JP2008299415A - Parking lot management system and vehicle movement direction detection sensor - Google Patents

Abstract

An inexpensive and efficient parking management system is provided.
A parking lot management system (21) is provided at a ceiling portion above entrances (15a, 15b) on one side and the other side of a passage (14) leading to a parking zone (12a) including a plurality of vehicle compartments (13a-13p). From the first and second vehicle movement direction detection sensors 22a and 22b that detect the movement direction of the vehicle moving through 15b, and the movement direction of the vehicle detected by the first and second vehicle movement direction detection sensors 22a and 22b. And a system control unit as calculation means for calculating the number of vehicles in the parking zone 12a.
[Selection] Figure 1

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking lot management system and a vehicle movement direction detection sensor, and more particularly to a parking lot management system for managing an empty room in a parking lot and a vehicle movement direction detection sensor used for such a parking lot management system. It is.

  In a conventional parking lot, a plurality of vehicle compartments (parking spaces) are provided in the parking lot. A user who wants to park a vehicle finds an empty vehicle compartment in the parking lot and parks the vehicle in the empty vehicle compartment. About a parking lot management system for managing a parking lot, it is preferable to inform a user immediately if there is an empty vehicle room and to park efficiently.

According to the parking system disclosed in Japanese Patent Laid-Open No. 4-363800 (Patent Document 1), an ultrasonic sensor is attached to each parking space in the parking lot, and whether or not there is a vehicle in the parking space by this ultrasonic sensor. Is detected. In this way, the availability of parking spaces in the parking lot is managed.
JP-A-4-363800

  According to Patent Document 1, it is necessary to attach an ultrasonic sensor to each vehicle compartment. If it does so, cost will become high as a whole parking lot management system from viewpoints, such as construction expense. On the other hand, such a sensor cannot be managed efficiently only by being provided in an arbitrary vehicle compartment.

  An object of the present invention is to provide an inexpensive and efficient parking lot management system.

  Another object of the present invention is to provide a vehicle movement direction detection sensor capable of easily detecting the movement direction of a moving vehicle.

  A parking lot management system according to the present invention is provided at a position where a doorway of a passage leading to a parking zone including a plurality of vehicle compartments can be photographed, and a vehicle movement direction detection sensor for detecting a movement direction of a vehicle moving through the doorway, Calculation means for calculating the number of vehicles in the parking zone from the vehicle movement direction detected by the vehicle movement direction detection sensor. The vehicle movement direction detection sensor includes a photographing unit that photographs the entrance and exit, and a detection unit that compares the images photographed a plurality of times at different timings by the photographing unit and detects the traveling direction of the vehicle moving through the entrance and exit.

  With this configuration, the number of vehicles in the parking zone can be calculated from the moving direction of the vehicle detected by the vehicle moving direction detection sensor, and the number of vehicles in the parking zone can be easily grasped. Then, the parking lot can be managed based on the number of vehicles in the parking zone. In this case, since it is not necessary to provide a sensor for detecting whether or not there is a vehicle in each vehicle compartment, it can be configured at low cost. Therefore, it is possible to manage the parking lot inexpensively and efficiently.

  Preferably, a determination unit that determines whether there is a vehicle room that can be parked in the parking zone according to the number of vehicles calculated by the calculation unit. By doing so, it is possible to determine whether or not there is an empty vehicle room that can be parked in the parking zone, based on the calculated number of vehicles in the parking zone. Therefore, it is possible to easily grasp the parking zone where there is a vacant vehicle room and to manage the parking lot more efficiently.

  More preferably, it is provided with an informing means for informing the user when there is a vehicle room that can be parked by the judging means. In this way, the user can be actively guided to the parking zone where it is determined that there is an empty compartment. If the user can know the parking zone where the empty vehicle compartment is located, the user can easily find the empty vehicle compartment within the parking zone. Therefore, the parking lot can be managed more efficiently.

  In another aspect of the present invention, the vehicle movement direction detection sensor compares an imaging unit that captures a predetermined position on the path along which the vehicle moves with an image that is captured multiple times at different timings by the imaging unit, Detecting means for detecting a moving direction of the vehicle moving in a predetermined position.

  Such a vehicle movement direction detection sensor can detect the movement direction of the vehicle moving in a predetermined position from a plurality of images photographed by the photographing means. Therefore, the moving direction of the moving vehicle can be easily detected.

