A vehicle-to-position detection method, device, equipment and medium of a sanitation site

Abstract

The application relates to the technical field of vehicle-to-position detection, in particular to a sanitation site vehicle-to-position detection method, device, equipment and medium, which comprises the following steps: acquiring target vehicle information; determining a parking berth based on the load information of the target vehicle and the load garbage type information of the target vehicle; acquiring an image of the parking berth after detecting that the target vehicle stops moving; determining whether the vehicle in the parking berth is the target vehicle based on the image of the parking berth and vehicle license plate information; if the vehicle is the target vehicle, determining the first position information of the key points of the target vehicle based on the image of the parking berth; acquiring a preset key point position set corresponding to the first position information of the key points; and determining whether the vehicle is in position according to the preset key point position set and the first position information of the key points of the target vehicle. The application has the technical effect of improving the accuracy of judging whether the vehicle is in position.

Description

Technical Field

[0001] This application relates to the technical field of vehicle arrival detection, and in particular to a method, apparatus, equipment and medium for vehicle arrival detection at sanitation stations. Background Technology

[0002] As society develops, people have increasingly higher demands for the environment, and at the same time, waste disposal has become more important. Reducing waste spillage during loading and unloading can effectively improve waste management efficiency. Therefore, accurately determining whether vehicles are in place is particularly crucial.

[0003] In related technologies, sensors are used at sanitation stations to detect whether garbage trucks are in the designated parking spaces and upload data in real time. However, this method can only detect the presence of vehicles in that specific parking space. Therefore, this technology cannot accurately determine whether a vehicle has arrived at its designated location.

[0004] Therefore, how to solve the above-mentioned technical problems has become an urgent issue for those in the field. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a method, apparatus, equipment, and medium for detecting vehicle arrival at sanitation stations.

[0006] Firstly, this application provides a method for detecting the arrival of vehicles at sanitation stations, employing the following technical solution:

[0007] A method for detecting vehicle arrival at a sanitation station includes:

[0008] Obtain target vehicle information, wherein the target vehicle information includes: load information, type of waste loaded, and vehicle license plate information;

[0009] The parking space is determined based on the target vehicle's load information and the type of waste it carries.

[0010] Once the target vehicle stops moving, acquire an image of the parking space;

[0011] Based on the image of the parking space and the vehicle license plate information, determine whether the vehicle in the parking space is the target vehicle;

[0012] If it is a target vehicle, the first location information of the key points of the target vehicle is determined based on the image of the parking space, wherein the first location information of the key points represents the location information of any point on the target vehicle;

[0013] Obtain a preset key point location set corresponding to the first location information of the key point, and determine whether the vehicle is in place based on the preset key point location set and the first location information of the key point of the target vehicle, wherein the preset key point location set represents the preset location range in which the key point can be located.

[0014] By adopting the above technical solution, the accuracy of determining parking spaces can be improved based on load information and type of waste. When the target vehicle stops moving, it indicates that the target vehicle has reached the parking space. Therefore, image information of the parking space can be obtained. Based on the image information and license plate of the parking space, it can be determined whether the vehicle in the parking space is the target vehicle. Thus, it is possible to accurately detect whether the target vehicle has reached the parking space. If it is the target vehicle, any point on the vehicle can be selected as a key point, and a preset key point position set corresponding to the first position information of the key point can be obtained. Through the preset key point position set and the first position information of the key point, a more accurate target vehicle position can be obtained, thereby enabling accurate determination of whether the vehicle has arrived at the parking space.

[0015] In one possible implementation, the determination of the first location information of key points of the target vehicle based on the image of the parking space includes:

[0016] Based on the image of the parking space, a second location information of key points of the target vehicle is determined, wherein the second location information represents the position of the key points in the target vehicle;

[0017] The location information of the target vehicle is determined based on the image of the parking space and the vehicle location recognition model, wherein the location information of the target vehicle represents the three-dimensional location information of the target vehicle in the parking space.

[0018] The first location information of the key point is determined based on the second location information of the key point and the location information of the target vehicle.

[0019] By adopting the above technical solution, the first position information of the key point in the target vehicle can be determined based on the image of the parking space, and the three-dimensional position information of the target vehicle in the parking space can be determined based on the image of the parking space and the vehicle position recognition model. Finally, the first position information of the key point can be accurately determined based on the position of the key point in the target vehicle and the position information of the target vehicle. By judging the first position information of the key point, the accuracy of judging whether the vehicle is in place can be improved.

[0020] In one possible implementation, after determining whether the vehicle is in position based on the preset key point location set and the first position information of the key points of the target vehicle, the method further includes:

[0021] If the vehicle is confirmed to be in place, then obtain the parking space image after the first preset time period.

[0022] The attitude of the target vehicle is determined based on the parking space image after the first preset time period;

[0023] Whether the target vehicle has completed unloading garbage is determined based on the target vehicle's posture and the corresponding relationship, wherein the corresponding relationship is the correspondence between the target vehicle's posture and the standard action of unloading garbage.

[0024] By adopting the above technical solution, after the vehicle arrives, the posture of the target vehicle can be determined by acquiring the parking space image after the first preset time period. Based on the posture of the target vehicle, it can be accurately determined whether the target vehicle has completed unloading garbage, thus avoiding the target vehicle from parking in the sanitation station for a long time and reducing the impact on other normally operating vehicles.

[0025] In one possible implementation, determining whether a vehicle in the parking space is the target vehicle based on the image of the parking space and the vehicle license plate information includes:

[0026] The license plate information to be compared is determined from the preprocessed image;

[0027] Determine whether the license plate information to be compared matches the vehicle license plate information of the target vehicle;

[0028] If a match is found, the vehicle in the parking space is determined to be the target vehicle.

[0029] If there is no match, it is determined that the vehicle in the parking space is not the target vehicle.

[0030] By adopting the above technical solution, the license plate information to be compared is determined based on the preprocessed image. Each vehicle corresponds to a unique license plate. By matching the license plate information to be compared with the license plate information of the target vehicle, it is possible to accurately determine whether the vehicle in the parking space is the target vehicle, and to achieve accurate detection of whether the target vehicle has arrived at the parking space.

