1. The utility model provides a parking stall allocation system based on multi-objective optimization which characterized in that, parking stall allocation system based on multi-objective optimization includes:

the vehicle business turn over quantity acquisition module is connected with central control module for carry out the acquisition of the vehicle quantity that gets into the parking area through the counter that sets up at the parking area entry, and carry out the acquisition of the vehicle quantity that exits the parking area through the counter that sets up at the parking area export, include:

using a trigger medium provided to the user in a case where any one of the trigger conditions is satisfied;

receiving a trigger instruction generated and sent by a user according to the trigger medium, or receiving a trigger instruction sent by corresponding equipment after the trigger medium is triggered;

triggering a barrier gate to release a waiting vehicle according to the triggering instruction;

recording the vehicle clearance every time;

the in-site vehicle number determining module is connected with the central control module and used for determining the number of vehicles in the parking lot according to the acquired number of vehicles entering the parking lot and the acquired number of vehicles leaving the parking lot through an in-site vehicle number determining program to obtain the number of vehicles in the parking lot;

the parking lot image acquisition module is connected with the central control module and used for acquiring parking lot images through the unmanned aerial vehicle to obtain parking lot images;

the unmanned aerial vehicle control module is connected with the central control module and is used for controlling the unmanned aerial vehicle through an unmanned aerial vehicle control program;

wherein, control through unmanned aerial vehicle control program carries out unmanned aerial vehicle includes:

determining operation parameters of the mobile platform according to the view images containing the mobile platform and the flight parameters of the unmanned aerial vehicle, which are acquired at any two different moments; the operation parameters of the mobile platform comprise the moving speed of the mobile platform; the two different moments are respectively a first moment and a second moment, and the first moment is earlier than the second moment;

calculating a tracking position of the mobile platform over time based on the operating parameters;

controlling the unmanned aerial vehicle to track the mobile platform according to the tracking position of the mobile platform changing along with time;

controlling the unmanned aerial vehicle to execute a landing action according to the relative position of the mobile platform and the unmanned aerial vehicle in the tracking process;

determining operation parameters of the mobile platform according to the view images containing the mobile platform and the flight parameters of the unmanned aerial vehicle, which are acquired at any two different moments;

wherein, according to the field of vision image that contains moving platform and the flight parameter of unmanned aerial vehicle that arbitrary two different moments gathered, confirm moving platform's operating parameter includes:

calculating a first position of the mobile platform relative to the unmanned aerial vehicle at the first moment according to a first visual field image which is acquired at the first moment and contains the mobile platform and a flight height recorded in a first flight parameter of the unmanned aerial vehicle at the first moment;

calculating a second position of the mobile platform relative to the unmanned aerial vehicle at the second moment according to a second visual field image which is acquired at the second moment and contains the mobile platform and the flight height recorded in a second flight parameter of the unmanned aerial vehicle at the second moment;

determining the speed of the mobile platform relative to the unmanned aerial vehicle according to the first position, the second position and the time difference between the first time and the second time;

determining the moving speed of the mobile platform according to the speed of the mobile platform relative to the unmanned aerial vehicle and the flight speed recorded in the second flight parameters;

the formula for determining the moving speed of the mobile platform is:

wherein the content of the first and second substances,^UV_Tfor the speed of the mobile platform relative to the drone,^UP_T2in order to be said second position, the first position,^UP_T1for said first position,. DELTA.t₂Is the time difference, t, between the first time and the second time_T2Is the second time, t_T1The first time is the first moment;

the central control module is connected with the vehicle in-out quantity acquisition module, the in-field vehicle quantity determination module, the parking lot image acquisition module, the unmanned aerial vehicle control module, the image denoising module, the image enhancement module, the image analysis module, the idle parking space judgment module and the display and navigation module, and is used for controlling the operation of each connection module through the main control computer and ensuring the normal operation of each module;

