CN116798258A

CN116798258A - Parking space occupation state determining method and device, electronic equipment and storage medium

Info

Publication number: CN116798258A
Application number: CN202210272946.8A
Authority: CN
Inventors: 张恒瑞; 孙弘博; 郭明坚
Original assignee: SF Technology Co Ltd
Current assignee: SF Technology Co Ltd
Priority date: 2022-03-18
Filing date: 2022-03-18
Publication date: 2023-09-22

Abstract

The embodiment of the application discloses a method and a device for determining a parking space occupation state, electronic equipment and a storage medium; the embodiment of the application can acquire the first state; when the first state is a first occupied state, determining whether a second state is acquired within a preset time period after the first occupied state is acquired; if the second state is not acquired within the preset time period, determining the current occupied state of the target parking space according to the first occupied state; if the second state is acquired in the preset time period and is the second occupied state, determining the current occupied state of the target parking space according to the first occupied state and the second occupied state. In the embodiment of the application, the occupancy condition of the clamping position or the parking space can be rapidly and accurately determined by combining the first occupancy state and the second occupancy state.

Description

Parking space occupation state determining method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of computers, in particular to a method and a device for determining a parking space occupation state, electronic equipment and a storage medium.

Background

In recent years, with the development of electronic commerce, the development of logistics industry is rapid, and in logistics transfer fields and warehouses, vehicles are usually parked on clamping positions or parking spaces to load and unload cargoes, so that the cargo transfer is realized.

In the whole goods circulation process, the workers generally rely on to-and-fro inspection at each clamping position or parking space to determine which parking spaces or clamping positions are idle, and call drivers to stop, so that more and more workers are required to determine which clamping positions are idle along with the expansion of a logistics transit field and a warehouse, the time and the labor are wasted, the condition of omission easily occurs, and the occupation condition of the clamping positions or the parking spaces is difficult to rapidly and accurately determine.

Disclosure of Invention

The embodiment of the application provides a method, a device, electronic equipment and a storage medium for determining the occupation state of a parking space, which can quickly and accurately determine the occupation condition of a card position or the parking space.

The embodiment of the application provides a parking space occupation state determining method, which comprises the following steps:

acquiring a first state, wherein the first state is obtained by identifying a target parking space in a target image;

when the first state is a first occupied state, determining whether a second state is acquired within a preset time period after the first occupied state is acquired, wherein the second state is a state obtained by detecting the target parking space by parking space detection equipment;

If the second state is not acquired within the preset time period, determining the current occupied state of the target parking space according to the first occupied state;

if the second state is acquired in the preset time period and is a second occupied state, determining the current occupied state of the target parking space according to the first occupied state and the second occupied state.

The embodiment of the application also provides a parking space occupation state determining device, which comprises:

the first state acquisition module is used for acquiring a first state, wherein the first state is obtained by identifying a target parking space in a target image;

the second state acquisition module is used for determining whether a second state is acquired in a preset time period after the first occupied state is acquired when the first state is the first occupied state, and the second state is obtained by detecting the target parking space by the parking space detection equipment;

the first determining module is used for determining the current occupied state of the target parking space according to the first occupied state if the second state is not acquired within the preset time period;

and the second determining module is used for determining the current occupied state of the target parking space according to the first occupied state and the second occupied state if the second state is acquired in the preset time period and is the second occupied state.

In some embodiments, the second state further includes a second idle state, and the parking space occupation state determining device further includes a third determining module configured to:

acquiring a determination moment corresponding to the current occupation state of the target parking space;

determining the acquisition time when the second idle state is acquired;

determining a maintenance time length based on the determination time and the acquisition time;

if the maintenance duration is smaller than the preset duration, determining the current occupied state of the target parking space according to the first occupied state;

and if the maintenance time length is greater than or equal to the preset time length, the second idle state is the current occupied state of the target parking space.

In some embodiments, the first state includes any one of a target occupancy state, a normal occupancy state, and a first idle state, and the third determination module is further to:

if the first state is a first idle state, determining the current occupied state of the target parking space by the first idle state;

if the first state is a target occupied state, determining the target occupied state as the current occupied state of the target parking space;

and if the first state is a common occupied state, determining the common occupied state as the current occupied state of the target parking space.

In some embodiments, the first state acquisition module is further to:

acquiring a multi-frame target image, wherein the target image comprises a target parking space;

identifying target parking spaces in each frame of target image, and determining the parking space state corresponding to each frame of target image;

determining a change sequence corresponding to the parking space states of the target parking spaces according to the parking space states corresponding to all the target images;

and obtaining the first state based on the change sequence.

In some embodiments, the parking space state includes any one of a fully occupied state, a unoccupied state, and a fuzzy occupied state, and the first state acquisition module is further configured to:

and if the change sequence is a full occupied state, a fuzzy occupied state and an unoccupied state in sequence, and the duration of the unoccupied state is longer than or equal to a first preset duration, determining that the first state is a first idle state.

and if the change sequence is an unoccupied state, a fuzzy occupied state and a full occupied state in sequence, and the duration of the full occupied state is longer than or equal to a second preset duration, determining that the first state is a first occupied state.

In some embodiments, the first occupancy state includes a target occupancy state or a normal occupancy state, and the first state acquisition module is further configured to:

identifying a target object in the target image;

if the target object is identified, determining that the first occupied state is a target occupied state;

and if the target object is not identified, determining that the first occupied state is a common occupied state.

The embodiment of the application also provides electronic equipment, which comprises a memory, wherein the memory stores a plurality of instructions; and the processor loads instructions from the memory to execute the steps in any parking space occupation state determining method provided by the embodiment of the application.