[0031] In one possible implementation, determining the parking space based on the target vehicle's load information and the type of waste it carries includes:

[0032] Obtain the acceptable load information of all available parking spaces within the sanitation station, and determine the first preset parking space set based on the load information of the target vehicle and the acceptable load information of each available parking space.

[0033] Obtain the load-bearing waste type information corresponding to each parking space in the first preset parking space set, and filter parking spaces from the first preset parking space set according to the load-bearing waste type information corresponding to each parking space in the first preset parking space set and the load-bearing waste type information of the target vehicle to determine the second preset parking space set;

[0034] Determine the distance between the target vehicle and each parking space in the second preset parking space set, and determine the parking space of the target vehicle based on the second preset parking space set and the distance between the target vehicle and each parking space.

[0035] By adopting the above technical solution, the acceptable load information of all available parking spaces at sanitation stations is obtained. A first set of preset parking spaces is determined using the target vehicle's load information and the acceptable load information of available parking spaces, avoiding the problem of the target vehicle not being able to completely unload garbage. A second set of preset parking spaces is determined based on the type of garbage loaded at each parking space in the first set and the type of garbage loaded by the target vehicle. This second set of preset parking spaces avoids mixing different types of garbage. The optimal parking space is determined based on the distance between the target vehicle and each parking space in the second set of preset parking spaces, effectively reducing the target vehicle's travel distance and thus improving its unloading efficiency. Simultaneously, the accuracy of parking space determination is effectively improved by using the target vehicle's load information, garbage type, and distance to each parking space.

[0036] In one possible implementation, after determining whether the vehicle is in position based on the preset key point location set and the first position information of the key points of the target vehicle, the method further includes:

[0037] If it is determined that the target vehicle has not arrived, then a number of historical data of the target vehicle are obtained, wherein the number of times the target vehicle has not entered the parking space and the number of times the target vehicle has not arrived within the second preset time period.

[0038] The credit rating of the target vehicle is determined based on the number of times it failed to enter the parking space, the number of times it failed to arrive, and their respective weights. Each target vehicle corresponds to a unique owner.

[0039] A work plan for the target vehicle is generated based on the target vehicle's credit rating.

[0040] By adopting the above technical solution, when the target vehicle is not in place, a number of historical data of the target vehicle are obtained. The historical data includes the number of times the target vehicle has not entered the parking space and the number of times the target vehicle has not arrived within a second preset time period. The credit rating of the target vehicle is determined according to the historical data and their corresponding weights. A work plan for the target vehicle is generated based on the credit rating. By generating the work plan, the target vehicle can be effectively managed, and the number of times the target vehicle has not arrived can be reduced through management.

[0041] In one possible implementation, after determining whether the target vehicle has completed garbage unloading based on the target vehicle's posture and correspondence, the method further includes:

[0042] If it is determined that the target vehicle has not completed unloading the garbage, then obtain the owner information of the target vehicle;

[0043] The vehicle owner information and parking space information are sent to the timeout reminder platform so that the timeout reminder platform can remind the vehicle owner of the timeout.

[0044] By adopting the above technical solution, if the target vehicle fails to unload garbage, the owner's information of the target vehicle will be obtained, and the owner will be reminded of the timeout to avoid the vehicle from parking in the parking space for a long time.

[0045] Secondly, this application provides a vehicle arrival detection device for sanitation stations, which adopts the following technical solution:

[0046] A vehicle arrival detection device for a sanitation station, the device comprising:

[0047] The first acquisition module is used to acquire target vehicle information, wherein the target vehicle information includes: load information, type of waste loaded, and vehicle license plate information;

[0048] The berth determination module is used to determine the berth based on the load information and the type of waste.

[0049] The second acquisition module is used to acquire an image of the parking space when the target vehicle is detected to have stopped moving.

[0050] The target vehicle determination module is used to determine whether the vehicle in the parking space is the target vehicle based on the image of the parking space and the vehicle license plate information.

[0051] The key point location information acquisition module is used to determine the first location information of the key points of the target vehicle based on the image of the parking space if it is the target vehicle, wherein the first location information of the key points represents the location information of any point on the target vehicle.

[0052] The vehicle arrival detection module is used to acquire a preset key point location set corresponding to the first location information of the key point, and determine whether the vehicle is in place based on the preset key point location set and the first location information of the key point of the target vehicle. The preset key point location set represents the preset location range in which the key point can be located.

[0053] Thirdly, this application provides an electronic device that adopts the following technical solution:

[0054] At least one processor;

[0055] Memory;

[0056] At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, the at least one application being configured to: execute the vehicle arrival detection method for any of the above-described sanitation stations.

[0057] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0058] A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the vehicle arrival detection method at any of the sanitation stations described above.

[0059] In summary, this application includes at least one of the following beneficial technical effects:

[0060] 1. The accuracy of parking space determination can be improved by using load information and the type of garbage. When the target vehicle stops moving, it indicates that the target vehicle has reached the parking space. Therefore, image information of the parking space can be obtained. Based on the image information and license plate of the parking space, it can be determined whether the vehicle in the parking space is the target vehicle. This allows for accurate detection of whether the target vehicle has reached the parking space. If it is the target vehicle, any point on the vehicle can be selected as a key point, and a preset key point location set corresponding to the key point location information can be obtained. Through the preset key point location set and key point location information, a more accurate target vehicle position can be obtained, thus enabling accurate determination of whether the vehicle has arrived at the parking space.

[0061] 2. After confirming the vehicle's arrival, acquire the parking space image after a first preset time period, and determine the target vehicle's posture based on the parking space image after the first preset time period. Based on the target vehicle's posture and corresponding relationship, it can accurately determine whether the target vehicle has completed unloading garbage, thereby avoiding the target vehicle from parking in the parking space for a long time and effectively reducing the impact on other vehicles unloading garbage. Attached Figure Description

[0062] Figure 1This is a flowchart illustrating a vehicle arrival detection method at a sanitation station, as provided in an embodiment of this application.

[0063] Figure 2 This is a schematic diagram of the structure of a vehicle arrival detection device at a sanitation station, provided in an embodiment of this application.

[0064] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0065] The following is in conjunction with the appendix Figure 1 To be continued Figure 3 This application will be described in further detail.