the image denoising module is connected with the central control module and used for denoising the acquired parking lot image through an image denoising program to obtain a denoised image, and the image denoising module comprises:

carrying out primary denoising processing on the obtained image to be processed to obtain a primary denoised image;

calculating residual quantity of central pixels of each unit area corresponding to the image to be processed according to the numerical values of the specific energy parameters corresponding to the image to be processed and the preliminary denoising image respectively;

calculating a weight matrix corresponding to each unit region by using the residual quantity, and performing non-local mean calculation on the image to be processed according to the weight matrix so as to realize denoising processing on the image to be processed;

the image enhancement module is connected with the central control module and used for enhancing the denoised image through an image enhancement program to obtain an enhanced image, and the image enhancement module comprises:

converting the RGB image into a YUV image to obtain a Y-channel image of the YUV image;

performing edge image extraction on the Y-channel image through an improved Laplace detection operator to obtain an edge image;

carrying out edge sharpening on the edge image to obtain an image edge sharpening image;

enhancing the edge information of the image edge sharpening image through improved image enhancement;

converting the Y-channel image of the enhanced image edge image into an RGB image, and outputting the RGB image and the image edge sharpening image to obtain an enhanced image;

the image analysis module is connected with the central control module and used for analyzing the enhanced image through an image analysis program to obtain an image analysis result; wherein the image analysis result comprises blank position information in the image;

the free parking space judging module is connected with the central control module and used for judging a free parking space according to the acquired image analysis result through a free parking space judging program to obtain the judgment that the blank position information in the image is a free parking space or a parking lot driving channel;

and the display and navigation module is connected with the central control module and used for displaying the number of vehicles in the parking lot, the idle parking spaces and the parking lot driving channels through display and navigation programs and navigating the idle parking spaces according to the displayed parking lot driving channels.

2. The system for allocating parking spaces based on multi-objective optimization of claim 1, wherein in the module for acquiring the number of vehicle accesses, the triggering conditions include: detecting the waiting vehicle at the entrance of the parking lot and detecting a vacancy in the parking lot thereafter; or it is determined that the presence of the first waiting vehicle is not correctly detected but that a vacant parking lot is detected.

3. The system for allocating parking spaces based on multi-objective optimization according to claim 1, wherein in the vehicle entrance and exit amount obtaining module, the waiting vehicle is a vehicle to be parked that waits for a vacant space when there is no vacant space in the parking lot.

4. The system of claim 1, wherein the calculating the weight matrix in the image denoising module comprises:

selecting any unit area on the image to be processed, and determining the associated area of any unit area on the image to be processed,

calculating a weight value corresponding to each associated unit region according to a distance value between each associated unit region and any unit region in the associated regions and the residual quantity to obtain the weight matrix.

5. The system of claim 4, wherein the formula for calculating the weight value corresponding to each associated unit area is:

w(n,m)＝e^{(-(d(n,m)+residuals(n,m))/h)}；

w (n, m) is a weight value corresponding to any associated unit region (n, m), d (n, m) is a distance value between any associated unit region and any unit region, residual (n, m) is a residual amount corresponding to a central pixel of any unit region, and h is a preset control coefficient;

wherein the formula for calculating the distance value between the any associated unit area (n, m) and the any unit area (i, j) is:

wherein 2r +1 is the side length of any one of the associated unit regions, and T, k and T are intermediate values.

6. The parking space allocation system based on multi-objective optimization of claim 1, wherein in the image enhancement module, the edge image extraction of the Y-channel image through the improved Laplace detection operator to obtain an edge image comprises:

multiplying gradient of all directions of a Laplace detection operator by n;

and multiplying the Laplace detection operator multiplied by n by k in the horizontal and vertical directions.

