KR20200025247A - Managemnet system of parking by moving vehicle tracking - Google Patents

Abstract

According to the present invention, provided is a parking management apparatus by moving vehicle tracking, which recognizes a vehicle number of a vehicle entering a parking management area such as a street parking lot, illegal parking control area, or the like, performs parking management or illegal parking control by tracking the movement of a corresponding vehicle, continuously tracks a moving vehicle in a three-dimensional space using a Lidar for a vehicle entering the parking management area, so as to prevent a tracking error by separating and tracking each moving vehicle even if two or more vehicles enter the parking management section while driving in close proximity and fail to recognize a vehicle number of a following vehicle.

Description

Parking management device by moving vehicle tracking {MANAGEMNET SYSTEM OF PARKING BY MOVING VEHICLE TRACKING}

The present invention relates to a parking management apparatus by tracking a moving vehicle that recognizes a vehicle number of a vehicle entering a roadside parking lot or an illegal parking control area and tracks the movement of the vehicle to perform parking management or illegal parking control. More specifically, by using a lidar to track the moving vehicle in a three-dimensional space, two or more vehicles enter the parking control area while driving close to each other even if the vehicle number recognition for the trailing vehicle fails The present invention relates to a parking management apparatus by tracking a moving vehicle to prevent a management error.

In general, the parking lot under the Parking Lot Act is a parking lot installed in a certain area of the road surface or the traffic plaza (intersection plaza only), and the street parking lot provided for general use, and the road and traffic plaza. There is an off-street parking lot provided for general use as a parking lot installed at a place, and an attached parking lot provided for a user or a general use of the building facility as a parking lot installed along with a facility causing parking demand. The person who installs it manages to receive a parking fee from the person who parks the car in the parking lot.

However, since these parking lots are small and small, most of them are manned parking management systems where the parking officer manages the parking time and collects the charges. The designated parking manager uses the parking terminal to enter the parking vehicle, parking time, and receipt. Parking management of the output, etc., but it is difficult to manage the parking manager's meals and toilets for personal use, and there was a difficulty in the spatial management of the personnel in charge of the size of the management area.

In particular, the street parking lot is installed along the road, and when the car parked for a predetermined time is about to escape, the manager has to find out before the vehicle departs and run to the vehicle to collect the parking fee.

And when these parking lots are operated as an unmanned parking management system without a resident manager, each parking lot must be equipped with each control facility for unmanned control and an unmanned payment machine, so it costs a lot for installation and maintenance. In the parking lot, it was difficult to introduce an unmanned automated system with high initial investment cost.

Therefore, the conventional parking management takes into account the difficulties in the working condition of the parking manager and the difficulty in managing labor costs compared to the number of parking surfaces, so that the vehicle moving, parking, A technology for recognizing a vehicle number through image processing and stopping tracking in real time by linking a vehicle with a vehicle number has been developed.

On the other hand, when the vehicle is parked, the area that can not only increase the traffic congestion by preventing other cars from flowing smoothly, but also cause traffic accidents is designated as an illegal parking control area, and the enforcement personnel visits the illegal parking site directly and cracks down on the parking lot. In addition, CCTV cameras are installed in areas where illegal parking stops occur regularly so that they can be cracked down and guided at all times.

In the conventional illegal parking control system using CCTV, a combination of a parking detection camera that monitors illegal parking prohibited areas and a pan-tilt-enabled camera equipped with a zoom lens for vehicle number recognition and zooming is included. Detects and cracks down cars parked in the area.

In the system that observes a vehicle parked in an unmanned parking control area or illegal parking control area (hereinafter referred to as a parking control area) based on the image taken using a CCTV camera, the vehicle entering the parking control area is photographed. CCTV camera is installed at the height of the vehicle in front of the entry vehicle or somewhat higher than the vehicle, and the moving vehicle is extracted as the object from the 2D image captured by the CCTV camera. By observing the time tracking method, parking control or illegal parking control are made.

However, when two or more vehicles enter the parking management area in close proximity, or when two or more vehicles enter close, the advanced vehicle is higher than the reverse vehicle and the vehicle number is not recognized. Even if this entry, there was a problem that can be mistaken as one vehicle enters.