[0066] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of this application.

[0067] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0068] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0069] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0070] With societal development, people have increasingly higher demands for the environment, making waste management more crucial. Reducing waste spillage during loading and unloading can effectively improve waste disposal efficiency. Therefore, accurately determining whether a vehicle has arrived at its designated location is particularly important. In related technologies, sensors are used at sanitation stations to detect the presence of garbage trucks at designated parking spaces and upload data in real time. However, the inventors discovered that this method can only detect the presence of vehicles in the designated parking space area and cannot accurately determine whether a vehicle has arrived at its designated location.

[0071] To address the aforementioned technical problems, this application provides a vehicle arrival detection method for sanitation stations. The method involves acquiring target vehicle information, including load information, type of waste carried, and vehicle license plate information; determining a parking space based on the target vehicle's load information and waste type information; acquiring an image of the parking space after detecting that the target vehicle has stopped moving; determining whether the vehicle in the parking space is the target vehicle based on the image and license plate information; if it is the target vehicle, determining the first position information of key points of the target vehicle based on the image of the parking space, where the first position information of key points represents the position information of any point on the target vehicle; acquiring a preset set of key point positions corresponding to the first position information of key points; and determining whether the vehicle is in place based on the preset set of key point positions and the first position information of the key points of the target vehicle, thereby accurately determining whether the vehicle is in place.

[0072] This application provides a method for detecting vehicle arrival at sanitation stations, executed by an electronic device. This electronic device can be a server or a terminal device. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet, laptop, desktop computer, etc., but is not limited to these. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, and this application does not impose any limitations on this.

[0073] Combination Figure 1 , Figure 1 This application provides a flowchart illustrating a vehicle arrival detection method at a sanitation station, comprising steps S101 to S106, wherein:

[0074] Step S101: Obtain target vehicle information, including load information, type of waste loaded, and vehicle license plate information.

[0075] Specifically, the electronic device establishes a communication connection with the target vehicle's client device via a communication network, and exchanges information through this connection. The electronic device is equipped with a detection platform for the target vehicle. When the target vehicle arrives at the sanitation station, the vehicle owner can log in via a mini-program client. After logging in, the owner can input vehicle load information, vehicle waste type information, and vehicle license plate information. After the input is completed, the vehicle information is automatically uploaded to the electronic device, which then automatically generates a detection command upon receiving the target vehicle information.

[0076] Step S102: Determine the parking space based on the target vehicle's load information and the type of garbage it carries.

[0077] Specifically, the methods for determining parking spaces may include: determining them based on the acceptable load information, the type of waste carried, the load information of the target vehicle, and the type of waste carried by the target vehicle, or determining parking spaces through preset parking areas.

[0078] One feasible implementation may include:

[0079] Obtain the acceptable load information of all available parking spaces within the sanitation station, and determine the first preset parking space set based on the load information of the target vehicle and the acceptable load information of each available parking space.

[0080] Obtain the load-bearing waste type information corresponding to each parking space in the first preset parking space set, and filter parking spaces from the first preset parking space set based on the load-bearing waste type information corresponding to each parking space in the first preset parking space set and the load-bearing waste type information of the target vehicle to determine the second preset parking space set;

[0081] Determine the distance between the target vehicle and each parking space in the second preset parking space set, and determine the parking space of the target vehicle based on the second preset parking space set and the distance between the target vehicle and each parking space.

[0082] In another feasible approach, the method may include: determining the number of vehicles in each preset parking area; if the number of vehicles is less than a preset vehicle number threshold, the preset parking area is designated as the first available parking area; further, determining whether each first available parking area contains a parking space that simultaneously satisfies the target vehicle's load capacity and the type of waste it carries, thus obtaining several second available parking areas; determining a unique available parking area based on the number of parking spaces that simultaneously satisfy both the target vehicle's load capacity and the type of waste it carries; selecting parking spaces from the unique available parking area that simultaneously satisfy both the target vehicle's load capacity and the type of waste it carries; and sorting the available parking spaces according to their acceptable load capacity information in ascending order, i.e., the earlier the parking space is ranked, the closer its acceptable load capacity information is to the target vehicle's load capacity information; and selecting the parking space whose load capacity information is closest to the target vehicle's load capacity information as the target vehicle's parking space. This allows the parking spaces to quickly load waste and proceed with subsequent waste processing, effectively improving waste processing efficiency.

[0083] Step S103: After detecting that the target vehicle has stopped moving, acquire an image of the parking space.

[0084] Specifically, after the target vehicle enters the sanitation station, the electronic device will use a calibration frame to calibrate the target vehicle. At the same time, the calibration frame will move with the target vehicle. When the electronic device detects that the calibration frame stops moving, and the time for which the calibration frame stops moving is greater than a preset threshold stop time, the electronic device determines that the target vehicle has stopped moving. In this embodiment, the preset threshold stop time is not limited and can be set by the user. Based on the parking space determined in step 102, the electronic device retrieves the image acquisition device of the corresponding parking space to obtain the image of the parking space.

[0085] Step S104: Determine whether the vehicle in the parking space is the target vehicle based on the image of the parking space and the vehicle license plate information.

[0086] Specifically, methods for determining whether a vehicle in a parking space is the target vehicle may include: using image processing technology to determine whether it is the target vehicle, or using WeChat and vehicle owner information to determine whether it is the target vehicle.

[0087] In one feasible implementation, determining whether a vehicle is a target vehicle using image processing technology may include:

[0088] The image of the berth is preprocessed to obtain a preprocessed image. The preprocessing method includes at least one of the following: grayscale processing, filtering, and normalization processing.

[0089] Determine the license plate information to be compared from the preprocessed image;

[0090] Determine whether the license plate information to be compared matches the vehicle license plate information of the target vehicle;

[0091] If a match is found, the vehicle in the parking space is identified as the target vehicle.

[0092] If there is no match, it is determined that the vehicle in the parking space is not the target vehicle.

