Oil tank truck monitoring method, device and system and vehicle

Abstract

The invention discloses an oil tank truck monitoring method, device and system and a vehicle. The method comprises the steps that a monitoring process is executed; the monitoring process comprises: determining that the oil tank truck enters a check point; acquiring a first position coordinate and a second position coordinate of the oil tank truck; performing deviation value comparison on the first position coordinate and the second position coordinate, and obtaining an average position coordinate according to the first position coordinate and the second position coordinate if a condition is met; if not, quitting the monitoring process; acquiring a first moving track and a second moving track of the oil tank truck; carrying out average value integration on the first moving track and the second moving track to obtain a target moving track; and comparing the target moving track with a preset planned moving track, passing the inspection if the target moving track meets the condition, and not performing general inspection if the target moving track does not meet the condition. By judging the position point and the moving track, the position information of the oil tank truck is prevented from being tampered, and the monitoring reliability of the oil tank truck is ensured. The invention is mainly used in the technical field of vehicles.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a tanker monitoring method, device, system and vehicle. Background Art

[0002] A tank truck is a special vehicle for transporting liquid goods, usually used to transport liquid items such as oil, water, and chemicals. This type of vehicle is characterized by having a sealed liquid container to ensure safe transportation. Since the tank truck is a special equipment, its position and route need to be monitored during transportation to ensure the safety of the tank truck. In the monitoring process of the tank truck, it is crucial to determine the location information of the tank truck. In the prior art, the location determination of the tank truck is not comprehensive, and it is easy for the location information of the tank truck to be tampered with. Therefore, how to comprehensively and reliably monitor the travel of the tank truck is a technical issue that urgently needs to be studied in the industry. Summary of the invention

[0003] The present invention provides a tanker monitoring method, device, system and vehicle to solve one or more technical problems existing in the prior art and at least provide a beneficial option or create conditions.

[0004] The present invention provides a tanker monitoring method, comprising: executing a monitoring process; The monitoring process includes: step 1, determining that the tanker truck enters the checkpoint; Step 2: Obtain the current satellite-based position coordinates of the tanker truck, and mark the position coordinates as first position coordinates; obtain the current base station-based position coordinates of the tanker truck, and mark the position coordinates as second position coordinates; Step 3: Compare the deviation values ​​of the first position coordinate and the second position coordinate. When the deviation value of the first position coordinate and the second position coordinate is less than the set first deviation threshold, average the first position coordinate and the second position coordinate to obtain the average value, and record the average value as the average position coordinate; when the deviation value of the first position coordinate and the second position coordinate is greater than or equal to the set first deviation threshold, it is considered that the tanker truck does not pass the inspection of the current checkpoint, and the monitoring process is exited; Step 4: Obtain a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint through satellite positioning, and record the moving trajectory as a first moving trajectory; obtain a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint through base station positioning, and record the moving trajectory as a second moving trajectory; average the first moving trajectory and the second moving trajectory to obtain a target moving trajectory; Step 5: Compare the target moving trajectory with the pre-set planned moving trajectory. When the difference between the target moving trajectory and the planned moving trajectory meets the set error threshold, it is considered that the tank truck has passed the inspection of the current checkpoint; when the difference between the target moving trajectory and the planned moving trajectory does not meet the set error threshold, it is considered that the tank truck has not passed the inspection of the current checkpoint and exits the monitoring process.

[0005] Furthermore, in the monitoring process, before obtaining the current satellite positioning position coordinates of the tanker, it also includes: obtaining the time when the tanker enters the checkpoint, and the time is recorded as the current check time; Obtain the time when the tanker entered the last checkpoint, and record the time as the historical checkpoint time; Determine whether the time difference between the current inspection time and the historical inspection time is within a set time threshold range; When the time difference does not fall within the set time threshold range, it is considered that the tanker truck does not pass the inspection of the current checkpoint and exits the monitoring process.

[0006] Furthermore, the obtaining of the current satellite positioning position coordinates of the tanker truck specifically includes: accessing a satellite positioning device disposed on the tanker truck, and obtaining the current position coordinates from the satellite positioning device, wherein the position coordinates are the current satellite positioning position coordinates of the tanker truck.

