Parking lot navigation method, device and equipment based on AR technology

Abstract

The invention relates to a parking lot navigation method, device and equipment based on an AR technology, and belongs to the technical field of enhanced vision. The method comprises the steps that a geomagnetic sensor sends a vehicle arrival signal to a main control module, and the main control module obtains source parking space information of the vehicle arrival signal; an identification signal is sent to an image identification camera, and the image identification camera obtains a parking space picture. And carrying out image identification on the parking space picture, and sending the identified license plate information to the main control module. And the state of the parking space number is updated to be unavailable, the license plate and the parking space are associated and stored in a database, the idle parking space in the available state is counted, and the idle parking space is sent to the user interaction terminal. And the user interaction terminal queries the parking space associated with the license plate of the vehicle to be searched by the user, obtains user positioning, performs path planning on the parking space and the user positioning to obtain a vehicle searching path, and renders and displays the vehicle searching path. Therefore, the vehicle owner can be helped to carry out parking planning well, and efficient flow of parking spaces is realized.

Description

Technical Field

[0001] This invention belongs to the field of augmented vision technology, specifically relating to a parking lot navigation method, device, and equipment based on AR technology. Background Technology

[0002] With economic development and improved living standards, the number of motor vehicles in my country has surged, leading to a severe shortage of parking spaces. Efficient parking space management can help solve this problem. Augmented reality (AR) technology, based on real-time computer computing and multi-sensor fusion, combines the real world with virtual information. AR technology can integrate parking space information and location with displayed maps and other information, thus playing a crucial role in parking management. Currently, AR parking management only shows the availability of parking spaces on each floor when drivers arrive at the parking lot, potentially wasting their time. Summary of the Invention

[0003] To address the aforementioned problems in the prior art, the present invention provides a parking lot navigation method, apparatus, and device based on AR technology. In a first aspect, the method of the present invention can be implemented through the following technical steps:

[0004] S1: Based on the information obtained by the geomagnetic sensor, a vehicle arrival signal is sent to the main control module. The main control module obtains the source parking space information of the vehicle arrival signal, which includes the parking space number.

[0005] S2: Send a recognition signal to the image recognition camera associated with the parking space number, and the image recognition camera acquires a parking space image;

[0006] S3: Perform image recognition on the parking space image. When license plate information is recognized, send the license plate information to the main control module. When abnormal information is recognized, send the abnormal information to the alarm module. The alarm module performs alarm processing on the abnormal information.

[0007] S4: The main control module updates the parking space status of the parking space number to unavailable, associates the license plate information with the parking space number and stores it in the database, counts the available parking spaces, and sends the available parking space information to the user interaction terminal.

[0008] S5: The user interaction terminal obtains the license plate information of the vehicle that the user needs to find, queries the parking space number associated with the license plate information, obtains the user's location, performs path planning on the parking space number and the user's location to obtain the vehicle search path, and renders the vehicle search path on the user interaction terminal for display.

[0009] Specifically, the specific implementation steps of S1 are as follows:

[0010] S101: The raw signal collected by the geomagnetic sensor is filtered using the median average filtering method to obtain a smooth signal;

[0011] S102: Using the formula Calculate the triaxial dynamic baseline for the smoothed signal, where F bm (t) represents the triaxial dynamic baseline, F m (k) is the three-axis smoothing signal, and M is the number of data in the smoothing signal;

[0012] S103: Based on the three-axis dynamic baseline, set a three-axis dynamic threshold for the geomagnetic sensor. When the smoothed signal acquired by the geomagnetic sensor is greater than the three-axis dynamic threshold, package the sensor device identifier, geomagnetic data, and communication time into a data packet and send it to the main control module through the LoRaWAN network.

[0013] S104: The main control module parses the data packet and queries the parking space number associated with the sensor device identifier.