7. The system of claim 1, wherein the image enhancement module enhances the edge information of the image edge sharpening map by improved image enhancement, and the system comprises:

acquiring a Y-channel image brightness value;

acquiring the brightness value of the enhanced Y-channel image by using preset parameters through the brightness value of the Y-channel image and the image edge sharpening image;

and according to the brightness value of the enhanced Y-channel image, reducing the brightness of the brightness value exceeding a preset maximum brightness value through a preset parameter, and improving the brightness of the brightness value lower than a preset minimum brightness value.

8. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface for applying the multi-objective optimization-based space allocation system according to any one of claims 1-7 when the computer program product is executed on an electronic device.

9. A computer readable storage medium storing instructions which, when executed on a computer, cause the computer to apply the system for allocation of parking spaces based on multi-objective optimization according to any one of claims 1 to 7.

10. An information data processing terminal, characterized in that, the information data processing terminal is used for implementing the multi-objective optimization-based parking space allocation system according to any one of claims 1 to 7.

Background

At present, with the development of times, vehicles become indispensable transportation means in daily life of people, and great convenience is brought to work and life of users. The existing parking lot management completely depends on manual management, a parking lot entrance is arranged, and workers are arranged at the parking lot entrance.

At present, management tasks such as vehicle identification and charging of each parking lot are basically completed by a parking lot management server or a parking lot manager, and the parking lot management server controls devices such as voice devices, display devices and gateways connected with the parking lot management server through signal lines so as to realize the parking lot management tasks. The arrangement of the signal line requires a certain cost, and in order to ensure the communication quality between the parking lot management server and the voice device, the display device, the gateway, and other devices, the quality of the signal line is required, which further increases the cost, and even in the case of a large parking lot having a plurality of remote entrances and exits, the cost is higher. The effect that current parking area carries out parking stall distribution is poor, can't realize the assurance to the parking stall information in the parking area, is difficult to carry out the effective distribution of parking stall, causes blocking up and the parking stall wasting of resources in parking area.

Through the above analysis, the problems and defects of the prior art are as follows: the effect that current parking area carries out parking stall distribution is poor, can't realize the assurance to the parking stall information in the parking area, is difficult to carry out the effective distribution of parking stall, causes blocking up and the parking stall wasting of resources in parking area.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a parking space allocation system and method based on multi-objective optimization.

The invention is realized in this way, a parking space allocation system based on multi-objective optimization, which comprises:

the vehicle business turn over quantity acquisition module is connected with central control module for carry out the acquisition of the vehicle quantity that gets into the parking area through the counter that sets up at the parking area entry, and carry out the acquisition of the vehicle quantity that exits the parking area through the counter that sets up at the parking area export, include:

using a trigger medium provided to the user in a case where any one of the trigger conditions is satisfied;

receiving a trigger instruction generated and sent by a user according to the trigger medium, or receiving a trigger instruction sent by corresponding equipment after the trigger medium is triggered;

triggering a barrier gate to release a waiting vehicle according to the triggering instruction;

recording the vehicle clearance every time;

the in-site vehicle number determining module is connected with the central control module and used for determining the number of vehicles in the parking lot according to the acquired number of vehicles entering the parking lot and the acquired number of vehicles leaving the parking lot through an in-site vehicle number determining program to obtain the number of vehicles in the parking lot;

the parking lot image acquisition module is connected with the central control module and used for acquiring parking lot images through the unmanned aerial vehicle to obtain parking lot images;

the unmanned aerial vehicle control module is connected with the central control module and is used for controlling the unmanned aerial vehicle through an unmanned aerial vehicle control program;

wherein, control through unmanned aerial vehicle control program carries out unmanned aerial vehicle includes:

determining operation parameters of the mobile platform according to the view images containing the mobile platform and the flight parameters of the unmanned aerial vehicle, which are acquired at any two different moments; the operation parameters of the mobile platform comprise the moving speed of the mobile platform; the two different moments are respectively a first moment and a second moment, and the first moment is earlier than the second moment;

calculating a tracking position of the mobile platform over time based on the operating parameters;

controlling the unmanned aerial vehicle to track the mobile platform according to the tracking position of the mobile platform changing along with time;

