CN115810289B - Smart parking management system based on Beidou and optoelectronic vector 3D positioning technology - Google Patents
Smart parking management system based on Beidou and optoelectronic vector 3D positioning technology Download PDFInfo
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Abstract
一种基于北斗和光电矢量三维定位技术的智慧停车管理系统，涉及智能停车管理领域，其能够实现合理引导停车资源、提高停车场运行效率和资源利用率、提高交通道路利用率、缓解车辆拥堵，降低管理成本。所述基于北斗和光电矢量三维定位技术的智慧停车管理系统，包括：基于北斗高精度定位技术建立的城市停车泊位数字孪生图，以及基于矢量三维定位的多目标定位与识别模块，其包括：被动低功耗目标编码调制单元、多目标点同步动态识别测量单元、基于光电矢量三维定位单元；还包括：停车定位的多目标定位系统样机模块，其包括：目标低功耗小型化单元、停车定位的多目标定位系统样机单元、定位系统快速现场标定单元；以及智慧停车管理系统软件模块。
A smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology, which relates to the field of intelligent parking management, can reasonably guide parking resources, improve parking lot operation efficiency and resource utilization, improve traffic road utilization, alleviate vehicle congestion, and reduce management costs. The smart parking management system based on Beidou and optoelectronic vector three-dimensional positioning technology includes: a digital twin map of urban parking spaces established based on Beidou high-precision positioning technology, and a multi-target positioning and identification module based on vector three-dimensional positioning, which includes: a passive low-power target coding modulation unit, a multi-target point synchronous dynamic identification and measurement unit, and a photoelectric vector three-dimensional positioning unit; it also includes: a multi-target positioning system prototype module for parking positioning, which includes: a target low-power miniaturization unit, a multi-target positioning system prototype unit for parking positioning, and a positioning system fast on-site calibration unit; and a smart parking management system software module.
Description
Technical Field
The invention relates to the technical field of intelligent parking management, in particular to an intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology.
Background
Aiming at the requirement of intelligent monitoring of the parking space state of the urban intelligent parking lot, a novel method for identifying the vacant state of the parking space by adopting a digital parking space and photoelectric vector three-dimensional positioning technology of Beidou high-precision positioning measurement is adopted, and researches such as identification technology based on photoelectric vector three-dimensional positioning, multi-target positioning system development of parking positioning, intelligent parking management system development, system demonstration application verification and the like are developed. The key technologies such as Beidou high-precision digital berth, vector three-dimensional positioning, low-power-consumption passive coding modulation technology of photoelectric beacons and the like are broken through, 15 parking space state information is measured simultaneously within a range of 100m, a parking positioning multi-target recognition positioning prototype is formed, and verification is carried out in underground and road parking environments.
Disclosure of Invention
The invention aims to provide an intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology, which has the advantages that the display accuracy of vacant residual position information is more than 95%, the response time of the system is less than 3 seconds, and the intelligent parking management system can reasonably guide parking resources, improve the parking lot operation efficiency and the resource utilization rate, improve the traffic road utilization rate, relieve vehicle congestion and reduce the management cost.
