Positioning and charging methods for video surveillance equipment used for roadside parking fee collection

Abstract

This invention discloses a positioning method and a charging method for video inspection equipment used for roadside parking fee collection. The solution of this invention establishes parking space collection points in advance at parking spaces where RTK positioning fails, and saves the auxiliary positioning information collected in advance at the parking space collection points. This information is used to update the reference of the strapdown inertial navigation system of the video inspection vehicle, so that when RTK positioning fails, accurate position information can be obtained from the strapdown inertial navigation system. Regardless of whether RTK positioning is successful or not, accurate positioning of the video inspection equipment can be achieved.

Description

Technical Field

[0001] This invention relates to the field of parking fee collection technology, and in particular to a positioning method, positioning device, fee collection method, and smart terminal for video inspection equipment used in roadside parking fee collection. Background Technology

[0002] The existing unmanned roadside parking fee collection system uses video inspection vehicles to inspect, take photos, and identify license plates, then uploads the photos and license plates to the system's backend server to generate accurate parking fee information.

[0003] However, due to the obstruction of tall buildings, trees, and environmental factors, the positioning of inspection vehicles is often inaccurate, and the images taken by the inspection vehicles and the license plate recognition do not match the actual parking space where the vehicles are located, causing the back-end server to generate incorrect charging information.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] The main objective of this invention is to provide a positioning method, positioning device, charging method, and smart terminal for video inspection equipment used for roadside parking fee collection, aiming to solve the problem of inaccurate positioning of video inspection equipment in the prior art, which leads to incorrect charging information.

[0006] To achieve the above objectives, the present invention provides a positioning method for video inspection equipment used in roadside parking fee collection, wherein the method includes:

[0007] Based on the global satellite navigation system, the location information of the video inspection equipment is obtained using the RTK positioning method.

[0008] Once RTK positioning is successful, the reference of the strapdown inertial navigation system is updated based on the location information, and the location information is output.

[0009] When RTK positioning fails and the reference of the strapdown inertial navigation system fails, the pre-collected auxiliary positioning information is obtained based on the berth acquisition point corresponding to the location of the video inspection equipment. The reference information is obtained based on the auxiliary positioning information, and the reference of the strapdown inertial navigation system is updated based on the reference information.

[0010] When RTK positioning fails but the reference of the strapdown inertial navigation system is valid, the location information of the video inspection equipment is obtained and output based on the strapdown inertial navigation system.

[0011] Optionally, obtaining pre-collected auxiliary positioning information based on the berth acquisition point corresponding to the location of the video inspection equipment includes:

[0012] Scan the QR code corresponding to the berth collection point to obtain the QR code image;

[0013] Based on the QR code image, obtain the berth identifier corresponding to the berth collection point;

[0014] The auxiliary positioning information is obtained based on the berth marker.

[0015] Optionally, a QR code sign is provided on the roadside for displaying the QR code, and obtaining the reference information based on the auxiliary positioning information includes:

[0016] Based on the auxiliary positioning information, the distance between the reference point of the video inspection equipment and the QR code sign is calculated;

[0017] The reference information is obtained based on the distance, the angle between the starting line of the berth acquisition point in the auxiliary positioning information and the meridian or parallel, and the longitude and latitude of the berth acquisition point in the auxiliary positioning information.

[0018] Optionally, the expression for calculating the distance between the reference point of the video inspection equipment and the QR code sign is:

[0019]

[0020] Where a is the size of the reference image in the auxiliary positioning information, b is the size of the QR code image, AB is the diameter of the camera lens of the video inspection equipment, OF is the focal length of the camera of the video inspection equipment, h is the size of the QR code in the QR code sign, and OP1 is the distance from the berth collection point to the QR code sign in the auxiliary positioning information.

[0021] Optionally, the distance between the berth collection points is less than the maximum interval distance determined based on the speed of the video inspection equipment.

[0022] Optionally, auxiliary positioning information of the berth collection point can be pre-collected, including:

[0023] Obtain the location information of the berth collection point and the berth number corresponding to the berth collection point;

[0024] Generate a QR code based on the berth number;

[0025] Set up a QR code sign to display the QR code;

[0026] Take a picture of the QR code on the QR code sign at the berth collection point to obtain the reference image size and the distance from the berth collection point to the QR code sign in the auxiliary positioning information;

[0027] Save auxiliary positioning information.

[0028] Optionally, positioning points are also set around the QR code area on the QR code sign, and the positioning points are used to vertically capture the QR code in the QR code sign when capturing the QR code.

[0029] To achieve the above objectives, a second aspect of the present invention also provides a method for charging roadside parking fees, comprising:

[0030] According to any of the above-described video inspection equipment positioning methods for roadside parking fee collection, the location information of the video inspection equipment is obtained.

[0031] Obtain the pre-collected location information set of all berths;

[0032] The location information is searched in the location information set to obtain the berth identifier of the berth where the video inspection equipment is located;

[0033] Obtain the license plate information of vehicles in the parking space where the video inspection equipment is located;

[0034] Based on the license plate information, the parking space identifier, and the collected time information of vehicles entering and leaving the parking space, charging information is generated.