controlling the unmanned aerial vehicle to execute a landing action according to the relative position of the mobile platform and the unmanned aerial vehicle in the tracking process;

determining operation parameters of the mobile platform according to the view images containing the mobile platform and the flight parameters of the unmanned aerial vehicle, which are acquired at any two different moments;

wherein, according to the field of vision image that contains moving platform and the flight parameter of unmanned aerial vehicle that arbitrary two different moments gathered, confirm moving platform's operating parameter includes:

calculating a first position of the mobile platform relative to the unmanned aerial vehicle at the first moment according to a first visual field image which is acquired at the first moment and contains the mobile platform and a flight height recorded in a first flight parameter of the unmanned aerial vehicle at the first moment;

calculating a second position of the mobile platform relative to the unmanned aerial vehicle at the second moment according to a second visual field image which is acquired at the second moment and contains the mobile platform and the flight height recorded in a second flight parameter of the unmanned aerial vehicle at the second moment;

determining the speed of the mobile platform relative to the unmanned aerial vehicle according to the first position, the second position and the time difference between the first time and the second time;

determining the moving speed of the mobile platform according to the speed of the mobile platform relative to the unmanned aerial vehicle and the flight speed recorded in the second flight parameters;

the formula for determining the moving speed of the mobile platform is:

wherein the content of the first and second substances,^UV_Tfor the speed of the mobile platform relative to the drone,^UP_T2in order to be said second position, the first position,^UP_T1for said first position,. DELTA.t₂Is the time difference, t, between the first time and the second time_T2Is the second time, t_T1The first time is the first moment;

the central control module is connected with the vehicle in-out quantity acquisition module, the in-field vehicle quantity determination module, the parking lot image acquisition module, the unmanned aerial vehicle control module, the image denoising module, the image enhancement module, the image analysis module, the idle parking space judgment module and the display and navigation module, and is used for controlling the operation of each connection module through the main control computer and ensuring the normal operation of each module;

the image denoising module is connected with the central control module and used for denoising the acquired parking lot image through an image denoising program to obtain a denoised image, and the image denoising module comprises:

carrying out primary denoising processing on the obtained image to be processed to obtain a primary denoised image;

calculating residual quantity of central pixels of each unit area corresponding to the image to be processed according to the numerical values of the specific energy parameters corresponding to the image to be processed and the preliminary denoising image respectively;

calculating a weight matrix corresponding to each unit region by using the residual quantity, and performing non-local mean calculation on the image to be processed according to the weight matrix so as to realize denoising processing on the image to be processed;

the image enhancement module is connected with the central control module and used for enhancing the denoised image through an image enhancement program to obtain an enhanced image, and the image enhancement module comprises:

converting the RGB image into a YUV image to obtain a Y-channel image of the YUV image;

performing edge image extraction on the Y-channel image through an improved Laplace detection operator to obtain an edge image;

carrying out edge sharpening on the edge image to obtain an image edge sharpening image;

enhancing the edge information of the image edge sharpening image through improved image enhancement;

converting the Y-channel image of the enhanced image edge image into an RGB image, and outputting the RGB image and the image edge sharpening image to obtain an enhanced image;

the image analysis module is connected with the central control module and used for analyzing the enhanced image through an image analysis program to obtain an image analysis result; wherein the image analysis result comprises blank position information in the image;

the free parking space judging module is connected with the central control module and used for judging a free parking space according to the acquired image analysis result through a free parking space judging program to obtain the judgment that the blank position information in the image is a free parking space or a parking lot driving channel;

and the display and navigation module is connected with the central control module and used for displaying the number of vehicles in the parking lot, the idle parking spaces and the parking lot driving channels through display and navigation programs and navigating the idle parking spaces according to the displayed parking lot driving channels.