[0007] Further, obtaining the current base station positioning position coordinates of the tanker truck specifically includes: accessing a base station positioning device disposed on the tanker truck, obtaining the current position coordinates in the base station positioning device, and the position coordinates are the current base station positioning position coordinates of the tanker truck.

[0008] Furthermore, the tanker truck monitoring method further includes: when the tanker truck fails to pass the inspection at the current checkpoint, a log file is generated, wherein the log file records the reason information why the tanker truck fails to pass the inspection at the current checkpoint.

[0009] Furthermore, the tanker truck monitoring method further includes: encrypting the log file.

[0010] On the other hand, a tank truck monitoring device is provided, comprising: a processor and a memory, wherein the memory is used to store a computer-readable program; when the computer-readable program is executed by the processor, the processor implements the tank truck monitoring method as described in any one of the above technical solutions.

[0011] In another aspect, a tanker monitoring system is provided, comprising: an execution module, the execution module being used to execute a monitoring process; The execution module includes: a determination unit, a first acquisition unit, a first comparison unit, a second acquisition unit, and a second comparison unit; The determination unit is used to determine that the tanker truck enters the checkpoint; The first acquisition unit is used to acquire the current satellite positioning position coordinates of the tanker truck, and mark the position coordinates as the first position coordinates; acquire the current base station positioning position coordinates of the tanker truck, and mark the position coordinates as the second position coordinates; The first comparison unit is used to compare the deviation value of the first position coordinate and the second position coordinate. When the deviation value of the first position coordinate and the second position coordinate is less than a set first deviation threshold, the first position coordinate and the second position coordinate are averaged to obtain an average value, and the average value is recorded as the average position coordinate; when the deviation value of the first position coordinate and the second position coordinate is greater than or equal to the set first deviation threshold, it is considered that the tanker truck does not pass the inspection of the current checkpoint and exits the monitoring process; The second acquisition unit is used to acquire a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint obtained by satellite positioning, and record the moving trajectory as a first moving trajectory; acquire a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint obtained by base station positioning, and record the moving trajectory as a second moving trajectory; average the first moving trajectory and the second moving trajectory to obtain a target moving trajectory; The second comparison unit is used to compare the target moving trajectory with a pre-set planned moving trajectory. When the difference between the target moving trajectory and the planned moving trajectory meets the set error threshold, it is considered that the tank truck has passed the inspection of the current checkpoint; when the difference between the target moving trajectory and the planned moving trajectory does not meet the set error threshold, it is considered that the tank truck has not passed the inspection of the current checkpoint and exits the monitoring process.

[0012] Furthermore, the obtaining of the current satellite positioning position coordinates of the tanker truck specifically includes: accessing a satellite positioning device disposed on the tanker truck, and obtaining the current position coordinates from the satellite positioning device, wherein the position coordinates are the current satellite positioning position coordinates of the tanker truck.

[0013] On the other hand, a vehicle is provided, which is integrated with the tanker monitoring system described in any one of the above technical solutions.

[0014] The present invention has at least the following beneficial effects: The present invention sets checkpoints and uses the checkpoints to check the travel of the tanker. The reliability of the location information of the tanker is ensured by judging the location points and the movement trajectory. The location information of the tanker is prevented from being tampered with. The reliability of monitoring of the tanker is ensured. The present invention also provides corresponding devices, systems and vehicles. The beneficial effects of the devices, systems and vehicles are similar to those of the method, and will not be described again here. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation to the technical solution of the present invention.

[0016] Figure 1 It is a flow chart of the steps in the monitoring process; Figure 2 It is a schematic diagram of the device structure of the tank truck monitoring device; Figure 3 It is a schematic diagram of the system connection structure of the tank truck monitoring system. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0018] It should be noted that, although the functional modules are divided in the system schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0019] The purpose of the present invention is to allow the tanker to be inspected multiple times during transportation to ensure that the entire tanker is transported according to the set transportation plan and does not deviate from the transportation plan, thereby ensuring the safety of liquid cargo on the tanker.