[0035] To achieve the above objectives, a third aspect of the present invention also provides a positioning device for video inspection equipment used in roadside parking fee collection, comprising:

[0036] The GNSS-RTK positioning module is used to obtain the location information of the video inspection equipment based on the global satellite navigation system and the RTK positioning method. When the RTK positioning is successful, the module updates the reference of the strapdown inertial navigation system based on the location information and outputs the location information.

[0037] The strapdown inertial navigation positioning module is used to obtain and output the location information of the video inspection equipment based on the strapdown inertial navigation system when RTK positioning fails and the strapdown inertial navigation reference is valid.

[0038] The reference update module is used to obtain pre-collected auxiliary positioning information based on the berth acquisition point corresponding to the location of the video inspection equipment when RTK positioning fails and the reference of the strapdown inertial navigation system fails. The module then obtains reference information based on the auxiliary positioning information and updates the reference of the strapdown inertial navigation system based on the reference information.

[0039] A fourth aspect of the present invention provides a smart terminal, the smart terminal including a memory, a processor, and a video inspection device positioning program for roadside parking fee collection stored in the memory and executable on the processor, wherein the video inspection device positioning program for roadside parking fee collection, when executed by the processor, implements any one of the steps of the video inspection device positioning method for roadside parking fee collection.

[0040] As can be seen from the above, the present invention establishes berth acquisition points in advance at berths where RTK positioning fails, and saves the pre-collected auxiliary positioning information at these berth acquisition points to update the reference of the strapdown inertial navigation system of the video inspection vehicle. This allows the vehicle to obtain accurate position information based on the strapdown inertial navigation system when RTK positioning fails, and enables accurate positioning of the video inspection equipment regardless of whether RTK positioning is successful or not. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a detailed flowchart of an embodiment of the video inspection equipment positioning method of the present invention;

[0043] Figure 2 This is the present invention. Figure 1 A schematic diagram of the berth data collection points in the embodiment;

[0044] Figure 3 This is the present invention. Figure 1 A flowchart illustrating the process of obtaining pre-collected auxiliary positioning information in this embodiment;

[0045] Figure 4 This is the present invention. Figure 1 A flowchart illustrating the embodiment of pre-collecting auxiliary positioning information;

[0046] Figure 5 This is the present invention. Figure 1 A flowchart illustrating step S300 in the embodiment;

[0047] Figure 6 This is the present invention. Figure 1 A schematic diagram of auxiliary positioning imaging during data acquisition in the embodiment;

[0048] Figure 7 This is the present invention. Figure 1 A schematic diagram of auxiliary positioning imaging during inspection in the embodiment;

[0049] Figure 8 This is the present invention. Figure 1 A reference diagram illustrating the calculation of longitude and latitude during inspection in the embodiment;

[0050] Figure 9 This is a schematic diagram of the positioning device for video inspection equipment used for roadside parking fee collection provided in an embodiment of the present invention;

[0051] Figure 10 This is a block diagram illustrating the internal structure of a smart terminal provided in an embodiment of the present invention. Detailed Implementation

[0052] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0053] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0054] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0055] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0056] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0059] With urban development, the number of vehicles is increasing, leading to greater parking pressure. To alleviate this pressure, roadside parking has emerged as a supplementary parking option and its scale is expanding. To save manpower and achieve unmanned roadside parking fee collection, current fee collection systems mainly include: magnetic vehicle detectors, communication base stations, video inspection vehicles, a system backend server, and a self-service payment app for car owners. The magnetic vehicle detectors collect vehicle arrival and departure times and transmit this data to the system backend server via the communication base station. The video inspection vehicle inspects and photographs vehicles and identifies license plates, uploading the photos and license plates to the system backend server. The system backend then generates parking records based on departure time, license plate number, and parking space information for parking fee collection. Car owners can pay via the self-service payment app or by scanning a QR code at the parking space. This fee collection system requires minimal manpower, equipment investment, and has low construction costs.

[0060] However, current video patrol vehicles use GNSS+RTK positioning technology, which requires the base station and rover to receive signals from multiple identical satellites to calculate the vehicle's real-time location (i.e., successful RTK positioning). This generally works in open environments. However, when the parking space is near tall buildings; when there are trees obstructing the view; when there are elevated bridges or other structures above the parking space; or during rainy weather, the GNSS signal attenuation is significant. The video patrol vehicle's GNSS antenna may not receive enough effective satellites to match the base station's signal, making RTK positioning impossible. Because RTK positioning is not possible, the location information obtained by the video patrol vehicle will have a large deviation, typically several meters to tens of meters. This results in a mismatch between the reported license plate and photo information and the actual parking space, as well as a discrepancy with the parking time reported by the magnetic vehicle detector within the parking space, leading to incorrect parking billing and numerous complaints from drivers.