Further, in the vehicle entering and exiting quantity obtaining module, the triggering condition includes:

detecting the waiting vehicle at the entrance of the parking lot and detecting a vacancy in the parking lot thereafter; or it is determined that the presence of the first waiting vehicle is not correctly detected but that a vacant parking lot is detected.

Further, in the vehicle entering and exiting quantity obtaining module, the waiting vehicle is a vehicle to be parked, which waits for a vacant position when no vacant position exists in the parking lot.

Further, in the image denoising module, the calculating the weight matrix includes:

selecting any unit area on the image to be processed, and determining the associated area of any unit area on the image to be processed,

calculating a weight value corresponding to each associated unit region according to a distance value between each associated unit region and any unit region in the associated regions and the residual quantity to obtain the weight matrix.

Further, the formula for calculating the weight value corresponding to each of the associated unit areas is:

w(n,m)＝e^{(-(d(n,m)+residuals(n,m))/h)}；

w (n, m) is a weight value corresponding to any associated unit region (n, m), d (n, m) is a distance value between any associated unit region and any unit region, residual (n, m) is a residual amount corresponding to a central pixel of any unit region, and h is a preset control coefficient;

wherein the formula for calculating the distance value between the any associated unit area (n, m) and the any unit area (i, j) is:

wherein 2r +1 is the side length of any one of the associated unit regions, and T, k and T are intermediate values.

Further, in the image enhancement module, the extracting an edge image from the Y-channel image by the improved Laplace detection operator to obtain an edge image includes:

multiplying gradient of all directions of a Laplace detection operator by n;

and multiplying the Laplace detection operator multiplied by n by k in the horizontal and vertical directions.

Further, in the image enhancement module, the enhancing the edge information of the image edge sharpening map by improved image enhancement includes:

acquiring a Y-channel image brightness value;

acquiring the brightness value of the enhanced Y-channel image by using preset parameters through the brightness value of the Y-channel image and the image edge sharpening image;

and according to the brightness value of the enhanced Y-channel image, reducing the brightness of the brightness value exceeding a preset maximum brightness value through a preset parameter, and improving the brightness of the brightness value lower than a preset minimum brightness value.

Another object of the present invention is to provide a computer program product stored on a computer readable medium, which includes a computer readable program for providing a user input interface to apply the system for allocating parking spaces based on multi-objective optimization when the computer program product is executed on an electronic device.

Another object of the present invention is to provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to apply the system for allocating parking spaces based on multi-objective optimization.

The invention also aims to provide an information data processing terminal, which is characterized in that the information data processing terminal is used for realizing the parking space allocation system based on multi-objective optimization.

By combining all the technical schemes, the invention has the advantages and positive effects that: according to the parking space distribution system based on multi-objective optimization, the number of the remaining vehicles in the parking lot is obtained by setting the access barrier gate of the parking lot, so that an indication is provided for the vehicles entering the parking lot, and the condition that the vehicles enter the parking lot and exceed the capacity of the parking lot to cause congestion is prevented; the acquisition of the blank position in the parking lot is realized through the acquisition of carrying out the parking lot image in the parking lot top to divide the blank position into the vacant region of parking stall and passageway region, with this location and the navigation of realizing the vacant parking stall, realize the simplification of parking stall distribution scheme, it is more convenient to park.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.

FIG. 1 is a block diagram of a parking space allocation system based on multi-objective optimization according to an embodiment of the present invention;

in the figure: 1. a vehicle entrance and exit quantity obtaining module; 2. an on-site vehicle number determination module; 3. a parking lot image acquisition module; 4. an unmanned aerial vehicle control module; 5. a central control module; 6. an image denoising module; 7. an image enhancement module; 8. an image analysis module; 9. an idle parking space judging module; 10. and a display and navigation module.

FIG. 2 is a flow chart of a parking space allocation method based on multi-objective optimization according to an embodiment of the present invention.

Fig. 3 is a flowchart of a method for acquiring the number of vehicles entering a parking lot by a vehicle entering and exiting number acquiring module using a counter disposed at an entrance of the parking lot and acquiring the number of vehicles exiting the parking lot by a counter disposed at an exit of the parking lot according to an embodiment of the present invention.

