Storage location management method and device and electronic equipment

Abstract

The invention provides a storage location management method, a storage location management device and electronic equipment, which are used for improving the berthability of a storage location. The method comprises the following steps: receiving a first acquisition image; wherein the first acquisition image contains a storage location; based on the first acquisition image, determining first storage location information of the storage location, and based on a preset detection formula, determining whether the storage location is located in a target observation area; wherein the preset detection mode comprises a first detection mode, and the first detection mode is used for detecting whether the distance between the acquisition equipment and the storage location is within a preset range or not; and if yes, determining that the first storage location information is target storage location information of the storage location.

Description

Technical Field

[0001] This application relates to the field of assisted driving technology, and particularly to a method, device and electronic device for parking space management. Background Art

[0002] With the rapid development of assisted driving technology, the automatic parking function has gradually become the core function of assisted driving technology.

[0003] Currently, in order to improve the parkability of the parking spaces detected by the vehicle based on the automatic parking function, generally, ultrasonic devices (such as radars) are installed on the vehicle to detect the parkable parking spaces (parking lots) through the ultrasonic devices and plan the parking paths. However, not all vehicles can support ultrasonic devices to improve the parkability of the detected parking spaces. Therefore, there is currently a lack of a method for improving the parkability of parking spaces applicable to all vehicles. Summary of the Invention

[0004] This application provides a method, device and electronic device for parking space management to improve the parkability of parking spaces.

[0005] In a first aspect, an embodiment of this application provides a method for parking space management, including:

[0006] Receiving a first captured image; wherein, the first captured image contains a parking space;

[0007] Based on the first captured image, determining first parking space information of the parking space, and based on a preset detection formula, determining whether the parking space is located in a target observation area; wherein, the preset detection formula includes a first detection formula, and the first detection formula is used to detect whether the distance between the acquisition device and the parking space is within a preset range;

[0008] If so, determining the first parking space information as the target parking space information of the parking space.

[0009] In a possible implementation manner, the preset detection formula includes a second detection formula, and the second detection formula is used to detect whether the included angle between the reference line of the parking space and the vehicle where the acquisition device is located is less than a preset threshold.

[0010] In a possible implementation manner, the number of the first captured images is greater than or equal to 2, and the first parking space information includes the position information of the parking space; then, based on the first captured image, determining the first parking space information of the parking space in the first captured image includes:

[0011] Respectively determining the key point coordinates of the parking space in each of the first captured images;

[0012] Calculating the average value of the key point coordinates at the corresponding position of the parking space to obtain the position information of the parking space.

[0013] A possible implementation manner, wherein the number of the first captured images is greater than or equal to 2, and the first bin location information includes the parkability attribute of the bin location; then determining the first bin location information of the bin location in the first captured images based on the first captured images includes:

[0014] Determining the parkability attributes of the bin locations in each of the first captured images respectively;

[0015] Counting a first quantity of the first captured images with the parkability attribute being parkable and a second quantity of the first captured images with the parkability attribute being non-parkable;

[0016] In response to the first quantity being greater than the second quantity, determining that the parkability attribute of the bin location is parkable.

[0017] A possible implementation manner, after counting the first quantity of the first captured images with the parkability attribute being parkable and the second quantity of the first captured images with the parkability attribute being non-parkable, further includes:

[0018] In response to the first quantity being less than or equal to the second quantity, determining that the parkability attribute of the bin location is non-parkable.

[0019] A possible implementation manner, after determining whether the bin location is located in a target observation area based on a preset detection formula, further includes:

[0020] If not, in response to the bin location being located in the target observation area in a second captured image, updating the first bin location information based on the second bin location information of the bin location in the second captured image; wherein the acquisition time of the second captured image is later than the acquisition time of the first captured image.

[0021] A possible implementation manner, after determining whether the bin location is located in a target observation area based on a preset detection formula, further includes:

[0022] If not, in response to the parkability attribute of the bin location being parkable and the ratio of the overlapping area between the bin location and the drivable area to the area of the bin location being greater than a preset area threshold, determining that the bin location is the target bin location.