[Patent Document 1] Korean Patent Registration Publication No. 10-1698026 (January 19, 2017) [Patent Document 2] Domestic Patent Registration Publication No. 10-1726986 (August 13, 2017)

The present invention has been invented to improve the above problems, and when the vehicle enters the parking control area, the vehicle is recognized as a 3D moving object by photographing and analyzing the vehicle with LiDAR (Light Detection and Ranging), but entering the vehicle. After recognizing the vehicle at least two times with time difference, it is determined whether there is a change in the length of the entry vehicle in comparison with the primary 3D moving object and the secondary 3D moving object, and as a result, the change in length The 3D mobile object determines that two or more vehicles are driving near each other and provides a parking management device based on the tracking of the moving vehicle, which can be managed by tracking the last parked parking surface and individual vehicle number. It is a task.

The parking management apparatus according to the mobile vehicle tracking according to the present invention for solving the above problems is installed at the entrance of the parking management zone corresponding to the roadside parking lot or the illegal parking control area, which is installed along the lane on the side of the road. Vehicle number recognition camera for photographing and transmitting the license plate of the vehicle; Generate 3D data to detect the distance and shape of the laser from the reflected laser back to the vehicle in front of the vehicle entering or exiting the parking control area. A rider that transmits 3D data generated by one or more installations to prevent an area; PTZ camera for panning, tilting and zooming to capture and transmit a parking basis image of a vehicle parked in a parking management area, including; receiving a license plate image of the license plate recognition camera and recognizing a vehicle number and occupancy A vehicle tracking module configured to receive 3D data of the lidar, extract a moving object, analyze a change in the length of the moving object, and determine whether the moving object is a single vehicle or a plurality of vehicles; Determining the vehicle position from the vehicle number recognition module and the moving object received from the vehicle tracking module, by connecting the vehicle which is a mobile object extracted from the vehicle image of the lidar and the vehicle number recognized by the vehicle number recognition module, Position calculation module to track the movement of the; And a storage unit for storing the parking time, the parking location, the parking time, the leaving time of the vehicle tracked by the location calculation module, and the parking basis image received from the PTZ camera as a parking management information. It consists of a parking management server.

The vehicle tracking module receives 3D data obtained by capturing two or more times with a lag time for the same vehicle entering the parking control area, and then a moving object extracted from the acquired 3D data and later acquired 3D data. Analyzing the change in the length of the mobile object extracted from the characterized in that it is made to determine whether the mobile object extracted from the 3D data obtained first is a single vehicle or a plurality of vehicles.

 When the moving object connected to one vehicle number is determined as a plurality of vehicles in the vehicle tracking module, each of the moving objects is tracked as a separate moving object, and in the image photographed by the lidar or the PTZ camera for the trailing vehicle that is hidden by the preceding vehicle. After extracting the vehicle number, it is characterized in that it is configured to store the parking management information of the vehicle by connecting to the vehicle number.

The parking evidence image is obtained by photographing a license plate of a vehicle entering the parking management area, and the image used for vehicle number recognition, the image of the vehicle entering the parking management area on the parking surface, and a predetermined time after entering the parking surface. Characterized in that made by including the image taken after the illegal parking enforcement time.

Among the parking evidence images, the image parked on the parking surface includes a zoom-in image in which the license plate of the parking vehicle is checked, a zoom-out image in which the surrounding environment close to the parking vehicle is confirmed, and a maximum zoom-out image in which the parking vehicle and the surrounding environment are widely identified. Characterized in that made, including.

The parking management server is characterized in that the communication module for transmitting the parking management information stored in the storage unit to the relevant authority server through a wired or wireless network.

The parking management server is characterized in that the communication module for transmitting the parking management information stored in the storage unit in the parking management area to the relevant authority server through a wired or wireless network.

The parking management server is characterized by including a drone control module for controlling the flight of the drone by applying the space map information for the parking management zone, and to take a picture of the parking basis of the parking vehicle in the parking management zone.

