CN205354374U - Large -scale parking area car position detecting system based on solar energy unmanned aerial vehicle crowd - Google Patents
Large -scale parking area car position detecting system based on solar energy unmanned aerial vehicle crowd Download PDFInfo
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- CN205354374U CN205354374U CN201521042559.7U CN201521042559U CN205354374U CN 205354374 U CN205354374 U CN 205354374U CN 201521042559 U CN201521042559 U CN 201521042559U CN 205354374 U CN205354374 U CN 205354374U
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Abstract
The utility model belongs to the technical field of intelligent transportation, especially, relate to a large -scale parking area car position detecting system based on solar energy unmanned aerial vehicle crowd, control center and display device including aerial unmanned aerial vehicle and ground, unmanned aerial vehicle for take ground surface parking field image aloft in real time, and give the picture transmission control center on ground, control center for control location unmanned aerial vehicle, receive the image that unmanned aerial vehicle shot to handle discernment to the image, obtain the information of empty wagon position, and the result that will discern sends display device to, display device for show the empty wagon position information in the parking area. The utility model discloses having extremely strong mobility, being convenient for the motor pool and the real -time short -term test of the waiting field parking stall of putting up because of the large -scale activity, the system compares fixed detecting system and can reducing the construction costs to can use with the mode of movable type, and have higher precision.
Description
Technical field
This utility model belongs to technical field of intelligent traffic, particularly relates to a kind of large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group and method of work thereof.
Background technology
Current large, medium and small city, vehicle spreads all over huge numbers of families, and driving goes on a journey becomes the main trip mode of people, but stops and but become a great problem.For parking garage, parking stall takies situation to utilize the technology such as sensor may determine that, thus improving parking stall utilization rate, but motor pool and the waiting field built because of large-scale activity, due to problems such as circumstance complications, the identification making parking stall is especially difficult, and stops peak period, the identification problem particular importance again on parking stall.
For more outdoor large parking lots, in order to obtain parking stall service condition in real time, if laying sensor on ground or installing photographic head, relating in one aspect to the problems such as dangerous and fragile, cost is higher on the other hand.Current overwhelming majority motor pools are all without the information providing parking stall behaviour in service, and this results in peak time, and a small amount of parking stall is vacant, and still have the contradiction that a lot of vehicle can not cannot stop；Or parking position is full, still having a lot of vehicle to enter to find parking stall, cause the waste of cruising time, this is both uneconomical there is also safety problem.
For some waiting fields built because of large-scale activity, parking stall delimited and be easy to, but to set up parking stall measure system as parking garage, and cost fund is higher, and utilizes the time short, deficiency in economic performance.
Summary of the invention
This utility model provides a kind of large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group and method of work thereof, this utility model application unmanned aerial vehicle group, utilize the sustainable generation energy of solar panel for the power consumption of unmanned plane, employing wireless communication simultaneously and image processing techniques, can be implemented in the parking stall of large parking lot to detect in real time, solve existing parking lot for want of Move Detection parking stall method and cause the problems such as parking stall waste and parking difficulty.
To achieve these goals, this utility model adopts the following technical scheme that the large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group, including control centre and the display device on aerial unmanned plane and ground.
Described unmanned plane, for captured in real-time ground parking field picture aloft, and sends the control centre on ground to by image.Described control centre, its function: 1. monitoring, location unmanned plane；2. receive the image of unmanned plane shooting, and carry out image processing identification, obtain the information of empty parking space；3. the empty parking space information of identification is sent to display device.Described display device, for showing the empty parking space information in parking lot.
Preferably, described display device is LED display.
Preferably, between described unmanned plane and control centre it is radio communication.
In the entire system, unmanned aerial vehicle group is aloft responsible for whole parking lot is carried out shooting, and by shooting image through wireless communication transmissions to the control centre on ground, control centre is responsible for monitoring location unmanned plane on the one hand, ensure in the scope that unmanned plane is operated in overhead, parking lot, receive the unmanned aerial vehicle group image information by wireless communication transmissions on the other hand, and carry out processing identification to image, obtain the empty parking space information in parking lot, and result is transferred to display device, display device then shows parking space information, guides needing the vehicle stopped.Be radio communication between unmanned plane and control centre, if be capable of wireless transmission method of the present utility model can, including 3G, WiFi, zigbee etc..
Preferably, described unmanned plane is four rotor wing unmanned aerial vehicles.
Preferably, described unmanned plane includes controller, self-stabilization gyroscope, high definition pantoscope, GPS locating module, supply module, wireless communication module and DC motor Driver plate；Described self-stabilization gyroscope, high definition pantoscope, GPS locating module, supply module, wireless communication module are all connected with controller with DC motor Driver plate.
Wherein, self-stabilization gyroscope ensures the stability of unmanned aerial vehicle group navigation, the position of GPS locating module real-time positioning unmanned plane, guides unmanned plane to fly within the scope of appointment；High definition pantoscope obtains the large-scale ground parking field picture of high definition；The information that wireless communication module is then responsible between control centre and unmanned plane is mutual；Unmanned plane is powered by supply module.