[0023] In a second aspect, an embodiment of the present application provides a bin location management device, including:

[0024] A receiving unit, configured to receive a first captured image; wherein the first captured image includes a bin location;

[0025] The detection unit is used to determine the first bin information of the bin based on the first captured image, and determine whether the bin is located in the target observation area based on a preset detection formula; wherein, the preset detection formula includes a first detection formula, and the first detection formula is used to detect whether the distance between the acquisition device and the bin is within a preset range;

[0026] The target unit is used to, if so, determine the first bin information as the target bin information of the bin.

[0027] In a possible implementation manner, the number of the first captured images is greater than or equal to 2, and the first bin information includes the position information of the bin; then the detection unit is specifically used to respectively determine the key point coordinates of the bin in each of the first captured images; calculate the average value of the key point coordinates at the corresponding position of the bin to obtain the position information of the bin.

[0028] In a possible implementation manner, the preset detection formula includes a second detection formula, and the second detection formula is used to detect whether the included angle between the reference line of the bin and the vehicle where the acquisition device is located is less than a preset threshold.

[0029] In a possible implementation manner, the number of the first captured images is greater than or equal to 2, and the first bin information includes the parkability attribute of the bin; then the detection unit is specifically used to respectively determine the parkability attribute of the bin in each of the first captured images; count the first number of the first captured images with the parkability attribute of parkable and the second number of the first captured images with the parkability attribute of non-parkable; in response to the first number being greater than the second number, determine the parkability attribute of the bin as parkable.

[0030] In a possible implementation manner, the bin management device further includes an update unit, and the update unit is specifically used to, if not, in response to the bin being located in the target observation area in the second captured image, update the first bin information based on the second bin information of the bin in the second captured image; wherein, the acquisition time of the second captured image is later than the acquisition time of the first captured image.

[0031] In a possible implementation manner, the bin management device further includes a threshold unit, and the threshold unit is specifically used to, if not, in response to the parkability attribute of the bin being parkable and the ratio of the overlapping area between the bin and the drivable area to the area of the bin being greater than a preset area threshold, determine the bin as the target bin.

[0032] In a third aspect, an embodiment of the present application provides a readable storage medium, including,

[0033] A memory,

[0034] The memory is used to store a computer program, and when the computer program is executed by a processor, it causes the device including the readable storage medium to complete the method described in the first aspect and any possible implementation manner.

[0035] Fourth aspect, an embodiment of the present application provides an electronic device, including:

[0036] A memory for storing a computer program;

[0037] A processor for implementing the method described in the first aspect and any possible implementation manner when executing the computer program stored on the memory.

[0038] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects:

[0039] First, in the bin location management method provided in the embodiment of the present application, the bin location information is detected through a preset detection formula to determine whether the bin location is in the target observation area, thereby determining whether the bin location information is the target bin location information that meets the accuracy requirements. In this way, by judging the relative position relationship between the vehicle body and the bin location, the further discriminability of the bin location's parkability is realized, the accuracy of the target bin location information is improved, and the parkability of the bin location is correspondingly improved.

[0040] Moreover, when the preset detection formula includes a second detection formula, a further judgment is made on the attitude of the vehicle, so as to further judge the accuracy of the bin location information obtained based on the collected image. Therefore, when determining whether the bin location is in the target observation area based on the first preset detection formula and the second preset detection formula, a more accurate determination result can be obtained, and thus the accuracy of the target bin location information and the parkability of the bin location can be further improved.

[0041] Finally, the bin location management method provided in the embodiment of the present application can be directly implemented based on the collected image of the visual perception device. When the accuracy of the obtained bin location information is not inferior to that of using ultrasonic devices for bin location management in the prior art, the applicable range of the bin location management method is expanded, so that the bin location management method with high accuracy is no longer limited to a certain type of vehicle configuration.