In order to achieve the above purpose, the invention adopts the following technical scheme:
The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology comprises an urban parking space digital twin map established based on the Beidou high-precision positioning technology, a multi-target positioning and identifying module based on vector three-dimensional positioning, a intelligent parking management system and a control module, wherein the urban parking space digital twin map is used for laying a foundation for high-precision navigation of parking spaces;
the passive low-power-consumption target coding and modulating unit designs passive highlight luminous target components by researching luminous characteristics and illumination energy calculation of a non-active luminous target under a long-distance outdoor condition, customizes a low-power-consumption optical feedback hardware module, designs a high-strobe flicker scheme according to time sequence characteristics to modulate and encode an optical feedback signal, matches a near infrared invisible light emission light source to realize highlight coding feedback of the passive target, and carries out time sequence modulation coding on photoelectric receiving end equipment to distinguish serial numbers of the equipment;
The multi-target point synchronous dynamic identification measuring unit synchronously time-correcting the photoelectric signal receiving end by researching a photoelectric synchronization principle, a synchronous time service time reference, a synchronous control time sequence and a vector array coding time sequence, designing a pulse modulation time sequence for vector arrays with a plurality of specific wave bands, acquiring vector array signal images according to the time sequence, sequentially carrying out image processing on the acquired images according to the correlation characteristics among the acquired images, and identifying the position of each vector array in the images according to the time sequence coding;
The three-dimensional positioning unit based on the photoelectric vector is used for comparing and analyzing performance indexes and solutions of high dynamic measurement technologies at home and abroad, designing and constructing a high-frequency photoelectric acquisition system consisting of a passive vector array and a photoelectric sensor, determining a communication mode and an interface mode among all parts, and deducing a synchronous mechanism of optimal high-precision measurement by analyzing specific performance indexes so as to realize three-dimensional position and posture measurement of a target by utilizing the vector array and high-speed hardware;
the intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology further comprises a multi-target positioning system model module for parking positioning, an intelligent parking management system software module and a parking management system module, wherein the multi-target positioning system model module for parking positioning comprises a target low-power consumption miniaturization unit, a multi-target positioning system model unit for parking positioning and a quick field calibration unit for positioning systems;
the target low-power consumption miniaturization unit adopts a low-power consumption component circuit to customize a miniaturized low-power consumption optical feedback hardware circuit board, and is reasonably designed according to the requirement of a vehicle end on a measurement target so as to realize the miniaturization customization integration of the measured target;
The multi-target positioning system prototype unit for parking positioning perfects the functional performance of the system prototype aiming at specific requirements by analyzing parking positioning requirements and completes the integrated debugging of key component level key technology so as to form a prototype and calibrate, analyze and compensate errors of the prototype;
the rapid field calibration unit of the positioning system comprises a camera internal parameter subunit and a sensor structural parameter subunit, establishes the relation between a passive vector array coordinate system and a measurement reference coordinate system through geometric structure parameters with definite physical meaning, such as the center, focal length, absolute position, relative position and direction of the passive vector array unit, and performs error modeling analysis on the photoelectric acquisition system through further analysis on precision and stability factors affecting measurement results, thereby realizing rapid field calibration and measurement of the positioning system.
In practical application, the ground parking berth is digitized by Beidou high-precision positioning, the photoelectric coding vector beacon is perceived by the vector pose system, berth state information data is calculated and transmitted to software of the background intelligent parking management system in a 4G or 5G communication mode, and the measurement accuracy of the photoelectric vector three-dimensional positioning system can be compared and verified with various modes of geomagnetism and low and high poles.
In the multi-target positioning and identifying module based on vector three-dimensional positioning, the measurement based on the photoelectric vector three-dimensional berth vacant state mainly comprises a measurement system host and a passive vector beacon array, and the measurement system host comprises a processor and two high-speed cameras;
the method comprises the steps that a measuring system host computer utilizes an area array camera to image infrared light fed back by a passive coding photoelectric beacon on the area array camera to obtain two-dimensional coordinates of an imaging plane of the camera, combines internal and external parameters of the area array camera, comprehensively calculates to obtain three-dimensional coordinates of the photoelectric vector beacon, and determines vacant state information of a measured berth in a state that a target point arranged in a measured area is blocked;
The passive vector beacon array is characterized in that a photoelectric coding vector beacon is arranged on a detected target, the photoelectric coding vector beacon generates optical signals according to a set identification code rule, and a high-speed vision system acquires optical signal coding information in a continuous shooting mode and identifies the identity of the detected target.
Specifically, the area-array camera is composed of a CMOS sensor and a large-field-angle low-distortion optical system, a plurality of cooperative mark points are used as vector arrays, and a plurality of photoelectric coding vector targets are mounted on a measured object to form a vector target array.
Further, binocular stereo vision measurement calculates a spatial three-dimensional coordinate value of a spatial point P in a measurement system coordinate system by detecting imaging points P1 and P2 of the point in space on the left and right cameras, respectively.
Still further, in the multi-target positioning and identifying module based on vector three-dimensional positioning, the multi-target positioning and identifying of the three-dimensional space is that each tested target is placed with a photoelectric coding vector target, and a coding circuit and a time sequence control circuit are correspondingly arranged for each photoelectric coding vector target;
The coding circuit sets a unique binary identification code for each vector target, the binary identification codes correspond to the on-off states of the photoelectric coding vector beacons, and one identification code and the rest arbitrary identification codes can not be obtained after OR operation is carried out between the binary identification codes;
The time sequence control circuit controls the on-off time sequence of all photoelectric coding vector beacons, the on-off time sequence is synchronous with the camera time sequence in time, and the photoelectric coding vector beacons continuously send out periodic light signals according to the binary identification code on-off time sequence to form a positioning coordinate system.