[0093] In another possible approach, determining whether a vehicle is the target vehicle through a WeChat program and the vehicle owner's information can include: an electronic device determining whether a vehicle exists in the parking space based on an image of the parking space; if a vehicle exists, the owner's information can be obtained based on the vehicle's license plate information, which may include the owner's mobile phone number or WeChat ID. The owner can confirm the parking space where the target vehicle is located by sending an SMS or WeChat message. The owner can log in to the WeChat mini program and enter the parking space number where the target vehicle is located. The system then determines whether the entered parking space number is the same as the parking space number determined in step S102, thereby confirming whether the vehicle in the parking space is the target vehicle.

[0094] Step S105: If it is a target vehicle, determine the first location information of the key points of the target vehicle based on the image of the parking space, wherein the first location information of the key points represents the location information of any point on the target vehicle.

[0095] Specifically, the methods for determining the first location information of key points may include: determining the first location information of key points through parking space images and vehicle recognition models, or determining the first location information of key points through three-dimensional models of parking spaces.

[0096] One feasible approach may include:

[0097] The second location information of key points of the target vehicle is determined based on the image of the parking space, wherein the second location information represents the position of the key points in the target vehicle;

[0098] The location information of the target vehicle is determined based on the image of the parking space and the vehicle location recognition model. The location information of the target vehicle represents the three-dimensional location information of the target vehicle in the parking space.

[0099] The first location information of the key point is determined based on the second location information of the key point and the location information of the target vehicle.

[0100] In another possible approach, a 3D model can be generated using 3D reality modeling software based on an image of the parking space. The 3D model of the parking space includes a 3D model of the target vehicle. By using the 3D model of the parking space as a 3D coordinate system, the first position information of the key points of the target vehicle can be accurately determined.

[0101] Step S106: Obtain a preset key point location set corresponding to the first location information of the key point, and determine whether the vehicle is in place based on the preset key point location set and the first location information of the key point of the target vehicle. The preset key point location set represents the preset location range where the key point can be located.

[0102] Specifically, when a vehicle is in a standard parking position, the three-dimensional position information of each point of the vehicle in the parking space is fixed. It is understood that the vehicle is manually controlled and cannot achieve perfect precision, so slight deviations are possible. Therefore, the system can determine whether the first position information of the target vehicle's key points is within a preset set of key point positions. If the first position information of the target vehicle's key points is within the preset set of key point positions, it can be determined that the target vehicle is in place, effectively reducing garbage scattering during unloading. If the first position information of the key points is not within the preset set of key point positions, it is determined that the target vehicle is not in place, and therefore, more garbage may scatter during unloading. This embodiment does not limit the preset set of key point positions; users can set it themselves.

[0103] Based on the above embodiments, the accuracy of determining parking spaces can be improved by using load information and the type of garbage. When the target vehicle stops moving, it indicates that the target vehicle has reached the parking space. Therefore, image information of the parking space can be obtained. Based on the image information and license plate of the parking space, it can be determined whether the vehicle in the parking space is the target vehicle. Thus, it is possible to accurately detect whether the target vehicle has reached the parking space. If it is the target vehicle, any point on the vehicle can be selected as a key point, and a preset key point position set corresponding to the first position information of the key point can be obtained. Through the preset key point position set and the first position information of the key point, a more accurate target vehicle position can be obtained, thereby enabling accurate determination of whether the vehicle has arrived.

[0104] Furthermore, in another embodiment of this application, the first location information of key points of the target vehicle is determined based on the image of the parking space, including steps SA1-SA3 (not shown in the accompanying drawings), wherein:

[0105] Step SA1: Determine the second location information of key points of the target vehicle based on the image of the parking space, wherein the second location information represents the position of the key points in the target vehicle.

[0106] Specifically, the electronic device determines the position of key points in the target vehicle based on the image of the parking space, and maps the position of key points in the target vehicle to the three-dimensional model of the target vehicle. This allows the determination of the position information of key points in the three-dimensional model of the target vehicle, i.e., the second position information of the key points. The second position information of the key points is a three-dimensional coordinate system established with the three-dimensional model of the target vehicle. Preferably, the three-dimensional coordinate system is established with the target vehicle as the rectangular body, and a certain vertex of the rectangular body is the origin. In this embodiment, the origin is not limited. Thus, the second position of the key points with the target vehicle as the coordinate system can be determined.

[0107] Step SA2: Determine the location information of the target vehicle based on the image of the parking space and the vehicle location recognition model, wherein the location information of the target vehicle represents the three-dimensional location information of the target vehicle in the parking space.

[0108] Step SA3: Determine the first location information of the key points based on the second location information of the key points and the location information of the target vehicle.

[0109] Specifically, the vehicle position recognition model is obtained by training a neural network. By inputting an image of the parking space into the vehicle position recognition model, the three-dimensional position information of the target vehicle in the parking space can be obtained. In this embodiment, the three-dimensional position information of the target vehicle in the parking space is a three-dimensional coordinate system established with the parking space as the rectangle, and a certain vertex of the parking space as the origin of the coordinate system.

[0110] Furthermore, the first location information of the key point, i.e. the three-dimensional location information of the key point in the parking space, can be determined based on the second location information of the key point and the location information of the target vehicle.

[0111] Based on the above embodiments, the location information of key points in the target vehicle can be determined according to the image of the parking space, and the three-dimensional location information of the target vehicle in the parking space can be determined according to the image of the parking space and the vehicle location recognition model. Finally, the first location information of the key points can be accurately determined according to the location of the key points in the target vehicle and the location information of the target vehicle. By judging the first location information of the key points, the accuracy of judging whether the vehicle is in place can be improved.

[0112] Furthermore, in another embodiment of this application, after determining whether the vehicle is in place based on the preset key point location set and the first location information of the key points of the target vehicle, steps SB1-SB3 (not shown in the accompanying drawings) are further included, wherein:

[0113] Step SB1: If the vehicle is confirmed to be in place, obtain the parking space image after the first preset time period.

[0114] Specifically, after the electronic device determines that the vehicle has arrived, it retrieves the image acquisition device of the parking space to collect images of the parking space after a first preset time period. In this embodiment, the first preset time period is not limited and can be set by the user. The acquired parking space image can be a single image, multiple images collected by the same image acquisition device, or multiple images of the parking space from different angles collected by multiple image acquisition devices. It is understood that image acquisition devices at other parking spaces within the sanitation station can also collect images of the parking space corresponding to the target vehicle. Therefore, the electronic device can retrieve images of the parking space and images of other adjacent parking spaces.