Fig. 4 is a flowchart of a method for controlling a drone by a drone control module using a drone control program according to an embodiment of the present invention.

Fig. 5 is a flowchart of a method for denoising an acquired parking lot image by using an image denoising program through an image denoising module to obtain a denoised image according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Aiming at the problems in the prior art, the invention provides a parking space allocation system and a parking space allocation method based on multi-objective optimization, and the invention is described in detail below with reference to the accompanying drawings.

As shown in fig. 1, the parking space allocation system based on multi-objective optimization provided by the embodiment of the present invention includes:

the vehicle in-out quantity acquisition module 1 is connected with the central control module 5 and is used for acquiring the quantity of vehicles entering the parking lot through a counter arranged at an entrance of the parking lot and acquiring the quantity of vehicles exiting the parking lot through a counter arranged at an exit of the parking lot;

the in-site vehicle number determining module 2 is connected with the central control module 5 and is used for determining the number of vehicles in the parking lot according to the acquired number of vehicles entering the parking lot and the acquired number of vehicles leaving the parking lot through an in-site vehicle number determining program to obtain the number of vehicles in the parking lot;

the parking lot image acquisition module 3 is connected with the central control module 5 and used for acquiring parking lot images through the unmanned aerial vehicle to obtain parking lot images;

the unmanned aerial vehicle control module 4 is connected with the central control module 5 and is used for controlling the unmanned aerial vehicle through an unmanned aerial vehicle control program;

the central control module 5 is connected with the vehicle in-out quantity acquisition module 1, the in-field vehicle quantity determination module 2, the parking lot image acquisition module 3, the unmanned aerial vehicle control module 4, the image denoising module 6, the image enhancement module 7, the image analysis module 8, the idle parking space judgment module 9 and the display and navigation module 10, and is used for controlling the operation of each connection module through a main control computer and ensuring the normal operation of each module;

the image denoising module 6 is connected with the central control module 5 and used for denoising the acquired parking lot image through an image denoising program to obtain a denoised image;

the image enhancement module 7 is connected with the central control module 5 and used for enhancing the denoised image through an image enhancement program to obtain an enhanced image;

the image analysis module 8 is connected with the central control module 5 and is used for analyzing the enhanced image through an image analysis program to obtain an image analysis result; the image analysis result comprises blank position information in the image;

the free parking space judging module 9 is connected with the central control module 5 and used for judging a free parking space according to the acquired image analysis result through a free parking space judging program to obtain the judgment that the blank position information in the image is a free parking space or a parking lot driving channel;

and the display and navigation module 10 is connected with the central control module 5 and is used for displaying the number of vehicles in the parking lot, the free parking spaces and the driving channels of the parking lot through a display and navigation program and navigating the free parking spaces according to the displayed driving channels of the parking lot.

As shown in fig. 2, the parking space allocation method based on multi-objective optimization provided by the embodiment of the present invention includes the following steps:

s101, acquiring the number of vehicles entering a parking lot by using a counter arranged at an entrance of the parking lot through a vehicle entering and exiting number acquiring module, and acquiring the number of vehicles exiting the parking lot by using the counter arranged at an exit of the parking lot;

s102, determining the number of vehicles in the parking lot by using an on-site vehicle number determining module according to the number of the acquired vehicles entering the parking lot and the number of the acquired vehicles exiting the parking lot by using an on-site vehicle number determining program to obtain the number of the vehicles in the parking lot;

s103, acquiring a parking lot image by using an unmanned aerial vehicle through a parking lot image acquisition module to obtain a parking lot image; the unmanned aerial vehicle control module controls the unmanned aerial vehicle by utilizing an unmanned aerial vehicle control program;

s104, controlling the operation of each connecting module by using a main control computer through a central control module to ensure the normal operation of each module; denoising the acquired parking lot image by using an image denoising program through an image denoising module to obtain a denoised image;