[0020] refer to Figure 1 , Figure 1 It is a flow chart of the steps of the tank truck monitoring method. The tank truck monitoring method is mainly operated by an intelligent device. When the intelligent device is operated, the intelligent device can execute the monitoring process.

[0021] When the monitoring is performed, the steps implemented include: Step 1: Confirm that the tanker truck enters the checkpoint.

[0022] When a tanker truck is carrying out a transportation task, a corresponding transportation plan will be set, and the transportation plan includes a set transportation route. Multiple checkpoints are set in the set transportation route, and the checkpoints can be station-type fixed-point inspections. They can also be mobile inspections during transportation. The checkpoint is an area, that is, if the tanker truck enters this area, it can be considered to have entered the checkpoint.

[0023] The tanker is provided with a special response device, which can respond to the marking device on the checkpoint. When the tanker enters the checkpoint, the response device will sense the marking device and determine that the tanker has entered the checkpoint.

[0024] Step 2: Obtain the current satellite positioning position coordinates of the tanker truck, and mark the position coordinates as the first position coordinates; obtain the current base station positioning position coordinates of the tanker truck, and mark the position coordinates as the second position coordinates.

[0025] The obtaining of the current satellite positioning position coordinates of the tanker truck specifically includes: accessing a satellite positioning device disposed on the tanker truck, and obtaining the current position coordinates from the satellite positioning device, wherein the position coordinates are the current satellite positioning position coordinates of the tanker truck.

[0026] The obtaining of the current base station positioning position coordinates of the tanker truck specifically includes: accessing a base station positioning device disposed on the tanker truck, obtaining the current position coordinates from the base station positioning device, and the position coordinates are the current base station positioning position coordinates of the tanker truck.

[0027] After the smart device determines that the tanker truck has entered the checkpoint through the response device, it will use the satellite positioning system to obtain the location coordinates of the tanker truck obtained through satellite positioning. For the convenience of description, the location coordinates are marked as the first location coordinates. Of course, in addition to obtaining the first location coordinates through the satellite positioning system, the smart device will also obtain the location coordinates of the tanker truck obtained through base station positioning through the ground base station positioning system. For the convenience of description, the location coordinates are marked as the second location coordinates.

[0028] Among them, the satellite positioning system is a space radio positioning system that uses navigation satellites to navigate and locate users on the ground, at sea, in the air and in space. The system includes one or more satellite constellations that can support scheduled activities and be expanded as needed to provide 24-hour three-dimensional position, speed and time information for users at any location on the surface, near the surface and in outer space of the earth. The main satellite positioning systems in the world currently include the Global Positioning System (GPS) of the United States, the GLONASS system of Russia, the Galileo system of the European Union and the BeiDou system (BDS) of China.

[0029] The ground base station positioning system, also known as base station positioning or LBS (Location Based Service) positioning, is a method of tracking location through mobile communication base stations. The system uses the signal interaction between mobile devices and base stations to determine the location of the device by measuring information such as signal propagation time and signal strength.

[0030] Step 3: compare the deviation values ​​of the first position coordinate and the second position coordinate. When the deviation value of the first position coordinate and the second position coordinate is less than the set first deviation threshold, calculate the average value of the first position coordinate and the second position coordinate to obtain the average value, and record the average value as the average position coordinate; when the deviation value of the first position coordinate and the second position coordinate is greater than or equal to the set first deviation threshold, it is considered that the tanker truck does not pass the inspection of the current checkpoint and exits the monitoring process.

[0031] In order to determine whether the tanker truck is qualified to pass the inspection at the checkpoint, the intelligent device will compare the deviation value of the first coordinate position and the second coordinate position. Since the first coordinate position is obtained by satellite positioning and the second coordinate position is obtained by ground base station positioning, the two positioning systems can avoid the tampering of positioning data to the greatest extent, ensuring the reliability of the tanker truck location information.

[0032] The smart device will pre-store a first deviation threshold, which is obtained by prior testing and burned into the storage unit of the smart device. When the deviation value between the first position coordinate and the second position coordinate is less than the first deviation threshold, it can be considered that the first position coordinate and the second position coordinate are both qualified coordinates and have not been tampered with.