[0042] Other features and advantages of the present application will be described in the subsequent specification, and some of them will become obvious from the specification or be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the written specification, claims, and drawings. It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. Description of the Drawings

[0043] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings described below are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0044] Figure 1 It is a schematic flowchart of a library location management method provided by an embodiment of the present application;

[0045] Figure 2 It is a schematic diagram of the relative position relationship between a vehicle and a library location provided by an embodiment of the present application;

[0046] Figure 3 It is a schematic diagram of a library location management method provided by an embodiment of the present application;

[0047] Figure 4 It is a schematic structural diagram of a library location management device provided by an embodiment of the present application;

[0048] Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0049] In view of the current lack of a general method for improving the parkability of library locations, an embodiment of the present application provides a library location management method: based on the images collected by the vehicle, judge the distance between the vehicle and the detected library location. When the distance is within a preset range, the library location can be released as a target library location to plan a parking path. Thus, by detecting and judging the distance between the vehicle and the library location, the parkability of the library location is improved, and the problem of low generality caused by using radar is avoided.

[0050] To better understand the above technical solutions, the following will make a detailed description of the technical solutions of the present application through the drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present application and the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. Without conflict, the technical features in the embodiments of the present application and the embodiments can be combined with each other.

[0051] In the description, claims and the above-mentioned drawings of this application, the terms "first" and "second" are used to distinguish different objects, rather than to describe a specific order. In addition, the term "including" and any variations thereof are intended to cover non-exclusive protection. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices. "Multiple" in this application may mean at least two, for example, it may be two, three or more, and there is no limitation in the embodiments of this application.

[0052] Please refer to Figure 1 , an embodiment of this application provides a storage location management method to improve the parkability of storage locations for parking. This method at least includes the following implementation steps:

[0053] Step 101: Receive a first captured image.

[0054] Among them, the first captured image includes the storage location.

[0055] Specifically, the captured image can be captured by a capture device installed around the vehicle body (front, rear, left, right). The capture device includes but is not limited to a fish-eye lens.

[0056] The above-mentioned captured image can be a captured image taken at preset times with equal or unequal intervals, or can also be a continuously captured image. The number of captured images is at least 1, preferably greater than or equal to 2.

[0057] Step 102: Based on the first captured image, determine the first storage location information of the storage location, and based on a preset detection formula, determine whether the storage location is located in the target observation area.

[0058] Among them, the preset detection formula includes a first detection formula, and the first detection formula is used to detect whether the distance between the capture device and the storage location is within a preset range.

[0059] The above-mentioned first storage location information includes the location information of the storage location. The storage location information may also include the parkability attribute of the storage location. The following first elaborates on the determination of the above-mentioned first storage location information in detail:

[0060] First, determine the key point coordinates of the same storage location in each captured image respectively. For example, when the storage location is rectangular, the key point coordinates can be the coordinates of the vertices of the storage location, or the coordinates of the center point of the rectangle, and the coordinates of the endpoints at both ends of any diagonal.

[0061] Then, calculate the average value of the key point coordinates at the corresponding positions on each captured image for the same storage location, and the average value of the key point coordinates is used as the location information of the storage location. For example, for a certain storage location in n captured images, the key points are (B1, C1, D1, F1)……(B n , C n , D n , F n ), then calculate the average value of the coordinates of points B1 to B n respectively to obtain the coordinates of point B0, calculate the average value of the coordinates of points C1 to C n respectively to obtain the coordinates of point C0, calculate the average value of the coordinates of points D1 to D n respectively to obtain the coordinates of point D0, and calculate the average value of the coordinates of points F1 to F n to obtain the coordinates of point F0. Finally, the location information of the storage location is the coordinates of the four key points B0, C0, D0, and F0.

[0062] Next, determine the parkability attribute of the storage location in each captured image respectively. Count the first quantity of the first captured images with the parkability attribute of parkable, and the second quantity of the first captured images with the parkability attribute of non-parkable.

[0063] In response to the first quantity being greater than the second quantity, determine that the parkability attribute of the storage location is parkable, or, in response to the first quantity being less than or equal to the second quantity, determine that the parkability attribute of the storage location is non-parkable.

[0064] It should be noted that the above-mentioned captured images, as well as between the acquisition devices and between the vehicles, share the same coordinate system, for example, it can be a physical coordinate system. And, the parkability attribute of the storage location in each captured image can be obtained through a corresponding detection algorithm. The corresponding detection algorithm can be an algorithm for detecting the storage location in the captured image, and thus the location information and parkability attribute of the storage location can be output together. The corresponding detection algorithm can also be independent of the algorithm for detecting the storage location. After the algorithm for detecting the storage location detects the storage location, the detected storage location is detected for the parkability attribute.

