CN113850999B - Parking space detection device and camera device with radar for monitoring parking space - Google Patents
Parking space detection device and camera device with radar for monitoring parking space Download PDFInfo
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- CN113850999B CN113850999B CN202111033656.XA CN202111033656A CN113850999B CN 113850999 B CN113850999 B CN 113850999B CN 202111033656 A CN202111033656 A CN 202111033656A CN 113850999 B CN113850999 B CN 113850999B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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Abstract
The application provides a parking stall detection device and a camera device that has a radar that is used for monitoring the parking stall. The parking space detection device comprises a shell, a radar beam structure and a camera. The radar is assembled in the radar mounting hole of the shell and comprises an emitting surface. The radar beam structure comprises a main body part and an inward sunken depressed part from the outer surface of the main body part, the main body part is fixed on the shell, the depressed part comprises a first opening and a second opening which are opposite, the radar corresponds to the depressed part, the transmitting surface is located at the first opening, the second opening is far away from the radar relative to the first opening, and the second opening is larger than the first opening. The inner surface of the recess comprises a beam wave surface extending from the first opening to the second opening, the beam wave surface comprises a first surface, the first surface is a curved surface extending from the first opening to the second opening in a bending mode, and at least part of the first surface is located below the transmitting surface so as to limit the range of downward transmitting and receiving echoes of ultrasonic waves emitted by the radar. The camera is assembled in the shell.
Description
Technical Field
The application relates to the technical field of cameras, in particular to a parking space detection device and a camera device with a radar for monitoring parking spaces.
Background
When the control parking stall, use the radar to be used for detecting the vehicle as the sensor and whether be in the process of berthing or leaving usually, because parking stall surrounding environment is complicated, the reflector is more, and radar monomer launch angle is great, and the ultrasonic detection ground that can make the radar send, the radar receives the reflected wave of ground reflection, produces detection distance according to this reflected wave, and leads to the erroneous judgement to there is the error in the detection.
Disclosure of Invention
The application provides a parking stall detection device and be used for monitoring the camera device that has a radar of parking stall can prevent that the ultrasonic detection ground that the radar sent from, improves detection accuracy.
The application provides a parking stall detection device, wherein includes:
a housing including a radar mounting hole and a window;
a radar assembled to the radar mounting hole to detect a state of a vehicle, the radar including a transmitting surface;
the radar beam wave structure is fixed on the shell and comprises a main body part and a concave part which is concave inwards from the outer surface of the main body part, the main body part is fixed on the shell, the concave part comprises a first opening and a second opening which are opposite, the radar is arranged corresponding to the concave part, the emitting surface is positioned at the first opening, the second opening is far away from the radar relative to the first opening, and the second opening is larger than the first opening; the inner surface of the recess comprises a beam wave surface extending from the first opening to the second opening, the beam wave surface comprises a first surface, the first surface is a curved surface extending from the first opening to the second opening in a bending way, and at least part of the first surface is positioned below the transmitting surface so as to limit the range of downward transmitting and receiving echoes of the ultrasonic waves emitted by the radar; and
the camera is assembled in the shell, corresponds to the position of the window and is used for collecting vehicle information of the vehicle.
Optionally, the beam wave surface portions are located on left and right opposite sides of the emitting surface.
Optionally, the radar beam structure includes a cavity, the radar portion is located in the cavity, the cavity passes through the first opening with the depressed part intercommunication, the internal surface of depressed part includes the transition face, the transition face is connected the edge of cavity with the edge of restrainting the wave face, the transition face is followed the edge radial outside extension of first opening.
Optionally, the transition surface is a plane; or the transition surface is a curved surface.
Optionally, the first face gradually expands radially outward in a direction from the first opening to the second opening.
Optionally, the first surface is a rotating curved surface, a rotating shaft of the rotating curved surface is a central line of the emitting surface, a generatrix of the rotating curved surface is a part of a parabola, and a focus of the parabola is a point on an outer edge of the emitting surface.
Optionally, the parabola is determined according to an angle of the ultrasonic wave emitted by the radar, a position of a focus of the parabola, and a point where a straight line where the parabola and the diameter of the emitting surface intersect, the straight line passing through the focus.