[0014] Specifically, the implementation steps of S3 are as follows:

[0015] S301: Perform grayscale processing, noise reduction processing, and binarization processing on the parking space image to obtain a standardized image;

[0016] S302: Establish a feature element set B = {B1, B2}, where B1 is the spacer for traditional vehicle license plates and B2 is the spacer for new energy vehicle license plates. Apply the following formula to the standardized image: The license plate spacer is located, where A is the standardized image. C Let A be the complement of A, and Θ be the erosion operator. AΘB1 means eroding A with B1. When the spacer is located and there is a solution, S303 is executed. When the spacer is located and there is no solution, the abnormal information is sent to the alarm module, and the alarm module performs alarm processing on the abnormal information.

[0017] S303: Obtain license plate location by spreading outwards from the spacer location, perform connectivity annotation on the license plate location to obtain a character model, compare the character model with the model library to obtain the license plate information, and send the license plate information to the main control module.

[0018] Specifically, the specific implementation steps of S5 for obtaining the car-finding route by performing path planning based on the parking space number and the user location are as follows:

[0019] S501: Load the parking lot map node and set the user's location as the initial point S(x).s y s The location of the parking space number is taken as the target point E(x). e y e );

[0020] S502: Calculate the estimated value of each of the 8 nodes adjacent to the initial point, using the following formula:

[0021] |SA| 2 =(x s -x a ) 2 +(y s -y a ) 2

[0022] |AE| 2 =(x a -x e ) 2 +(y a -y e ) 2

[0023] |SE| 2 =(x s -x e ) 2 +(y s -y e ) 2

[0024]

[0025] Wherein, cosSAE is the node's estimated value. The node with the smallest estimated value is taken as the passable node. The passable node is checked to see if it is consistent with the target point. If they are inconsistent, S503 is executed. If they are consistent, S504 is executed.

[0026] S503: Using the passage node as the initial point, repeat S502;

[0027] S504: Connect the initial point, the target point, and all the access nodes to obtain the planned path.

[0028] Secondly, the present invention provides a parking lot navigation system based on AR technology, which operates using the method described above, characterized in that it includes the following modules:

[0029] The system includes a geomagnetic sensor, a main control module, an image recognition module, an alarm module, a database, and a user interaction terminal, wherein the geomagnetic sensor sends a vehicle arrival signal to the main control module.

[0030] The main control module obtains the source parking space information of the vehicle arrival signal, sends a recognition signal to the image recognition camera associated with the parking space number, obtains the recognized license plate information, updates the parking space status of the parking space code to unavailable, associates and stores the license plate information and the parking space number in the database, counts the available parking space information, and sends the available parking space information to the user interaction terminal.

[0031] The image recognition module includes an image recognition camera and image analysis software, wherein the image recognition camera acquires the parking space image, and the image analysis software performs image recognition on the parking space image;

[0032] The alarm module processes the abnormal information analyzed by the image analysis software.

[0033] The user interaction terminal obtains the license plate information of the vehicle the user needs to find, queries the parking space number associated with the license plate information, obtains the user's location, performs path planning on the parking space number and the user's location to obtain the vehicle search path, and renders and displays the vehicle search path.

[0034] Furthermore, the geomagnetic sensor and the image recognition camera are each associated with a parking space number. The geomagnetic sensor is connected to the main control module via the LoRaWAN network, and the main control module is connected to the database via a local network.

[0035] Thirdly, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the program, implements the parking lot navigation method based on AR technology as described in any one of claims 1-4.

[0036] Fourthly, the present invention provides a storage device containing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are used to perform the parking lot navigation method based on AR technology as described in any one of claims 1-4.

[0037] The beneficial effects of this invention are as follows:

[0038] (1) The parking space status is identified by the image recognition module, and the number of empty parking spaces is counted by the main control module and displayed on the user interaction terminal, which can help car owners to better plan their parking.

[0039] (2) The car-finding path is obtained through the car-finding path algorithm, and the car-finding path is rendered on the map and displayed on the user interaction terminal, realizing the efficient flow of parking spaces and helping car owners to find their cars quickly. Attached Figure Description

[0040] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0041] Figure 1 This is a flowchart illustrating the parking lot navigation method based on AR technology of the present invention;

[0042] Figure 2 This is a structural block diagram of the AR-based parking navigation system of the present invention. Detailed Implementation

[0043] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0044] Please see Figure 1 A parking lot navigation method based on AR technology includes the following steps:

[0045] S1: Based on the information obtained by the geomagnetic sensor, a vehicle arrival signal is sent to the main control module. The main control module obtains the source parking space information of the vehicle arrival signal, which includes the parking space number.

