Method and system for automatically positioning berths by video inspection equipment

Abstract

The present invention mainly relates to a method and system for automatically positioning a berth by a video inspection device. The method is applied to determine the number of the current berth at the location of the video inspection device; the method includes: obtaining berth positioning data, the berth positioning data is used to determine the positional relationship with the video inspection device; according to the berth positioning data and the latitude and longitude information and the driving direction of the video inspection device, the number of the current berth at the location of the video inspection device is determined. The system includes: a berth coordinate acquisition unit and a berth retrieval and positioning unit. The berth where the video inspection device is located can be quickly and accurately positioned without the aid of other auxiliary positioning devices, which reduces the system cost, reduces the communication between devices, and makes the positioning result more stable.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of automatic berthing of inspection equipment, and in particular to a method and system for automatic berthing positioning of video inspection equipment. Background Art

[0002] GPS positioning technology is a positioning technology based on the Global Positioning System (GPS), which can realize the location, measurement and navigation of objects or equipment. The principle is to use the GPS receiver to receive signals from satellites, calculate the location information of objects or equipment after error processing and correction of the signals, and transmit the information to mobile terminals or other devices through wireless communication technology. The accuracy of GPS positioning technology depends on many factors, such as the number of satellites, signal transmission errors, multipath effects, etc. Under normal circumstances, GPS positioning technology can achieve a positioning accuracy of several meters to more than ten meters, which meets most application requirements, but the accuracy required in the inspection process of video inspection equipment needs to reach the centimeter level and can accurately match the position relationship between the video inspection equipment and the berth.

[0003] An RFID card reader is installed on the video inspection device, and an RFID electronic tag is installed on the parking space. The method includes the following steps: when the video inspection device enters the sensing range of the RFID electronic tag, multiple RFID signals are acquired at intervals through the RFID card reader; the real-time position information of the inspection vehicle is calculated based on the identified multiple RFID signals; the deviation information is calculated using the real-time position information and the pre-collected coordinate information of the RFID electronic tag; when the deviation information is greater than a preset threshold, the real-time position information of the video inspection device is corrected using the deviation information.

[0004] 1. The existing technology needs to rely on other hardware equipment to complete the berth positioning of video inspection equipment;

[0005] 2. The existing technology has the problem of misjudging the different direction lanes of the road where the video inspection equipment is located.

[0006] 3. Existing technologies are easily blocked, resulting in failure to obtain correct results and data errors.

[0007] The above-mentioned record of background technical knowledge is intended to help ordinary technicians in this field understand the existing technologies that are relatively close to the present invention, and at the same time facilitate the understanding of the inventive concept and technical solution of this application. It should be clear that in the absence of clear evidence that the above-mentioned content has been disclosed before the filing date of this patent application, the above-mentioned background technology should not be used to evaluate the novelty of the technical solution of this application. Summary of the invention

[0008] In order to solve at least one of the technical problems mentioned in the above background technology, the purpose of the present invention is to provide a berth positioning method and system for video inspection equipment, which can quickly and accurately locate the berth where the video inspection equipment is located without the aid of other auxiliary positioning equipment, thereby reducing system costs, reducing communication between devices, and making positioning results more stable.

[0009] A method for automatically positioning a berth using video inspection equipment is provided, which is characterized by:

[0010] The method is applied to determine the number of the current berth where the video inspection equipment is located;

[0011] The method comprises:

[0012] Acquiring berth positioning data, wherein the berth positioning data is used to determine a positional relationship with a video inspection device;

[0013] According to the berth positioning data and the latitude and longitude information and driving direction of the video inspection device, the number of the current berth where the video inspection device is located is determined.

[0014] Provided is a video inspection equipment automatic berth positioning system, comprising:

[0015] A berth coordinate collection unit collects berth positioning data according to the berth coordinate collection device and transmits the berth positioning data to the berth retrieval and positioning unit;

[0016] The berth retrieval and positioning unit, based on the global satellite navigation system, obtains the latitude and longitude information and driving direction of the video inspection equipment according to the real-time centimeter-level positioning service, and reports the data to the background. The background integrates the data and determines the berth number of the berth where the video inspection equipment is located based on the berth positioning data and the latitude and longitude information and driving direction of the video inspection equipment.