[0065] In some embodiments, the preset detection formula may further include a second detection formula, which is used to detect whether the included angle between the reference line of the storage location and the vehicle where the acquisition device is located is less than a preset threshold, so as to determine whether the attitude of the vehicle is in the target observation area, and further judge the accuracy of the first target storage location information. In this embodiment, when it is determined according to the first detection formula that the distance between the acquisition device (i.e., the vehicle) and the storage location is within a preset range, and the included angle between the reference line and the acquisition device is less than the preset threshold, it is determined that the vehicle is in the target observation area.

[0066] The following describes whether the storage location is in the target observation area based on the first detection formula and the second detection formula:

[0067] First, determine the entrance side of the storage location. Specifically, the overall frame of the storage location can be determined first. The overall frame is composed of two relatively long sides and two relatively short sides. Then, determine the lengths of the four sides. The relatively short side closest to the vehicle (i.e., the acquisition device) can be used as the entrance side of the storage location, that is, the side of the entrance in the overall frame of the storage location. This entrance side is used as the reference line of the storage location when detecting based on the first preset detection formula or the second detection formula.

[0068] Then, refer to Figure 2 , and according to the first detection formula, determine the distance between the acquisition device and the storage location. Optionally, determine the straight-line distance G between the acquisition device and the midpoint M of the reference line, and compare this straight-line distance with the preset range of the straight-line distance. Or,

[0069] respectively determine the lateral distance X and the longitudinal distance Y between the acquisition device and the midpoint M of the reference line, and respectively determine whether the lateral distance is within the preset range of the lateral distance and whether the longitudinal distance is within the preset range of the longitudinal distance. When and only when the lateral distance is within the preset range of the lateral distance and the longitudinal distance is within the preset range of the longitudinal distance, it is determined that the distance between the acquisition device and the storage location is within the preset range.

[0070] At the same time, based on the second detection formula, determine the angle θ between the vehicle where the acquisition device is located (i.e., the longitudinal direction of the vehicle body) and the reference line of the storage location, and determine whether this angle θ is less than the preset threshold.

[0071] Thus, according to the above first detection formula, or the first detection formula and the second detection formula, determine whether the vehicle is located in the target observation area.

[0072] If so, execute step 103. If not, step 104 can be executed.

[0073] Step 103: If so, determine that the first storage location information is the target storage location information of the storage location.

[0074] Specifically, after determining the target storage location information, for the current vehicle, within the preset time range, this storage location can always be used as a storage location for parking. And because the storage location information is in the target observation area, this target storage location information has the characteristic of high accuracy. Therefore, after the vehicle drives out of the target observation area, lock this target storage location information and do not update it anymore. This target storage location information can always be used for planning the parking path.

[0075] In some embodiments, this target storage location information can be directly locked and then this target storage location information is no longer updated. This storage location can participate in vehicle planning.

[0076] In some embodiments, the foregoing first detection method and second detection method may be combined to respectively determine the distance and angle between the vehicle and the storage location in the target observation area, so as to determine whether both the distance and the angle become smaller as the vehicle moves, thereby determining whether the attitude of the vehicle is adjusted to be more conducive to collecting higher-precision attitude. When the attitude of the vehicle is further adjusted, new storage location information may be determined based on the latest acquired acquisition image, and the target storage location information may be updated using the new storage location information until the storage location is no longer in the target observation area. At this time, the target storage location information is locked and no longer updated, and the locked target storage location information is used for planning and control. Specifically, when it is detected based on the first detection method that the distance is further reduced and the reduction value exceeds the first specified threshold, the storage location information may continue to be determined based on 1 or more latest acquired acquisition images, and the target storage location information is updated accordingly; or,

[0077] When the reduction value of the foregoing distance exceeds the second specified threshold (the second specified threshold is less than or equal to the first specified threshold), and the included angle detected based on the second detection method is further reduced and the reduction value of the included angle exceeds the third specified threshold, the storage location information may continue to be determined based on 1 or more latest acquired acquisition images, and the target storage location information is updated accordingly.

[0078] Finally, as the vehicle moves, when the storage location changes from being in the target observation area to not being in the target observation area, the target storage location information is locked.