Optionally, the wave-beam surface includes a second surface connected to the first surface in the circumferential direction of the recess, the second surface is a plane, and the second surface is disposed on the upper side of the emission surface; and/or
A gap exists between the edge of the emitting surface and the edge of the first opening; and/or
The inner surface of the concave part is a smooth surface; and/or
The radar beam structure is made of metal; and/or
The depressed part includes the sluicing groove, the sluicing groove set up in first face, the sluicing groove with the second opening intercommunication, the degree of depth in the sluicing groove is in the second opening is to the direction of first opening reduces gradually.
Optionally, the edge of the second opening includes an upper edge and a lower edge which are opposite to each other, and the upper edge protrudes outward of the recess relative to the lower edge in the horizontal direction.
Optionally, the upper edge is arc-shaped.
Optionally, a center line of the emitting surface of the radar is inclined upward in a direction outside the housing; and/or
The shell comprises a mounting surface extending in the vertical direction, and the mounting surface is used for being fixedly mounted on a curb.
The present application also provides a camera apparatus, including:
a first housing;
the camera is arranged inside the first shell;
a radar assembly, the radar assembly mid-section subassembly being disposed inside the first housing and the remaining components being disposed outside the first housing;
a radar beam assembly including a second housing and a beam opening extending toward an interior of the second housing;
wherein the remaining components of the radar assembly are disposed inside the second housing, the radar assembly emitting and receiving reflected ultrasonic waves via the beam opening;
the beam opening comprises an inner wall surface, the inner wall surface is defined to be obtained by rotating a preset parabolic segment with a first axis, and the first axis and an optical axis of the camera form an acute angle.
Optionally, when the camera device is fixedly installed in a parking space scene, the horizontal view of the camera and the horizontal coverage of the ultrasonic wave emitted by the radar component at least partially coincide, so that the camera is awakened to work after the radar component detects a vehicle.
Optionally, the beam opening includes a first opening and a second opening, and a radial dimension of the first opening is smaller than a radial dimension of the second opening, so that the beam opening is in a horn shape.
Optionally, the radar beam assembly further includes an end surface connected to the inner wall surface, and the end surface is obtained by extending the first opening in the beam opening radially, so that the radial size of the end surface is larger than that of the first opening, and when the radar assembly vibrates in a parking space monitoring environment, the transmitting range and the receiving range of the radar assembly are not affected by the ultrasonic wave after the radar beam assembly acts on the radar assembly.
Optionally, the preset parabola satisfies: the starting point of the preset parabolic segment is arranged at the edge point of the end face, and the end point of the preset parabolic segment is determined by a point, at a distance L, of a straight line formed by an ultrasonic wave emission point in the radar assembly and a slope having a first included angle with the first axis, wherein the first included angle uniquely defines the ultrasonic horizontal coverage range.
The utility model provides a parking stall detection device includes that the radar restraints ripples structure and radar, and the radar restraints ripples structure and includes first opening, second opening and first face, and the curved surface of first face for following the crooked extension of first opening to second open-ended direction, and the at least part is located the below of transmitting surface to the ultrasonic wave downward emission that the restriction radar sent and the scope of receiving the echo, so can avoid appearing the condition that the radar visited the ground, thereby reduce the condition of erroneous judgement, improve the detection accuracy.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.
Fig. 1 is a partial exploded view of a parking space detection device according to an exemplary embodiment of the present application;
fig. 2 is a schematic structural view of the parking space detection device shown in fig. 1 after being installed;
FIG. 3 is a partial exploded view of another angle of the parking space detection apparatus shown in FIG. 1;
fig. 4 is an enlarged view of the radar and Lei Dashu wave structure portion of the parking space detection apparatus shown in fig. 1;
FIG. 5 isbase:Sub>A cross-sectional view of the radar beam structure of the parking space detecting device shown in FIG. 4, taken along the line A-A after installation ofbase:Sub>A radar;
fig. 6 is a schematic diagram of a radar beam structure of the parking space detection device shown in fig. 1 in a coordinate system;
FIG. 7 is a partial top view of the parking space detection device shown in FIG. 1;
FIG. 8 is a partial front view of the parking space detection device shown in FIG. 1;
fig. 9 is a plan view of the vehicle position detecting device shown in fig. 1.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. "plurality" or "a number" means two or more. Unless otherwise indicated, "front", "rear", "lower" and/or "upper" and the like are for convenience of description and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
The application provides a parking stall detection device. The following combines the figure, explains the parking stall detection device of this application in detail. The features of the following examples and embodiments may be combined with each other without conflict.