[0017] A roadside parking fee collection method is provided, comprising:

[0018] Based on the aforementioned method for automatically locating a berth by video inspection equipment, the position information of the video inspection equipment and the number of the berth corresponding to the video inspection equipment are obtained;

[0019] Obtain the license plate information of the vehicle in the parking space corresponding to the video inspection device;

[0020] Charging information is generated based on the number of the corresponding parking space, the license plate information, and the collected time when the vehicle enters and leaves the parking space.

[0021] Provided is an intelligent terminal, comprising: a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program implements the steps of the aforementioned method when executed by the processor.

[0022] The beneficial effects of this application are:

[0023] Through the preset positioning points of the berth and the positioning information uploaded in real time by the video inspection equipment, the relative position relationship between the video inspection equipment and the berth is accurately calculated through the algorithm, thus achieving high-precision positioning of the relative position of the video inspection equipment and the berth. There is no need to use other auxiliary positioning equipment, which reduces system costs, reduces communication between devices, and makes positioning results more stable.

[0024] The precise positioning of video inspection equipment and parking spaces has significantly improved the accuracy of order information for on-street parking charges, reduced complaints from car owners, further increased the charging credibility of parking operation companies, and reduced the investment and construction costs of operating companies. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to make the above and / or other purposes, features, advantages and examples of the present invention more obvious and easy to understand, the drawings required for use in the specific implementation of the present invention 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 paying creative work.

[0026] Figure 1 A flow chart showing a method for automatically locating a berth using video inspection equipment;

[0027] Figure 2 A schematic diagram showing a parking space input tool of a parking space coordinate acquisition unit;

[0028] Figure 3 A schematic diagram showing setting of a berth end point by a berth coordinate acquisition unit;

[0029] Figure 4 Indicates adding a berth schematic diagram through a berth coordinate collection unit;

[0030] Figure 5 A schematic diagram showing the relative positions of the berth starting point, end point and coordinate points of the video inspection equipment;

[0031] Figure 6 A schematic diagram showing the relative positions of the berth's circumscribed rectangle and the coordinate points of the video inspection equipment;

[0032] Figure 7 A schematic diagram showing the relative position of coordinate points determined by the projection of the coordinate points of the video inspection equipment on the line connecting the starting point and the end point of the berth. DETAILED DESCRIPTION

[0033] Those skilled in the art can refer to the content of this article and appropriately replace and / or modify the process parameters to achieve the same. However, it should be particularly noted that all similar replacements and / or modifications are obvious to those skilled in the art and are considered to be included in the present invention. The products and preparation methods described in the present invention have been described through preferred examples. It is obvious that relevant personnel can modify or appropriately change and combine the products and preparation methods described herein without departing from the content, spirit and scope of the present invention to implement and apply the technology of the present invention.

[0034] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. The present invention uses the methods and materials described herein; however, other suitable methods and materials known in the art may also be used. The materials, methods, and examples described herein are illustrative only and are not intended to be limiting. All publications, patent applications, patents, provisional applications, database entries, and other references mentioned herein are incorporated herein by reference in their entirety. In the event of a conflict, the present specification, including definitions, shall prevail.

[0035] Unless specifically stated, the materials, methods, and examples described herein are illustrative only and not limiting. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention, suitable methods and materials are still described herein.

[0036] The present invention is described in detail below.

[0037] Figure 1 A flow chart of a method for automatically positioning a berth using a video inspection device is shown. Figure 1 As shown, the method includes the following processing:

[0038] Step S100, obtaining berth positioning data, wherein the berth positioning data is used to determine the position relationship with the video inspection device;

[0039] Step S200: Determine the number of the current berth where the video inspection device is located based on the berth positioning data and the latitude and longitude information and the driving direction of the video inspection device.

[0040] The berth positioning data includes the berth starting point longitude and latitude data, the berth end point longitude and latitude data and the current berth number.

[0041] like Figures 2 to 4As shown, the step of obtaining berth positioning data in step S100 includes: the on-site implementation personnel hold the berth coordinate collection device at the berth starting point, log in to the parking space entry tool, click Set as berth starting point on the screen, and collect the latitude and longitude data of the starting point; then move to the berth end point, click Set as berth end point on the screen, collect the latitude and longitude data of the end point, and then confirm the berth information. After confirmation, click Add berth, and the collection of one berth data is completed; the collected berth data is transmitted to the background through a communication protocol such as HTTPS protocol and / or HTTP protocol, and saved in a database.

