The invention belongs to the technical field of positioning technologies and intelligent parking robots, and discloses a laser radar-based parking hall-free intelligent parking method. The method comprises the steps of arranging a rotatable camera and a laser radar in a parking area; establishing a coordinate system for the parking area; acquiring an image and an angle of a vehicle in the parkingarea; calculating a coordinate set possibly occupied by the vehicle in the coordinate system; starting a nearby laser radar, scanning the outline of the vehicle, 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 the vehicle model; obtaining the axle distance of the 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 theto-be-parked vehicle to the corresponding parking space through the parking robot. Without a parking hall, vehicles which are parked at will can be carried to designated parking spaces 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,公开一种基于激光雷达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激光雷达;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;启动附近的激光雷达,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。
Laser radar-based parking hall-free intelligent parking method
一种基于激光雷达的无需停车厅的智能停车方法
2020-12-08
Patent
Electronic Resource
Chinese
Camera device-based parking hall-free intelligent parking method
European Patent Office | 2020
|Vehicle model-based parking hall-free intelligent parking system
European Patent Office | 2020
|VEHICLE TYPE-BASED PARKING HALL-FREE INTELLIGENT PARKING METHOD
European Patent Office | 2022
|License plate-based parking hall-free intelligent parking system
European Patent Office | 2020
|License plate-based parking hall-free intelligent parking method
European Patent Office | 2020
|