Roadside parking charging method based on video inspection equipment automatic positioning berth system

Abstract

The invention mainly relates to a roadside parking charging method based on an automatic parking space positioning system of video inspection equipment. The method is used for determining the number of a current parking space at the position where the video inspection equipment is located. The roadside parking charging method comprises the following steps: acquiring position information of video inspection equipment and serial numbers of berths corresponding to the video inspection equipment based on an automatic berth positioning method of the video inspection equipment; acquiring license plate information of a vehicle in a parking space corresponding to the video inspection equipment; and generating charging information based on the number of the corresponding parking space, the license plate information and the acquired time when the vehicle enters the parking space and leaves the parking space. The berth where the video inspection equipment is located can be rapidly and accurately positioned without other auxiliary positioning equipment, the system cost is reduced, communication between the equipment is reduced, and the positioning result is more stable.

Description

[0001] This application is a divisional application of a Chinese invention patent application with the application date of "October 25, 2023", the application number of "202311385555.8", and the invention title of "Method and System for Automatically Positioning Berths of Video Patrol Equipment". Technical Field

[0002] The present invention mainly relates to the technical field of automatic berthing of patrol equipment, and particularly to a roadside parking charging method based on a system for automatically positioning berths of video patrol equipment. Background Art

[0003] GPS positioning technology is a positioning technology based on the Global Positioning System (GPS), which can realize the positioning, measurement, and navigation of the position of an object or a person. Its principle is to use a GPS receiver to receive signals from satellites, and after processing and correcting the errors of the signals, calculate the position information of the object or the person, and transmit this information to a mobile terminal or other devices through wireless communication technology. The accuracy of GPS positioning technology depends on various factors, such as the number of satellites, signal transmission errors, multipath effects, etc. Generally, GPS positioning technology can achieve a positioning accuracy of several meters to more than ten meters, meeting the needs of most applications. However, during the patrol process of video patrol equipment, the required accuracy needs to reach the centimeter level and accurately match the position relationship between the video patrol equipment and the berth.

[0004] An RFID reader is installed on the video patrol equipment, and an RFID electronic tag is installed on the parking space. The method includes the following steps: when the video patrol equipment enters the sensing range of the RFID electronic tag, multiple RFID signals are obtained at intervals through the RFID reader; according to the identified multiple RFID signals, the real-time position information of the patrol vehicle is calculated; 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 patrol equipment is corrected using the deviation information.

[0005] 1. The prior art needs to rely on other hardware devices to complete the berth positioning of the video patrol equipment; 2. The prior art has problems in judging the different-direction lanes of the road where the video patrol equipment is located.

[0006] 3. The prior art is easily blocked, resulting in the inability to obtain correct results and data errors.

[0007] The record of the above background art knowledge is intended to help those of ordinary skill in the art understand the prior art 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 indicating that the above content was publicly available before the filing date of this patent application, the above background art should not be used to evaluate the novelty of the technical solution of this application. Summary of the Invention

[0008] To solve at least one of the technical problems mentioned in the above background art, 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 relying on other auxiliary positioning devices, reducing the system cost, reducing communication between devices, and making the positioning result more stable.

[0009] Provide a method for automatically positioning the berth of 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 includes: Obtain berth positioning data, which is used to determine the positional relationship with the video inspection equipment; According to the berth positioning data, the longitude and latitude information and the driving direction of the video inspection equipment, determine the number of the current berth where the video inspection equipment is located.

[0010] Provide a system for automatically positioning the berth of video inspection equipment, including: A berth coordinate acquisition unit, which acquires berth positioning data according to a berth coordinate acquisition device and transmits the berth positioning data to a berth retrieval and positioning unit; A berth retrieval and positioning unit, based on the global satellite navigation system, obtains the longitude and latitude information and the driving direction of the video inspection equipment 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 equipment is located according to the berth positioning data, the longitude and latitude information and the driving direction of the video inspection equipment.

[0011] Provide a roadside parking charging method, including: Obtain the position information of the video inspection equipment and the number of the berth corresponding to the video inspection equipment based on the aforementioned method for automatically positioning the berth of the video inspection equipment; Obtain the license plate information of the vehicle in the berth corresponding to the video inspection equipment; Generate charging information based on the number of the corresponding berth, the license plate information, and the time when the vehicle enters and leaves the berth that have been collected.

[0012] Provide an intelligent terminal, including: a memory, a processor, and a program stored on the memory and executable on the processor, and when the program is executed by the processor, the steps of the aforementioned method are implemented.