The system comprises a parking area, a multi-target positioning system model module, a target synchronization and channel decomposition module, a coordinate calculation module, a time sequence control module and a synchronous signal transmission module, wherein the multi-target positioning system model module comprises a transmitting end system positioned above the parking area and a receiving end system positioned on the surface of a berth center, the transmitting end system comprises a high-speed camera, an illumination light source, an image acquisition card, a target synchronization and channel decomposition module, a coordinate calculation module, a time sequence control module and a synchronous signal transmission module, and the receiving end system comprises a liquid crystal shutter, a high-reflection material, a shutter control module, a logic controller and a synchronous signal receiving module;
When the vehicle stops, the beacon is blocked by the vehicle, and the light signal of the parking space is blocked, so that the real-time monitoring of the parking space state is realized.
Further, the receiving end infrared reflection target consists of a panel made of reflective materials and a liquid crystal screen, and is arranged on the surface of the center of the berth;
The liquid crystal shutter controller controls the liquid crystal to complete switching in a specified frequency and coding mode, converts reflected light into pulse light with a corresponding coding format, sends the pulse light to the high-speed camera, and the high-speed camera receives light information with a corresponding format to position a target and judges whether the target position is compliant.
In practical application, the intelligent parking management system software module is divided into a three-layer framework of a data acquisition layer, a data processing layer and a data application layer, and can realize comprehensive utilization of parking spaces on the basis of collecting urban parking space position and state data in a centralized manner so as to improve the turnover rate and the utilization rate of parking spaces;
The data acquisition layer acquires the position and state data of the parking space, uploads the data to the data processing layer for classification analysis, and the data application layer provides mobile terminal parking service for users.
The method comprises the steps of accurately measuring longitude and latitude values and azimuth values of four corner points of a parking space boundary through Beidou RTK measuring equipment, uploading a software map, generating a digital parking space, calculating longitude and latitude of adjacent parking spaces according to the length and width values of the parking spaces, marking the software map, and calculating the position of each parking space by measuring the longitude and latitude values of four corner points of the whole parallelogram of the adjacent parking spaces.
Compared with the prior art, the intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology has the following advantages:
in the intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology, accurate digitization of urban parking positions is realized by applying the Beidou high-precision positioning technology, a mode of combining a high-speed visual sensing system with a passive coding photoelectric vector beacon is adopted to develop multi-target and recognition technology research based on photoelectric vector three-dimensional positioning, the dynamic positioning and recognition functions of parking position states are realized by collecting, processing and analyzing luminous information of the coding photoelectric beacon with a miniaturized measurement target, compared with the traditional video recognition technology, high-precision position resolving can be realized without high resolution, the contradiction between recognition positioning precision and a monitoring range is solved, the cost of a measuring equipment end is reduced, meanwhile, the measuring equipment has a measuring range of 100 meters, at least 15 parking position information can be detected simultaneously in an open road parking environment, in addition, the photoelectric beacon of the intelligent parking management system has the characteristics of miniaturization and low power consumption, the intelligent parking management system can be installed at positions of a vehicle appearance which are easy to observe in the future, the three-dimensional information of the coding photoelectric beacon of a vehicle license plate number can be collected, the intelligent parking system is enriched, the data detection efficiency is improved, and the parking position information of the intelligent parking management system is accessed to the system is accurate in 3 seconds, and the data of the parking position state information is displayed in the digital system, and the data of the parking position is more than 95% of time.
Drawings
Fig. 1 is a schematic structural diagram of a multi-target positioning and identifying module based on vector three-dimensional positioning in an intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology provided by an embodiment of the invention;
Fig. 2 is a schematic structural diagram of a binocular vision measurement model in an intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology, which is provided by an embodiment of the invention;
Fig. 3 is a schematic diagram of a synchronous pulse modulation time sequence in an intelligent parking management system based on a Beidou and photoelectric vector three-dimensional positioning technology according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a model module of a multi-target positioning system for parking positioning in an intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology according to an embodiment of the present invention.