The parking management server calculates the parking time of the parking vehicle in the parking management area by using the parking management information stored in the storage unit and outputs the parking fee, and when the parking fee is settled, the parking management information of the vehicle stored in the storage unit. Characterized in that the charge settlement module to update the.

As described above, when a vehicle enters a parking management area such as a roadside parking lot or an illegal parking control area, the vehicle number recognition camera recognizes the vehicle number of the following vehicle at the entrance of the parking management area as the vehicle moves closer to the preceding vehicle and the following vehicle. Even if the preceding vehicle and the following vehicle are recognized as one vehicle connected to each other, even after the preceding vehicle and the trailing vehicle enter the parking management area, the vehicle is parked on the parking surface by continuously tracking using the lidar. Since the momentary separation can be detected, there is an advantage of preventing the recognition error of the entering vehicle.

In addition, if it is difficult to obtain the vehicle number of the parking vehicle from the image data recorded by the rider or PTZ camera installed in the parking control area, it can be recognized by using a drone to connect all the parking vehicles in the parking control area with the vehicle number without blind spots. There is an advantage that can be tracked.

In addition, at least one high-definition vehicle number recognition camera installed at the entrance of the parking management area and at least one lidar and PTZ camera that can track the moving vehicle in the parking management area are applied to track and move the moving vehicle. Real-time vehicle location information can be checked by linking with the vehicle's vehicle number, and there is an advantage of reducing the labor cost and operating cost since the parking lot management is unmanned.

Furthermore, additional information such as the current location of a vehicle that is already parked before the device according to the present invention is operated can also be seen, and there is an advantage that the parking management information stored in the storage unit can be used as the parking fee collection information. .

1 is a block diagram of a parking management apparatus by tracking a moving vehicle according to an embodiment of the present invention,
2 is a view for explaining an installation state of a camera system according to the present invention;
Figure 3 shows an example of the image photographed the parking management area with a rider in accordance with the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the configuration and operation of the embodiment according to the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and components having the same functions will be described with the same reference numerals throughout the specification.

1 is a block diagram of a parking management apparatus according to a moving vehicle tracking according to an embodiment of the present invention, Figure 2 is a view for explaining the installation state of the camera system according to the present invention.

As shown in FIG. 1, in the parking management apparatus based on tracking a moving vehicle, a vehicle number recognition camera 10, a lidar 20, a PTZ camera 30, and a parking management server 40 communicate paths for information communication. It is connected and configured through the network 100 configuring the.

First, the vehicle number recognition camera 10 will be described. As shown in FIG. 2, the vehicle number recognition camera 10 can recognize a vehicle number for a multi-lane vehicle traveling toward an entrance to a parking management area. Taking a vehicle in the form, and is configured to transmit the photographed vehicle image to the vehicle number recognition module 41 of the parking management server 40. In particular, the IP camera is used to transmit the captured vehicle image through the network 100 while having a high-definition photographing function so as to increase the recognition rate of the vehicle number for a vehicle moving in a multi-lane. After compressing the data, it is desirable to increase the transmission speed and reduce the communication load.

Accordingly, the parking management server 40 is connected to the vehicle number from the time when the vehicle enters the parking management zone for all lanes adjacent to the parking management zone 200 and accessible in the direction of the entrance of the parking management zone. Tracking is possible.

The lidar 20 generates a 3D data which detects the distance and shape of the laser from the reflected laser back to the vehicle by firing the laser onto the vehicle in front of the vehicle entering or exiting the parking management zone. 40), the currently available rider can detect objects within 300m. The lidar 20 is initially set for the monitoring area of the lidar 20 without the blind area in consideration of the area, length, or curved structure of the parking management area when the installation is initially installed, one lidar (20) If it is difficult to monitor with a plurality of lidar (20a ~ 20n) by installing the 3D data generated from each lidar (20a ~ 20n) can be configured to transmit to the parking management server (40). Figure 3 shows an example of the image photographed the parking management area with a rider in accordance with the present invention.