[0013] The beneficial effects of this application are: By using the pre-set positioning points of the berth and the positioning information uploaded in real time by the video inspection device, the relative position relationship between the video inspection device and the berth is accurately calculated through an algorithm, achieving high-precision positioning of the relative position between the video inspection device and the berth. Without using other auxiliary positioning devices, the system cost is reduced, the communication between devices is decreased, and the positioning result is more stable.

[0014] The precise positioning of the video inspection device and the berth significantly improves the accuracy of the order information for on-street parking charges, reduces complaints from car owners, and further increases the charging credibility of the parking operation company; it also reduces the investment and construction costs of the operation company. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] To make the above and / or other purposes, features, and advantages of the present invention more obvious and understandable to those skilled in the art, the drawings required for 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, and those skilled in the art can obtain other drawings based on these drawings without creative efforts.

[0016] Figure 1 A flowchart showing the method for automatically positioning the berth by the video inspection device; Figure 2 A schematic diagram of the parking space entry tool of the berth coordinate acquisition unit; Figure 3 A schematic diagram showing the setting of the berth end point through the berth coordinate acquisition unit; Figure 4 A schematic diagram showing the addition of a berth through the berth coordinate acquisition unit; Figure 5 A schematic diagram showing the relative positions of the berth start point, end point, and the coordinate point of the video inspection device; Figure 6 A schematic diagram showing the relative positions of the circumscribed rectangle of the berth and the coordinate point of the video inspection device; Figure 7 A schematic diagram showing the judgment of the relative position of the coordinate point by the projection of the coordinate point of the video inspection device on the line connecting the start and end points of the berth. DETAILED DESCRIPTION OF THE INVENTION

[0017] Those skilled in the art can draw on the content of this article and make appropriate substitutions and / or modifications to process parameters to achieve the same. However, it should be particularly noted that all such similar substitutions and / or modifications are obvious to those skilled in the art and are all considered to be included in the present invention. The products and preparation methods described in this article have been described through preferred examples, and those skilled in the art can obviously make changes or appropriate alterations and combinations to the products and preparation methods described in this article without departing from the content, spirit, and scope of the present invention to implement and apply the technology of the present invention.

[0018] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art to which this invention belongs. This 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 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 case of conflict, the present specification, including definitions, shall prevail.

[0019] Unless otherwise specified, the materials, methods, and examples described herein are exemplary and not restrictive. Although methods and materials similar or equivalent to those described herein may be used in the practice or testing of this invention, suitable methods and materials are still described herein.

[0020] The present invention will be described in detail below.

[0021] Figure 1 A flowchart showing a method for automatically positioning a berth by a video inspection device is shown, as Figure 1 shown, the method includes the following processes: Step S100: Obtain berth positioning data, which is used to determine the positional relationship with the video inspection device; Step S200: Determine the number of the current berth where the video inspection device is located according to the berth positioning data, the longitude and latitude information of the video inspection device, and the driving direction.

[0022] The berth positioning data includes berth starting point longitude and latitude data, berth ending point longitude and latitude data, and the number of the current berth.

[0023] As Figures 2 to 4 shown, the step of obtaining berth positioning data in step S100 includes: The on-site implementer holds a berth coordinate acquisition device at the berth starting point, logs in to the parking space entry tool, clicks on the screen to set it as the berth starting point, and acquires the starting point longitude and latitude data; then moves to the berth ending point, clicks on the screen to set it as the berth ending point, and acquires the ending point longitude and latitude data. After that, confirm the berth information. After confirmation, click to add a berth, and the acquisition of one berth data is completed; the acquired berth data is transmitted to the background through a communication protocol such as the HTTPS protocol and / or the HTTP protocol and saved in the database.

[0024] The berth coordinate acquisition 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 HarmonyOS device. The GPS device is self-powered and transmits the collected latitude and longitude data to the operating system device in real time through a serial port. The data transmission format is NMEA-0183. The operating system device installs the parking space entry tool software and parses the received latitude and longitude data in the NMEA-0183 format as the data source for berth acquisition.