The parking space detection device is a camera arranged at a curb or a road corner, is used for capturing the license plate area of a vehicle, and can be applied to scenes such as a parking lot and the like needing to record parking and leaving information of the vehicle. The radar ground detection phenomenon described below is that, since ultrasonic waves emitted from a radar are incident on the ground, reflected waves are formed from the ground and return, and the intensity of the reflected waves is greater than that of the reflected waves of a vehicle, the radar generates detection data indicating a detection distance according to the ground reflected waves, and the detection data is invalid, resulting in erroneous judgment and detection errors. The radar detection roadside phenomenon is similar to the phenomenon that ultrasonic waves emitted by a radar irradiate road teeth higher than a road surface, the radar receives reflected waves reflected by the road teeth, the intensity of the reflected waves is greater than that of reflected waves of a vehicle, the radar generates detection data according to the reflected waves, the detection data is invalid, misjudgment is caused, and errors exist in detection.
Fig. 1 is a partial exploded view of a parking space detection device 100 according to an exemplary embodiment of the present application;
fig. 2 is a schematic structural diagram of the parking space detection device 100 shown in fig. 1 after installation.
Referring to fig. 1, an embodiment of the present application provides a parking space detection device 100, which includes a housing 10, a radar 20, a radar beam structure 30, and a camera 40.
Referring to fig. 1 and 2, a camera 40 is assembled in the housing 10, corresponding to the position of the window 11, for collecting vehicle information of the vehicle, such as shooting a license plate. In the present embodiment, the camera 40 includes a first camera 41 and a second camera 42, and the first camera 41 and the second camera 42 face different directions. The first camera 41 is located near the first side 101 with respect to the second side 102, and the second camera 42 is located near the second side 102 with respect to the first side 101. The first camera 41 faces away from the first radar 22 towards the second side 102. The second camera 42 faces away from the second radar 23, towards the first side 101. The first camera 41 and the second camera 42 are located between the first radar 22 and the second radar 23. The first camera 41 captures the license plate of the tail 60 of the vehicle on one side, and the second camera 42 captures the license plate of the head 70 of the vehicle on one side. When the first radar 22 detects the dynamic state of the vehicle parking or leaving, the second camera 42 takes a picture of the license plate of the vehicle head 70, and when the second radar 23 detects the dynamic state of the vehicle parking or leaving, the first camera 41 takes a picture of the license plate of the vehicle tail 60. The first camera 41 and the second camera 42 can take pictures at the same time. The parking space detection device 100 has high integration level.
Fig. 3 is a partial exploded view of the parking space detection device 100 shown in fig. 1 from another angle. Referring to fig. 2 and 3, in some embodiments, the housing 10 includes a mounting surface 13 extending in an up-down direction, the mounting surface 13 is configured to be fixedly mounted on a curb 50, and an extension line of a center line of the emitting surface 21 of the radar 20 intersects with the mounting surface 13, so that the radar 20 faces a direction of a vehicle, and detection of the vehicle by the radar 20 is facilitated. The parking space detection device 100 is different in relative position to the vehicle, the orientation of the radar 20 is different, and the installation position of the radar beam structure 30 is different.
Fig. 4 is an enlarged view of the radar 20 and the radar beam structure 30 of the vehicle space detecting device 100 shown in fig. 1. Referring to fig. 3 and 4, the parking space detection device 100 further includes a radar beam structure 30, and the Lei Dashu wave structure 30 is fixed on two sides of the parking space detection device 100 and is installed corresponding to the position of the radar 20. In the present embodiment, the radar beam structure 30 is fixed to the housing 10 by bolts. In other embodiments, the radar beam structure 30 may be secured to the housing 10 by adhesive or the like. The radar beam structure 30 includes a main body 31 and a concave portion 32 that is concave inward from an outer surface of the main body 31, the main body 31 is fixed to the housing 10, and the main body 31 may protrude from the housing 10. In the present embodiment, the main body 31 is provided with a connection portion 313 protruding from an inner wall, and a counter bore 315 is provided on an outer surface of the connection portion 313. The body portion 31 may be fixed to the housing 10 by a bolt 314, and the bolt 314 is inserted into a counter bored hole 315 after being mounted, thereby preventing the bolt 314 from being released by an external impact. In other embodiments, the main body 31 may be fixed to the housing 10 by glue or the like, which is not limited in this application.