  According to this invention, the number of vehicles in the parking zone can be calculated from the moving direction of the vehicle detected by the vehicle movement direction detection sensor, and the number of vehicles in the parking zone can be easily grasped. Then, the parking lot can be managed based on the number of vehicles in the parking zone. In this case, since it is not necessary to provide a sensor for detecting whether or not there is a vehicle in each vehicle compartment, it can be configured at low cost. Therefore, it is possible to manage the parking lot inexpensively and efficiently.

  Moreover, such a vehicle movement direction detection sensor can detect the movement direction of the vehicle which moves a predetermined position from the several image image | photographed with the imaging | photography means. Therefore, the moving direction of the moving vehicle can be easily detected.

  Embodiments of the present invention will be described below with reference to the drawings. The parking lot management system according to the present invention is effectively used for, for example, a large parking lot installed in a department store, a supermarket, an amusement park, etc., particularly an indoor parking lot having a ceiling.

  FIG. 1 is a view of a part of a parking lot using a parking lot management system according to an embodiment of the present invention as viewed from above, that is, from the direction of the sky. With reference to FIG. 1, the parking lot 11 is divided into a plurality of parking zones 12 a, 12 b, and 12 c indicated by a one-dot chain line in FIG. 1. That is, the parking lot 11 is composed of a plurality of parking zones 12a to 12c. Each parking zone 12a-12c includes a plurality of vehicle compartments. The parking zone 12a is provided with a passage 14 leading to each of the vehicle compartments 13a to 13p. A user who wants to park a vehicle in an empty compartment in the parking zone 12a enters the parking zone 12a through the entrance 15a, 15b on one side or the other side of the passage 14, and enters the inside of the compartments 13a to 13p in the parking zone 12a. To find an empty room. Then park in that cabin.

  FIG. 2 is a block diagram showing a parking lot management system according to one embodiment of the present invention. With reference to FIG. 1 and FIG. 2, the parking lot management system 21 according to one embodiment of the present invention is provided at a position where one side of the passage 14 can be photographed, and the vehicle moves through the door 15a. A first vehicle movement direction detection sensor 22a for detecting the direction and a second vehicle movement direction for detecting the movement direction of the vehicle moving through the doorway 15b, provided at the position where the other entrance / exit 15b of the passage 14 can be photographed. A detection sensor 22b, a display lamp 23 that informs the user whether or not there is a vacant cabin in the parking zone 12a, an HDD 24 that stores various data such as image data, and the display lamp 23, HDD 24, first and second And a system control unit 25 that controls the operation of the second vehicle movement direction detection sensors 22a and 22b.

  The first and second vehicle movement direction detection sensors 22a and 22b are provided in the ceiling portions above the entrances 15a and 15b, respectively. When there is no ceiling, for example, a steel tower or the like may be set up near the entrances 15a and 15b and provided at the tip thereof. The display lamp 23 is provided in the parking lot 11 at a position that is easy for a user who is looking for an empty compartment, for example, near the entrance (not shown) of the parking lot 11. The HDD 24 stores in advance the number of vehicles that can be parked in the parking zone 12a, that is, the number of vehicle compartments 13a to 13p in the parking zone 12a. The system control unit 25 operates as calculation means for calculating the number of vehicles in the parking zone 12a from the vehicle movement directions detected by the first and second vehicle movement direction detection sensors 22a and 22b.

  Next, a method for detecting whether or not there is an empty vehicle compartment in the parking zone 12a will be described. FIG. 3 is a flowchart showing the flow of processing when it is detected in the parking lot management system 21 whether or not there is an empty vehicle compartment in the parking zone 12a.

  1 to 3, first, the first vehicle movement direction detection sensor 22a detects the movement direction of the vehicle moving on the one-side doorway 15a (in FIG. 1, step S11, hereinafter, steps). (Omitted). At the same time, the second vehicle movement direction detection sensor 22b detects the movement direction of the vehicle moving on the other side entrance 15b (S12). S11 and S12 are performed at a predetermined timing, for example, every 100 milliseconds to 200 milliseconds.