[0033] At this time, the position coordinates of the current tanker truck can be determined by averaging the first position coordinates and the second position coordinates. For ease of description, the position coordinates of the current tanker truck are marked as average position coordinates.

[0034] If the deviation value between the first position coordinate and the second position coordinate is greater than or equal to the first deviation threshold, it can be considered that the first position coordinate or the second position coordinate has positioning data tampered with, so at this time, it can be considered that the position information of the tanker is unreliable. At this time, the smart device believes that the tanker does not pass the inspection of the current checkpoint.

[0035] Step 4: Obtain a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint through satellite positioning, and record the moving trajectory as a first moving trajectory; obtain a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint through base station positioning, and record the moving trajectory as a second moving trajectory; integrate the first moving trajectory and the second moving trajectory by taking an average value to obtain a target moving trajectory.

[0036] Of course, in addition to judging whether the location data of the tanker truck has been tampered with from the perspective of location coordinates, the smart device will also determine whether the location data of the tanker truck has been tampered with through the movement trajectory.

[0037] The smart device obtains the movement trajectory of the tanker truck from the last checkpoint to the current checkpoint through the satellite positioning system, and for the convenience of description, the movement trajectory is recorded as the first movement trajectory. In addition to the first movement trajectory, the smart device also obtains the movement trajectory of the tanker truck from the last checkpoint to the current checkpoint through the ground base station positioning system, and for the convenience of description, the movement trajectory is recorded as the second movement trajectory.

[0038] The first moving track is a collection of multi-point positioning obtained by the satellite positioning system, and the second moving track is a collection of multi-point positioning obtained by the ground base station positioning system. The first moving track and the second moving track can reflect the position data of the tanker between the two checkpoints.

[0039] The first moving trajectory and the second moving trajectory are averaged and integrated to obtain a target moving trajectory. The average integration of the first moving trajectory and the second moving trajectory is: at the same time point, the coordinate points of the first moving trajectory and the coordinate points of the second moving trajectory are averaged to obtain an average coordinate point. The target moving trajectory is the set of the obtained average coordinate points.

[0040] Step 5: Compare the target moving trajectory with the pre-set planned moving trajectory. When the difference between the target moving trajectory and the planned moving trajectory meets the set error threshold, it is considered that the tank truck has passed the inspection of the current checkpoint; when the difference between the target moving trajectory and the planned moving trajectory does not meet the set error threshold, it is considered that the tank truck has not passed the inspection of the current checkpoint and exits the monitoring process.

[0041] After the smart device obtains the target movement trajectory, it can compare the target movement trajectory with the pre-set planned movement trajectory.

[0042] The planned movement trajectory is obtained in advance through testing and burned into the storage unit of the smart device. The planned movement trajectory is the reference movement trajectory of the tanker from the previous checkpoint to the current checkpoint. If the tanker does not deviate during the driving process. Then the deviation between the actual driving trajectory of the tanker and the planned movement trajectory meets the error threshold. Therefore, by comparing the target movement trajectory with the planned movement trajectory, it can be determined whether the movement of the tanker meets the requirements.

[0043] By judging the target moving trajectory of the tanker, it is possible to further determine whether the location data of the tanker has been tampered with, thus ensuring the reliability of the location information of the tanker.

[0044] The present invention sets up checkpoints and uses the checkpoints to check the travel of the tanker. By judging the position points and the movement trajectory, the reliability of the location information of the tanker is ensured, and the location information of the tanker is prevented from being tampered with. The reliability of monitoring the tanker is ensured.

[0045] In some further specific embodiments, in the monitoring process, before the smart device obtains the current satellite positioning position coordinates of the tanker, it also includes: obtaining the time when the tanker enters the checkpoint, and the time is recorded as the current check time; Obtain the time when the tanker entered the last checkpoint, and record the time as the historical checkpoint time; Determine whether the time difference between the current inspection time and the historical inspection time is within a set time threshold range; When the time difference does not fall within the set time threshold range, it is considered that the tanker truck does not pass the inspection of the current checkpoint and exits the monitoring process.