The recess 32 is provided in the body 31, and the recess 32 protrudes from the housing 10. The recess 32 includes a first opening 321 and a second opening 322 opposite to each other, and the radar 20 is disposed corresponding to the recess 32. The emitting surface 21 is located at the first opening 321. In the embodiment, the emitting surface 21 faces the first opening 321, and the recess 32 may have a symmetrical structure, so as to facilitate processing of the recess 32. The first opening 321 may be circular to facilitate receiving a transmitting surface of the radar 20. The second opening 322 is distant from the radar 20 with respect to the first opening 321, and the second opening 322 is larger than the first opening 321. The inner surface of the recess 32 includes a beam wave surface 323 extending from the first opening 321 to the second opening 322, and the beam wave surface 323 includes a first surface 3231, and the first surface 3231 is a curved surface extending from the first opening 321 to the second opening 322 and is at least partially located below the emitting surface 21 to limit the range of downward emission and reception of the ultrasonic wave emitted by the radar 20. The ultrasonic waves emitted from the emitting surface 21 pass through the first opening 321, pass through the recess 32, and are emitted from the second opening 322 to the outside to be emitted toward the parking space where the vehicle is parked.
In some embodiments, the inner surface of the concave portion 32 is a smooth surface, which can reduce the occurrence of misjudgment caused by diffuse reflection of ultrasonic waves, and the smooth surface is smooth and not easy to accumulate silt, so that the cleaning is convenient.
The radar 20 is located above the ground at a distance from the ground. The ultrasonic waves emitted by the radar 20 are restricted and the range of the received echo is restricted below the emitting surface 21, so that the condition that the radar penetrates the ground can be avoided, the misjudgment is reduced, and the detection accuracy is improved. The first face 3231 may also be curved in the circumferential direction of the first opening 321. The beam wavefront 323 may be a portion of the inner surface of the recess 32. In some embodiments, the beam wave surface 323 may surround the first opening 321 and the second opening 322 to limit the emission angle of the ultrasonic waves emitted by the radar in all directions, thereby improving the accuracy of radar detection. The first face 3231 may be a portion of the beam wavefront 323. The first face 3231 may be a portion of the beam facet 323 that is below the emitting face 21. The recessed portion 32 is substantially flared and gradually expands outward from the first opening 321 toward the second opening 322. In some embodiments, the first face 3231 gradually expands radially outward in a direction from the first opening 321 to the second opening 322, which may allow the radar 20 to better transmit and receive ultrasonic waves.
In some embodiments, the housing includes opposing front and back faces, the front face having the window, and the first face portion being located on a side of the emitting face adjacent the back face. So, can restrict the transmission angle of ultrasonic horizontal direction to the back transmission of casing, prevent that the condition of radar detection roadside from producing to improve the accuracy that the radar detected. In some embodiments, the first surface 3231 is partially disposed on opposite sides of the emitting surface 21 near the front surface and near the back surface, i.e., on opposite left and right sides of the emitting surface 21, and can limit the emitting angle of the ultrasonic waves in the horizontal direction so that the ultrasonic waves are mainly emitted in the direction of the vehicle. The first face 3231 may be positioned below and on the left and right sides of the emitting face 21, extending around the below and the left and right sides of the emitting face 21.
In some embodiments, the wave-shaped surface 323 includes a second surface 3232 connected to the first surface 3231 in the circumferential direction of the recess 32, the second surface 3232 is a plane, and the second surface 3232 is disposed on the upper side of the emitting surface 21, so that the height of the parking space detection device 100 in the vertical direction can be reduced without affecting the reflection and reception of the ultrasonic waves in the vertical direction of the radar 20, and the space can be saved. In this embodiment, the second surface 3232 is an inclined plane inclined from the first opening 321 to the second opening 322 in a direction away from the center line of the emitting surface 21, so that the influence on the reflection and reception of the ultrasonic waves in the vertical direction of the radar 20 is less.