[0046] S2: Send a recognition signal to the image recognition camera associated with the parking space number, and the image recognition camera acquires a parking space image;

[0047] S3: Perform image recognition on the parking space image. When license plate information is recognized, send the license plate information to the main control module. When abnormal information is recognized, send the abnormal information to the alarm module. The alarm module performs alarm processing on the abnormal information.

[0048] S4: The main control module updates the parking space status of the parking space number to unavailable, associates the license plate information with the parking space number and stores it in the database, counts the number of available parking spaces, and sends the number of available parking spaces to the user interaction terminal.

[0049] S5: The user interaction terminal obtains the license plate information of the vehicle that the user needs to find, queries the parking space number associated with the license plate information, obtains the user's location, performs path planning on the parking space number and the user's location to obtain the vehicle search path, and renders the vehicle search path on the user interaction terminal for display.

[0050] In this embodiment, to enhance system stability, simplify system hardware, and optimize system configuration, sensors, processors, and other devices are uniformly packaged in a single PCB. A 5V lithium-ion battery is used, and the MCU is a 32-bit ARM microcontroller, specifically the STMicroelectronics STM32F103RCT6 with a Cortex-M3 core. Its maximum operating frequency is 72MHz, ensuring a high geomagnetic sampling rate. The LoRa communication module uses the SX1278 LoRa spread spectrum wireless module from Aisinco, which is capable of long-distance spread spectrum communication, has strong anti-interference capabilities, high reliability, and minimizes current consumption.

[0051] Geomagnetic data acquisition and processing requires high real-time performance to accurately determine vehicle arrival and departure. The designed dynamic sliding window filter needs to track noise interference in the geomagnetic signal in real time and perform smoothing filtering simultaneously. S1 specifically includes:

[0052] S101: The raw signal collected by the geomagnetic sensor is filtered using the median average filtering method to obtain a smooth signal;

[0053] S102: Using the formula Calculate the triaxial dynamic baseline for the smoothed signal, where F bm (t) represents the triaxial dynamic baseline, F m (k) is the three-axis smoothing signal, and M is the number of data in the smoothing signal;

[0054] S103: Based on the three-axis dynamic baseline, set a three-axis dynamic threshold for the geomagnetic sensor. When the smoothed signal acquired by the geomagnetic sensor is greater than the three-axis dynamic threshold, package the sensor device identifier, geomagnetic data, and communication time into a data packet and send it to the main control module through the LoRaWAN network.

[0055] S104: The main control module parses the data packet and queries the parking space number associated with the sensor device identifier.

[0056] Specifically, the implementation steps of S3 are as follows:

[0057] S301: The parking space image is processed by grayscale, denoising, and binarization to obtain a standardized image. The grayscale processing formula is R = G = B = (WRR + WGG + WBB) / 3, where WR, WG, and WB are the weights of components R, G, and B, respectively. The human eye is more sensitive to green and less sensitive to blue, so WR = 0.299, WG = 0.578, and WB = 0.114 can be used to obtain a relatively ideal grayscale image. The denoising formula is: g(x,y) = Med{f(xk,y-1)}, (k,1∈W), where f(x,y) is the original image, g(x,y) is the processed image, and W is the sliding window.

[0058] S302: Establish a feature element set B = {B1, B2}, where B1 is the spacer for traditional vehicle license plates and B2 is the spacer for new energy vehicle license plates. Apply the following formula to the standardized image: The license plate spacer is located, where A is the standardized image. C Let A be the complement of A, and Θ be the erosion operator. AΘB1 means eroding A with B1. When the spacer is located and there is a solution, S303 is executed. When the spacer is located and there is no solution, the abnormal information is sent to the alarm module, and the alarm module performs alarm processing on the abnormal information.