[0042] The berth coordinate collection device includes: a GPS device, an operating system device, and a parking space entry tool. The parking space entry tool is integrated into the operating system device, and the operating system device includes any one of an Android system device, an Apple system device, and a Hongmeng system device. The GPS device is self-powered and transmits the collected longitude and latitude data to the operating system device in real time through the serial port. The data transmission format is NMEA-0183. The operating system device is installed with the parking space entry tool software, and the received longitude and latitude data are parsed in the NMEA-0183 format as the data source for berth collection.

[0043] In the step S200, the number of the current berth where the video inspection device is located is determined according to the berth positioning data and the latitude and longitude information and driving direction of the video inspection device, including: based on the global satellite navigation system, the latitude and longitude information and driving direction of the video inspection device are obtained according to the real-time centimeter-level positioning service, and the data is reported to the background, and the background integrates the data and determines the berth number of the berth where the video inspection device is located according to the berth positioning data and the latitude and longitude information and driving direction of the video inspection device. According to the berth positioning algorithm of the video inspection device, the distance to the berth starting point is calculated according to the reported coordinate point, and if the distance is less than 6m, it is output, wherein the distance calculation formula is explained as follows:

[0044] We approximate the earth as a sphere, and regard the triangle formed by the line connecting two points and the center of the earth as a spherical triangle. Then we use the principles of trigonometry to calculate the distance, and according to the spherical cosine theorem, we get the formula for calculating the distance between two points on the sphere:

[0045] distance=acos(sin(lat1)×sin(lat2)+cos(lat1)×cos(lat1)×

[0046] cos(lon2-lon1))×R×1000(1)

[0047] Among them, lat1 and lon1 represent the latitude and longitude of the starting point of the berth respectively; lat2 and lon2 represent the latitude and longitude of the end point of the berth respectively; sin represents the sine function; cos represents the cosine function; acos represents the arccosine function; R represents the earth radius parameter, the selection range is 6350~6380km, preferably 6378.137km. Distance is the distance between the two points calculated at last, in kilometers. It is worth noting that the longitude and latitude represented by lat1, lon1, lat2 and lon2 should first be converted into radians: degrees×(π / 180), where degrees represents the longitude and latitude, and π represents pi.

[0048] Using the above distance calculation formula, we retrieve from the database, filter the reported coordinate points and the parking list within 6m of the parking starting point, and output them. Since the parking space width is 2-3m, at most 3 parking spaces will be searched out. Then, we determine the relative position of the coordinate point and the parking space according to the distance calculation formula. The explanation of determining the relative position of the coordinate point and the parking space is as follows.

[0049] like Figure 5 As shown, point a is the starting point of the collected berth, point b is the end point of the collected berth, and point c is any point (longitude and latitude) reported by the video inspection device during its driving process, which is recorded as the current video inspection device coordinate point c.

[0050] According to the real-time centimeter-level positioning service, the latitude and longitude of the location information point c of the video inspection equipment are obtained. Using the above distance calculation formula, the distances of the three points abc can be calculated: ab, ac, bc, where ab represents the distance from the collected berth starting point a to the collected berth end point b; ac represents the distance from the collected berth starting point a to the current video inspection equipment coordinate point c; bc represents the distance from the collected berth end point b to the current video inspection equipment coordinate point c.

[0051] According to Heron's formula in The area S of Δabc can be obtained, and the vertical distance from point c to ab can be calculated based on the area of ​​the triangle. That is, the height h of Δabc ab , if ac and bc are not greater than the length of the diagonal of the rectangle, then point c is located inside the berth 102 between points a and b; otherwise, point c is located outside the berth between points a and b. The specific schematic diagram is as follows Figure 6 As shown. Formulas (2-1), (2-2) and (2-3) together form formula (2).

[0052] If point c is not within the berth 102, calculate which is greater, ac or bc. If ac>bc, it means that point c is within the berth 103 on the b side; if bc>ac, point c is within the berth 101 on the a side.