Detailed Description
The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology provided by the embodiment of the invention mainly has the following technical difficulties:
1. the precision test of the Beidou high-precision positioning technology in the implementation of digital twin of the urban parking berth is that the digitalization of the urban parking berth is an essential part of a novel digital twin urban information model, and the difficulty of accurately acquiring longitude and latitude coordinate data of the parking berth by adopting the Beidou high-precision positioning technology in different urban environments is high;
2. Based on a photoelectric vector three-dimensional positioning technology, the breakthrough of the key technology from the whole system design to each module is realized by researching a measurement principle, a system light path, a vector array and high-speed signal acquisition, so that the dynamic measurement requirement of technical indexes is met, a principle model machine solution is formed, and the problem of high-accuracy detection of parking berth states in complex and changeable environments is solved;
3. The low-power consumption passive coding modulation technology of the photoelectric beacon is characterized in that in order to realize high-precision synchronization and energy matching between a passive vector array and a sampling system, a high-precision synchronization method and an energy matching relation between the vector array and an acquisition sensor are needed to be explored, the problems of long-distance synchronization delay and signal acquisition are solved, dynamic pose synchronization measurement is realized, a low-power consumption optical feedback hardware module is selected on the premise that the vector array energy meets the measurement requirement, a high-frequency flicker scheme is designed to modulate and code an optical feedback signal, a light source emits near infrared invisible light, and the highlight coding feedback of a passive target is realized after coding modulation.
In order to facilitate understanding, the intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology provided by the embodiment of the invention is described in detail below with reference to the attached drawings.
The embodiment of the invention provides an intelligent parking management system based on Beidou and photoelectric vector three-dimensional positioning technology, which is shown in fig. 1-4, and comprises an urban parking position digital twin map established based on Beidou high-precision positioning technology, a multi-target positioning and identifying module based on vector three-dimensional positioning, a multi-target positioning module and a parking space intelligent parking management system, wherein the intelligent parking management system comprises a passive low-power-consumption target coding and modulating unit, a multi-target point synchronous dynamic identifying and measuring unit and a photoelectric vector three-dimensional positioning unit;
The passive low-power-consumption target coding modulation unit is used for designing passive highlight luminous target components by researching luminous characteristics and illumination energy calculation of the non-active luminous target under a long-distance outdoor condition, customizing a low-power-consumption optical feedback hardware module, designing a high-frequency flicker scheme according to time sequence characteristics to perform modulation coding on an optical feedback signal, matching a near infrared invisible light emission light source to realize highlight coding feedback of the passive target, and performing time sequence modulation coding on photoelectric receiving end equipment to distinguish serial numbers of the equipment;
The multi-target point synchronous dynamic identification measuring unit synchronously time-correcting the photoelectric signal receiving end by researching a photoelectric synchronization principle, a synchronous time service time reference, a synchronous control time sequence and a vector array coding time sequence, designing a pulse modulation time sequence for vector arrays with a plurality of specific wave bands, acquiring vector array signal images according to the time sequence, sequentially carrying out image processing on the acquired images according to the correlation characteristics among the acquired images, and identifying the position of each vector array in the images according to the time sequence coding;
based on a photoelectric vector three-dimensional positioning unit, the system is used for comparing and analyzing performance indexes and solutions of high dynamic measurement technologies at home and abroad, designing and constructing a high-frequency photoelectric acquisition system consisting of a passive vector array and a photoelectric sensor, determining a communication mode and an interface mode among all parts, and deducing a synchronous mechanism of optimal high-precision measurement by analyzing specific performance indexes so as to realize three-dimensional position and posture measurement of a target by utilizing the vector array and high-speed hardware;
The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology further comprises a multi-target positioning system model module for parking positioning, an intelligent parking management system software module, a parking management system module and a parking management system module, wherein the multi-target positioning system model module for parking positioning comprises a target low-power consumption miniaturization unit, a multi-target positioning system model unit for parking positioning and a quick field calibration unit for positioning systems;
The target low-power consumption miniaturization unit adopts a low-power consumption component circuit to customize and miniaturize and a low-power consumption optical feedback hardware circuit board, and is reasonably designed according to the requirement of a vehicle end on a measurement target so as to realize the miniaturization and customization integration of the measured target;
The system model machine unit of the multi-target positioning system for parking positioning is used for perfecting the functional performance of the system model machine according to specific requirements by analyzing parking positioning requirements and completing the key component level key technology integrated debugging so as to form a model machine and perform calibration, error analysis and compensation on the model machine;
The positioning system rapid field calibration unit comprises a camera internal parameter subunit and a sensor structural parameter subunit, establishes the relation between a passive vector array coordinate system and a measurement reference coordinate system through geometric structure parameters with definite physical meaning, such as the center, focal length, absolute position, relative position and direction of the passive vector array unit, and further analyzes precision and stability factors affecting a measurement result to perform error modeling analysis on the photoelectric acquisition system so as to realize rapid field calibration and measurement of the positioning system.