[0059] S303: Obtain license plate location by spreading outwards from the spacer location, perform connectivity annotation on the license plate location to obtain a character model, compare the character model with the model library to obtain the license plate information, and send the license plate information to the main control module.

[0060] Specifically, the specific implementation steps of S5 for obtaining the car-finding route by performing path planning based on the parking space number and the user location are as follows:

[0061] S501: Load the parking lot map node and set the user's location as the initial point S(x). s ,y s The location of the parking space number is taken as the target point E(x). e ,y e );

[0062] S502: Calculate the estimated value of each of the 8 nodes adjacent to the initial point, using the following formula:

[0063] |SA| 2 =(x s -x a ) 2 +(y s -y a ) 2

[0064] |AE| 2 =(x a -x e ) 2 +(y a -y e ) 2

[0065] |SE| 2 =(x s -x e ) 2 +(y s -y e ) 2

[0066]

[0067] Wherein, cosSAE is the node's estimated value. The node with the smallest estimated value is taken as the passable node. The passable node is checked to see if it is consistent with the target point. If they are inconsistent, S503 is executed. If they are consistent, S504 is executed.

[0068] S503: Using the passage node as the initial point, repeat S502;

[0069] S504: Connect the initial point, the target point, and all the access nodes to obtain the planned path.

[0070] like Figure 2 As shown, the system of this embodiment of the invention includes the following modules:

[0071] The system includes a geomagnetic sensor, a main control module, an image recognition module, an alarm module, a database, and a user interaction terminal, wherein the geomagnetic sensor sends a vehicle arrival signal to the main control module.

[0072] The main control module obtains the source parking space information of the vehicle arrival signal, sends a recognition signal to the image recognition camera associated with the parking space number, obtains the recognized license plate information, updates the parking space status of the parking space code to unavailable, associates and stores the license plate information and the parking space number in the database, obtains the number of available parking spaces, and sends the number of available parking spaces to the user interaction terminal.

[0073] The image recognition module includes an image recognition camera and image analysis software, wherein the image recognition camera acquires the parking space image, and the image analysis software performs image recognition on the parking space image;

[0074] The alarm module processes the abnormal information analyzed by the image analysis software.

[0075] The user interaction terminal obtains the license plate information of the vehicle the user needs to find, queries the parking space number associated with the license plate information, obtains the user's location, performs path planning on the parking space number and the user's location to obtain the vehicle search path, and renders and displays the vehicle search path.

[0076] Furthermore, the geomagnetic sensor and the image recognition camera are each associated with a parking space number. The geomagnetic sensor is connected to the main control module via the LoRaWAN network, and the main control module is connected to the database via a local network.

[0077] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0078] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0079] The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof. The computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0080] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A parking lot navigation method based on AR technology, characterized in that, Includes the following steps: S1: Based on the information obtained by the geomagnetic sensor, a vehicle arrival signal is sent to the main control module. The main control module obtains the source parking space information of the vehicle arrival signal, which includes the parking space number. S2: Send a recognition signal to the image recognition camera associated with the parking space number, and the image recognition camera acquires a parking space image; S3: Perform image recognition on the parking space image. When license plate information is recognized, send the license plate information to the main control module. When abnormal information is recognized, send the abnormal information to the alarm module. The alarm module performs alarm processing on the abnormal information. S4: The main control module updates the parking space status of the parking space number to unavailable, associates the license plate information with the parking space number and stores it in the database, counts the number of available parking spaces, and sends the number of available parking spaces to the user interaction terminal. S5: The user interaction terminal obtains the license plate information of the vehicle that the user needs to find, queries the parking space number associated with the license plate information, obtains the user's location, performs path planning on the parking space number and the user's location to obtain the vehicle search path, and renders the vehicle search path on the user interaction terminal for display.