Referring to fig. 4, in some embodiments, the radar beam structure 30 includes a cavity 33, the radar 20 is partially located in the cavity 33, and the cavity 33 communicates with the recess 32 through the first opening 321. The cavity 33 communicates with the inside of the case 10 and the recess 32, and accommodates the radar 20. The inner surface of the recess 32 comprises a transition surface 324, the transition surface 324 connecting the edge of the cavity 33 with the edge of the beam wave surface 323, the transition surface 324 extending radially outward from the edge of the first opening 321. The ultrasonic wave emitted by the radar 20 can be reflected by the beam wave surface 323, and the transition surface 324 can effectively reduce the ultrasonic wave reflected by the beam wave surface 323 and received by the radar 20, and reduce the abnormal echo from entering the radar 20. In other embodiments, the housing 10 comprises a cavity 33, and the cavity 33 communicates with the recess 32 through the first opening 321. The cavity 33 may be disposed on the housing 10 or on the radar beam structure 30, which is not limited in this application.
In some embodiments, the transition surface 324 is a plane, and the transition surface 324 may be parallel to the emitting surface 21 or inclined away from the recess 32 in the direction of the first opening 321. In this embodiment, the transition surface 324 is parallel to the transmitting surface 21, and the width of the transition surface 324 is 3mm, at this time, the test has the best effect on the abnormal echo entering the radar transmitting surface 21. In other embodiments, the transition surface 324 may also be a curved surface, which may be engaged with the first surface 3231 for better transition, so as to facilitate the forming of the concave portion 32. The transition surface 324 may extend from the first opening 321 in a curved manner toward the second opening 322, and gradually expand outward in a direction away from the first opening 321. The curvature of the transition surface 324 in the direction from the first opening 321 to the second opening 322 is different from the curvature of the first surface 3231 in the direction from the first opening 321 to the second opening 322. The transition surface 324 may smoothly transition with the first surface 3231.
In some embodiments, the recess 32 includes a drainage groove 325, the drainage groove 325 is disposed on the first face 3231, and the drainage groove 325 communicates with the second opening 322. The depth of the drainage groove 325 is gradually reduced in the direction from the second opening 322 to the first opening 321, so that water can be discharged out of the radar beam structure 30 through the drainage groove 325 more conveniently, and influence on transmission and reception of the ultrasonic waves of the radar 20 due to accumulated water remaining on the surface of the radar beam structure 30 is avoided. In this embodiment, the drainage groove 325 is disposed directly below the recess 32 to facilitate drainage of accumulated water. The drain groove 325 is inclined downward in the direction of the second opening 322, and has a certain distance from the first opening 321.
In some embodiments, the edges of the second opening 322 include an upper edge 3221 and a lower edge 3222, and the upper edge 3221 protrudes outward of the concave portion 32 relative to the lower edge 3222 in the horizontal direction, so as to play a role in blocking the wave surface 323, and prevent foreign matters such as fallen leaves from adhering to the lower edge 3222 or the wave surface 323, thereby affecting the sending of the ultrasonic wave and the receiving of the echo by the radar 20. The upper edge 3221 is positioned above the emitting surface 21 at the edge of the second surface 3232, and the lower edge 3222 is positioned below the emitting surface 21 at the edge of the first surface 3231. In some embodiments, the upper edge 3221 is rounded to reduce damage to the tires and wheel hubs of the vehicle during a vehicle crash.
In some embodiments, the radar beam structure 30 is made of metal, and has a certain structural strength, so as to prevent the structure from being deformed due to external impact. The first radar 22 and the second radar 23 each correspond to a radar beam structure 30, and the two radar beam structures 30 may be the same or different.
Fig. 5 isbase:Sub>A cross-sectional view of the radar beam structure 30 of the parking space detecting device 100 shown in fig. 4, taken along the linebase:Sub>A-base:Sub>A after the radar 20 is mounted thereon.