[0046] In order to improve the inspection efficiency, the time when the tanker enters the inspection point can be checked first. Since the time is relatively easy to obtain, the tanker that cannot pass the inspection of the inspection point can be eliminated as soon as possible by checking the time point.

[0047] In order to improve the record of the tank truck failing the inspection of the current checkpoint, in some further specific embodiments, the tank truck monitoring method also includes: when the tank truck fails the inspection of the current checkpoint, a log file is generated, and the log file records the reason information why the tank truck fails the inspection of the current checkpoint.

[0048] In some further specific embodiments, when the tanker truck fails the inspection of the current checkpoint because: the deviation value between the first position coordinate and the second position coordinate is greater than or equal to the set first deviation threshold, the log file will record: the deviation value between the first position coordinate and the second position coordinate is too large as the cause information.

[0049] When the tanker fails the inspection of the current checkpoint because: the difference between the target moving trajectory and the planned moving trajectory does not meet the set error threshold, the log file will record: the difference between the target moving trajectory and the planned moving trajectory does not meet the set error threshold as the reason information.

[0050] When the tanker fails to pass the inspection of the current inspection point because: the time difference does not fall within the set time threshold range, the log file will record: the time difference does not fall within the set time threshold range as reason information.

[0051] In order to prevent the log file from being tampered with, in some further specific embodiments, the smart device will encrypt the log file after generating the log file.

[0052] On the other hand, reference Figure 2 , Figure 2 It is a schematic diagram of the device structure of the tank truck monitoring device.

[0053] A tank truck monitoring device is provided, comprising: a processor and a memory, wherein the memory is used to store a computer-readable program. When the computer-readable program is executed by the processor, the processor implements the tank truck monitoring method as described in any one of the above technical solutions.

[0054] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. As is well known to those skilled in the art, communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0055] On the other hand, reference Figure 3 , Figure 3 It is a schematic diagram of the system connection structure of the tank truck monitoring system.

[0056] A tanker monitoring system is provided, wherein the tanker monitoring system comprises: an execution module. The execution module is used to execute a monitoring process.

[0057] The monitoring process is completed with the assistance of various units in the execution module. The execution module includes: a determination unit, a first acquisition unit, a first comparison unit, a second acquisition unit and a second comparison unit; The determining unit is used to determine that the tanker truck enters the checkpoint.

[0058] When a tanker truck is carrying out a transportation task, a corresponding transportation plan will be set, and the transportation plan includes a set transportation route. Multiple checkpoints are set in the set transportation route, and the checkpoints can be station-type fixed-point inspections. They can also be mobile inspections during transportation. The checkpoint is an area, that is, if the tanker truck enters this area, it can be considered to have entered the checkpoint.

[0059] The tank truck is provided with a special response device, which can respond to the marking device on the checkpoint. When the tank truck enters the checkpoint, the response device will sense the marking device, and the determination unit can determine that the tank truck has entered the checkpoint by contacting the response device.

[0060] The first acquisition unit is used to acquire the current satellite positioning position coordinates of the tanker truck, and mark the position coordinates as the first position coordinates; acquire the current base station positioning position coordinates of the tanker truck, and mark the position coordinates as the second position coordinates; The obtaining of the current satellite positioning position coordinates of the tanker truck specifically includes: accessing a satellite positioning device disposed on the tanker truck, and obtaining the current position coordinates from the satellite positioning device, wherein the position coordinates are the current satellite positioning position coordinates of the tanker truck.

[0061] The obtaining of the current base station positioning position coordinates of the tanker truck specifically includes: accessing a base station positioning device disposed on the tanker truck, obtaining the current position coordinates from the base station positioning device, and the position coordinates are the current base station positioning position coordinates of the tanker truck.