[0061] To solve the positioning problem of video inspection vehicles, this invention establishes berth acquisition points in advance at berths where RTK positioning fails, and saves the pre-collected auxiliary positioning information at these berth acquisition points. This information is then used to update the reference of the strapdown inertial navigation system of the video inspection vehicle, so that accurate position information can be obtained from the strapdown inertial navigation system when RTK positioning fails.

[0062] Exemplary methods

[0063] Although the video inspection equipment positioning method of this invention is taken as an example of application in a parking payment system, it should be noted that it can also be applied in other situations, such as parking guidance management.

[0064] like Figure 1 As shown, the specific method for locating video inspection equipment includes the following steps:

[0065] Step S100: Based on the Global Navigation Satellite System, obtain the location information of the video inspection equipment using the RTK positioning method;

[0066] Specifically, video inspection equipment can be various devices such as inspection cars, inspection electric vehicles, and inspection robots, used for inspection, photography, and license plate recognition. The video inspection equipment mainly consists of an inspection equipment carrier, power supply, industrial control computer, parking space and license plate capture cameras, video positioning cameras, and communication devices such as 4G / 5G+WiFi for communication with the backend server. The industrial control computer is the processing terminal of the video inspection equipment, running the video inspection equipment positioning method and possessing functions such as positioning calculation, image processing, and information transmission. In this embodiment, the inspection equipment carrier is a video inspection vehicle. The parking space and license plate capture cameras consist of a front-facing camera and a rear-facing camera, responsible for capturing real-time video of the inspected parking spaces, extracting images of the parking spaces from the video, and recognizing the license plates of parked vehicles. The video positioning camera is used to recognize the QR code signs installed next to the parking spaces, providing auxiliary positioning when RTK positioning fails.

[0067] A Global Navigation Satellite System (GNSS) is a space-based radio navigation and positioning system that provides users with all-weather three-dimensional coordinates, velocity, and time information from any location on the Earth's surface or in near-Earth space. Real-time kinematic (RTK) positioning employs RTK carrier phase differential technology, a method that processes the carrier phase observations of two measurement stations in real time. The carrier phase data collected by the reference station is sent to the user receiver (the video inspection device in this embodiment), and the difference is calculated to obtain the coordinates, i.e., the position information of the video inspection device in this embodiment. RTK positioning is a new and commonly used satellite positioning measurement method. Previous static, rapid static, and dynamic measurements all required post-processing to obtain centimeter-level accuracy, while RTK can achieve centimeter-level positioning accuracy in real time outdoors.

[0068] Specifically, the antenna of the video inspection equipment receives GNSS signals in real time to obtain real-time location information and reports this information to the RTK base station management server. Based on the real-time location information, the RTK base station management server determines the nearest RTK base station, which then transmits RTK data to the video inspection equipment. After receiving the RTK data from the RTK base station, the video inspection equipment uses the received GNSS and RTK data to perform calculations based on the RTK positioning method to obtain centimeter-level accurate location information. This RTK positioning method is a common algorithm in this field and will not be elaborated further.

[0069] Step S200: When RTK positioning is successful, update the reference of the strapdown inertial navigation system according to the location information and output the location information;

[0070] Specifically, the video inspection equipment not only has GNSS+RTK positioning capabilities, but also strapdown inertial navigation positioning capabilities. This strapdown inertial navigation positioning is used when RTK positioning fails, and RTK positioning is used first when RTK repositioning is successful.

[0071] In this embodiment, if the base station and the video inspection equipment simultaneously receive positioning information from five or more identical satellites, the precise location information of the RTK positioning can be determined, indicating successful RTK positioning. Otherwise, the precise location information cannot be determined, indicating RTK positioning failure. When the video inspection equipment can determine the precise location information of the RTK positioning, it continuously updates the reference position of the strapdown inertial navigation system using this precise location information to eliminate the accumulated errors of the strapdown inertial navigation system. The strapdown inertial navigation system is a commonly used system in this field and will not be described in detail here.

[0072] Step S300: When RTK positioning fails and the reference of the strapdown inertial navigation system fails, obtain the pre-collected auxiliary positioning information based on the berth acquisition point corresponding to the location of the video inspection equipment, obtain the reference information based on the auxiliary positioning information, and update the reference of the strapdown inertial navigation system based on the reference information.

[0073] Specifically, due to the error accumulation problem in strapdown inertial navigation positioning, when inspecting at a speed of 25 km / h, if the reference of the strapdown inertial navigation system is not updated within 60 seconds, the positioning error will reach the meter level, which cannot meet the requirements for accurate positioning, that is, the reference of the strapdown inertial navigation system fails.