The PTZ camera 30 is configured to shoot a vehicle entering the parking management area 200 and transmit the same to the parking management server 40. In particular, the camera is equipped with a pan, tilt and zoom function to shoot according to the progress or parking direction of the vehicle. By adjusting the direction and size, it is made to clearly capture the image that can be used as the parking basis image of the vehicle. The PTZ camera 30 is preferably installed at a position capable of photographing as many parking vehicles as possible within the parking management area, and may be implemented by applying a speed dome camera.

For example, as the parking evidence image, the parking management server 40 controls the PTZ camera 30 to photograph the license plate of the vehicle entering the parking management area 200 to enter the image and parking management area used for vehicle number recognition. An image of a vehicle parked on the parking surfaces 210a to 210n and an image taken after the illegal parking control time of a predetermined time after entering the parking surface may be photographed and stored in the storage unit 44.

In addition, the image parked on the parking surface (210a ~ 210n) of the parking evidence image is a zoom-in image enlarged to confirm the license plate, the image zoomed out so that the surrounding environment close to the vehicle with the vehicle can be confirmed Together, it can include a maximum zoomed out image so that the surroundings can be identified relatively broadly from the vehicle.

Meanwhile, the parking management server 40 may include a vehicle number recognition module 41, a vehicle tracking module 42, a location information calculation module 43, and a storage unit 44.

The vehicle number recognition module 41 continuously receives the vehicle image received from the vehicle number recognition camera 10 in the license plate recognition program mounted therein, captures the vehicle image at a predetermined time, and recognizes the vehicle number by a recognition algorithm. consist of.

The vehicle tracking module 42 extracts a vehicle, i.e., a moving object, from an image received from the lidar 20 or the PTZ camera 30, and analyzes the change in the position of the moving object to continuously move, park, and enter the vehicle. To be tracked.

In particular, the vehicle tracking module 42 extracts a moving object from the 3D data received from the lidar 20 and analyzes the change in the length of the moving object to determine whether the moving object is a moving object or a plurality of vehicles. It is configured to determine whether the vehicle is a moving object by a plurality of vehicles recognized as if one vehicle is moving in close proximity.

For example, the vehicle tracking module 42 captures a moving object for the vehicle from an image obtained by capturing two or more times with respect to the 3D data photographed by the lidar 20 for the same vehicle entering the parking management area. After extracting each of the 3D data, the moving object extracted from the acquired 3D data and the length change of the mobile object extracted from the later obtained 3D data can be analyzed to determine whether the mobile object extracted from the obtained 3D data is a single vehicle or multiple vehicles. . When a plurality of vehicles enter the parking management zone, the vehicle may move close to the parking management zone even if it is recognized as one moving object according to the photographing angle of the vehicle number recognition camera 10 or the rider 20 as the vehicle moves near. This is because, in the process of parking on the parking surface, it is inevitably separated from each other, and thus, by analyzing the change in the length of the moving object at the time of entry into the parking control area and at the time of parking, it can be finally identified as a plurality of vehicles.

The position information calculation module 43 analyzes the position change of the moving object received from the vehicle number recognition module 41 and the vehicle tracking module 42 to determine the vehicle position, and the vehicle of the li 20. The vehicle is a mobile object extracted from the image and the vehicle number recognized by the vehicle number recognition module 41 is connected to track the movement of the vehicle.

When determining the position of the vehicle in the position information calculation module 43, for example, it may be determined using a relative coordinate system. That is, the specific point of the parking management area is defined as the coordinate origin, and the road surface meeting the coordinate origin is centered on the X axis plane and the road surface passing through the coordinate origin, and the plane parallel to the vehicle driving direction is the Z axis plane and the coordinate origin. A three-dimensional coordinate system in meters in which the Y-axis plane is a plane perpendicular to the vehicle driving direction and perpendicular to the road surface passing through the can be used.

In the actual coordinate system setting method, the fixed point where the camera is installed in the parking management area is determined as the reference point, and the point where the reference point meets the road surface is the coordinate origin (X = 0, Y = 0, Z = 0) of the 3D coordinate system. ), The virtual plane corresponding to the road surface is orthogonal to the X-axis plane and the X-axis plane of the three-dimensional coordinate system, and the virtual plane parallel to the road driving direction is perpendicular to the Z-axis plane and the X-axis plane, The orthogonal plane is defined as the Y-axis plane to determine the three-dimensional coordinate system.