Preferably, described wireless communication module is ZigBee module.Wireless communication module, adopts ZigBee technology to constitute whole information transmission system, completes the communication function between unmanned plane and ground control centre so that whole system is effectively run.
Preferably, described supply module includes solar powered module and accumulator, and described solar powered module is connected with accumulator, and described solar powered module is connected with controller respectively with accumulator.
The unmanned aerial vehicle group that native system uses is for adopting solar energy and battery-driven unmanned plane, the available solar energy of fine day realizes the energy resource consumption that unmanned plane is run, solar energy is exposed to sunlight, and is converted into electric energy, supplies the required electric energy of unmanned plane flight on daytime and charges for accumulator；When weather is poor or during night, unmanned plane will be powered by accumulator, energy-conserving and environment-protective.
Method of work according to the large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group described above, including following several steps:
1) distributing position according to the size in monitoring unmanned scope and parking lot and arrangements unmanned plane；
2) lift-off of control centre commander unmanned plane, arrives and specifies position；
3) unmanned plane opens high definition pantoscope, shooting parking lot image, and Image Real-time Transmission returns the control centre on ground；
4) control centre's image to receiving carries out processing identification, obtains the empty parking space information that parking lot is real-time, and is transferred to display device；
5) display device shows the empty parking space information that parking lot is current in real time.
Wherein, the described control centre image to receiving carry out process identify step particularly as follows:
1) the imagery exploitation image composing technique that unmanned aerial vehicle group is sent carries out splicing integration；
2) image after integrating is carried out image segmentation, image is subdivided into multiple image region；
3) to each two field picture after segmentation and background image subtraction, if to be just judged to parking stall more than a certain threshold value occupied for difference, empty less than threshold value then parking stall.
Wherein, the image after integrating being carried out image segmentation, the step that image is subdivided into multiple image region is: image is carried out stop line rim detection, the stop line detected is carried out process and forms it into image outline, completes segmentation by Contour extraction.
The large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group of this utility model offer and method of work thereof, there is extremely strong mobility, it is easy to motor pool and the detection real-time of parking stall, waiting field built because of large-scale activity, this system is compared fixed inspection system and can be reducingd the construction costs, can use in the way of portable, and there is higher precision.
Accompanying drawing explanation
Fig. 1 is the modular structure composition schematic diagram of system of the present utility model；
Fig. 2 is the workflow diagram of system of the present utility model.
Detailed description of the invention
Below in conjunction with detailed description of the invention, this utility model is described in detail.
Based on the large parking lot parking stall measure system of solar energy unmanned aerial vehicle group, including control centre and the display device on aerial unmanned plane and ground；
Described unmanned plane, for captured in real-time ground parking field picture aloft, and sends the control centre on ground to by image；Described control centre, is used for monitoring location unmanned plane；Receive the image of unmanned plane shooting, and carry out image processing identification, obtain the information of empty parking space, and send the result of identification to display device；Described display device, for showing the empty parking space information in parking lot.
Described display device is LED display.
It it is radio communication between described unmanned plane and control centre.
Described unmanned plane is four rotor wing unmanned aerial vehicles.
Described unmanned plane includes controller, self-stabilization gyroscope, high definition pantoscope, GPS locating module, supply module, wireless communication module and DC motor Driver plate；Described self-stabilization gyroscope, high definition pantoscope, GPS locating module, supply module, wireless communication module are all connected with controller with DC motor Driver plate.
Described wireless communication module is ZigBee module.
Described supply module includes solar powered module and accumulator, and described solar powered module is connected with accumulator, and described solar powered module is connected with controller respectively with accumulator.
Method of work according to the large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group described above, including following several steps:
1) distributing position according to the size in monitoring unmanned scope and parking lot and arrangements unmanned plane；
2) lift-off of control centre commander unmanned plane, arrives and specifies position；
3) unmanned plane opens high definition pantoscope, shooting parking lot image, and Image Real-time Transmission returns the control centre on ground；
4) control centre's image to receiving carries out processing identification, obtains the empty parking space information that parking lot is real-time, and is transferred to display device；
5) display device shows the empty parking space information that parking lot is current in real time.
The described control centre image to receiving carry out process identify step particularly as follows:
1) the imagery exploitation image composing technique that unmanned aerial vehicle group is sent carries out splicing integration；
2) image after integrating is carried out image segmentation, image is subdivided into multiple image region；
3) to each two field picture after segmentation and background image subtraction, if to be just judged to parking stall more than a certain threshold value occupied for difference, empty less than threshold value then parking stall.
Image after integrating is carried out image segmentation, and the step that image is subdivided into multiple image region is: image is carried out stop line rim detection, the stop line detected is carried out process and forms it into image outline, completes segmentation by Contour extraction.
The solar energy unmanned aerial vehicle group quantity that this utility model uses can be determined according to the scale in parking lot, while controlling cost, it is necessary to cover whole parking lot；According to each monitoring unmanned scope, the size in parking lot and arrangements unmanned plane distributing position, to reserve several unmanned planes as standby simultaneously.