[0074] Therefore, in the event of RTK positioning failure, it is necessary to update the reference of the strapdown inertial navigation system (SINS) in a timely manner through berth data collection points to achieve accurate positioning. When setting berth data collection points, the maximum interval distance between them needs to be determined based on the speed of the video inspection equipment. This ensures that the distance between any two adjacent berth data collection points is less than the maximum interval distance, guaranteeing the validity of the SINS reference. In this embodiment, the speed of the video inspection equipment is assumed to be 25 km / h, and the calculated maximum interval distance is 40 m. That is, when the continuous distance where RTK cannot lock exceeds 40 m, a berth data collection point is set at a maximum interval of 40 m to update the SINS reference. Obviously, berth data collection points can also be set at each berth where RTK positioning fails.

[0075] like Figure 2 As shown, the berth data acquisition point is a pre-established positioning correction point located on the starting line of the berth. Establishing the berth data acquisition point also requires pre-collecting the latitude and longitude coordinates of its location as auxiliary positioning information and storing this information on the backend server. When the video surveillance equipment arrives at the berth data acquisition point, it retrieves the corresponding auxiliary positioning information from the backend server based on the point's identifier. Then, based on this auxiliary positioning information, it obtains the reference information for the strapdown inertial navigation system and updates the system's reference.

[0076] In this embodiment, to facilitate the video inspection equipment in accurately obtaining the identification of the berth collection point, a QR code containing the berth collection point identification is set up, and the QR code is affixed to a QR code sign. For example... Figure 3 As shown, the video inspection equipment obtains pre-collected auxiliary positioning information through the following steps:

[0077] Step A310: Scan the QR code corresponding to the berth collection point to obtain the QR code image;

[0078] Step A320: Based on the QR code image, obtain the berth identifier corresponding to the berth collection point;

[0079] Step A330: Obtain auxiliary positioning information based on berth markings.

[0080] Specifically, the video positioning camera in the video inspection equipment scans the QR code on the QR code sign to obtain the QR code image. It then recognizes the QR code image to obtain the berth identifier corresponding to the berth collection point, and sends this berth identifier to the backend server to obtain auxiliary positioning information returned by the backend server. In this embodiment, QR codes are used to identify berths to facilitate the expansion of the information contained in the QR codes. In another embodiment, the QR code contains auxiliary positioning information, which can be directly obtained by scanning and recognizing the QR code, without needing to retrieve it from the backend server. It should be noted that other methods can also be used to identify berths.

[0081] Step S400: When RTK positioning fails and the reference of the strapdown inertial navigation system is valid, obtain and output the location information of the video inspection equipment based on the strapdown inertial navigation system.

[0082] Specifically, when the reference of the strapdown inertial navigation system is valid, the position information output by the strapdown inertial navigation system can meet the accuracy requirements of berth positioning. At this time, the position information of the video inspection equipment is obtained directly from the strapdown inertial navigation system, and the position information is transmitted to the back-end server to generate charging information.

[0083] As described above, this embodiment prioritizes RTK positioning when it can lock. If RTK cannot lock, and it re-locks within 60 seconds, it switches to RTK positioning output and updates the strapdown inertial navigation reference, maintaining accurate positioning. If RTK cannot lock after 60 seconds, video recognition positioning is used to obtain the starting latitude and longitude of the berth, which is used as the strapdown inertial navigation positioning reference to eliminate accumulated errors and ensure accurate positioning. When the video inspection device can decode the precise location information from RTK positioning or determine the location information based on strapdown inertial navigation, it outputs the location information, triggering the forward and backward acquisition cameras to capture real-time images of the berth and perform license plate recognition and berth matching.

[0084] In one embodiment, such as Figure 4 As shown, the auxiliary positioning information of the berth collection point is collected in advance, which specifically includes the following steps:

[0085] Step S001: Obtain the location information of the berth collection point and the berth number corresponding to the berth collection point;

[0086] Specifically, each berth requires the collection of its starting and ending latitude and longitude coordinates. For example... Figure 2As shown, point A has the starting latitude and longitude of 16890 berth, and point B has the ending latitude and longitude of 16890 berth; point B has the starting latitude and longitude of 16889 berth, and point C has the ending latitude and longitude of 16889 berth. Data collection must be conducted in an open, unobstructed environment with centimeter-level accuracy. Optionally, this embodiment also collects the angle between the starting line of the berth collection point and a meridian or parallel, for use in subsequent calculations of the reference information for strapdown inertial navigation.

[0087] First, align the GNSS antenna of the video inspection vehicle with the data collection point. Using GNSS RTK centimeter-level positioning, latitude and longitude coordinates that meet the accuracy requirements can be obtained. When data collection is conducted in environments with obstructions such as tall buildings, bridges, or trees, auxiliary surveying tools are needed to obtain latitude and longitude coordinates that meet the accuracy requirements.

[0088] Step S002: Generate a QR code based on the berth number;

[0089] Specifically, a QR code is generated based on the berth numbers such as 16890 and 16889. After reading the QR code, the berth number can be obtained.

[0090] Step S003: Deploy QR code signs for displaying the QR code;

[0091] Specifically, the QR code sign is installed flush with the starting line JD of the berth, at a distance b from the curb. The distance h from the center of the QR code to the road surface is equal to the height from the center of the video inspection device's positioning camera to the road surface, and the plane of the QR code is perpendicular to the starting line JD of the berth. In this embodiment, b is approximately 0.5m and h is 1.3m.