The unit of the 3D coordinate system may use a meter, and when the position of the installed camera is displayed in the drawing, each camera coordinate is determined. The direction in which the camera is installed becomes the view vector (x, y, z) of the camera, and the vehicle position shown in the image is the relative position value of the camera as the relative position value of the vehicle when the distance between the camera and the vehicle is obtained. Can be converted to world coordinate system.

Here, the camera, that is, the vehicle number recognition camera 10, the lidar 20 or the PTZ camera 30 is determined at the time of initial installation, the vehicle number recognition camera 10 is a fixed camera recognition for vehicle number recognition after installation Lane segments are determined.

In addition, when the intersection of the view vector and the road surface of the vehicle number recognition camera 10 is obtained, the position of the vehicle recognized by the vehicle number is determined.

The storage unit 44 is a parking management area of a vehicle detected by the location calculation module 43 analyzes, tracks and detects the images received from the vehicle number recognition camera 10 and the lidar 20. It is configured to store the parking time, parking location, parking time, outgoing time, and the parking evidence image received from the PTZ camera 30 in connection with the vehicle number within the 200. In addition, when the moving object extracted as one vehicle is separated into two moving objects at the time of entry into the parking control area, the storage time is the same by storing additional records in the storage unit 44 for the following vehicles. Even if the parking location, parking time, departure time, and parking evidence image is stored differently.

In addition, the parking management server 40 may be further provided with a communication module 45. The communication module 45 transmits parking management information stored in the storage unit 44 to, for example, a related agency server through a wired or wireless network, and receives a request from the related agency server. In addition, the parking management server 40 transmits signals for controlling functions such as photographing and photographing direction of the vehicle number recognition camera 10, the lidar 20, and the PTZ camera 30, and the vehicle number recognition camera ( 10) and receives the video signal photographed from the lidar 20 and the PTZ camera 30.

Here, the related agency server may correspond to an administrative agency server that regulates illegal parking when the device according to the present invention is used as an illegal parking control device, and when the device according to the present invention is used as a paid parking management device, parking fee storage and The related parking cost storage engine server may correspond.

In addition, the parking management server 40 may be further provided with a drone control module 46. The drone control module 46 is configured to control the flight of the camera-mounted drone 60 by applying the space map information for the parking management area 200, and to photograph the parking evidence image of the parking vehicle in the parking management area. The vehicle number is not recognized because the vehicle parked on the parking surface (210a ~ 210n) is blocked by the vehicle or other obstacle that is parked in front after entering the parking management area, or it is extracted as one vehicle when entering the parking management area. If the moving object is subsequently separated into two moving objects, and then the vehicle number of the rear vehicle is to be recognized, the camera mounting drone 60 may be operated to secure the vehicle number and the parking evidence image. In addition, the parking position and the vehicle number can be registered using the camera-mounted drone 60 to recognize the vehicle number for the already parked vehicle before the device according to the present invention is first operated. To this end, the camera-mounted drone 60 is capable of wirelessly photographing a vehicle in high quality and is equipped with a camera equipped with a GPS for position control.

On the other hand, when using the device according to the present invention as a paid parking management equipment, the parking management server 40 is additionally provided with a charge settlement module 47 and the unmanned parking fee calculator 50 through the network 100 May be further connected.

The fee settlement module 47 calculates the parking time of the parking vehicle in the parking management area by using the parking management information stored in the storage unit 44 and parking the parking fee information according to the request of the unmanned parking fee checker 50. When the vehicle is transmitted to the rate checker 50 and the parking rate is settled through the payment means provided in the unmanned parking rate checker 50, the parking rate settlement information is received and stored in the storage unit 44. It is configured to update the parking management information.