  Thereafter, the number of vehicles in the parking zone 12a is calculated from the vehicle movement directions detected by the first and second vehicle movement direction detection sensors 22a and 22b. Specifically, when the first vehicle movement direction detection sensor 22a moves in the direction of the arrow A, the number of vehicles in the parking zone 12a is incremented by 1 and the direction of the arrow B is increased. If the vehicle has moved, the number of vehicles in the parking zone 12a is counted down by one. Similarly, in the second vehicle movement direction detection sensor 22b, when the vehicle moves in the direction of the arrow C and the direction of the arrow D, the count-up and count-down are performed. In this way, the number of vehicles in the parking zone 12a is calculated (S13). Here, the system control unit 25 operates as calculation means.

  Next, it is determined whether or not the number of vehicle compartments 13a to 13p in the parking zone 12a stored in advance by the HDD 24 is larger than the calculated number of vehicles in the parking zone 12a (S14). Here, the system control unit 25 operates as a determination unit. In this case, specifically, since there are a total of 16 vehicle compartments 13a to 13p in the parking zone 12a, it is determined whether or not the number of vehicles in the parking zone 12a is larger than 16.

  Here, if it is determined that the number of compartments 13a to 13p in parking zone 12a is larger than the calculated number of vehicles in parking zone 12a (YES in S14), an empty vehicle in parking zone 12a. It is determined that there is a room (S15). That is, it is determined that any of the passenger compartments 13a to 13p in the parking zone 12a is an empty passenger compartment that can be parked. Then, the display lamp 23 displays the characters “empty” to notify that there is an empty cabin in the parking zone 12a (S16). Here, the display lamp 23 and the system control unit 25 operate as notification means.

  On the other hand, if it is determined that the number of vehicle compartments in parking zone 12a is not greater than the calculated number of vehicles in parking zone 12a (NO in S14), vehicle compartments 13a to 13p in parking zone 12a. It is determined that the vehicle is parked in all, that is, the vehicle is full, there is no empty room, and parking is impossible (S17). The display lamp 23 displays the word “full”, and notifies that the vehicle is full in the parking zone 12a (S18).

  With this configuration, the number of vehicles in the parking zone 12a is calculated from the moving directions of the vehicles detected by the first and second vehicle moving direction detection sensors 22a and 22b, and the number of vehicles in the parking zone is calculated. The number can be easily grasped. Then, by comparing the number of vehicle compartments 13a to 13p in the parking zone 12a with the number of vehicles in the parking zone 12a, it is determined whether or not there is an empty vehicle compartment that can be parked in the parking zone 12a. Can do. Therefore, it is possible to easily detect the parking zone 12a where there is an empty vehicle compartment, and to manage the parking lot 11 more efficiently. In this case, since it is not necessary to provide a sensor for detecting whether or not there is a vehicle in each of the compartments 13a to 13p, it can be configured at low cost. Therefore, it is possible to manage the parking lot 11 inexpensively and efficiently.

  In this case, if it is further determined by the determining means that there is a vehicle room that can be parked, the display lamp 23 notifies that fact, so that the vehicle is actively moved to the parking zone 12a that is determined to have an empty vehicle room. Can be guided. If the user can know the parking zone 12a where the empty vehicle compartment is located, the user can easily find the empty vehicle compartment in the parking zone 12a. Therefore, the parking lot 11 can be managed more efficiently.

  In the above embodiment, when it is determined that the number of vehicles in the parking zone 12a is larger than the number of vehicle compartments in the parking zone 12a, for example, a vehicle is placed on the passage 14 in the parking zone 12a. Since there exists a possibility that it exists, the manager of the parking lot 11 is informed of that. By doing so, it is possible to promptly notify the manager of the abnormal state in the parking zone 12a. Therefore, the parking lot 11 can be managed more efficiently.

  Next, the configuration of the vehicle movement direction detection sensor provided in the parking lot management system 21 according to the embodiment of the present invention will be described. FIG. 4 is a view of the first vehicle movement direction detection sensor 22a provided in the parking lot management system 21 according to the embodiment of the present invention as seen from the lateral direction. FIG. 5 is a view of the vehicle movement direction detection sensor 22a shown in FIG. 4 as viewed from below, that is, from the direction of the arrow V shown in FIG.