[0025] In step S200, according to the berth positioning data, the latitude and longitude information, and the driving direction of the video inspection device, determine the berth number of the current berth where the video inspection device is located, including: based on the global satellite navigation system, obtain the latitude and longitude information and the driving direction of the video inspection device through real-time centimeter-level positioning services, report 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, the latitude and longitude information, and the driving direction of the video inspection device. According to the berth positioning algorithm of the video inspection device, calculate the distance from the reported coordinate point to the berth starting point. If the distance is less than 6m, output it. The distance calculation formula is explained as follows: We approximate the Earth as a sphere and regard the triangle formed by connecting two points with the center of the Earth as a spherical triangle. Then, we use the principles of trigonometry to calculate the distance. According to the spherical cosine theorem, the formula for calculating the distance between two points on the sphere is obtained: (1) Among them, and represent the latitude and longitude of the berth starting point respectively; and represent 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, and the selection range is 6350 - 6380 km, preferably 6378.137 km. is the finally calculated distance between two points, and the unit is kilometers. It should be noted that , , and representing the latitude and longitude degrees should be converted to radians: , where represents the latitude and longitude degrees, represents pi.

[0026] Using the above formula for distance calculation, retrieve from the database, screen the reported coordinate points and the list of berths within 6m from the berth starting point for output. Since the width of the parking space is 2 - 3m, at most 3 berths will be retrieved. Subsequently, based on the formula for distance calculation, determine the relative positions of the coordinate points and the berths. The explanation for determining the relative positions of the coordinate points and the berths is as follows.

[0027] As Figure 5 shown, point a is the starting point of the berth collected, point b is the ending point of the berth collected, and point c is any point (latitude and longitude) reported during the driving of the video inspection device, denoted as the current video inspection device coordinate point .

[0028] Obtain the position information of the video inspection device according to the real-time centimeter-level positioning service of the longitude and latitude of the point. Using the above formula for calculating the distance, the distances of the three points can be calculated as follows: , , , where represents the distance from the starting point of the berth collected to the ending point of the berth collected ; represents the distance from the starting point of the berth collected to the current video inspection device coordinate point ; represents the distance from the ending point of the berth collected to the current video inspection device coordinate point .

[0029] Then, according to Heron's formula (2 - 1), where (2 - 2), the area S of can be obtained. Calculate the perpendicular distance from point c to ab based on the area of the triangle (2 - 3), that is, the height of Δabc . If , are both not greater than the length of the rectangle diagonal, then point is located within berth 102 between point and point; otherwise, point is located outside the berth between point and point. The specific schematic diagram is as Figure 6 shown. Formulas (2 - 1), (2 - 2), and (2 - 3) together constitute formula (2).

[0030] If point is not within the area of berth 102, calculate and Who is bigger, if , then it means Point is located In side berth 103; if ,but Point is located In side berth 101.

[0031] Then assume Point is high The foot of the perpendicular on the ab side, such as Figure 7 As shown, the Pythagorean theorem can be used to directly calculate and The length of point c is now clear, such as: The point is located in the area in front of berth 102. Point distance The length is , Point The projection is , distance Point length , distance Point length .

[0032] 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.

[0033] 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.

[0034] Provide a roadside parking charging method, including: Obtain the position information of the video inspection device and the number of the berth corresponding to the video inspection device based on the method for automatically positioning berths by the foregoing video inspection device; Obtain the license plate information of the vehicle in the berth corresponding to the video inspection device; Generate charging information based on the number of the corresponding berth, the license plate information, and the time when the vehicle enters and leaves the berth that have been collected.

[0035] Further provide an intelligent terminal, including: a memory, a processor, and a program stored on the memory and executable on the processor. When the program is executed by the processor, it implements the steps of the method for automatically positioning berths by the foregoing video inspection device and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0036] The memory includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer memories 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette tapes, magnetic disk storage, or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0037] The conventional technologies in the above embodiments are the existing technologies known to those skilled in the art, so they will not be elaborated in detail here.

[0038] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art of the present invention can make various modifications or supplements to the described specific embodiments or use similar methods to replace them, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0039] Although the present invention has been described in detail and some specific embodiments have been cited, it is obvious that various changes or modifications can be made by those skilled in the art as long as they do not depart from the spirit and scope of the present invention.

[0040] While the foregoing specific embodiments have shown, described, and pointed out the novel features applied to various embodiments, it should be understood that various omissions, substitutions, and changes in the form and details of the illustrated apparatus or method may be made without departing from the spirit of the present disclosure. Additionally, the various features and methods described above may be used independently of each other or may 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 embodiments include similar components, and thus, these similar components may be interchangeable in different embodiments. Although the present invention has been disclosed in the context of certain embodiments and examples, those skilled in the art should understand that the present invention may extend beyond the specifically disclosed embodiments to other alternative embodiments and / or applications and their obvious modifications and equivalents. Therefore, the present invention is not intended to be limited by the specific disclosure of the preferred embodiments herein.