[0079] After the target storage location information is locked, if the parkability attribute in the target storage location information is non-parkable, when planning the parking path, this storage location is not used as an alternative storage location. If the parkability attribute in the target storage location information is parkable, then when planning the parking path, this storage location may be determined as the target storage location for selection and participate in the planning.

[0080] Step 104: If not, in response to the storage location being in the target observation area in the second acquisition image, update the first storage location information based on the second storage location information of the storage location in the second acquisition image.

[0081] Among them, the acquisition time of the second acquired image is later than that of the first acquired image. Specifically, at this time, since the storage location in the first acquired image is not in the target observation area, it means that the accuracy of the storage location information when the first acquired image is acquired does not meet the accuracy requirement sufficient to be used as the target storage location information. At this time, the image can be continuously acquired, and step 103 is repeated. First, based on the physical coordinate system, in the subsequently acquired second acquired image, the storage location is determined, and based on the first detection formula and the second detection formula, it is determined whether the storage location in the second acquired image is in the target observation area. Specifically, if, as the vehicle moves, in response to the storage location being in the target observation area, the second storage location information of the storage location entering the target observation area can be used to update the first storage location information of the aforementioned storage location. And, since the second storage location information is in the target observation area, at this time, it is determined that the accuracy of the storage location information has reached the target accuracy, so the updated storage location information can be used as the target storage location information. In this way, the accuracy of the storage location information of the storage location is improved, and the parkability is also improved accordingly.

[0082] Furthermore, while determining whether the storage location enters the target observation area and determining the second storage location information as the target storage location information, in order to respond to the parking demand of the vehicle and avoid the situation that the storage location never enters the target observation area during the subsequent acquisition process, it can be determined whether the storage location meets the condition for early release. That is, although the storage location information determined by the first acquired image, because the storage location is not in the target observation area, the accuracy of the storage location information obtained therefrom is not sufficient to be the target storage location information, but is used as the storage location information that is not locked temporarily. However, in order to meet the parking demand of the vehicle, it can be determined whether the storage location information meets the condition for temporarily being used for vehicle planning for parking, so as to determine whether the storage location information obtained from the first acquired image is available for the vehicle to park during the current time period. Specifically, it can be determined for the parkability attribute of the storage location and the situation where the drivable area is occupied:

[0083] When the parkability attribute of the storage location is parkable and the drivable area freespace of the storage location is not occupied by the non-drivable area, that is, the ratio of the overlapping area between the storage location and the drivable area to the area of the storage location is greater than the preset area threshold, it can be determined that the storage location is the target storage location for the vehicle to plan the parking path. Otherwise, it is determined that the storage location does not meet the condition for early release and is not the target storage location.

[0084] The following is an example based on steps 101 - 104, combined with Figure 3 , taking the target observation area as the best observation area:

[0085] First, the images acquired by the acquisition device installed on the vehicle body are detected to determine the vehicle drivable area freespace area and the storage location information of each storage location. The following operations are performed on each storage location according to the storage location information of the storage location:

[0086] Determine whether the storage location enters the best observation area of the vehicle according to the storage location information.

[0087] If so, optimize the storage location information according to the storage location information in each captured image, that is, execute step 102 according to the storage location information to optimize the coordinates of the four vertices BCDE of the overall storage location frame and the parkability attribute of the storage location. After optimization, it can be determined whether the storage location leaves the best observation area, or whether the vehicle starts the parking planning function. If not, the optimized storage location information can be updated at preset intervals or when the vehicle moves. If so, the optimized storage location information can be locked, that is, the coordinates of the vertices of the overall storage location frame and the parkability attribute of the storage location are locked, and the status of the storage location is set to released. At this time, the storage location can be used for planning and control.

[0088] If not, optimize the storage location information according to the storage location information in each captured image. For the optimization method, refer to step 102, which will not be elaborated here. After optimization, determine whether the storage location meets the early release condition, that is, determine whether the area of the drivable area blocked by the non-drivable area exceeds the parking limit value, and whether the parkability attribute of the storage location is parkable.

[0089] If so, it is determined that the early release condition is met, and the status of the storage location is marked as released. At this time, the storage location can be used for planning and control. Meanwhile, the storage location information is not locked.