  4 and 5, the vehicle movement direction detection sensor 22a includes a network camera 31a capable of photographing at a predetermined timing, a converter 32 serving as an interface for transmitting and receiving image data photographed by the network camera 31a, and a network. A hub 33 that transmits and receives image data via the network, a network camera 31a, a converter 32, a housing 34 that holds the hub 33, and a sensor control unit (not shown) that performs image processing of image data captured by the network camera 31a. With.

  The network camera 31a is a CCD (Charge Coupled Device) camera. A network camera 31 a is attached to one surface 36 a of the housing 34. At the center of the lower surface 35b, a concave portion 37 is provided that is recessed toward the upper surface 35a. The converter 32 and the hub 33 are attached to the inner side of the housing 34 using the recess 37. The network camera 31a is connected to the converter 32 and the hub 33 via a cable (not shown). Image data photographed by the network camera 31a is transmitted via the hub 33 to a sensor control unit provided outside. An upper surface 35 a of the housing 34 is connected to one end of the support bar 38. The housing 34 is attached to a ceiling 39 of the parking lot via a support bar 38.

  Note that network cameras 31b, 31c, and 31d having the same configuration are provided on the other surfaces 36b, 36c, and 36d of the housing 34. Since the configuration of the network cameras 31b to 31d is the same as that of the network camera 31a, the description thereof is omitted. By doing so, it is possible to shoot four directions that differ by 90 °.

  Next, a method for detecting the moving direction of the vehicle moving at a predetermined position by the vehicle moving direction detection sensor 22a will be described. FIG. 6 is a flowchart showing the operation of the sensor control unit when detecting the moving direction of the vehicle moving at a predetermined position by the vehicle moving direction detection sensor 22a. 4 to 6, first, a moving object is detected at a predetermined position on the path along which the vehicle moves (S21). The moving object is detected using the inter-frame difference method as follows.

  First, an image at a predetermined position is taken by the network camera 31a at the first timing. The image photographed here is referred to as a first image. Thereafter, an image at a predetermined position is again taken by the network camera 31a at a second timing later than the first timing. The image photographed here is referred to as a second image. Next, for the first image and the second image, the coordinates where the difference in brightness is equal to or greater than a threshold value calculated from the speed of the vehicle, the size of the vehicle, etc. are counted to detect a moving object. FIG. 7 is a schematic diagram of the first image 41a, and FIG. 8 is a schematic diagram of the second image 41b. Referring to FIGS. 7 and 8, each includes a background portion 42, a passage portion 43, and a vehicle portion 44. The photographed first and second images 41a and 41b are compared, and moving object detection is performed based on whether or not the amount of change in luminance is higher than a threshold value.

  Thereafter, if a moving object is detected (YES in S21), then a moving object is detected (S22). The moving object is detected by examining whether or not the change for each pixel corresponds to the change by the moving object using the background subtraction method. In the background subtraction method, the background image 41c shown in FIG. 9 is compared with the second image 41b, and a moving object is detected depending on whether or not the amount of change in luminance is higher than a threshold value.

  After detecting the moving body, the data is binarized and labeled to detect the movement vector, that is, the movement direction (S23, S24, S25). Specifically, in the interframe difference method, as shown in FIG. 10, a binarized difference image 41d is formed, and the object portion 45a and the background portion 46a are discriminated. In the background subtraction method, as shown in FIG. 11, a binarized difference image 41e is formed, and the object portion 45b and the background portion 46b are discriminated. Here, in a binary image, a pixel in which pixels having the same value are connected to each other to form one lump is called a connected component. Labeling refers to a process of assigning a different label to each connected component in a binarized image in which a plurality of identical components exist. In this way, the moving direction of the vehicle is detected.

  Such a vehicle movement direction detection sensor 22a can detect the movement direction of a vehicle moving in a predetermined position from a plurality of images photographed by the network camera 31a as photographing means. Therefore, the moving direction of the moving vehicle can be easily detected.

  If no moving object is detected (NO in S21), it is determined whether a moving object has not been detected a predetermined number of times (S26). If it is determined that a moving object has not been detected a predetermined number of times (YES in S26), the background image is updated with the image as a background image (S27). By doing so, the latest background image can be obtained, and the moving object can be detected more accurately. On the other hand, if a moving object is detected within a predetermined number of times (NO in S26), the image is stored (S28).

  Here, an optical flow method (block matching method, gradient method) or the like is also applied to a method for detecting a moving object and a method for detecting a moving object.