Compared with the prior art, the intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology has the following advantages:
In the intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology, the Beidou high-precision positioning technology is used for realizing the accurate digitization of urban parking places, a high-speed visual sensing system is combined with a passive coding photoelectric vector beacon mode for developing multi-target and recognition technology research based on photoelectric vector three-dimensional positioning, the dynamic positioning and recognition functions of parking place states are realized by collecting, processing and analyzing luminous information of the coding photoelectric beacon of a small-sized measuring target, compared with the traditional video recognition technology, high-resolution position resolving can be realized without high resolution, the contradiction between recognition positioning precision and a monitoring range is solved, the cost of a measuring equipment end is reduced, meanwhile, the measuring equipment has a measuring range of 100 meters, at least 15 parking place information can be detected simultaneously in an open road parking environment, in addition, the photoelectric beacon of the intelligent parking management system has the characteristics of being small in size and low power consumption, the future can be installed at a position where a vehicle is easy to observe, the vehicle license plate number and the like can be acquired through resolving three-dimensional information of the coding beacon of the parking place end, the intelligent parking management system is more accurate in response to the 3 seconds, and the data of the parking equipment is accessed to the parking system is more than 95% in data of the parking space position data.
In practical application, the ground parking berth is digitized by Beidou high-precision positioning, the photoelectric coding vector beacon is perceived by the vector pose system, berth state information data is calculated and transmitted to software of the background intelligent parking management system in a 4G or 5G communication mode, and the measurement accuracy of the photoelectric vector three-dimensional positioning system can be compared and verified with various modes of geomagnetism and low and high poles.
In the multi-target positioning and identifying module based on the vector three-dimensional positioning, as shown in fig. 1, the measurement of the space state based on the photoelectric vector three-dimensional berth mainly comprises a measurement system host and a passive vector beacon array, and the measurement system host comprises a processor and two high-speed cameras;
the method comprises the steps that a measuring system host computer utilizes an area array camera to image infrared light fed back by a passive coding photoelectric beacon on the area array camera to obtain two-dimensional coordinates of an imaging plane of the camera, combines internal and external parameters of the area array camera, comprehensively calculates to obtain three-dimensional coordinates of the photoelectric vector beacon, and determines vacant state information of a measured berth in a state that a target point arranged in a measured area is blocked;
The passive vector beacon array is characterized in that a photoelectric coding vector beacon is arranged on a detected target, the photoelectric coding vector beacon generates optical signals according to a set identification code rule, and a high-speed vision system acquires optical signal coding information in a continuous shooting mode and identifies the identity of the detected target.
Specifically, the area-array camera is composed of a CMOS sensor and a large-field-angle low-distortion optical system, a plurality of cooperative mark points are used as vector arrays, and a plurality of photoelectric coding vector targets are mounted on a measured object to form a vector target array.
Further, binocular stereo vision measurement calculates a spatial three-dimensional coordinate value of a spatial point P in a measurement system coordinate system by detecting imaging points P1 and P2 of the point in space on the left and right cameras, respectively.
As shown in fig. 2, the coordinate system of the binocular vision measurement system is set as the left camera coordinate system, the parameter calibration of the system comprises the inner parameters of the two cameras and the outer parameters of the relative azimuth relation between the two cameras, and a binocular vision measurement system model can be established according to the calibration parameters:
The pixel coordinates of the imaging points p1 and p2 are (u 1, v 1), (u 2, v 2), and the projection matrixes of the left camera and the right camera obtained by calibration are ML and MR respectively, so that the method can be obtained:
ρ L、ρR in equations (1) and (2) is eliminated to obtain four linear equations for X, Y, Z, and the P-point coordinates (X, Y, Z) are solved by the least square method.
