The invention belongs to the technical field of positioning technologies and intelligent parking robots, and discloses an ultrasonic range finder-based parking hall-free intelligent parking method. The method comprises the following steps: arranging a rotatable camera and an ultrasonic range finder in a parking area; establishing a coordinate system for the parking area; acquiring the image and the angle of a vehicle in the parking area; calculating a coordinate set possibly occupied by the vehicle in the coordinate system; starting a nearby ultrasonic range finder, scanning the outline of thevehicle, obtaining a coordinate set corresponding to the outline of the vehicle in the coordinate system, and obtaining a vehicle model; determining the position of the parking robot according to thevehicle model; obtaining the axle distance of a to-be-stored vehicle through a vehicle axle distance detection device on the parking robot; confirming the number of a parking space where the to-be-parked vehicle is to be parked; and carrying the to-be-parked vehicle to the corresponding parking space through the parking robot. Vehicles which are parked at will can be carried to designated parkingspaces only through the parking robot under the condition that no parking hall exists.

    本发明属于定位技术与和智能泊车机器人技术领域,公开一种基于超声波测距仪的无需停车厅的智能停车方法。所述方法包括:在停车区域设置可旋转的摄像头和超声波测距仪;为停车区域建立坐标系;获取停车区域内车辆的图像、角度;计算车辆可能在坐标系中占据的坐标集;启动附近的超声波测距仪,扫描车辆轮廓,获得车辆轮廓在坐标系中对应的坐标集,得到车辆模型;根据车辆模型,确定停车机器人的位置;通过停车机器人上的车辆轴距检测装置,获取待存车辆的轴距;确认待存车辆将要停放的停车位的编号;通过停车机器人将待存车辆搬运到对应的停车位。无需停车厅仅通过停车机器人实现在无停车厅情况下,将随意停放的车辆搬运到指定停车位。


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    Title :

    Ultrasonic range finder-based parking hall-free intelligent parking method


    Additional title:

    一种基于超声波测距仪的无需停车厅的智能停车方法


    Contributors:
    JIA BAOHUA (author) / CHEN XINJIAN (author)

    Publication date :

    2020-12-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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