[0115] Step SB2: Determine the attitude of the target vehicle based on the parking space image after the first preset time period.

[0116] Specifically, in this embodiment of the application, to improve the accuracy of target vehicle posture recognition, it is preferable to determine the posture of the target vehicle based on multiple parking space images from different angles acquired by multiple image acquisition devices. Based on all acquired images of the target vehicle, the target vehicle in each parking space image is identified. Posture analysis and integration are performed on the target vehicles in all parking space images, and the current posture of the target vehicle is reconstructed using posture images from multiple acquisition angles, thereby accurately determining the posture of the target vehicle.

[0117] Step SB3: Determine whether the target vehicle has completed unloading garbage based on the target vehicle's posture and the corresponding relationship, where the corresponding relationship is the correspondence between the target vehicle's posture and the standard action of unloading garbage.

[0118] Specifically, the correspondence between the target vehicle's posture and the standard action for unloading garbage can be represented by the similarity between the target vehicle's posture and the standard action for unloading garbage. The posture of the target vehicle is determined, and it is then determined whether the similarity between the target vehicle's posture and the standard action for unloading garbage reaches a preset similarity threshold. If the similarity reaches the preset similarity threshold, the target vehicle is determined to have completed garbage unloading; otherwise, the target vehicle is determined not to have completed garbage unloading. In this embodiment, the preset similarity threshold is not limited and can be 80%, 85%, or 90%, which can be set by the user.

[0119] Based on the above embodiments, after the target vehicle is determined to be in place, the posture of the target vehicle is determined by acquiring the parking space image after a first preset time period. Based on the posture of the target vehicle and the corresponding relationship, it is possible to accurately determine whether the target vehicle has completed unloading garbage. By determining whether the target vehicle has completed unloading garbage, it is possible to avoid the target vehicle from parking in the parking space for a long time without unloading garbage, thereby reducing the impact on other vehicles in the sanitation station.

[0120] Furthermore, in another embodiment of this application, determining whether a vehicle in a parking space is the target vehicle based on the image of the parking space and the vehicle license plate information includes steps SC1-SC5 (not shown in the accompanying drawings), wherein:

[0121] Step SC1: Preprocess the image of the berth to obtain the preprocessed image. The preprocessing method includes at least one of the following: grayscale processing, filtering, and normalization processing.

[0122] Specifically, the grayscale conversion process for the berth image is as follows: Based on the preprocessed image, the R, G, and B components are obtained, and the weights for the three channels are set to 0.289, 0.586, and 0.112 respectively. A weighted average is then used to calculate the grayscale value of each pixel, thus achieving grayscale conversion of the berth image. A Gaussian filter is then applied to the grayscale-converted berth image. The filtered image is then normalized by coordinate centering, x-shearing normalization, scaling normalization, and rotation normalization. By performing grayscale conversion and filtering on the berth image, the accuracy of berth image recognition can be effectively improved. Furthermore, normalization of the berth image reduces the amount of data computation and increases the computation speed.

[0123] Step SC2: Determine the license plate information to be compared from the preprocessed image.

[0124] Specifically, in this embodiment, there are several preprocessed images. Each preprocessed image generates a license plate to be compared. The electronic device, based on all preprocessed images and character occurrence rates, selects the character with the highest occurrence rate as the information of the license plate to be compared. It is understood that the recognition error rate for "E" and "3", "O" and "0", and "G" and "9" is relatively high in license plate recognition. Therefore, it is necessary to determine the license plate information to be compared based on several processed images, thereby effectively improving the recognition accuracy.

[0125] Step SC3: Determine whether the license plate information to be compared matches the vehicle license plate information of the target vehicle.

[0126] Step SC4: If a match is found, then the vehicle in the parking space is identified as the target vehicle.

[0127] Step SC5: If there is no match, then determine that the vehicle in the parking space is not the target vehicle.

[0128] Specifically, the system matches the license plate information of the vehicle to be compared with the license plate information of the target vehicle to determine whether the vehicle in the parking space is the target vehicle. If the license plate information of the vehicle to be compared is the same as the license plate information of the target vehicle, the vehicle in the parking space is determined to be the target vehicle; if they are different, the vehicle in the parking space is determined not to be the target vehicle.

[0129] Based on the above embodiments, by preprocessing the images of the parking spaces, the accuracy of vehicle license plate recognition can be improved, and the license plate information to be compared can be determined based on the preprocessed images. By judging whether the license plate information to be compared matches the vehicle license plate information of the target vehicle, it can be accurately determined whether the vehicle in the parking space is the target vehicle, and the accuracy of the vehicle license plate information recognition results can also be improved.

[0130] Furthermore, in another embodiment of this application, the parking space is determined based on the target vehicle's load information and the type of garbage it carries, including steps SD1-SD3 (not shown in the accompanying drawings), wherein:

[0131] Step SD1: Obtain the acceptable load information of all available parking spaces within the sanitation station, and determine the first preset parking space set based on the load information of the target vehicle and the acceptable load information of each available parking space.

[0132] Specifically, the electronic equipment acquires the acceptable load information of the available parking spaces within the sanitation station in real time, and matches the load information of the target vehicle with the acceptable load information of each available parking space. That is, when the acceptable load information of the available parking space is not less than the load information of the target vehicle, a first preset parking space set is generated.

[0133] Step SD2: Obtain the load-bearing waste type information corresponding to each parking space in the first preset parking space set, and filter parking spaces from the first preset parking space set based on the load-bearing waste type information corresponding to each parking space in the first preset parking space set and the load-bearing waste type information of the target vehicle to determine the second preset parking space set.

[0134] Specifically, the type of waste carried by each parking space in the first preset parking space set is uploaded to the electronic device in real time. This waste type information includes dry waste and wet waste. It is understood that the type of waste carried by each parking space is unique, and the type of waste carried by each target vehicle is also unique. If the target vehicle's waste type is dry waste, then the parking spaces corresponding to dry waste in the first preset parking space set are selected; if the target vehicle's waste type is wet waste, then the parking spaces corresponding to wet waste in the first preset parking space set are selected, thereby determining the second preset parking space set.