Still further, as shown in fig. 3, in the above multi-target positioning and identifying module based on vector three-dimensional positioning, the multi-target positioning and identifying of the three-dimensional space is to place photoelectric coding vector targets on each tested target, and correspondingly set a coding circuit and a time sequence control circuit for each photoelectric coding vector target;
The coding circuit sets a unique binary identification code for each vector target, the binary identification codes correspond to the on-off states of the photoelectric coding vector beacons, and one identification code and the rest arbitrary identification codes can not be obtained after OR operation is carried out between the binary identification codes;
The time sequence control circuit controls the on-off time sequence of all photoelectric coding vector beacons, the on-off time sequence is synchronous with the camera time sequence in time, and the photoelectric coding vector beacons continuously send out periodic light signals according to the binary identification code on-off time sequence to form a positioning coordinate system.
Still further, as shown in fig. 4, in the model module of the multi-target positioning system for parking positioning, the model module is composed of a transmitting end system positioned above a parking area and a receiving end system positioned on the ground surface of a berth center, wherein the transmitting end system is composed of a high-speed camera, an illumination light source, an image acquisition card, a target synchronization and channel decomposition module, a coordinate resolving module, a time sequence control module and a synchronous signal transmitting module, and the receiving end system is composed of a liquid crystal shutter, a high-reflection material, a shutter control module, a logic controller and a synchronous signal receiving module;
When the vehicle stops, the beacon is blocked by the vehicle, and the light signal of the parking space is blocked, so that the real-time monitoring of the parking space state is realized.
Further, the receiving end infrared reflection target consists of a panel made of reflective materials and a liquid crystal screen, and is arranged on the surface of the center of the berth;
The liquid crystal shutter controller controls the liquid crystal to complete switching in a specified frequency and coding mode, converts reflected light into pulse light with a corresponding coding format, sends the pulse light to the high-speed camera, and the high-speed camera receives light information with a corresponding format to position a target and judges whether the target position is compliant.
In practical application, the intelligent parking management system software module is divided into a three-layer framework of a data acquisition layer, a data processing layer and a data application layer, and can realize comprehensive utilization of parking spaces on the basis of collecting urban parking space position and state data in a centralized manner so as to improve the turnover rate and the utilization rate of parking spaces;
The data acquisition layer acquires the position and state data of the parking space, uploads the data to the data processing layer for classification analysis, and the data application layer provides mobile terminal parking service for users.
The method comprises the steps of changing a charging management mode according to a parking charging disorder, uniformly adopting electronic payment, carrying out traceability management on a parking charging process through a platform, reducing the leakage of parking charging, and providing transparent and supervised reasonable charging standards for citizens;
The mobile terminal applet provides services such as acquiring real-time parking space information, searching for needed parking space resources, parking space reservation, parking guidance, parking fee payment and the like for the vehicle owners, and the mobile terminal payment can support modes such as WeChat, payment bank or bank clients.
Specifically, the longitude and latitude values and the azimuth angle values of four corner points of the parking space boundary are accurately measured through Beidou RTK measuring equipment, a software map is uploaded, one digital parking space is generated, the longitude and latitude of the adjacent parking space can be calculated according to the length and width values of the parking space, and the position of each parking space can be calculated by measuring the longitude and latitude values of four corner points of the overall parallelogram of the adjacent parking space in a software map mark.
Furthermore, in the indexes of the multi-target positioning system for parking positioning, the Beidou high-precision digital berth and the photoelectric vector three-dimensional positioning precision are 10cm/m, the working distance is 100m, the number of recognized targets in the view field range is 15, the photoelectric target volume is less than or equal to 100mm multiplied by 70mm multiplied by 30mm, and the accurate detection of the parking berth based on the vector three-dimensional positioning is realized;
the intelligent parking management system index can be compatible with and connected with Beidou high-precision digital berths and vector three-dimensional positioning recognition parking space state data accuracy rate of more than 95%, vacancy residual bit information display accuracy rate of more than 95%, system response time of less than 3 seconds, and a client applet realizes parking space inquiry, reservation and electronic payment functions.