After unmanned plane lift-off, its appointment monitoring place of flying to is controlled according to the positional information that its GPS locating module obtains, when all unmanned planes arrive at appointment position, unmanned plane can be controlled and open video capture equipment, and start to obtain the image information in parking lot and real-time Transmission goes back to the control centre on ground.
The image processing process of control centre:
First imagery exploitation image composing technique unmanned aerial vehicle group sent carries out splicing and integrates, it is to avoid double counting to parking stall when image processes respectively；Then, the image after integrating is carried out image segmentation, image is subdivided into multiple image region, is first that image is carried out stop line rim detection, then the stop line detected is carried out process and form it into image outline, complete segmentation by Contour extraction；To each two field picture after segmentation and background image subtraction, if to be just judged to parking stall more than a certain threshold value occupied for difference, empty less than threshold value then parking stall.
Claims (7)
1. based on the large parking lot parking stall measure system of solar energy unmanned aerial vehicle group, it is characterised in that: include control centre and the display device on aerial unmanned plane and ground；
Described unmanned plane, for captured in real-time ground parking field picture aloft, and sends the control centre on ground to by image；
Described control centre, is used for monitoring location unmanned plane；Receive the image of unmanned plane shooting, and carry out image processing identification, obtain the information of empty parking space, and send the result of identification to display device；
Described display device, for showing the empty parking space information in parking lot.
2. the large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group according to claim 1, it is characterised in that: described display device is LED display.
3. the large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group according to claim 1, it is characterised in that: it is radio communication between described unmanned plane and control centre.
4. the large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group according to claim 3, it is characterised in that: described unmanned plane is four rotor wing unmanned aerial vehicles.
5. the large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group according to claim 4, it is characterised in that: described unmanned plane includes controller, self-stabilization gyroscope, high definition pantoscope, GPS locating module, supply module, wireless communication module and DC motor Driver plate；Described self-stabilization gyroscope, high definition pantoscope, GPS locating module, supply module, wireless communication module are all connected with controller with DC motor Driver plate.
6. the large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group according to claim 5, it is characterised in that: described wireless communication module is ZigBee module.
7. the large parking lot parking stall measure system based on solar energy unmanned aerial vehicle group according to claim 5, it is characterized in that: described supply module includes solar powered module and accumulator, described solar powered module is connected with accumulator, and described solar powered module is connected with controller respectively with accumulator.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105427661A (en) * | 2015-12-14 | 2016-03-23 | 山东科技大学 | Large-sized parking space detection system based on solar unmanned aerial vehicle group and working method thereof |
| CN107241217A (en) * | 2017-05-23 | 2017-10-10 | 四方继保（武汉）软件有限公司 | A kind of unmanned boat group multilayer centralized control system |
| CN108417044A (en) * | 2018-03-16 | 2018-08-17 | 广东容祺智能科技有限公司 | A kind of unmanned plane automatic identification outdoor parking space violation parking system and its method |
| CN110211420A (en) * | 2019-06-25 | 2019-09-06 | 重庆长安汽车股份有限公司 | Judge current scene whether be parking lot method, system and computer readable storage medium |
| CN110364016A (en) * | 2019-07-08 | 2019-10-22 | 网链科技集团有限公司 | A kind of unmanned plane induction parking method |
| US11676299B2 (en) | 2017-08-07 | 2023-06-13 | Ford Global Technologies, Llc | Locating a vehicle using a drone |
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2015
- 2015-12-14 CN CN201521042559.7U patent/CN205354374U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105427661A (en) * | 2015-12-14 | 2016-03-23 | 山东科技大学 | Large-sized parking space detection system based on solar unmanned aerial vehicle group and working method thereof |
| CN107241217A (en) * | 2017-05-23 | 2017-10-10 | 四方继保（武汉）软件有限公司 | A kind of unmanned boat group multilayer centralized control system |
| US11676299B2 (en) | 2017-08-07 | 2023-06-13 | Ford Global Technologies, Llc | Locating a vehicle using a drone |
| CN108417044A (en) * | 2018-03-16 | 2018-08-17 | 广东容祺智能科技有限公司 | A kind of unmanned plane automatic identification outdoor parking space violation parking system and its method |
| CN110211420A (en) * | 2019-06-25 | 2019-09-06 | 重庆长安汽车股份有限公司 | Judge current scene whether be parking lot method, system and computer readable storage medium |
| CN110211420B (en) * | 2019-06-25 | 2021-11-30 | 重庆长安汽车股份有限公司 | Method and system for judging whether current scene is parking lot or not and computer readable storage medium |
| CN110364016A (en) * | 2019-07-08 | 2019-10-22 | 网链科技集团有限公司 | A kind of unmanned plane induction parking method |
| CN110364016B (en) * | 2019-07-08 | 2021-10-15 | 网链科技集团有限公司 | Unmanned aerial vehicle induced parking method |
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