2. The method according to claim 1, characterized in that, The specific implementation steps of S1 are as follows: S101: The raw signal collected by the geomagnetic sensor is filtered using the median average filtering method to obtain a smooth signal; S102: Using the formula (m = x, y, z) Calculate the triaxial dynamic baseline for the smoothed signal, where F bm (t) represents the triaxial dynamic baseline, F m (k) is the three-axis smoothing signal, and M is the number of data in the smoothing signal; S103: Based on the three-axis dynamic baseline, set a three-axis dynamic threshold for the geomagnetic sensor. When the smoothed signal acquired by the geomagnetic sensor is greater than the three-axis dynamic threshold, package the sensor device identifier, geomagnetic data, and communication time into a data packet and send it to the main control module through the LoRaWAN network. S104: The main control module parses the data packet and queries the parking space number associated with the sensor device identifier.

3. The method according to claim 1, characterized in that, The specific implementation steps of S3 are as follows: S301: Perform grayscale processing, noise reduction processing, and binarization processing on the parking space image to obtain a standardized image; S302: Establish a feature element set B = {B1, B2}, where B1 is the spacer for traditional vehicle license plates and B2 is the spacer for new energy vehicle license plates. Apply the following formula to the standardized image: The license plate spacer is located, where A is the standardized image. C Let A be the complement of A, and Θ be the erosion operator. AΘB1 means eroding A with B1. When the spacer is located and there is a solution, S303 is executed. When the spacer is located and there is no solution, the abnormal information is sent to the alarm module, and the alarm module performs alarm processing on the abnormal information. S303: Obtain license plate location by spreading outwards from the spacer location, perform connectivity annotation on the license plate location to obtain a character model, compare the character model with the model library to obtain the license plate information, and send the license plate information to the main control module.

4. The method according to claim 1, characterized in that, The specific implementation steps of S5 for obtaining the car-finding route by combining the parking space number and the user location are as follows: S501: Load the parking lot map node and set the user's location as the initial point S(x). s ,y s The location of the parking space number is taken as the target point E(x). e ,y e ); S502: Calculate the estimated value of each of the 8 nodes adjacent to the initial point, using the following formula: |IN| 2 =(x s -x a ) 2 +(y s -y a ) 2 |AE| 2 =(x a -x e ) 2 +(y a -y e ) 2 |SE| 2 =(x s -x e ) 2 +(and s -and e ) 2 Wherein, cosSAE is the node's estimated value. The node with the smallest estimated value is taken as the passable node. The passable node is checked to see if it is consistent with the target point. If they are inconsistent, S503 is executed. If they are consistent, S504 is executed. S503: Using the passage node as the initial point, repeat S502; S504: Connect the initial point, the target point, and all the access nodes to obtain the planned path.

5. A parking lot navigation system based on AR technology, operating using the method described in any one of claims 1-4, characterized in that, Includes the following modules: The system includes a geomagnetic sensor, a main control module, an image recognition module, an alarm module, a database, and a user interaction terminal, wherein the geomagnetic sensor sends a vehicle arrival signal to the main control module. The main control module obtains the source parking space information of the vehicle arrival signal, sends a recognition signal to the image recognition camera associated with the parking space number, obtains the recognized license plate information, updates the parking space status of the parking space code to unavailable, associates and stores the license plate information and the parking space number in the database, counts the available parking space information, and sends the available parking space information to the user interaction terminal. The image recognition module includes an image recognition camera and image analysis software, wherein the image recognition camera acquires the parking space image, and the image analysis software performs image recognition on the parking space image; The alarm module processes the abnormal information analyzed by the image analysis software. The user interaction terminal obtains the license plate information of the vehicle the user needs to find, queries the parking space number associated with the license plate information, obtains the user's location, performs path planning on the parking space number and the user's location to obtain the vehicle search path, and renders and displays the vehicle search path.

6. The method according to claim 5, characterized in that, The geomagnetic sensor and the image recognition camera are each associated with a parking space number. The geomagnetic sensor is connected to the main control module via the LoRaWAN network, and the main control module is connected to the database via a local network.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the parking lot navigation method based on AR technology as described in any one of claims 1-4.

8. A storage device containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the parking lot navigation method based on AR technology as described in any one of claims 1-4.

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