[0053] Next, assume that point d is high h ab The foot of the perpendicular on the ab side, such as Figure 7 As shown, the lengths of ad and bd can be directly calculated using the Pythagorean theorem, so the position of point c is very clear, such as: point c is located in the area in front of berth 102, the length from point c to ab is H, the projection of point c on ab is d, the length from d to point a is ad, and the length from d to point b is bd.

[0054] In actual scenarios, after determining the relative position of the video inspection device and the parking space, accurate basic data can be provided for the subsequent business platform. For example, the license plate of xxxxxx is parked at parking space 102, and the business platform processes the business based on this data. For example, a roadside parking fee collection method is provided, based on the aforementioned video inspection device automatic parking space positioning system to obtain the location information of the video inspection device and the number 102 of the parking space corresponding to the video inspection device; obtain the license plate information xxxxxx of the vehicle in the parking space corresponding to the video inspection device; based on the number 102 of the corresponding parking space, the license plate information xxxxxx and the collected time of the vehicle entering and leaving the parking space, generate charging information.

[0055] A video inspection device automatic berth positioning system is also provided, comprising a berth coordinate acquisition unit for collecting data and a berth retrieval and positioning unit for positioning. The berth coordinate acquisition unit collects berth positioning data according to the berth coordinate acquisition device, and transmits the berth positioning data to the berth retrieval and positioning unit. Based on the global satellite navigation system, the berth retrieval and positioning unit obtains the latitude and longitude information and driving direction of the video inspection device according to the real-time centimeter-level positioning service, reports the data to the background, and the background integrates the data and determines the berth number of the berth where the video inspection device is located according to the berth positioning data and the latitude and longitude information and driving direction of the video inspection device.

[0056] A roadside parking fee collection method is provided, comprising:

[0057] Based on the aforementioned method for automatically locating a berth for a video inspection device, the location information of the video inspection device and the number of the berth corresponding to the video inspection device are obtained;

[0058] Obtain the license plate information of the vehicle in the parking space corresponding to the video inspection device;

[0059] Charging information is generated based on the number of the corresponding parking space, the license plate information, and the collected time when the vehicle enters and leaves the parking space.

[0060] An intelligent terminal is further provided, comprising: a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the steps of the aforementioned method for automatically positioning berths by the video inspection equipment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0061] Memory includes permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer memory include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0062] The conventional techniques in the above embodiments are prior arts known to those skilled in the art, and thus will not be described in detail here.

[0063] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0064] Although the present invention has been described in detail and some specific embodiments have been cited, it is obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the present invention.

[0065] Although the above-mentioned specific embodiments have been shown, described and pointed out the novel features applied to various embodiments, it should be understood that various omissions, substitutions and changes can be made to the form and details of the described device or method without departing from the spirit of the present disclosure. In addition, the above-mentioned various features and methods can be used independently of each other, or can be combined in various ways. All possible combinations and sub-combinations are intended to fall within the scope of the present disclosure. Many of the above-mentioned embodiments include similar components, and therefore, these similar components are interchangeable in different embodiments. Although the present invention has been disclosed in the context of certain embodiments and examples, it should be understood by those skilled in the art that the present invention can extend beyond the specifically disclosed embodiments to other alternative embodiments and / or applications and obvious modifications and equivalents thereof. Therefore, the present invention is not intended to be limited by the specific disclosure of the preferred embodiments herein.

[0066] Matters not covered in the present invention are all known technologies.