[0090] If not, it is determined not to release the storage location.

[0091] Based on the same inventive concept, an embodiment of the present application provides a storage location management device, which corresponds to the foregoing Figure 1 shown storage location management method. For the specific implementation of this device, refer to the description in the method embodiment part above. The repeated parts will not be elaborated. Refer to Figure 4 , the single-chip microcomputer in this device includes:

[0092] A receiving unit 401, configured to receive a first captured image.

[0093] Wherein, the first captured image contains a storage location.

[0094] A detection unit 402, configured to determine the first storage location information of the storage location based on the first captured image, and determine whether the storage location is located in the target observation area based on a preset detection formula.

[0095] Wherein, the preset detection formula includes a first detection formula, and the first detection formula is used to detect whether the distance between the acquisition device and the storage location is within a preset range.

[0096] The preset detection formula includes a second detection formula for detecting whether the included angle between the reference line of the storage location and the vehicle where the acquisition device is located is less than a preset threshold value.

[0097] The number of the first acquisition images is greater than or equal to 2, and the first storage location information includes the location information of the storage location; then the detection unit 402 is specifically configured to respectively determine the key point coordinates of the storage location in each of the first acquisition images; calculate the average value of the key point coordinates at the corresponding position of the storage location to obtain the location information of the storage location.

[0098] The number of the first acquisition images is greater than or equal to 2, and the first storage location information includes the parkability attribute of the storage location; then the detection unit 402 is specifically configured to respectively determine the parkability attribute of the storage location in each of the first acquisition images; count the first number of the first acquisition images with the parkability attribute of parkable and the second number of the first acquisition images with the parkability attribute of non-parkable; in response to the first number being greater than the second number, determine that the parkability attribute of the storage location is parkable.

[0099] The target unit 403 is configured to, if so, determine the first storage location information as the target storage location information of the storage location.

[0100] The storage location management device further includes an update unit, and the update unit is specifically configured to, if not, in response to the storage location being located in the target observation area in the second acquisition image, update the first storage location information based on the second storage location information of the storage location in the second acquisition image; wherein, the acquisition time of the second acquisition image is later than the acquisition time of the first acquisition image.

[0101] The storage location management device further includes a threshold unit, and the threshold unit is specifically configured to, if not, in response to the parkability attribute of the storage location being parkable and the ratio of the overlapping area between the storage location and the drivable area to the area of the storage location being greater than a preset area threshold, determine that the storage location is a target storage location.

[0102] Based on the same inventive concept, an embodiment of the present application further provides a readable storage medium, including:

[0103] A memory,

[0104] The memory is used for storing a computer program, and when the computer program is executed by a processor, the device including the readable storage medium completes the storage location management method as described above.

[0105] Based on the same inventive concept as the above storage location management method, an embodiment of the present application further provides an electronic device, and the electronic device can implement the functions of the foregoing storage location management method. Please refer to Figure 5, the electronic device includes:

[0106] At least one processor 501, and a memory 502 connected to the at least one processor 501. In the embodiments of the present application, the specific connection medium between the processor 501 and the memory 502 is not limited. Figure 5 In the example, the processor 501 and the memory 502 are connected through a bus 500. The bus 500 is Figure 5 represented by a thick line in the figure. The connection manners between other components are only for illustrative purposes and are not limiting. The bus 500 can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 5 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 501 can also be called a controller, and the name is not limited.

[0107] In the embodiments of the present application, the memory 502 stores instructions executable by the at least one processor 501. By executing the instructions stored in the memory 502, the at least one processor 501 can execute the foregoing described bin management method. The processor 501 can implement Figure 4 the functions of each module in the device shown.

[0108] Among them, the processor 501 is the control center of the device. It can connect various parts of the entire control device through various interfaces and lines. By running or executing the instructions stored in the memory 502 and calling the data stored in the memory 502, various functions of the device and process data, so as to monitor the device as a whole.

[0109] In a possible design, the processor 501 may include one or more processing units. The processor 501 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 501. In some embodiments, the processor 501 and the memory 502 can be implemented on the same chip, and in some embodiments, they can also be separately implemented on independent chips.