10-license plate recognition camera, 20-lidar,
30-PTZ camera, 40-Parking management server,
41-vehicle identification module, 42-vehicle tracking module,
43-location information calculation module, 44-storage,
45-communication module, 46-drone control module,
47-fare settlement module, 50-unmanned parking lot payment machine,
60-drone with camera, 100-network
200-Parking Zone, 210a-210n-Parking surface.

Claims (9)

A vehicle number recognition camera installed at an entrance of a parking control area corresponding to a roadside parking lot or an illegal parking control area installed along a road along a sidewalk and photographing and transmitting a license plate of an entering vehicle;
Generate 3D data to detect the distance and shape of the laser from the reflected laser back to the vehicle in front of the vehicle entering or exiting the parking control area. A rider that transmits 3D data generated by one or more installations to prevent an area;
Includes a pan, tilt and zoom function PTZ camera to shoot and transmit the parking basis image of the vehicle parked in the parking management area;
A vehicle number recognition module for receiving a vehicle license plate image of the vehicle number recognition camera to recognize a vehicle number and a parking lot; and
A vehicle tracking module that receives the 3D data of the lidar, extracts a moving object, analyzes a change in the length of the moving object, and determines whether the moving object is a single vehicle or a plurality of vehicles;
Determining the vehicle position from the vehicle number recognition module and the moving object received from the vehicle tracking module, by connecting the vehicle which is a mobile object extracted from the vehicle image of the lidar and the vehicle number recognized by the vehicle number recognition module, Position calculation module to track the movement of the; And
And a storage unit for storing the parking time, the parking location, the parking time, the outgoing time, and the parking basis image received from the PTZ camera as the parking management information, which are tracked by the location calculation module and stored as parking management information. Parking management device by tracking the moving vehicle made, including a parking management server. The mobile object tracking apparatus of claim 1, wherein the vehicle tracking module receives 3D data obtained by photographing two or more times at a time interval with a lidar for the same vehicle entering the parking control area, and then extracts a moving object from the 3D data obtained first. And analyzing the length change of the moving object extracted from the later acquired 3D data to determine whether the moving object extracted from the first acquired 3D data is a single vehicle or a plurality of vehicles.  The vehicle tracking module of claim 2, wherein when the moving object connected to one vehicle number in the vehicle tracking module is determined to be a plurality of vehicles, each of the moving objects is tracked as a separate moving object. After the vehicle number is extracted from the image taken by the camera, the parking management device by tracking the moving vehicle, characterized in that configured to store the parking management information of the vehicle in the storage unit by connecting to the vehicle number. According to claim 1, wherein the parking evidence image is taken by the vehicle license plate of the vehicle entering the parking management area image used for vehicle number recognition, the image of the vehicle entering the parking management area parked on the parking surface, the parking surface Parking management apparatus according to a moving vehicle tracking, characterized in that the image made after the elapsed illegal parking enforcement time of a predetermined time after entering. The image parked on the parking surface of the parking evidence image is a zoom-in image in which the license plate of the parking vehicle is checked, a zoom-out image in which the surrounding environment close to the parking vehicle is confirmed, and the parking vehicle and the surrounding environment are extensively. Parking management apparatus according to the moving vehicle tracking, characterized in that made up including the maximum zoom-out image confirmed. The parking management apparatus of claim 1, wherein the parking management server includes a communication module configured to transmit the parking management information stored in the storage unit to a related institution server through a wired or wireless network. The parking management server of claim 1, wherein the parking management server includes a communication module capable of transmitting the parking management information stored in the storage unit in the parking management area to a related authority server through a wired or wireless network. Device. According to claim 1, The parking management server includes a drone control module for controlling the flight of the drone by applying the space map information for the parking management area, and to shoot the image of the parking basis of the parking vehicle in the parking management area Parking management device by moving vehicle tracking, characterized in that. According to claim 1, wherein the parking management server calculates the parking time of the parking vehicle in the parking management area by using the parking management information stored in the storage to output the parking fee, and when the parking fee is settled is stored in the storage unit Parking management apparatus according to the mobile vehicle tracking, characterized in that it includes a charge settlement module for updating the parking management information of the vehicle.

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