[0135] Step SD3: Determine the distance between the target vehicle and each parking space in the second preset parking space set, and determine the parking space of the target vehicle based on the second preset parking space set and the distance between the target vehicle and each parking space.

[0136] Specifically, the distance between the target vehicle and each parking space in the second preset parking space set is the distance between the target vehicle at the entrance of the sanitation station and each parking space. The distance between the target vehicle and each parking space in the second preset parking space set is unique. Therefore, when a certain parking space is the shortest distance from the target vehicle, this parking space can be determined as the parking space for the target vehicle.

[0137] Based on the above embodiments, a first set of preset parking spaces is determined according to the acceptable load information of available parking spaces and the load information of the target vehicle. Then, parking spaces are selected from the first set of preset parking spaces based on the target vehicle's load and waste type information to determine a second set of preset parking spaces. This ensures that the load and waste type of the parking spaces match the load and waste type of the target vehicle. The distance between each parking space in the second set of preset parking spaces and the target vehicle is obtained to determine the target vehicle's parking space. The parking space with the shortest distance can then be selected as the target vehicle's parking space, improving the speed and efficiency of the target vehicle.

[0138] Furthermore, in another embodiment of this application, after determining whether the vehicle is in place based on the preset key point location set and the first location information of the key points of the target vehicle, the method further includes:

[0139] If it is determined that the target vehicle has not arrived, then some historical data of the target vehicle is obtained, including: the number of times the target vehicle has not entered the parking space and the number of times the target vehicle has not arrived within the second preset time period.

[0140] Specifically, if the target vehicle is not present, the electronic device can retrieve historical data corresponding to the target vehicle from a historical database based on the vehicle's license plate information or the vehicle owner information. When the target vehicle leaves the sanitation station, the electronic device automatically acquires the target vehicle's working status and generates a historical database. Each target vehicle corresponds to a unique historical database, and each historical database includes the number of times the target vehicle failed to enter the parking space and the number of times the target vehicle failed to arrive. In this embodiment, the second preset time period is not limited; it can be seven days or one month, and the user can set it themselves. To avoid randomness, the preferred second preset time period should be greater than five days.

[0141] The credit rating of a target vehicle is determined based on the number of times it fails to enter a parking space, the number of times it fails to arrive at a parking space, and their respective weights. Each target vehicle corresponds to a unique owner.

[0142] A work plan for the target vehicle is generated based on its credit rating.

[0143] Specifically, in this embodiment, based on the consideration that unloading garbage after the vehicle arrives at its designated location can effectively reduce garbage scattering, even if the target vehicle does not enter the parking space, garbage scattering can still be reduced after the target vehicle is parked in the designated parking space. Therefore, the weight corresponding to the number of times the vehicle does not enter the parking space is determined as the first weight, and the weight corresponding to the number of times the vehicle does not arrive at its designated location is determined as the second weight. Furthermore, the second weight is greater than the first weight. Thus, the credit rating of the target vehicle = number of times the vehicle does not enter the parking space * first weight + number of times the vehicle does not arrive at its designated location * second weight. When the credit rating is higher, the corresponding target vehicle's working condition is worse, and the impact on garbage scattering at the sanitation station is greater.

[0144] After determining the credit rating of the target vehicle, the electronic device can plan the number of transport trips by the target vehicle in a second preset time period based on the credit rating. In this embodiment, the credit rating is preferably divided into five levels. As the credit rating value increases, the number of transport trips by the target vehicle decreases sequentially. When the credit rating of the target vehicle is five in the second preset time period, the transport of garbage by the target vehicle is stopped.

[0145] Based on the above embodiments, after determining that the target vehicle has not arrived, some historical data of the target vehicle is obtained to determine the credit rating of the target vehicle, and a work plan for the target vehicle is generated based on the credit rating. The credit rating and the work plan for the target vehicle can serve as a warning to the target vehicle.

[0146] Furthermore, in another embodiment of this application, after determining whether the target vehicle has completed garbage unloading based on the target vehicle's posture and correspondence, the method further includes:

[0147] If it is determined that the target vehicle has not completed unloading the garbage, then obtain the owner information of the target vehicle.

[0148] The vehicle owner's information and parking space information are sent to the timeout reminder platform so that the platform can remind the vehicle owner of the timeout.

[0149] Specifically, the owner information of the target vehicle can include the owner's mobile phone number or WeChat ID. This owner information is obtained in real-time by the electronic device after the owner logs into the platform. The electronic device transmits the owner information and parking space information to the timeout reminder platform via the network to control the platform to remind the owner. Timeout reminders can be sent via: the platform's robot automatically calling the owner or sending a reminder via a WeChat mini-program. By reminding owners of timeouts, vehicles can be prevented from parking for extended periods without unloading garbage, reducing the impact on the normal operation of other vehicles at the sanitation station.

[0150] Based on the above embodiments, when it is determined that the target vehicle has not completed unloading garbage, the owner information of the target vehicle is obtained and the owner is reminded to reduce the impact on other vehicles, thereby enabling vehicles in the sanitation station to operate in an orderly manner.

[0151] The above embodiments describe a vehicle arrival detection method at a sanitation station from the perspective of method flow. The following embodiments describe a vehicle arrival detection device at a sanitation station from the perspective of virtual modules or virtual units. For details, please refer to the following embodiments.

[0152] This application provides a vehicle arrival detection device for sanitation stations, such as... Figure 2 A schematic diagram of a vehicle arrival detection system at a sanitation station, wherein the vehicle arrival detection device may specifically include:

[0153] The first acquisition module 210 is used to acquire target vehicle information, which includes: load information, type of waste loaded, and vehicle license plate information.

[0154] The berth determination module 220 is used to determine the berth based on load information and load type information;

[0155] The second acquisition module 230 is used to acquire an image of the parking space when the target vehicle is detected to have stopped moving;

[0156] The target vehicle determination module 240 is used to determine whether a vehicle in a parking space is a target vehicle based on the image of the parking space and the vehicle license plate information.

[0157] The key point first location information acquisition module 250 is used to determine the first location information of the key points of the target vehicle based on the image of the parking space if it is the target vehicle, wherein the first location information of the key points represents the location information of any point on the target vehicle.