[0062] After determining that the tanker truck has entered the checkpoint, the first acquisition unit will use the satellite positioning system to obtain the position coordinates of the tanker truck obtained by satellite positioning. For the convenience of description, the position coordinates are marked as the first position coordinates. Of course, in addition to obtaining the first position coordinates through the satellite positioning system, the first acquisition unit will also obtain the position coordinates of the tanker truck obtained by base station positioning through the ground base station positioning system. For the convenience of description, the position coordinates are marked as the second position coordinates.

[0063] Among them, the satellite positioning system is a space radio positioning system that uses navigation satellites to navigate and locate users on the ground, at sea, in the air and in space. The system includes one or more satellite constellations that can support scheduled activities and be expanded as needed to provide 24-hour three-dimensional position, speed and time information for users at any location on the surface, near the surface and in outer space of the earth. The main satellite positioning systems in the world currently include the Global Positioning System (GPS) of the United States, the GLONASS system of Russia, the Galileo system of the European Union and the BeiDou system (BDS) of China.

[0064] The ground base station positioning system, also known as base station positioning or LBS (Location Based Service) positioning, is a method of tracking location through mobile communication base stations. The system uses the signal interaction between mobile devices and base stations to determine the location of the device by measuring information such as signal propagation time and signal strength.

[0065] The first comparison unit is used to compare the deviation value of the first position coordinate and the second position coordinate. When the deviation value of the first position coordinate and the second position coordinate is less than a set first deviation threshold, the first position coordinate and the second position coordinate are averaged to obtain an average value, and the average value is recorded as the average position coordinate; when the deviation value of the first position coordinate and the second position coordinate is greater than or equal to the set first deviation threshold, it is considered that the tanker truck does not pass the inspection of the current checkpoint and exits the monitoring process; In order to determine whether the tanker truck is qualified to pass the inspection at the checkpoint, the first comparison unit will compare the deviation value of the first coordinate position and the second coordinate position. Since the first coordinate position is obtained by satellite positioning and the second coordinate position is obtained by ground base station positioning, the two positioning systems can avoid the situation where the positioning data is tampered with to the greatest extent, ensuring the reliability of the tanker truck's location information.

[0066] The first comparison unit will pre-store a first deviation threshold value, which is obtained by prior testing and burned into the storage unit of the first comparison unit. When the deviation value of the first position coordinate and the second position coordinate is less than the first deviation threshold value, it can be considered that the first position coordinate and the second position coordinate are both qualified coordinates and have not been tampered with.

[0067] At this time, the position coordinates of the current tanker truck can be determined by averaging the first position coordinates and the second position coordinates. For ease of description, the position coordinates of the current tanker truck are marked as average position coordinates.

[0068] If the deviation between the first position coordinate and the second position coordinate is greater than or equal to the first deviation threshold, it can be considered that the first position coordinate or the second position coordinate has positioning data tampered with, so at this time, it can be considered that the position information of the tanker is unreliable. At this time, the first comparison unit considers that the tanker does not pass the inspection of the current checkpoint.

[0069] The second acquisition unit is used to acquire a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint obtained by satellite positioning, and record the moving trajectory as a first moving trajectory; acquire a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint obtained by base station positioning, and record the moving trajectory as a second moving trajectory; average the first moving trajectory and the second moving trajectory to obtain a target moving trajectory; Of course, in addition to judging whether the position data of the tanker truck has been tampered with from the perspective of the position coordinates, the second acquisition unit will also determine whether the position data of the tanker truck has been tampered with through the movement trajectory.

[0070] The second acquisition unit acquires the movement trajectory of the tanker truck from the previous checkpoint to the current checkpoint through the satellite positioning system. For the convenience of description, the movement trajectory is recorded as the first movement trajectory. In addition to the first movement trajectory, the second acquisition unit also acquires the movement trajectory of the tanker truck from the previous checkpoint to the current checkpoint through the ground base station positioning system. For the convenience of description, the movement trajectory is recorded as the second movement trajectory.

[0071] The first moving track is a collection of multi-point positioning obtained by the satellite positioning system, and the second moving track is a collection of multi-point positioning obtained by the ground base station positioning system. The first moving track and the second moving track can reflect the position data of the tanker between the two checkpoints.