[0092] Furthermore, four positioning points are set around the QR code area of ​​the QR code sign to enable the video positioning camera of the video inspection equipment to capture the QR code in the QR code sign vertically, and to determine the vertical distance between the video inspection vehicle and the QR code sign during auxiliary positioning.

[0093] Step S004: Take a picture of the QR code on the QR code sign at the berth collection point to obtain the reference image size and the distance from the berth collection point to the QR code sign in the auxiliary positioning information;

[0094] Specifically, the mobile video inspection vehicle aligns its video positioning camera with the starting point of the berth where the QR code sign is installed, and makes the video positioning camera perpendicular to the QR code sign. The video positioning camera is then activated to capture the QR code sign, which serves as a reference image for auxiliary positioning corresponding to the berth. The latitude and longitude collected at this location are the latitude and longitude of the berth. The center of the video positioning camera on the video inspection vehicle is used as the reference point to obtain the vertical distance between the reference point and the QR code sign.

[0095] Step S005: Save the auxiliary positioning information.

[0096] Specifically, the latitude and longitude of the aforementioned berth collection point, the angle between the starting line of the berth collection point and the meridian or parallel, the size information of the reference image (such as the length or width of the QR code), and the vertical distance between the reference point and the QR code sign together constitute the auxiliary positioning information for video positioning. The berth number and this auxiliary positioning information are transmitted to the backend server for storage.

[0097] As described above, this embodiment installs QR code signs on the roadside, displaying QR codes containing berth number information. Auxiliary positioning information for the corresponding berth data collection point is obtained through this QR code, which is then used to update the reference of the strapdown inertial navigation system. The facility is low-cost and convenient to use.

[0098] It should be noted that there are no restrictions on the number and type of specific items in the auxiliary positioning information, as long as the auxiliary positioning information can be used to obtain the reference information of the strapdown inertial navigation system and update the reference of the strapdown inertial navigation system.

[0099] In one embodiment, such as Figure 5 As shown, the step S300 above, which obtains reference information based on auxiliary positioning information, specifically includes the following steps:

[0100] Step B310: Based on the auxiliary positioning information, calculate the distance between the reference point of the video inspection equipment and the QR code sign;

[0101] Specifically, considering that the video inspection equipment will not stop exactly at the berth collection point when positioning the video, and there will always be a certain deviation from the berth collection point, this embodiment first determines the distance between the reference point of the video inspection equipment and the QR code sign based on the image imaging principle.

[0102] like Figure 6 As shown, the QR code sign in the lower left corner is the reference image obtained by the video positioning camera at the starting collection point of the berth when collecting auxiliary positioning information. Assume the QR code's length and width are both h1, and the QR code sign in the lower right corner is a physical sign with a corresponding QR code length and width of h; OP1 is the vertical distance from the starting collection point of the berth to the sign, OF is the camera's focal length, AB is the camera lens diameter, Q1O is the image distance, and the reference image has a pixel dimension of a*a. According to the camera imaging principle, we know: Q1O = Q1F + OF. From the above formula, we can obtain:

[0103] like Figure 7As shown, the QR code sign in the lower left corner is an image of the QR code sign actually captured by the video inspection equipment when it reaches the starting line of the berth. Assume the corresponding QR code has a length and width of h2. The QR code sign in the lower right corner is a physical sign, with a corresponding QR code length and width of h. OP2 is the vertical distance from the starting point of the berth to the sign, OF is the focal length of the camera, AB is the diameter of the camera lens, Q2O is the image distance, and the actual captured QR code sign image has a pixel value of b*b. According to the camera imaging principle: Q₂O = Q₂F + OF. From the above formula, we can obtain: Based on the pixel relationship between the reference image and the actual captured image: Based on the calculation formulas for h1 and h2, we can conclude that: Where a is the size of the reference image in the auxiliary positioning information, b is the size of the QR code image captured during video positioning, AB is the diameter of the camera lens of the video inspection equipment, OF is the focal length of the camera of the video inspection equipment, h is the size of the QR code in the QR code sign, and OP1 is the distance from the berth collection point to the QR code sign in the auxiliary positioning information.

[0104] Step B320: Obtain reference information based on the distance, the angle between the starting line of the berth acquisition point in the auxiliary positioning information and the meridian or parallel, and the longitude and latitude of the berth acquisition point in the auxiliary positioning information;

[0105] Specifically, after obtaining the distance between the reference point of the video inspection equipment and the QR code sign, the latitude and longitude of the video inspection equipment can be obtained through mathematical conversion based on the angle between the starting line of the berth collection point and the meridian or parallel in the auxiliary positioning information, and the longitude and latitude of the berth collection point in the auxiliary positioning information. That is, based on the OP2 distance, the angle between the OJ line and the meridian or parallel, and the longitude and latitude of the berth's starting collection point, the longitude and latitude at point O can be calculated.