Referring to fig. 4 and 5, in some embodiments, a gap exists between an edge of the emitting surface 21 and an edge of the first opening 321. The opening size of the first opening 321 is larger than the size of the emitting surface 21, and when the radar beam structure 30 vibrates due to an external force, the radar 20 itself is not affected by the vibration of the radar beam structure 30 because a gap exists between the radar beam structure 30 and the radar 20.
In some embodiments, the first surface 3231 is a surface of revolution, the rotation axis of the surface of revolution is the central line s of the emitting surface 21, the generatrix of the surface of revolution is a part of a parabola, the focus of the parabola is a point of the outer edge of the emitting surface 21, and when the generatrix of the curve of revolution is a part of a parabola, the shape of the parabola can better realize the function of preventing radar detection and the radar detection side, so that the detection accuracy of the radar 20 is higher.
In this embodiment, the focal points include a first focal point a and a second focal point b, the first focal point a and the second focal point b are two points diametrically opposite to the emitting surface 21, the first surface 3231 includes a first portion, the parabola includes a first parabola P1, a generatrix of the first portion is a part of the first parabola P1, and the focal point of the first portion is the first focal point a.
The first parabola P1 is obtained by the following way: when θ is set to be half the angle of the ultrasonic wave emitted from the radar 20, a line a1 is drawn at θ from the first focal point a, and a line b1 is drawn at θ from the second focal point b, it is understood that the line a1 and the line b1 are symmetrical with respect to the center line s of the emitting surface 21. Taking the first focus a as a line a2 parallel to b1, the first focus a being the focus of the first parabola P1, the line a2 being the central line of the first parabola P1, and the point a being a known point of the structure, the first parabola P1 can be obtained by the above data according to the requirements and design of the transition surface 324. An intersection point of the P1 and the line A1 is A1, a distance from the A1 to the emitting surface 21 is an effective distance from the first opening 321 to the second opening 322, the distance from the A1 to the emitting surface 21 is different, which affects the beam action intensity of the beam surface 323, the first surface 3231 is a rotating curved surface, and the first surface 3231 can be obtained by rotating the first parabola P1 around the central line s. The first surface 3231 manufactured in the above manner can save processing cost and time while ensuring the radar beam effect, and is convenient to produce.
The parabola is thus determined from the angle of the ultrasonic wave emitted by the radar 20, the position of the focus of the parabola, and the point at which the parabola intersects the line of the diameter of the emitting surface 21, which passes through the focus.
Fig. 6 is a schematic diagram of the radar beam structure 30 of the parking space detection apparatus 100 shown in fig. 1 in a coordinate system.
Referring to fig. 6, in some embodiments, in a rectangular coordinate system with the center of the emitting surface 21 of the radar 20 as an origin and the diameter direction of the emitting surface 21 as an x-axis, the parabola f (x, y) satisfies:
wherein the variable c satisfies:
theta as hereinbefore definedHalf the angle of the ultrasonic wave emitted by the radar 20, (fx, 0) is the focal coordinate of the parabola, (x) 0 And 0) is the coordinate of the intersection of the parabola and the x-axis. Wherein (fx, 0) and (x) 0 And 0) is a set value. Fx described above is a fixed value.
Fig. 7 is a partial plan view of the parking space detection device 100 shown in fig. 1; fig. 8 is a partial front view of the parking space detection device 100 shown in fig. 1; fig. 9 is a plan view of the vehicle position detection device 100 shown in fig. 1.
Referring to fig. 1, 7, 8 and 9, in the present embodiment, the angle of view of the camera 40 in the horizontal direction is k, so that the license plate of the vehicle can be completely covered. Meanwhile, the position relation between the equipment and the vehicle can be obtained, the angle e =45 ° in the horizontal direction, the angle f =30 ° in the vertical direction, of the ultrasonic wave emitted by the radar 20 through the radar beam structure 30, the included angle g =19 ° between the center line of the emitting surface 21 of the radar 20 and the ground, the included angle d =30 ° between the extension line of the center line of the emitting surface 21 of the radar 20 and the mounting surface 13, and the height h =12cm between one end, close to the ground, of the emitting surface 21 and the ground. In the case where the control logic is different from that of the radar 20 alone, the value changes accordingly.