Claims

1. A method for automatically positioning a berth using video inspection equipment, characterized in that: The method is applied to determine the number of the current berth where the video inspection equipment is located; The method comprises: Acquiring berth positioning data, wherein the berth positioning data is used to determine a positional relationship with a video inspection device; According to the berth positioning data and the latitude and longitude information and driving direction of the video inspection device, the number of the current berth where the video inspection device is located is determined, including: based on the global satellite navigation system, the latitude and longitude information and driving direction of the video inspection device are obtained according to the real-time centimeter-level positioning service, and the data is reported to the background. The background integrates the data and determines the berth number of the berth where the video inspection device is located according to the berth positioning data and the latitude and longitude information and driving direction of the video inspection device, including: 1) Based on the reported coordinates, calculate the distance from the berth starting point to the end point according to the distance calculation formula (1) , if the distance is less than 6m, output: (1) in, and Respectively represent the latitude and longitude of the berth starting point; and denote the latitude and longitude of the berth end point respectively; represents the sine function; represents the cosine function; represents the arccosine function; represents the earth radius parameter; 2) Using the distance calculation formula in step 1), retrieve from the database, filter the reported video inspection equipment coordinate points and the berth list within 6m of the berth starting point for output, and then calculate the relative position of the video inspection equipment coordinate points and the berth according to formula (2): (2) in, Indicates the starting point of the berth for collection To the end of the berth collected distance; Indicates the starting point of the berth for collection To the current video inspection device coordinate point distance; Indicates the end point of the berth collected To the current video inspection device coordinate point distance; express area; express half of the circumference; Indicates the coordinate point of the current video inspection device to The vertical distance 3) Build The route of the video inspection equipment is on the opposite side. The vertical line to the route of the video inspection equipment is one side, The perpendicular line to the route of the video inspection equipment is the opposite side of the rectangle. Calculate the length of the diagonal of the rectangle based on , The relationship between the length of the diagonal of the rectangle and , The size relationship is determined The berth number corresponding to the point: If ac and bc are not greater than the length of the diagonal of the rectangle, then point c is located inside the berth between points a and b; otherwise, point c is outside the berth between points a and b.

2. The method for automatically positioning a berth by video inspection equipment according to claim 1, characterized in that: The obtaining of berth positioning data comprises: The on-site implementation personnel hold the berth coordinate collection device at the starting point of the berth, log in to the parking space entry tool, click Set as berth starting point on the screen, and collect the longitude and latitude data of the starting point; then move to the end point of the berth, click Set as berth end point on the screen, collect the longitude and latitude data of the end point, and then confirm the berth information. After confirmation, click Add berth, and the data collection of one berth is completed; the collected berth data is transmitted to the background through the communication protocol and saved in the database.

3. The method for automatically positioning a berth by video inspection equipment according to claim 1, characterized in that: In step 3), if , are not greater than the length of the rectangle diagonal, then Point is located point, points; otherwise Point is located point, Outside the berth between points.

4. The method for automatically positioning a berth by video inspection equipment according to claim 1, characterized in that: In the step 3), Point is located point, When the berth between points is outside, if ,but Point is located In the side berth; if ,but Point is located In the side berth.

5. Video inspection equipment automatic berth positioning system, characterized by include: A berth coordinate collection unit collects berth positioning data according to the berth coordinate collection device and transmits the berth positioning data to the berth retrieval and positioning unit; The berth retrieval and positioning unit, based on the global satellite navigation system, obtains the latitude and longitude information and driving direction of the video inspection equipment according to the real-time centimeter-level positioning service, and reports the data to the background. The background integrates the data and determines the berth number of the berth where the video inspection equipment is located according to the berth positioning data and the latitude and longitude information and driving direction of the video inspection equipment; When the system is running, the method for automatically positioning berths using video inspection equipment described in any one of claims 1 to 4 is executed.

6. The automatic berth positioning system of video inspection equipment according to claim 5 is characterized in that: An RFID card reader is installed on the video inspection device, and an RFID electronic tag is installed on the berth. When the video inspection device enters the sensing range of the RFID electronic tag, multiple RFID signals are acquired at intervals through the RFID card reader; the real-time position information of the inspection vehicle is calculated based on the identified multiple RFID signals; the deviation information is calculated using the real-time position information and the pre-collected coordinate information of the RFID electronic tag; when the deviation information is greater than a preset threshold, the real-time position information of the video inspection device is corrected using the deviation information.

7. Roadside parking fee collection method, characterized in that include: Based on the method for automatically locating a berth for a video inspection device according to any one of claims 1 to 4, the location information of the video inspection device and the number of the berth corresponding to the video inspection device are obtained; Obtain the license plate information of the vehicle in the parking space corresponding to the video inspection device; Charging information is generated based on the number of the corresponding parking space, the license plate information, and the collected time when the vehicle enters and leaves the parking space.

8. Intelligent terminal, characterized by include: A memory, a processor, and a program stored in the memory and executable on the processor, wherein the program implements the steps of the method according to any one of claims 1 to 4 when executed by the processor.

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