[0106] For example: Reference Figure 8 As shown, point J(x0, y0) is the starting point for data collection at the berth, where x0 and y0 are the longitude and latitude of point J, respectively, representing the longitude and latitude of the already collected berth data collection points; point O(x1, y1) is the position of the video camera of the video inspection equipment when it is perpendicular to the QR code sign during inspection, where x1 and y1 are the longitude and latitude of point O, respectively; R is the Earth's radius, N is the north direction, and E is the east direction. The specific calculation formula is as follows:

[0107] l = OP - JP = OP2 - JP,

[0108] ⊿x=x1-x0=360l cosθ / (2πR cos y0)=360(OP2-JP)cosθ / (2πR cos y0)(degree),

[0109] ⊿y=y1-y0=360l sinθ / (2πR)=360(OP2-JP)sinθ / (2πR)(degree),

[0110] Based on the above formula, the latitude and longitude of point O(x1,y1) are obtained as follows:

[0111] x1=360(OP2-JP)cosθ / (2πR cos y0)+x0, y1=360(OP2-JP)sinθ / (2πR)+y0.

[0112] In this embodiment, the latitude and longitude are used as the reference information for updating the strapdown inertial navigation system. The obtained latitude and longitude of point O are used to update the reference for strapdown inertial navigation positioning, serving as a new starting point for strapdown inertial navigation positioning. This clears the accumulated errors from previous inertial navigation, enabling the inertial navigation to meet the positioning accuracy requirements.

[0113] As described above, the distance between the video inspection equipment and the QR code sign is calculated by comparing the reference image with the actual captured image. Based on the image imaging principle, the distance between the reference point of the video inspection equipment and the QR code sign is obtained, and further reference information for strapdown inertial navigation positioning is calculated. Using berth positioning significantly improves accuracy: positioning accuracy reaches decimeter level or higher, and the berth positioning accuracy rate exceeds 99.9%. Berths that were previously unusable due to buildings, trees, or overpasses can now be accurately located and charged, significantly increasing the charging rate and greatly reducing the need for charging and inspection personnel.

[0114] Exemplary device

[0115] like Figure 9 As shown, corresponding to the above-described video inspection equipment positioning method for roadside parking fee collection, this embodiment of the invention also provides a video inspection equipment positioning device for roadside parking fee collection, the above-described video inspection equipment positioning device for roadside parking fee collection comprising:

[0116] The GNSS-RTK positioning module 600 is used to obtain the location information of the video inspection equipment based on the global satellite navigation system and the RTK positioning method. When the RTK positioning is successful, the module updates the reference of the strapdown inertial navigation system based on the location information and outputs the location information.

[0117] The strapdown inertial navigation positioning module 610 is used to obtain and output the position information of the video inspection equipment based on the strapdown inertial navigation system when RTK positioning fails and the reference of strapdown inertial navigation is valid.

[0118] The reference update module 620 is used to obtain pre-collected auxiliary positioning information based on the berth acquisition point corresponding to the location of the video inspection equipment when RTK positioning fails and the reference of the strapdown inertial navigation system fails, obtain reference information based on the auxiliary positioning information, and update the reference of the strapdown inertial navigation system based on the reference information.

[0119] Specifically, in this embodiment, the specific functions of each module of the video inspection equipment positioning device for roadside parking fee collection can be referred to the corresponding description in the video inspection equipment positioning method for roadside parking fee collection, and will not be repeated here.

[0120] Based on the above embodiments, the present invention also provides a roadside parking fee collection method, comprising: obtaining the location information of the video inspection equipment according to the video inspection equipment positioning method for roadside parking fee collection described in any one of the above embodiments;

[0121] Obtain the pre-collected location information set of all berths;

[0122] The location information is searched in the location information set to obtain the berth identifier of the berth where the video inspection equipment is located;

[0123] Obtain the license plate information of vehicles in the parking space where the video inspection equipment is located;

[0124] Based on the license plate information, the parking space identifier, and the collected time information of vehicles entering and leaving the parking space, charging information is generated.

[0125] Specifically, in this embodiment, the specific functions of the above-mentioned roadside parking fee collection method can be referred to the corresponding description in the above-mentioned video inspection equipment positioning method for roadside parking fee collection, and will not be repeated here.

[0126] Based on the above embodiments, the present invention also provides a smart terminal, the principle block diagram of which can be as follows: Figure 10 As shown. The aforementioned intelligent terminal includes a processor, memory, network interface, and display screen connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and a video surveillance equipment location program for roadside parking fee collection. The internal memory provides an environment for the operation of the operating system and the video surveillance equipment location program for roadside parking fee collection stored in the non-volatile storage medium. The network interface of the intelligent terminal is used for communication with external terminals via a network connection. When the video surveillance equipment location program for roadside parking fee collection is executed by the processor, it implements the steps of any of the aforementioned video surveillance equipment location methods for roadside parking fee collection. The display screen of the intelligent terminal can be a liquid crystal display (LCD) or an e-ink display.