[0158] The vehicle arrival detection module 260 is used to acquire a preset key point location set corresponding to the first location information of the key point, and to determine whether the vehicle is in place based on the preset key point location set and the first location information of the key point of the target vehicle. The preset key point location set represents the preset location range in which the key point can be located.

[0159] In this embodiment of the application, the accuracy of determining the parking space can be improved by using the load information and the type of garbage. When the target vehicle stops moving, it indicates that the target vehicle has reached the parking space. Therefore, the image information of the parking space can be obtained. Based on the image information and license plate of the parking space, it can be determined whether the vehicle in the parking space is the target vehicle. Thus, it is possible to accurately detect whether the target vehicle has reached the parking space. If it is the target vehicle, any point on the vehicle can be selected as a key point, and a preset key point position set corresponding to the first position information of the key point can be obtained. Through the preset key point position set and the first position information of the key point, a more accurate target vehicle position can be obtained, thereby enabling accurate determination of whether the vehicle has arrived.

[0160] In one possible implementation of this application embodiment, when the key point location information acquisition module 250 executes the first location information of the key points of the target vehicle based on the image of the parking space, it is used to:

[0161] The second location information of key points of the target vehicle is determined based on the image of the parking space, wherein the second location information represents the position of the key points in the target vehicle;

[0162] The location information of the target vehicle is determined based on the image of the parking space and the vehicle location recognition model. The location information of the target vehicle represents the three-dimensional location information of the target vehicle in the parking space.

[0163] The first location information of the key point is determined based on the second location information of the key point and the location information of the target vehicle.

[0164] One possible implementation of this application embodiment of the vehicle arrival detection device further includes:

[0165] The vehicle attitude determination module is used for:

[0166] If the vehicle is confirmed to be in place, then obtain the parking space image after the first preset time period.

[0167] The attitude of the target vehicle is determined based on the parking space image after the first preset time period;

[0168] Whether the target vehicle has completed unloading garbage is determined based on the target vehicle's posture and the corresponding relationship, where the corresponding relationship is the correspondence between the target vehicle's posture and the standard action of unloading garbage.

[0169] In one possible implementation of this application embodiment, when the target vehicle determination module 240 performs the function of determining whether a vehicle in a parking space is a target vehicle based on the image of the parking space and the vehicle license plate information, it is used to:

[0170] The image of the berth is preprocessed to obtain a preprocessed image. The preprocessing method includes at least one of the following: grayscale processing, filtering, and normalization processing.

[0171] Determine the license plate information to be compared from the preprocessed image;

[0172] Determine whether the license plate information to be compared matches the vehicle license plate information of the target vehicle;

[0173] If a match is found, the vehicle in the parking space is identified as the target vehicle.

[0174] If there is no match, it is determined that the vehicle in the parking space is not the target vehicle.

[0175] In one possible implementation of this application embodiment, the parking space determination module 220, when determining a parking space based on the target vehicle's load information and the type of garbage it carries, is used to:

[0176] Obtain the acceptable load information of all available parking spaces within the sanitation station, and determine the first preset parking space set based on the load information of the target vehicle and the acceptable load information of each available parking space.

[0177] Obtain the load-bearing waste type information corresponding to each parking space in the first preset parking space set, and filter parking spaces from the first preset parking space set based on the load-bearing waste type information corresponding to each parking space in the first preset parking space set and the load-bearing waste type information of the target vehicle to determine the second preset parking space set;

[0178] Determine the distance between the target vehicle and each parking space in the second preset parking space set, and determine the parking space of the target vehicle based on the second preset parking space set and the distance between the target vehicle and each parking space.

[0179] One possible implementation of this application embodiment of the vehicle arrival detection device further includes:

[0180] The target vehicle work plan generation module is used for:

[0181] If it is determined that the target vehicle has not arrived, then obtain some historical data of the target vehicle, including: the number of times the target vehicle has not entered the parking space and the number of times the target vehicle has not arrived within the second preset time period.

[0182] The credit rating of a target vehicle is determined based on the number of times it fails to enter a parking space, the number of times it fails to arrive at a parking space, and their respective weights. Each target vehicle corresponds to a unique owner.

[0183] A work plan for the target vehicle is generated based on its credit rating.

[0184] One possible implementation of this application embodiment of the vehicle arrival detection device further includes:

[0185] The timeout reminder module is used for:

[0186] If it is determined that the target vehicle has not completed unloading the garbage, then obtain the owner information of the target vehicle;

[0187] The vehicle owner's information and parking space information are sent to the timeout reminder platform so that the platform can remind the vehicle owner of the timeout.

[0188] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the vehicle arrival detection device at a sanitation station described above can be referred to the corresponding process in the aforementioned method embodiments, and will not be repeated here.

[0189] This application provides an electronic device, such as... Figure 3 As shown, Figure 3 The illustrated electronic device 30 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device 300 does not constitute a limitation on the embodiments of this application.

[0190] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0191] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The symbol is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0192] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0193] The memory 303 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0194] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Servers can also be included. Figure 3 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0195] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments. Compared with related technologies, this application's embodiments can improve the accuracy of parking space determination based on load information and type of loaded waste. When the target vehicle is detected to have stopped moving, it indicates that the target vehicle has reached the parking space. Therefore, image information of the parking space can be acquired. Based on the image information and license plate of the parking space, it can be determined whether the vehicle in the parking space is the target vehicle. Thus, it is possible to accurately detect whether the target vehicle has reached the parking space. If it is the target vehicle, any point on the vehicle can be selected as a key point, and a preset key point location set corresponding to the key point location information can be obtained. Through the preset key point location set and the key point location information, a more accurate target vehicle position can be obtained, thereby enabling accurate determination of whether the vehicle has arrived at the parking space.