s105, enhancing the denoised image by using an image enhancement program through an image enhancement module to obtain an enhanced image; analyzing the enhanced image by using an image analysis program through an image analysis module to obtain an image analysis result; the image analysis result comprises blank position information in the image;

s106, judging the free parking space by the free parking space judging module according to the acquired image analysis result by utilizing a free parking space judging program, and judging whether the blank position information in the image is the free parking space or a parking lot driving channel;

and S107, displaying the number of vehicles in the parking lot, the idle parking spaces and the parking lot driving channel by using a display and navigation program through the display and navigation module, and navigating the idle parking spaces according to the displayed parking lot driving channel.

The invention is further described with reference to specific examples.

Example 1

The parking space allocation method based on multi-objective optimization provided by the embodiment of the invention is shown in fig. 1, as a preferred embodiment, as shown in fig. 3, a method for acquiring the number of vehicles entering a parking lot by using a counter arranged at an entrance of the parking lot through a vehicle entering and exiting number acquisition module and acquiring the number of vehicles exiting the parking lot by using a counter arranged at an exit of the parking lot, provided by the embodiment of the invention, comprises the following steps:

s201, in case any one of the trigger conditions is satisfied, using a trigger medium provided to the user;

s202, receiving a trigger instruction generated and sent by a user according to the trigger medium, or receiving a trigger instruction sent by corresponding equipment after the trigger medium is triggered;

s203, triggering a barrier to release the waiting vehicle according to the triggering instruction;

and S204, recording the vehicle release every time.

The triggering conditions provided by the embodiment of the invention comprise: detecting the waiting vehicle at the entrance of the parking lot and detecting a vacancy in the parking lot thereafter; or it is determined that the presence of the first waiting vehicle is not correctly detected but that a vacant parking lot is detected.

The waiting vehicle provided by the embodiment of the invention is a vehicle to be parked, which waits for a vacant position when no vacant position exists in a parking lot.

Example 2

The parking space allocation method based on multi-objective optimization provided by the embodiment of the invention is shown in fig. 1, and as a preferred embodiment, as shown in fig. 4, the method for controlling the unmanned aerial vehicle by using the unmanned aerial vehicle control program through the unmanned aerial vehicle control module provided by the embodiment of the invention comprises the following steps:

s301, determining operation parameters of a mobile platform according to the view images containing the mobile platform and the flight parameters of the unmanned aerial vehicle, which are acquired at any two different moments;

s302, calculating the tracking position of the mobile platform along with the change of time based on the operation parameters;

s303, controlling the unmanned aerial vehicle to track the mobile platform according to the tracking position of the mobile platform changing along with time;

s304, controlling the unmanned aerial vehicle to execute a landing action according to the relative position of the mobile platform and the unmanned aerial vehicle in the tracking process;

s305, determining the operation parameters of the mobile platform according to the view images containing the mobile platform and the flight parameters of the unmanned aerial vehicle, which are acquired at any two different moments.

The operation parameters of the mobile platform provided by the embodiment of the invention comprise the moving speed of the mobile platform; the two different random times are respectively a first time and a second time, and the first time is earlier than the second time.

The method for determining the operation parameters of the mobile platform according to the view images containing the mobile platform and the flight parameters of the unmanned aerial vehicle, which are acquired at any two different moments, comprises the following steps:

calculating a first position of the mobile platform relative to the unmanned aerial vehicle at the first moment according to a first visual field image which is acquired at the first moment and contains the mobile platform and a flight height recorded in a first flight parameter of the unmanned aerial vehicle at the first moment;

calculating a second position of the mobile platform relative to the unmanned aerial vehicle at the second moment according to a second visual field image which is acquired at the second moment and contains the mobile platform and the flight height recorded in a second flight parameter of the unmanned aerial vehicle at the second moment;

determining the speed of the mobile platform relative to the unmanned aerial vehicle according to the first position, the second position and the time difference between the first time and the second time;

and determining the moving speed of the mobile platform according to the speed of the mobile platform relative to the unmanned aerial vehicle and the flight speed recorded in the second flight parameter.