  Since the housing 34 is provided with network cameras 31a to 31d capable of photographing in four directions, it is possible to detect the moving direction of the vehicle moving through the doorway in another adjacent parking zone 12b. By doing so, the parking lot 11 can be managed more efficiently. Furthermore, the detection accuracy of the moving direction of a vehicle can be improved using the image image | photographed with network cameras 31a-31d. Further, the housing 34 may be provided with an omnidirectional mirror or an omnidirectional lens capable of capturing a 360 ° image. By doing so, it can be managed more efficiently.

  In the above embodiment, the number of vehicles in the parking zone 12a is calculated using the two vehicle movement direction detection sensors 22a and 22b. However, the parking zone 51 shown in FIG. When there is a wall 52 on one side of the door and it is a dead end, since there is only one entrance 53, it can be constituted by one vehicle movement direction detection sensor 54.

  As mentioned above, although embodiment of this invention was described with reference to drawings, this invention is not limited to the thing of embodiment shown in figure. Various modifications and variations can be made to the illustrated embodiment within the same range or equivalent range as the present invention.

It is the schematic which shows a part of parking lot to which the parking lot management system which concerns on one Embodiment of this invention is applied. It is a block diagram which shows the parking lot management system which concerns on one Embodiment of this invention. It is a flowchart which shows the flow of the process by the parking lot management system which concerns on one Embodiment of this invention. It is the figure which looked at the vehicle movement direction detection sensor which concerns on one Embodiment of this invention from the horizontal direction. It is the figure which looked at the vehicle moving direction detection sensor shown in FIG. 4 from the direction of the arrow V in FIG. It is a flowchart which shows the flow of the process by the vehicle moving direction detection sensor which concerns on one Embodiment of this invention. It is a schematic diagram which shows an example of a background image in the frame difference method. It is a schematic diagram which shows an example of the image image | photographed at the predetermined timing in the interframe difference method. In a background subtraction method, it is a schematic diagram which shows an example of a background image. It is a schematic diagram which shows an example of a difference image in the difference method between frames. In a background subtraction method, it is a schematic diagram which shows an example of a difference image. It is the schematic which shows a part of parking lot which applied the parking lot management system which concerns on other embodiment to this invention.

Explanation of symbols

  11 Parking lot, 12a, 12b, 12c, 51 Parking zone, 13a, 13b, 13c, 13d, 13e, 13f, 13g, 13h, 13i, 13j, 13k, 13l, 13m, 13n, 13o, 13p Car compartment, 14 passage , 15a, 15b, 53 Doorway, 21 Parking lot management system, 22a, 22b, 54 Vehicle movement direction detection sensor, 23 Indicator lamp, 24 HDD, 25 System controller, 31a, 31b, 31c, 31d Network camera, 32 Converter, 33 hub, 34 housing, 35a upper surface, 35b lower surface, 36a, 36b, 36c, 36d surface, 37 recess, 38 support rod, 39 ceiling, 41a, 41b, 41c, 41d, 41e image, 42, 46a, 46b background portion , 43 Passage part, 44 Vehicle part, 45a, 45b Object part 52 wall.

Claims (4)

A vehicle movement direction detection sensor provided at a position capable of photographing the entrance and exit of a passage leading to a parking zone including a plurality of passenger compartments, and detecting a movement direction of a vehicle moving through the entrance and exit;
Calculation means for calculating the number of vehicles in the parking zone from the vehicle movement direction detected by the vehicle movement direction detection sensor;
The vehicle movement direction detection sensor is a detection unit that detects the movement direction of the vehicle moving through the doorway by comparing the shooting unit that images the doorway and the images shot a plurality of times at different timings by the shooting unit. Including parking management system. The parking lot management system according to claim 1, further comprising a determination unit that determines whether or not there is a vehicle room that can be parked in the parking zone according to the number of vehicles calculated by the calculation unit. The parking lot management system according to claim 2, further comprising notification means for notifying a user to that effect when the determination means determines that there is a vehicle room that can be parked. Photographing means for photographing a predetermined position on the passage where the vehicle moves;
A vehicle movement direction detection sensor comprising: a detection unit that detects images of a vehicle moving in the predetermined position by comparing images captured a plurality of times at different timings by the imaging unit.

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