The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology provided by the embodiment of the invention has good performance in the high-frequency transient three-dimensional measurement technology project, realizes the transient three-dimensional deformation measurement of complex components, the high-dynamic real-time acquisition and storage of deformation data and the real-time display of three-dimensional graphics, achieves the deformation measurement accuracy of 0.02mm/m through the third party test, has the measurement frequency of more than 2KHz, can realize the measurement of complex components with the external dimensions of 1-30 m, and has no technical risk in the aspects of core CMOS sensing devices, multi-target dynamic measurement principles and multi-target positioning and recognition technologies of photoelectric vector three-dimensional positioning. In addition, in marketing, the mode that the detected photoelectric beacon is attached to the ground surface of a parking lot berth center is adopted, the beacon adopts a low-power-consumption miniaturized design, and after being produced, the management cost of a single parking space is lower than that of the existing facilities in the current market, and the marketing risk is low.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology is characterized by comprising an urban parking position digital twin map established based on the Beidou high-precision positioning technology, a multi-target positioning and identifying module based on vector three-dimensional positioning, a passive low-power-consumption target coding and modulating unit, a multi-target point synchronous dynamic identifying and measuring unit and a photoelectric vector three-dimensional positioning unit, wherein the urban parking position digital twin map is used for laying a foundation for high-precision navigation of a parking space;
the passive low-power-consumption target coding and modulating unit designs passive highlight luminous target components by researching luminous characteristics and illumination energy calculation of a non-active luminous target under a long-distance outdoor condition, customizes a low-power-consumption optical feedback hardware module, designs a high-strobe flicker scheme according to time sequence characteristics to modulate and encode an optical feedback signal, matches a near infrared invisible light emission light source to realize highlight coding feedback of the passive target, and carries out time sequence modulation coding on photoelectric receiving end equipment to distinguish serial numbers of the equipment;
The multi-target point synchronous dynamic identification measuring unit synchronously time-correcting the photoelectric signal receiving end by researching a photoelectric synchronization principle, a synchronous time service time reference, a synchronous control time sequence and a vector array coding time sequence, designing a pulse modulation time sequence for vector arrays of a plurality of wave bands, acquiring vector array signal images according to the time sequence, sequentially carrying out image processing on the acquired images according to the correlation characteristics among the acquired images, and identifying the position of each vector array in the images according to the time sequence coding;
The three-dimensional positioning unit based on the photoelectric vector is used for comparing and analyzing performance indexes and solutions of high dynamic measurement technologies at home and abroad, designing and constructing a high-frequency photoelectric acquisition system consisting of a passive vector array and a photoelectric sensor, determining a communication mode and an interface mode among all parts, and deducing a synchronous mechanism of optimal high-precision measurement by analyzing specific performance indexes so as to realize three-dimensional position and posture measurement of a target by utilizing the vector array and high-speed hardware;
the intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology further comprises a multi-target positioning system model module for parking positioning, an intelligent parking management system software module and a parking management system module, wherein the multi-target positioning system model module for parking positioning comprises a target low-power consumption miniaturization unit, a multi-target positioning system model unit for parking positioning and a quick field calibration unit for positioning systems;
the target low-power consumption miniaturization unit adopts a low-power consumption component circuit to customize a miniaturized low-power consumption optical feedback hardware circuit board, and is reasonably designed according to the requirement of a vehicle end on a measurement target so as to realize the miniaturization customization integration of the measured target;
The multi-target positioning system prototype unit for parking positioning perfects the functional performance of a system prototype according to requirements by analyzing parking positioning requirements, and completes the integrated debugging of key component level key technology so as to form a prototype and calibrate, analyze and compensate errors of the prototype;
The rapid field calibration unit of the positioning system comprises a camera internal parameter subunit and a sensor structural parameter subunit, wherein the geometric structural parameters with definite physical significance are used for establishing the relation between a passive vector array coordinate system and a measurement reference coordinate system through the center, the focal length, the absolute position, the relative position and the direction of the passive vector array unit, and further analyzing the precision and stability factors affecting the measurement result to perform error modeling analysis on the photoelectric acquisition system so as to realize rapid field calibration and measurement of the positioning system.
2. The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology according to claim 1 is characterized in that the ground parking berth is digitized by Beidou high-precision positioning, a photoelectric coding vector beacon senses through a vector pose system, berth state information data is calculated and transmitted to software of a background intelligent parking management system in a 4G or 5G communication mode, and the measurement accuracy of the photoelectric vector three-dimensional positioning system can be compared with various modes of geomagnetism and a low-high pole to carry out verification.