[0110] The processor 501 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the bin location management method disclosed in combination with the embodiments of the present application may be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0111] The memory 502, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory 502 may include at least one type of storage medium, for example, it may include flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, magnetic disk, optical disk, etc. The memory 502 is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 502 in the embodiments of the present application may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0112] By designing and programming the processor 501, the code corresponding to the bin location management method introduced in the foregoing embodiments can be solidified into the chip, so that the chip can execute Figure 1 the steps of the bin location management method shown. How to design and program the processor 501 is a well-known technology to those skilled in the art and will not be elaborated here.

[0113] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0114] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical functional division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the devices or units can be in electrical, mechanical, or other forms.

[0115] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0116] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0117] 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 this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as a Universal Serial Bus flash disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disc.

[0118] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application also intends to include these modifications and variations.

Claims

1. A bin location management method, characterized in that, Including: Receiving a first captured image; wherein, the first captured image contains storage locations; Based on the first captured image, determining first storage location information of the storage location, and based on a preset detection formula, determining whether the storage location is located in a target observation area; wherein, the preset detection formula includes a first detection formula, and the first detection formula is used to detect whether the distance between the collection device and the storage location is within a preset range; If so, determining the first storage location information as the target storage location information of the storage location.

2. The bin location management method according to claim 1, wherein, The preset detection formula includes a second detection formula, and the second detection formula is used to detect whether the included angle between the reference line of the storage location and the vehicle where the collection device is located is less than a preset threshold.

3. The bin location management method according to claim 1, wherein The number of the first captured images is greater than or equal to 2, and the first storage location information includes the location information of the storage location; then, based on the first captured image, determining the first storage location information of the storage location in the first captured image includes: Respectively determining the key point coordinates of the storage location in each of the first captured images; Calculating the average value of the key point coordinates at the corresponding position of the storage location to obtain the location information of the storage location.

4. The bin location management method according to claim 1, wherein, The number of the first captured images is greater than or equal to 2, and the first storage location information includes the parkability attribute of the storage location; then, based on the first captured image, determining the first storage location information of the storage location in the first captured image includes: Respectively determining the parkability attributes of the storage location in each of the first captured images; Counting the first quantity of the first captured images with the parkability attribute of parkable and the second quantity of the first captured images with the parkability attribute of non-parkable; In response to the first quantity being greater than the second quantity, determining the parkability attribute of the storage location as parkable.

5. The bin location management method according to any one of claims 1-4, characterized in that After determining whether the storage location is located in the target observation area based on the preset detection formula, further including: If not, in response to the storage location being located in the target observation area in the second captured image, updating the first storage location information based on the second storage location information of the storage location in the second captured image; wherein, the acquisition time of the second captured image is later than the acquisition time of the first captured image.

6. The bin location management method according to any one of claims 1-4, characterized in that After determining whether the storage location is located in the target observation area based on the preset detection formula, further including: If not, in response to the parkability attribute of the storage location being parkable and the ratio of the overlapping area between the storage location and the drivable area to the area of the storage location being greater than a preset area threshold, determining the storage location as the target storage location.

7. A location management device, characterized in that, Including: A receiving unit, configured to receive a first captured image; wherein, the first captured image contains storage locations; A detection unit, configured to determine first storage location information of the storage location based on the first captured image, and determine whether the storage location is located in a target observation area based on a preset detection formula; wherein, the preset detection formula includes a first detection formula, and the first detection formula is used to detect whether the distance between the collection device and the storage location is within a preset range; A target unit, configured to, if so, determine the first storage location information as the target storage location information of the storage location.

8. The device according to claim 7, characterized in that, The number of the first captured images is greater than or equal to 2, and the first bin location information includes the location information of the bin; then the detection unit is specifically configured to respectively determine the key point coordinates of the bin in each of the first captured images; calculate the average value of the key point coordinates at the corresponding position of the bin to obtain the location information of the bin.

9. A readable storage medium, characterized in that, Comprising, a memory, The memory is used to store a computer program, and when the computer program is executed by a processor, the device including the readable storage medium completes the method according to any one of claims 1-6.

10. An electronic device, characterized in that, Including: a memory for storing a computer program; a processor for implementing the method according to any one of claims 1-6 when executing the computer program stored on the memory.

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