[0127] Those skilled in the art will understand that Figure 10 The block diagram shown is merely a partial structural diagram related to the present invention and does not constitute a limitation on the smart terminal to which the present invention is applied. A specific smart terminal may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0128] In one embodiment, a smart terminal is provided, the smart terminal including a memory, a processor, and a video inspection device positioning program for roadside parking fee collection stored in the memory and executable on the processor. When the video inspection device positioning program for roadside parking fee collection is executed by the processor, it performs the following operation instructions:

[0129] Based on the global satellite navigation system, the location information of the video inspection equipment is obtained using the RTK positioning method.

[0130] Once RTK positioning is successful, the reference of the strapdown inertial navigation system is updated based on the location information, and the location information is output.

[0131] When RTK positioning fails and the reference of the strapdown inertial navigation system fails, the pre-collected auxiliary positioning information is obtained based on the berth acquisition point corresponding to the location of the video inspection equipment. The reference information is obtained based on the auxiliary positioning information, and the reference of the strapdown inertial navigation system is updated based on the reference information.

[0132] When RTK positioning fails but the reference of the strapdown inertial navigation system is valid, the location information of the video inspection equipment is obtained and output based on the strapdown inertial navigation system.

[0133] Optionally, obtaining pre-collected auxiliary positioning information based on the berth acquisition point corresponding to the location of the video inspection equipment includes:

[0134] Scan the QR code corresponding to the berth collection point to obtain the QR code image;

[0135] Based on the QR code image, obtain the berth identifier corresponding to the berth collection point;

[0136] The auxiliary positioning information is obtained based on the berth marker.

[0137] Optionally, a QR code sign is provided on the roadside for displaying the QR code, and obtaining the reference information based on the auxiliary positioning information includes:

[0138] Based on the auxiliary positioning information, the distance between the reference point of the video inspection equipment and the QR code sign is calculated;

[0139] The reference information is obtained based on the distance, the angle between the starting line of the berth acquisition point in the auxiliary positioning information and the meridian or parallel, and the longitude and latitude of the berth acquisition point in the auxiliary positioning information.

[0140] Optionally, the expression for calculating the distance between the reference point of the video inspection equipment and the QR code sign is:

[0141]

[0142] Where a is the size of the reference image in the auxiliary positioning information, b is the size of the QR code image, AB is the diameter of the camera lens of the video inspection equipment, OF is the focal length of the camera of the video inspection equipment, h is the size of the QR code in the QR code sign, and OP1 is the distance from the berth collection point to the QR code sign in the auxiliary positioning information.

[0143] Optionally, the distance between the berth collection points is less than the maximum interval distance determined based on the speed of the video inspection equipment.

[0144] Optionally, auxiliary positioning information of the berth collection point can be pre-collected, including:

[0145] Obtain the location information of the berth collection point and the berth number corresponding to the berth collection point;

[0146] Generate a QR code based on the berth number;

[0147] Set up a QR code sign to display the QR code;

[0148] Take a picture of the QR code on the QR code sign at the berth collection point to obtain the reference image size and the distance from the berth collection point to the QR code sign in the auxiliary positioning information;

[0149] Save auxiliary positioning information.

[0150] Optionally, positioning points are also set around the QR code area on the QR code sign, and the positioning points are used to vertically capture the QR code in the QR code sign when capturing the QR code.

[0151] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0152] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the above device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0153] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0154] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0155] In the embodiments provided by this invention, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of the above modules or units is merely a logical functional division, and in actual implementation, it can be divided in other ways. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0156] If the integrated modules / units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0157] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not mean that the essence of the corresponding technical solutions deviates from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A positioning method for video inspection equipment used in roadside parking fee collection, characterized in that, The method comprises the following steps: obtaining position information of the video inspection device according to an RTK positioning method based on a global satellite navigation system; updating a reference of a strapdown inertial navigation system according to the position information and outputting the position information when the RTK positioning is successful; obtaining pre-collected auxiliary positioning information based on a berth collection point corresponding to a position where the video inspection device is located, obtaining reference information according to the auxiliary positioning information, and updating the reference of the strapdown inertial navigation system based on the reference information when the RTK positioning fails and the reference of the strapdown inertial navigation system is invalid; obtaining the position information of the video inspection device based on the strapdown inertial navigation system and outputting the position information when the RTK positioning fails and the reference of the strapdown inertial navigation system is valid; the step of obtaining the pre-collected auxiliary positioning information based on the berth collection point corresponding to the position where the video inspection device is located comprises the following steps: scanning a two-dimensional code corresponding to the berth collection point to obtain a two-dimensional code picture; obtaining a berth identifier of a berth corresponding to the berth collection point based on the two-dimensional code picture; obtaining the auxiliary positioning information based on the berth identifier; a two-dimensional code sign for displaying the two-dimensional code is arranged at a roadside, and the step of obtaining the reference information according to the auxiliary positioning information comprises the following steps: calculating a distance between a reference point of the video inspection device and the two-dimensional code sign based on the auxiliary positioning information; obtaining the reference information according to the distance, an angle between a prime vertical and a meridian or a parallel of the berth collection point in the auxiliary positioning information, a longitude and a latitude of the berth collection point in the auxiliary positioning information; an expression for calculating the distance between the reference point of the video inspection device and the two-dimensional code sign is as follows: wherein a is a reference picture size in the auxiliary positioning information, b is a size of the two-dimensional code picture, AB is a camera lens diameter of the video inspection device, OF is a focal length of a camera of the video inspection device, h is a size of a two-dimensional code in the two-dimensional code sign, and OP1 is a distance from the berth collection point in the auxiliary positioning information to the two-dimensional code sign; the berth collection point is a pre-established positioning correction point and is arranged on a prime vertical of a berth.