[0196] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0197] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for detecting vehicle arrival at a sanitation station, characterized in that, include: Obtain target vehicle information, wherein the target vehicle information includes: load information, type of waste loaded, and vehicle license plate information; The parking space is determined based on the target vehicle's load information and the type of waste it carries. The process of determining the parking space based on the target vehicle's load information and the type of waste it carries includes: Obtain the acceptable load information of all available parking spaces within the sanitation station, and determine the first preset parking space set based on the load information of the target vehicle and the acceptable load information of each available parking space. Obtain the load-bearing waste type information corresponding to each parking space in the first preset parking space set, and filter parking spaces from the first preset parking space set according to the load-bearing waste type information corresponding to each parking space in the first preset parking space set and the load-bearing waste type information of the target vehicle to determine the second preset parking space set; Determine the distance between the target vehicle and each parking space in the second preset parking space set, and determine the parking space of the target vehicle based on the second preset parking space set and the distance between the target vehicle and each parking space; Once the target vehicle stops moving, acquire an image of the parking space; Based on the image of the parking space and the vehicle license plate information, determine whether the vehicle in the parking space is the target vehicle; If it is a target vehicle, the first location information of the key points of the target vehicle is determined based on the image of the parking space, wherein the first location information of the key points represents the location information of any point on the target vehicle; The first location information for determining key points of the target vehicle based on the image of the parking space includes: Based on the image of the parking space, a second location information of key points of the target vehicle is determined, wherein the second location information represents the position of the key points in the target vehicle; The location information of the target vehicle is determined based on the image of the parking space and the vehicle location recognition model, wherein the location information of the target vehicle represents the three-dimensional location information of the target vehicle in the parking space. The first location information of the key point is determined based on the second location information of the key point and the location information of the target vehicle. Obtain a preset key point location set corresponding to the first location information of the key point, and determine whether the vehicle is in place based on the preset key point location set and the first location information of the key point of the target vehicle, wherein the preset key point location set represents the preset location range in which the key point can be located.

2. The vehicle arrival detection method at sanitation stations according to claim 1, characterized in that, After determining whether the vehicle is in place based on the preset set of key point locations and the first location information of the key points of the target vehicle, the method further includes: If the vehicle is confirmed to be in place, then obtain the parking space image after the first preset time period. The attitude of the target vehicle is determined based on the parking space image after the first preset time period; Whether the target vehicle has completed unloading garbage is determined based on the target vehicle's posture and the corresponding relationship, wherein the corresponding relationship is the correspondence between the target vehicle's posture and the standard action of unloading garbage.

3. The vehicle arrival detection method at sanitation stations according to claim 1, characterized in that, The step of determining whether a vehicle in a parking space is the target vehicle based on the image and license plate information of the parking space includes: The image of the berth is preprocessed to obtain a preprocessed image. The preprocessing method includes at least one of the following: grayscale processing, filtering, and normalization processing. The license plate information to be compared is determined from the preprocessed image; Determine whether the license plate information to be compared matches the vehicle license plate information of the target vehicle; If a match is found, the vehicle in the parking space is determined to be the target vehicle. If there is no match, it is determined that the vehicle in the parking space is not the target vehicle.

4. The vehicle arrival detection method at sanitation stations according to claim 1, characterized in that, After determining whether the vehicle is in place based on the preset key point location set and the first location information of the key points of the target vehicle, the method further includes: If it is determined that the target vehicle has not arrived, then a number of historical data of the target vehicle are obtained, wherein the number of times the target vehicle has not entered the parking space and the number of times the target vehicle has not arrived within the second preset time period. The credit rating of the target vehicle is determined based on the number of times it failed to enter the parking space, the number of times it failed to arrive, and their respective weights. Each target vehicle corresponds to a unique owner. A work plan for the target vehicle is generated based on the target vehicle's credit rating.

5. The vehicle arrival detection method at sanitation stations according to claim 2, characterized in that, After determining whether the target vehicle has completed garbage unloading based on the target vehicle's attitude and correspondence, the method further includes: If it is determined that the target vehicle has not completed unloading the garbage, then obtain the owner information of the target vehicle; The vehicle owner information and parking space information are sent to the timeout reminder platform so that the timeout reminder platform can remind the vehicle owner of the timeout.

6. A vehicle arrival detection device for a sanitation station, characterized in that, include: The first acquisition module is used to acquire target vehicle information, wherein the target vehicle information includes: load information, type of waste loaded, and vehicle license plate information; The berth determination module is used to determine the berth based on the load information and the type of waste. When determining a parking space based on the target vehicle's load information and the type of waste it carries, the parking space determination module is used for: Obtain the acceptable load information of all available parking spaces within the sanitation station, and determine the first preset parking space set based on the load information of the target vehicle and the acceptable load information of each available parking space. Obtain the load-bearing waste type information corresponding to each parking space in the first preset parking space set, and filter parking spaces from the first preset parking space set based on the load-bearing waste type information corresponding to each parking space in the first preset parking space set and the load-bearing waste type information of the target vehicle to determine the second preset parking space set; Determine the distance between the target vehicle and each parking space in the second preset parking space set, and determine the parking space of the target vehicle based on the second preset parking space set and the distance between the target vehicle and each parking space; The second acquisition module is used to acquire an image of the parking space when the target vehicle is detected to have stopped moving. The target vehicle determination module is used to determine whether the vehicle in the parking space is the target vehicle based on the image of the parking space and the vehicle license plate information. The key point location information acquisition module is used to determine the first location information of the key points of the target vehicle based on the image of the parking space if it is the target vehicle, wherein the first location information of the key points represents the location information of any point on the target vehicle. When the key point location information acquisition module executes the process of determining the first location information of the key points of the target vehicle based on the image of the parking space, it is used for: The second location information of key points of the target vehicle is determined based on the image of the parking space, wherein the second location information represents the position of the key points in the target vehicle; The location information of the target vehicle is determined based on the image of the parking space and the vehicle location recognition model. The location information of the target vehicle represents the three-dimensional location information of the target vehicle in the parking space. The first location information of the key points is determined based on the second location information of the key points and the location information of the target vehicle. The vehicle arrival detection module is used to acquire a preset key point location set corresponding to the first location information of the key point, and determine whether the vehicle is in place based on the preset key point location set and the first location information of the key point of the target vehicle. The preset key point location set represents the preset location range in which the key point can be located.

7. An electronic device, characterized in that, include: At least one processor; Memory; At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, said at least one application being configured to: perform the vehicle arrival detection method for sanitation stations as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed in a computer, causes the computer to perform the vehicle arrival detection method for sanitation stations as described in any one of claims 1 to 5.

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