[0072] The first moving trajectory and the second moving trajectory are averaged and integrated to obtain a target moving trajectory. The average integration of the first moving trajectory and the second moving trajectory is: at the same time point, the coordinate points of the first moving trajectory and the coordinate points of the second moving trajectory are averaged to obtain an average coordinate point. The target moving trajectory is the set of the obtained average coordinate points.

[0073] The second comparison unit is used to compare the target moving trajectory with a pre-set planned moving trajectory. When the difference between the target moving trajectory and the planned moving trajectory meets the set error threshold, it is considered that the tank truck has passed the inspection of the current checkpoint; when the difference between the target moving trajectory and the planned moving trajectory does not meet the set error threshold, it is considered that the tank truck has not passed the inspection of the current checkpoint and exits the monitoring process.

[0074] After obtaining the target movement trajectory, the second comparison unit can compare the target movement trajectory with the preset planned movement trajectory.

[0075] The planned movement trajectory is obtained in advance through testing and burned into the storage unit of the second comparison unit. The planned movement trajectory is the reference movement trajectory of the tank truck from the previous checkpoint to the current checkpoint. If the tank truck does not deviate during driving. Then the deviation between the actual driving trajectory of the tank truck and the planned movement trajectory meets the error threshold. Therefore, by comparing the target movement trajectory with the planned movement trajectory, it can be determined whether the movement of the tank truck meets the requirements.

[0076] By judging the target moving trajectory of the tanker, it is possible to further determine whether the location data of the tanker has been tampered with, thus ensuring the reliability of the location information of the tanker.

[0077] Another aspect of the present invention provides a vehicle, wherein the vehicle is integrated with the tanker monitoring system described in any one of the above-mentioned specific embodiments.

[0078] On the other hand, a computer-readable storage medium is provided, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to implement the tanker monitoring method as described in any one of the above-mentioned specific embodiments.

[0079] An embodiment of the present application also discloses a computer program product, including a computer program or computer instructions, wherein the computer program or computer instructions are stored in a computer-readable storage medium, a processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the tank truck monitoring method described in any of the previous embodiments.

[0080] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0081] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0082] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0083] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0084] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0085] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0086] Although the description of the present application has been quite detailed and specifically describes several described embodiments, it is not intended to be limited to any of these details or embodiments or any particular embodiment, but should be regarded as providing a broad possible interpretation of these claims by reference to the attached claims, taking into account the prior art, so as to effectively cover the intended scope of the present application. In addition, the above description of the present application is based on the embodiments foreseeable by the inventor, and its purpose is to provide a useful description, and those non-substantial changes to the present application that have not yet been foreseen may still represent equivalent changes to the present application.

Claims

1. A method for monitoring a tanker truck, characterized in that: include: Execute monitoring process; The monitoring process includes: Step 1: Confirm that the tanker truck enters the checkpoint; Step 2: Obtain the current satellite-based position coordinates of the tanker truck, and mark the position coordinates as first position coordinates; obtain the current base station-based position coordinates of the tanker truck, and mark the position coordinates as second position coordinates; Step 3: Compare the deviation values ​​of the first position coordinate and the second position coordinate. When the deviation value of the first position coordinate and the second position coordinate is less than the set first deviation threshold, average the first position coordinate and the second position coordinate to obtain the average value, and record the average value as the average position coordinate; when the deviation value of the first position coordinate and the second position coordinate is greater than or equal to the set first deviation threshold, it is considered that the tanker truck does not pass the inspection of the current checkpoint, and the monitoring process is exited; Step 4: Obtain a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint through satellite positioning, and record the moving trajectory as a first moving trajectory; obtain a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint through base station positioning, and record the moving trajectory as a second moving trajectory; average the first moving trajectory and the second moving trajectory to obtain a target moving trajectory; Step 5: Compare the target moving trajectory with the pre-set planned moving trajectory. When the difference between the target moving trajectory and the planned moving trajectory meets the set error threshold, it is considered that the tank truck has passed the inspection of the current checkpoint; when the difference between the target moving trajectory and the planned moving trajectory does not meet the set error threshold, it is considered that the tank truck has not passed the inspection of the current checkpoint and exits the monitoring process.