2. The method of claim 1, wherein, The distance between the berth collection points is less than a maximum interval distance determined according to a speed of the video inspection device.

3. The method of claim 1, wherein, The pre-collected auxiliary positioning information of the berth collection point comprises the following steps: obtaining position information of the berth collection point and a berth number of a berth corresponding to the berth collection point; generating a two-dimensional code based on the berth number; arranging a two-dimensional code sign for displaying the two-dimensional code; shooting the two-dimensional code in the two-dimensional code sign at the berth collection point to obtain a reference picture size in the auxiliary positioning information and a distance from the berth collection point to the two-dimensional code sign in the auxiliary positioning information; saving the auxiliary positioning information.

4. The method of claim 3, wherein, A positioning point is further arranged around a two-dimensional code area on the two-dimensional code sign, and the positioning point is used to vertically shoot the two-dimensional code in the two-dimensional code sign when the two-dimensional code is shot.

5. A method of charging for roadside parking, characterised in that, The method comprises the following steps: obtaining position information of the video inspection device according to the positioning method for the video inspection device for roadside parking charging according to any one of claims 1 to 4; obtaining a position information set of all berths pre-collected; finding the position information in the position information set to obtain a berth identifier of a berth where the video inspection device is located; Obtaining license plate information of a vehicle at a parking space where the video inspection device is located; Generating charging information based on the license plate information, the parking space identifier, and time information of vehicles entering and leaving the parking space that has been collected.

6. A video inspection apparatus positioning device for roadside parking toll collection, characterized by, Comprise: A GNSS-RTK positioning module, configured to obtain position information of the video inspection device based on a global satellite navigation system according to an RTK positioning method, and update a reference of a strapdown inertial navigation system and output the position information when the RTK positioning succeeds; A strapdown inertial navigation positioning module, configured to obtain position information of the video inspection device based on the strapdown inertial navigation system and output the position information when the RTK positioning fails and the reference of the strapdown inertial navigation system is valid; A reference updating module, configured to obtain pre-collected auxiliary positioning information based on a parking collection point corresponding to a location where the video inspection device is located, obtain reference information according to the auxiliary positioning information, and update the reference of the strapdown inertial navigation system based on the reference information when the RTK positioning fails and the reference of the strapdown inertial navigation system is invalid. The obtaining of the pre-collected auxiliary positioning information based on the parking collection point corresponding to the location where the video inspection device is located comprises: Scanning a two-dimensional code corresponding to the parking collection point to obtain a two-dimensional code picture; Obtaining a parking space identifier of a parking space corresponding to the parking collection point based on the two-dimensional code picture; Obtaining the auxiliary positioning information based on the parking space identifier; A two-dimensional code sign for displaying the two-dimensional code is arranged at a roadside, and the obtaining of the reference information according to the auxiliary positioning information comprises: Calculating a distance between a reference point of the video inspection device and the two-dimensional code sign based on the auxiliary positioning information; Obtaining the reference information according to the distance, an angle between a prime vertical and a meridian or a parallel of the parking collection point in the auxiliary positioning information, and longitude and latitude of the parking collection point in the auxiliary positioning information. An expression for calculating the distance between the reference point of the video inspection device and the two-dimensional code sign is as follows: Wherein, a is a reference picture size in the auxiliary positioning information, b is a size of the two-dimensional code picture, AB is a camera lens diameter of the video inspection device, OF is a focal length of a camera of the video inspection device, h is a size of a two-dimensional code in the two-dimensional code sign, and OP1 is a distance from the parking collection point in the auxiliary positioning information to the two-dimensional code sign. The parking collection point is a pre-established positioning correction point and is arranged on a prime vertical of the parking space.

7. Intelligent terminal, characterized in that The intelligent terminal comprises a memory, a processor, and a video inspection device positioning program for roadside parking charging stored in the memory and capable of running on the processor, and the video inspection device positioning program for roadside parking charging, when executed by the processor, implements the steps of the video inspection device positioning method for roadside parking charging in any one of claims 1-4.

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