3. The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology according to claim 1, wherein in the vector three-dimensional positioning-based multi-target positioning and recognition module, the photoelectric vector three-dimensional berth free state-based measurement consists of a measurement system host and a passive vector beacon array, and the measurement system host comprises a processor and two high-speed cameras;
the method comprises the steps that a measuring system host computer utilizes an area array camera to image infrared light fed back by a passive coding photoelectric beacon on the area array camera to obtain two-dimensional coordinates of an imaging plane of the camera, combines internal and external parameters of the area array camera, comprehensively calculates to obtain three-dimensional coordinates of the photoelectric vector beacon, and determines vacant state information of a measured berth in a state that a target point arranged in a measured area is blocked;
The passive vector beacon array is characterized in that a photoelectric coding vector beacon is arranged on a detected target, the photoelectric coding vector beacon generates optical signals according to a set identification code rule, and a high-speed vision system acquires optical signal coding information in a continuous shooting mode and identifies the identity of the detected target.
4. The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology according to claim 3, wherein the area array camera consists of a CMOS sensor and a large-field-angle low-distortion optical system, a plurality of cooperative mark points are used as a vector array, and a plurality of photoelectric coding vector targets are mounted on a measured object to form a vector target array.
5. The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology according to claim 4, wherein binocular stereo vision measurement calculates a spatial three-dimensional coordinate value of a spatial point P in a coordinate system of a measurement system by detecting imaging points P1 and P2 of the point P on a left camera and a right camera respectively.
6. The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology according to claim 3, wherein in the vector three-dimensional positioning-based multi-target positioning and recognition module, a photoelectric coding vector target is placed on each detected target, and a coding circuit and a time sequence control circuit are correspondingly arranged on each photoelectric coding vector target;
The coding circuit sets a unique binary identification code for each vector target, the binary identification codes correspond to the on-off states of the photoelectric coding vector beacons, and the condition that one identification code and the rest arbitrary identification codes pass OR operation is met between the binary identification codes, so that the other identification code cannot be obtained;
The time sequence control circuit controls the on-off time sequence of all photoelectric coding vector beacons, the on-off time sequence is synchronous with the camera time sequence in time, and the photoelectric coding vector beacons continuously send out periodic light signals according to the binary identification code on-off time sequence to form a positioning coordinate system.
7. The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology of claim 3, wherein the intelligent parking management system is characterized by comprising a transmitting end system positioned above a parking area and a receiving end system positioned on the ground surface of a berth center in a model machine module of the multi-target positioning system for parking positioning, wherein the transmitting end system comprises a high-speed camera, an illumination light source, an image acquisition card, a target synchronization and channel decomposition module, a coordinate calculation module, a time sequence control module and a synchronous signal transmitting module, and the receiving end system comprises a liquid crystal shutter, a high-reflection material, a shutter control module, a logic controller and a synchronous signal receiving module;
When the vehicle stops, the beacon is blocked by the vehicle, and the light signal of the parking space is blocked, so that the real-time monitoring of the parking space state is realized.
8. The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology of claim 7, wherein the receiving end infrared reflection target consists of a panel made of reflective materials and a liquid crystal screen, is arranged on the surface of a berth center, and receives continuous light from a light source, and reflects through the liquid crystal and the reflective panel;
The liquid crystal shutter controller controls the liquid crystal to complete switching in a specified frequency and coding mode, converts reflected light into pulse light with a corresponding coding format, sends the pulse light to the high-speed camera, and the high-speed camera receives light information with a corresponding format to position a target and judges whether the target position is compliant.
9. The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology according to claim 1, wherein the intelligent parking management system software module is divided into a three-layer framework of a data acquisition layer, a data processing layer and a data application layer, and on the basis of collecting urban parking berth position and state data in a centralized manner, comprehensive utilization of parking spaces can be realized so as to improve the turnover rate and the utilization rate of the parking berths;
The data acquisition layer acquires the position and state data of the parking space, uploads the data to the data processing layer for classification analysis, and the data application layer provides mobile terminal parking service for users.
10. The intelligent parking management system based on the Beidou and photoelectric vector three-dimensional positioning technology according to claim 1, wherein longitude and latitude values and azimuth values of four corner points of a parking space boundary are accurately measured through Beidou RTK measuring equipment, a software map is uploaded, a digital parking space is generated, adjacent parking spaces can be calculated according to the length and width values of the parking spaces, and the position of each parking space can be calculated in a software map mark by measuring the longitude and latitude values of four corner points of an overall parallelogram of the adjacent parking spaces.
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