The formula for determining the moving speed of the moving platform provided by the embodiment of the invention is as follows:

wherein the content of the first and second substances,^UV_Tfor the speed of the mobile platform relative to the drone,^UP_T2in order to be said second position, the first position,^UP_T1for said first position,. DELTA.t₂Is the time difference, t, between the first time and the second time_T2Is the second time, t_T1Is the first time.

Example 3

The parking space allocation method based on multi-objective optimization provided by the embodiment of the invention is shown in fig. 1, as a preferred embodiment, as shown in fig. 5, the method for denoising the acquired parking lot image by using an image denoising program through an image denoising module provided by the embodiment of the invention, and obtaining the denoised image comprises the following steps:

s401, performing primary denoising processing on the acquired image to be processed to obtain a primary denoised image;

s402, calculating residual quantity of central pixels of each unit area corresponding to the image to be processed according to the numerical values of the specific energy parameters corresponding to the image to be processed and the preliminary denoising image respectively;

s403, calculating a weight matrix corresponding to each unit region by using the residual quantity, and performing non-local mean calculation on the image to be processed according to the weight matrix to realize denoising processing on the image to be processed.

The calculating of the weight matrix provided by the embodiment of the invention comprises the following steps:

selecting any unit area on the image to be processed, and determining the associated area of any unit area on the image to be processed,

calculating a weight value corresponding to each associated unit region according to a distance value between each associated unit region and any unit region in the associated regions and the residual quantity to obtain the weight matrix.

The formula for calculating the weight value corresponding to each associated unit area provided by the embodiment of the invention is as follows:

w(n,m)＝e^{(-(d(n,m)+residuals(n,m))/h)}；

w (n, m) is a weight value corresponding to any associated unit region (n, m), d (n, m) is a distance value between any associated unit region and any unit region, residual (n, m) is a residual amount corresponding to a central pixel of any unit region, and h is a preset control coefficient.

The formula for calculating the distance value between any one of the associated unit areas (n, m) and any one of the associated unit areas (i, j) provided by the embodiment of the present invention is as follows:

wherein 2r +1 is the side length of any one of the associated unit regions, and T, k and T are intermediate values.

Example 4

As shown in fig. 1, the parking space allocation method based on multi-objective optimization according to an embodiment of the present invention is a preferred embodiment, where the method for enhancing a denoised image by an image enhancement program to obtain an enhanced image includes:

converting the RGB image into a YUV image to obtain a Y-channel image of the YUV image;

performing edge image extraction on the Y-channel image through an improved Laplace detection operator to obtain an edge image;

carrying out edge sharpening on the edge image to obtain an image edge sharpening image;

enhancing the edge information of the image edge sharpening image through improved image enhancement;

and converting the Y-channel image of the enhanced image edge image into an RGB image, and outputting the RGB image and the image edge sharpening image to obtain the enhanced image.

The method for extracting the edge image of the Y-channel image through the improved Laplace detection operator to obtain the edge image comprises the following steps:

multiplying gradient of all directions of a Laplace detection operator by n;

and multiplying the Laplace detection operator multiplied by n by k in the horizontal and vertical directions.

The embodiment of the invention provides a method for enhancing the edge information of an image edge sharpening image through improved image enhancement, which comprises the following steps:

acquiring a Y-channel image brightness value;

acquiring the brightness value of the enhanced Y-channel image by using preset parameters through the brightness value of the Y-channel image and the image edge sharpening image;

and according to the brightness value of the enhanced Y-channel image, reducing the brightness of the brightness value exceeding a preset maximum brightness value through a preset parameter, and improving the brightness of the brightness value lower than a preset minimum brightness value.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.