[0041] Matters not described in detail in this invention are well-known technologies.

Claims

1. Automatic positioning method for berths of video inspection equipment, Characterized in that: Including: Obtain berth positioning data, which is used to determine the positional relationship with the video inspection equipment. The berth positioning data includes berth starting point longitude and latitude data, berth ending point longitude and latitude data, and the current berth number; Determine the number of the current berth where the video inspection equipment is located according to the berth positioning data, the longitude and latitude information of the video inspection equipment, and the driving direction.

2. The automatic positioning method for berths of video inspection equipment according to claim 1, Characterized in that: The obtaining of the berth positioning data includes: The on-site implementer holds the berth coordinate acquisition equipment at the berth starting point, logs in to the parking space entry tool, clicks on the screen to set it as the berth starting point, and collects the starting point longitude and latitude data; then moves to the berth ending point, clicks on the screen to set it as the berth ending point, and collects the ending point longitude and latitude data. After that, confirm the berth information. After confirmation, click to add a berth, and the collection of a berth data is completed; the collected berth data is transmitted to the background through the communication protocol and saved in the database.

3. The automatic positioning method for berths of video inspection equipment according to claim 1, Characterized in that: The berth coordinate acquisition equipment 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 HarmonyOS device.

4. The automatic positioning method for berths of video inspection equipment according to claim 1, Characterized in that: The determining of the number of the current berth where the video inspection equipment is located according to the berth positioning data, the longitude and latitude information of the video inspection equipment, and the driving direction includes: Based on the global satellite navigation system, obtain the longitude and latitude information and the driving direction of the video inspection equipment according to the real-time centimeter-level positioning service, report the data to the background, and 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, the longitude and latitude information, and the driving direction of the video inspection equipment.

5. The automatic positioning method for berths of video inspection equipment according to claim 4, Characterized in that: 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, the longitude and latitude information, and the driving direction of the video inspection equipment, including: 1) Calculate the distance from the starting point to the ending point of the berth according to the reported coordinate points using the distance calculation formula in formula (1). If the distance is less than 6m, output: (1) Among them, and respectively represent the latitude and longitude of the starting point of the berth; and respectively represent the latitude and longitude of the ending point of the berth; represents the sine function; represents the cosine function; represents the arccosine function; represents the earth radius parameter; 2) Use the distance calculation formula in step 1) to retrieve from the database, screen and output the list of berths within 6m of the reported video inspection equipment coordinate point and the berth starting point, and then calculate the relative position between the video inspection equipment coordinate point and the berth according to formula (2); (2) Among them, represents the distance from the starting point of the berth collected to the ending point of the berth collected ; represents the distance from the starting point of the berth collected to the coordinate point of the current video inspection device ; represents the distance from the ending point of the berth collected to the coordinate point of the current video inspection device ; represents 's area; represents half of the perimeter; represents the vertical distance from the coordinate point of the current video inspection device to ; 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.

6. The automatic positioning method for berths of video inspection equipment according to claim 5, Characterized in that: In step 3), if and are both not greater than the length of the diagonal of the rectangle, then the point is located within the berth between the point and the point; otherwise the point is located outside the berth between the point and the point.

7. The automatic positioning method for berths of video inspection equipment according to claim 5, Characterized in that: In step 3), the point is located outside the berth between the point and the point. If , then the point is located inside the side berth; if , then the point is located inside the side berth.

8. Automatic positioning system for berths of video inspection equipment, Characterized in that Including: A berth coordinate acquisition unit, which acquires berth positioning data according to the berth coordinate acquisition equipment 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 longitude and latitude 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, the longitude and latitude information, and the driving direction of the video inspection device. When the system runs, it executes the method described in any one of claims 1-7.

9. The video inspection device automatic berth positioning system according to claim 8, characterized in that: An RFID 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 obtained at intervals through the RFID reader; according to the identified multiple RFID signals, the real-time position information of the inspection vehicle is calculated; the deviation information is calculated by using the real-time position information and the pre-collected coordinate information of the RFID electronic tag; when the deviation information is greater than the preset threshold, the real-time position information of the video inspection device is corrected by using the deviation information.

10. A roadside parking charging method, characterized in that it includes: Obtaining the position information of the video inspection device and the number of the berth corresponding to the video inspection device based on the video inspection device automatic berth positioning method described in any one of claims 1-7; Obtaining the license plate information of the vehicle in the berth corresponding to the video inspection device; Generating charging information based on the number of the corresponding berth, the license plate information, and the time when the vehicle enters and leaves the berth that have been collected.

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