the stage direction condensation item, calculating the mutual restraint degree between the direction and the amplitude in each instruction stage to obtain a stage interaction inhibition item; According to the phase interaction inhibition item and the phase duration of the adjacent instruction phase, the degree of continuity between adjacent instruction phases is calculated to obtain an adjacent phase continuity item; The phase interaction inhibition item and the adjacent phase continuity item are fused to calculate the continuity constraint degree between each instruction phase in the driving process to obtain a phase stability quantity. 4.The roadside intelligent parking space management method according to claim 3, wherein, The position feedback record is sequentially reconstructed by taking the phase stability quantity as the rearrangement reference to form a feedback reorganized sequence, and the feedback reorganized sequence is subjected to a forward and backward difference expansion process to form a displacement expansion chain, including: The phase stability quantity is split into a sequence weight group, and a rearrangement weight sequence corresponding to the instruction phase set is constructed to obtain a phase weight sequence; According to the phase weight sequence and the position feedback record, the position feedback record is mapped according to the instruction phase at the time when the phase weight sequence is formed to generate a weighted feedback sequence; The weighted feedback sequence is arranged in order of high to low phase weight to obtain a feedback reorganized sequence; According to the feedback reorganized sequence, the adjacent position feedback records after reorganization are subjected to difference calculation to obtain a feedback difference value, and the feedback difference value is progressively spliced according to the change direction to form a displacement expansion chain. 5.The roadside intelligent parking stall management method of claim 4, wherein, The displacement expansion chain is folded and aggregated to form a plurality of aggregated segments, and the overall pulling trend of the flip plate structure in the current limiting action is calculated according to each aggregated segment to generate a cumulative pulling quantity, including: The feedback difference values with consistent change directions in the displacement expansion chain are divided into same-direction segments to obtain a same-direction segment set; the feedback difference values in each same-direction segment are added in chain order, and the number of difference values contained in the same-direction segment is converted to obtain a segment folding value sequence; According to the feedback difference value, the cumulative average of all feedback difference values is calculated to obtain a difference scale reference item; According to the phase weight sequence and the difference scale reference item, the available pulling degree of the segment folding amount under the phase weight constraint is calculated to obtain a segment weighted folding strength item; According to the same-direction segment set, the continuity between the change directions of adjacent same-direction segments is calculated, and the correlation between the overall pulling trend and the segment direction continuity is identified to obtain an adjacent segment direction maintenance item; According to the segment folding value sequence and the difference scale reference item, the mutation degree of the segment folding value at the segment boundary is calculated, and the interference of folding on the overall pulling trend is inhibited to obtain a cross-segment form disturbance inhibition item; The segment weighted folding strength item, the adjacent segment direction maintenance item and the cross-segment form disturbance inhibition item are fused to calculate the overall pulling trend of the flip plate structure in the current limiting action to obtain the cumulative pulling quantity. 6.The roadside intelligent parking stall management method of claim 5, wherein, According to the phase stability quantity, the driving instruction is reconstructed in rhythm, and the driving instruction is divided into a plurality of rhythm segments according to the phase stability quantity to form a rhythm driving sequence, including: According to the phase stability quantity, the phase stability quantity is mapped to a rhythm distribution coefficient, and a rhythm distribution rule set is constructed according to the rhythm distribution coefficient; According to the rhythm distribution rule set, the data corresponding to each instruction phase in the driving instruction record is matched with the rhythm distribution rule set to generate a phase rhythm identification sequence; According to the stage rhythm identification sequence, the driving instruction record is re-divided according to the corresponding segmentation length of the stage rhythm identification, and a plurality of rhythm segments are obtained; According to the rhythm segment, sequentially reorganize each rhythm segment according to the corresponding rhythm distribution coefficient of the stage stability quantity, and form a rhythm driving sequence. 7.The roadside intelligent parking stall management method of claim 6, wherein, According to the cumulative traction amount, the amplitude of the rhythm driving sequence is reorganized, and the driving amplitude in each rhythm segment is increased or decreased in a specific direction to generate a traction correction sequence, including: According to the cumulative traction amount, the cumulative traction amount is split into a traction direction identifier and a traction intensity value, and the amplitude reference adjustment amount is constructed according to the traction intensity value; According to the traction direction identifier and the driving direction of each rhythm segment, when the direction identifier is consistent, a same direction identifier is generated, otherwise a reverse direction identifier is generated, and a segment direction matching sequence is obtained; According to the segment direction matching sequence, the amplitude of the rhythm segment with the same direction identifier or the reverse direction identifier is added or subtracted according to the proportion of the amplitude reference adjustment amount, and an amplitude correction segment set is obtained; According to the amplitude correction segment set, the amplitude difference between adjacent rhythm segments is smoothed and converted to ensure that the amplitude change forms a continuous transition between adjacent segments, and a traction correction sequence is generated.

8. A system for intelligent parking space management based on roadside, characterized in that, The system is used to execute the method of any one of claims 1 to 7, and the system comprises: A data module for obtaining driving instruction records and position feedback records of a berth in a one-time limiting action; A trajectory module for splitting the driving instruction record into a plurality of instruction stages according to the instruction turning points, and alternately nesting the instruction progression direction and the stage duration in each instruction stage to obtain a stage-coupled trajectory; A stability module for calculating the continuous constraint degree between stages in the driving process according to the stage-coupled trajectory, and obtaining a stage stability quantity; An extension chain module for sequentially reconstructing the position feedback record according to the stage stability quantity as the rearrangement reference to form a feedback reorganization sequence, and performing forward and backward difference expansion processing on the feedback reorganization sequence to form an offset extension chain; A traction module for folding and aggregating the offset extension chain to form a plurality of aggregated segments, and calculating the overall traction trend of the flip plate structure in the one-time limiting action according to each aggregated segment to generate a cumulative traction amount; A driving module for rhythm reconstruction of the driving instruction according to the stage stability quantity, dividing the driving instruction into a plurality of rhythm segments according to the stage stability quantity, and forming a rhythm driving sequence; A correction module for amplitude reorganization of the rhythm driving sequence according to the cumulative traction amount, and directional increase or decrease of the driving amplitude in each rhythm segment to generate a traction correction sequence; A control module for controlling the flip plate to perform a limiting and releasing action according to the traction correction sequence, and storing the driving response record of this cycle as a reference sequence for the next cycle after the action is completed.

9. A computing device, comprising: Comprise: One or more processors; Storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, so that the one or more processors implement the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a program, and the program is executed by the processor to implement the method in any one of claims 1 to 7.

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