The present application also provides a camera device 100 (corresponding to a parking space detection device), where the camera device 100 includes a first housing 10 (corresponding to a housing), a radar module 20 (corresponding to a radar), a radar beam module 30 (corresponding to a radar beam structure), and a camera 40.
The first housing 10 plays a role of protecting the camera and the radar component. Wherein the camera 40 is disposed inside the first casing 10, the middle subassembly of the radar assembly 20 is disposed inside the first casing 10 and the rest of the subassemblies are disposed outside the first casing 10.
The radar beam assembly 30 includes a second housing 31 (corresponding to a main body portion) and a beam opening 32 (corresponding to a recessed portion) extending toward the inside of the second housing. Wherein the remaining components of the radar assembly 20 are disposed inside the second housing 31, and the radar assembly 20 transmits and receives reflected ultrasonic waves via the beam opening 32.
The beam opening 32 includes an inner wall surface 3231 (corresponding to a first surface), and the inner wall surface 3231 is defined by a predetermined parabolic segment (corresponding to a first parabola P1) rotating along a first axis s (corresponding to the center line s) so as to limit the range of the ultrasonic wave emitted from the radar unit 20 and the received echo. The first axis s forms an acute angle with the optical axis of the camera 40, and the camera 40 and the radar beam assembly 30 can be installed at adjacent positions, so that the space utilization rate of the camera device 100 is high, and the design is more reasonable.
When the camera device 100 is fixedly installed in a parking space scene, the horizontal field of view of the camera 40 at least partially coincides with the horizontal coverage of the ultrasonic waves emitted by the radar component 20, so that the camera 40 is awakened to work after the radar component 20 detects the vehicle. In this embodiment, when the first radar 22 detects a vehicle, the second camera 42 is awakened, and the second camera 42 takes a picture of the license plate of the vehicle head 70.
The beam opening 32 comprises a first opening 321 and a second opening 322, and the radial dimension of the first opening 321 is smaller than the radial dimension of the second opening 322, so that the beam opening 32 is in a horn shape, and thus the range of the radar component 20 emitting ultrasonic waves is not blocked, and the effect of beam waves can be better realized.
The radar beam assembly 30 further includes an end surface 324 (equivalent to a transition surface) connected to the inner wall surface, and the end surface 324 is obtained by extending along the radial direction of the first opening 321 in the beam opening 32, so that the radial dimension of the end surface 324 is larger than that of the first opening 321, and thus when the radar assembly 20 vibrates in the parking space monitoring environment, the transmitting range and the receiving range of the ultrasonic wave of the radar assembly 20 after being acted by the radar beam assembly 30 are not affected.
Referring to fig. 5, the preset parabola satisfies: the start point of the preset parabolic segment is set at the edge point of the end surface 324, and the end point of the preset parabolic segment is determined by the point at the distance L from the end surface L of the straight line formed by the ultrasonic wave emitting point in the radar unit 20 and the slope having a first included angle θ (corresponding to the angle θ described above) with the first axis s, wherein the first included angle θ uniquely defines the ultrasonic wave horizontal coverage.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (16)
1. The utility model provides a parking stall detection device which characterized in that includes:
a housing including a radar mounting hole and a window;
a radar assembled to the radar mounting hole to detect a state of a vehicle, the radar including a transmitting surface;
the radar beam wave structure is fixed on the shell and comprises a main body part and a concave part which is concave inwards from the outer surface of the main body part, the main body part is fixed on the shell, the concave part comprises a first opening and a second opening which are opposite, the radar is arranged corresponding to the concave part, the emitting surface is positioned at the first opening, the second opening is far away from the radar relative to the first opening, and the second opening is larger than the first opening; the inner surface of the recess part comprises a beam wave surface extending from the first opening to the second opening, the beam wave surface comprises a first surface, the first surface is a curved surface which is bent and extended from the first opening to the second opening, and at least part of the first surface is positioned below the transmitting surface so as to limit the range of downward transmitting and receiving echoes of the ultrasonic waves emitted by the radar; and
and the camera is assembled in the shell, corresponds to the position of the window and is used for acquiring the state information of the driving-in and driving-out of the vehicle.
2. The parking space detection device according to claim 1, wherein the housing comprises a front surface and a back surface which are opposite to each other, the front surface is provided with the window, and the first surface portion is located on one side of the emission surface close to the back surface.