2. A tanker monitoring method according to claim 1, characterized in that: In the monitoring process, before obtaining the current satellite positioning position coordinates of the tanker, it also includes: obtaining the time when the tanker enters the checkpoint, and the time is recorded as the current check time; Obtain the time when the tanker entered the last checkpoint, and record the time as the historical checkpoint time; Determine whether the time difference between the current inspection time and the historical inspection time is within a set time threshold range; When the time difference does not fall within the set time threshold range, it is considered that the tanker truck does not pass the inspection of the current checkpoint and exits the monitoring process.

3. A tanker monitoring method according to claim 1, characterized in that: The obtaining of the current satellite positioning position coordinates of the tanker truck specifically includes: accessing a satellite positioning device disposed on the tanker truck, and obtaining the current position coordinates from the satellite positioning device, wherein the position coordinates are the current satellite positioning position coordinates of the tanker truck.

4. A tanker monitoring method according to claim 1, characterized in that: Acquiring the current base station positioning position coordinates of the tanker truck specifically includes: accessing a base station positioning device disposed on the tanker truck, acquiring the current position coordinates in the base station positioning device, and the position coordinates are the current base station positioning position coordinates of the tanker truck.

5. A tanker monitoring method according to claim 1, characterized in that: The tank truck monitoring method further includes: when the tank truck fails to pass the inspection at the current inspection point, generating a log file, wherein the log file records the reason why the tank truck fails to pass the inspection at the current inspection point.

6. A tanker monitoring method according to claim 5, characterized in that: The tanker truck monitoring method further includes: encrypting the log file.

7. A tanker monitoring device, characterized in that: include: processor; A memory for storing a computer readable program; When the computer-readable program is executed by the processor, the processor implements the tank truck monitoring method according to any one of claims 1 to 6.

8. A tanker monitoring system, characterized in that: include: An execution module, wherein the execution module is used to execute a monitoring process; The execution module includes: a determination unit, a first acquisition unit, a first comparison unit, a second acquisition unit, and a second comparison unit; The determination unit is used to determine that the tanker truck enters the checkpoint; The first acquisition unit is used to acquire the current satellite positioning position coordinates of the tanker truck, and mark the position coordinates as the first position coordinates; acquire the current base station positioning position coordinates of the tanker truck, and mark the position coordinates as the second position coordinates; The first comparison unit is used to compare the deviation value of the first position coordinate and the second position coordinate. When the deviation value of the first position coordinate and the second position coordinate is less than a set first deviation threshold, the first position coordinate and the second position coordinate are averaged to obtain an average value, and the average value is recorded as the average position coordinate; when the deviation value of the first position coordinate and the second position coordinate is greater than or equal to the set first deviation threshold, it is considered that the tanker truck does not pass the inspection of the current checkpoint and exits the monitoring process; The second acquisition unit is used to acquire a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint obtained by satellite positioning, and record the moving trajectory as a first moving trajectory; acquire a moving trajectory of the tanker truck from the last checkpoint to the current checkpoint obtained by base station positioning, and record the moving trajectory as a second moving trajectory; average the first moving trajectory and the second moving trajectory to obtain a target moving trajectory; The second comparison unit is used to compare the target moving trajectory with a pre-set planned moving trajectory. When the difference between the target moving trajectory and the planned moving trajectory meets the set error threshold, it is considered that the tank truck has passed the inspection of the current checkpoint; when the difference between the target moving trajectory and the planned moving trajectory does not meet the set error threshold, it is considered that the tank truck has not passed the inspection of the current checkpoint and exits the monitoring process.

9. A tanker monitoring system according to claim 8, characterized in that: The obtaining of the current satellite positioning position coordinates of the tanker truck specifically includes: accessing a satellite positioning device disposed on the tanker truck, and obtaining the current position coordinates from the satellite positioning device, wherein the position coordinates are the current satellite positioning position coordinates of the tanker truck.

10. A vehicle, characterized in that: The fuel tanker monitoring system according to any one of claims 8 to 9 is integrated.

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