3. The vehicle space detection device of claim 1, wherein the radar beam structure includes a cavity, the radar portion being located within the cavity, the cavity communicating with the recess through the first opening, an inner surface of the recess including a transition surface connecting an edge of the cavity with an edge of the beam surface, the transition surface extending radially outward from the edge of the first opening.
4. The parking space detection device according to claim 3, wherein the transition surface is a plane; or the transition surface is a curved surface.
5. The vehicle space detection device according to claim 1, wherein the first surface gradually expands radially outward in a direction from the first opening toward the second opening.
6. The parking space detection device according to claim 1, wherein the first surface is a rotating curved surface, a rotating axis of the rotating curved surface is a central line of the emitting surface, a generatrix of the rotating curved surface is a part of a parabola, and a focus of the parabola is a point on an outer edge of the emitting surface.
7. The vehicle space detection device according to claim 6, wherein the parabola is determined according to an angle of the ultrasonic wave emitted from the radar, a position of a focus of the parabola, and a point where a straight line where the parabola and the diameter of the emitting surface intersect passes through the focus.
8. The parking space detection device according to claim 1, wherein the wave-restraining surface includes a second surface connected to the first surface in a circumferential direction of the recess, the second surface being a plane, the second surface being disposed on an upper side of the emission surface; and/or
A gap exists between the edge of the emitting surface and the edge of the first opening; and/or
The inner surface of the concave part is a smooth surface; and/or
The radar beam structure is made of metal; and/or
The depressed part includes the sluicing groove, the sluicing groove set up in first face, the sluicing groove with the second opening intercommunication, the degree of depth in the sluicing groove is in the second opening is to the direction of first opening reduces gradually.
9. The parking space detection device according to claim 1, wherein the edge of the second opening comprises an upper edge and a lower edge which are opposite to each other, and the upper edge protrudes outwards of the recessed portion relative to the lower edge in the horizontal direction.
10. The parking space detection device according to claim 9, wherein the upper edge is arc-shaped.
11. The parking space detection device according to claim 1, wherein a center line of the emitting surface of the radar is inclined upward in a direction outside the housing; and/or
The shell comprises a mounting surface extending in the vertical direction, and the mounting surface is used for being fixedly mounted on a curb.
12. A camera device, comprising:
a first housing;
the camera is arranged inside the first shell;
a radar assembly, the radar assembly mid-section subassembly being disposed inside the first housing and the remaining components being disposed outside the first housing;
a radar beam assembly including a second housing and a beam opening extending toward an interior of the second housing;
wherein the remaining components of the radar assembly are disposed inside the second housing, the radar assembly emitting and receiving reflected ultrasonic waves via the beam opening;
the beam opening comprises an inner wall surface, the inner wall surface is defined to be obtained by rotating a preset parabolic segment with a first axis, and the first axis and an optical axis of the camera form an acute angle.
13. The camera device of claim 12, wherein when the camera device is fixedly installed in a parking space scene, the horizontal field of view of the camera and the horizontal coverage of the ultrasonic waves emitted by the radar component at least partially coincide, so that the camera is awakened to operate after the radar component detects the vehicle.
14. The camera device of claim 12, wherein said beam opening comprises a first opening and a second opening, said first opening having a radial dimension less than a radial dimension of said second opening such that said beam opening appears flared.
15. The camera device according to claim 14, wherein the radar beam assembly further includes an end surface connected to the inner wall surface, the end surface extending radially along the first opening in the beam opening, so that a radial dimension of the end surface is larger than a radial dimension of the first opening, and thus when the radar assembly vibrates in the parking space monitoring environment, an ultrasonic wave transmitting range and an ultrasonic wave receiving range of the radar assembly after being acted on by the radar beam assembly are not affected.
16. The camera device according to claim 15, wherein the preset parabolic segment satisfies: the starting point of the preset parabolic segment is arranged at the edge point of the end face, and the end point of the preset parabolic segment is determined by a point, at a distance L, of a straight line formed by an ultrasonic wave emission point in the radar assembly and a slope having a first included angle with the first axis, wherein the first included angle uniquely defines the ultrasonic horizontal coverage range.
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