The embodiment of the application also provides a computer readable storage medium which stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor to execute the steps in any parking space occupation state determining method provided by the embodiment of the application.

The embodiment of the application can integrate the first state and the second state to determine the current occupied state of the target parking space, and when the acquired first state is the first occupied state, the embodiment of the application determines whether the second occupied state is acquired in the preset time period, if the second occupied state is received in the preset time period, the embodiment of the application can immediately determine the current occupied state, and if the second occupied state is not received in the preset time period, the embodiment of the application can determine the current occupied state by waiting for the preset time period at most. The first state, the second state and the time difference of receiving the first state and the second state are comprehensively considered, the current occupied state is determined according to different modes, and the current occupied state of the target parking space is accurately and rapidly determined.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a scenario of a parking space occupation state determining method provided by an embodiment of the present application;

fig. 2 is a flow chart of a parking space occupation state determining method according to an embodiment of the present application;

FIG. 3 is a schematic view of a parking space state according to an embodiment of the present application;

fig. 4 is a schematic diagram of a parking space occupation state determining method according to another embodiment of the present application;

fig. 5 is an overall logic schematic diagram of a parking space occupation state determining method according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a parking space occupation state determining device according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.

The embodiment of the application provides a parking space occupation state determining method, a device, electronic equipment and a storage medium.

The parking space occupation state determining device can be integrated in electronic equipment, and the electronic equipment can be a terminal, a server and other equipment. The terminal can be a mobile phone, a tablet computer, an intelligent Bluetooth device, a notebook computer, a personal computer (Personal Computer, PC) or the like; the server may be a single server or a server cluster composed of a plurality of servers.

In some embodiments, the parking space occupation state determining device may be integrated in a plurality of electronic devices, for example, the parking space occupation state determining device may be integrated in a plurality of servers, and the parking space occupation state determining method of the present application is implemented by the plurality of servers.

In some embodiments, the server may also be implemented in the form of a terminal.

For example, referring to fig. 1, a schematic view of a scenario of a parking space occupancy state determination method is shown. The parking space detection device 101 and the image acquisition device 102 can be installed on a parking space, the parking space detection device 101 is in communication connection with the server 103, and the image acquisition device 102 is in communication connection with the server 103.

The parking space detection device 101 is a device for detecting whether a vehicle is parked above a parking space by geomagnetism, ultrasound, infrared, or other modes, such as an ultrasonic sensor, an infrared sensor, a geomagnetic sensor, a laser radar, and the like. When the state of the parking space changes, the parking space detection device 101 sends a second state to the server 103, for example, the vehicle enters the parking space, so that the parking space changes from the idle state to the occupied state, or the vehicle moves out of the parking space, so that the parking space changes from the occupied state to the idle state.

The image capturing device 102 is used for capturing an image of a parking space to obtain a target image, and the image capturing device 102 may be a device with an image capturing function, such as a camera, a video camera, and the like.

In some embodiments, the image capturing device 102 may send the captured target image to the server 103, so that the server 103 processes the target image to obtain the first state.

In some embodiments, the image acquisition device 102 may integrate an image recognition algorithm, and after acquiring the target image, process the target image to obtain a first state, and send the first state to the server 103.

In some embodiments, one parking space detection device 101 and one image acquisition device 102 may be disposed on each parking space. The server 103 may store the identifier of the parking space detection device 101 corresponding to one parking space and the identifier of the image acquisition device 102 in advance, so as to determine that the information of the parking space detection device 101 and the image acquisition device 102 originate from the same parking space.

So that the server 103 can acquire the first state; when the first state is a first occupied state, determining whether a second state is acquired within a preset time period after the first occupied state is acquired; if the second state is not acquired within the preset time period, determining the current occupied state of the target parking space according to the first occupied state; if the second state is acquired in the preset time period and is a second occupied state, determining the current occupied state of the target parking space according to the first occupied state and the second occupied state.

Artificial intelligence (Artificial Intelligence, AI) is a technology that utilizes a digital computer to simulate the human perception environment, acquire knowledge, and use the knowledge, which can enable machines to function similar to human perception, reasoning, and decision. Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning, automatic driving, intelligent traffic and other directions.

Among them, computer Vision (CV) is a technique of performing operations such as recognition and measurement of a target image by using a Computer instead of human eyes and further performing processing. Computer vision techniques typically include image processing, image recognition, image semantic understanding, image retrieval, virtual reality, augmented reality, synchronous positioning and mapping, autopilot, intelligent transportation, etc., as well as common biometric recognition techniques such as face recognition, fingerprint recognition, etc. Such as image processing techniques such as image coloring, image stroking extraction, etc. According to the application, the parking space state recognition and the object recognition can be carried out on the acquired target image based on technologies such as image recognition and the like, so that the current occupation state of the target parking space is determined.

The following will describe in detail. The numbers of the following examples are not intended to limit the preferred order of the examples.

In this embodiment, a method for determining a parking space occupation state is provided, as shown in fig. 2, a specific flow of the method for determining a parking space occupation state may be as follows:

s110, acquiring a first state, wherein the first state is obtained by identifying a target parking space in a target image.

The target image is an image of a target parking space acquired by the image acquisition device, and the first state identifies the target parking space in the target image, so that the state of the target parking space is obtained.

In some embodiments, the first state may be directly acquired by the electronic device from the image capturing device, specifically, the first state may be obtained by identifying the captured target image by the image capturing device, and the first state is sent to the electronic device.

In some embodiments, the electronic device may acquire a target image from the image acquisition device, and the electronic device identifies the target image to obtain the first state.

The electronic equipment identifies the target image, and the first state can be that a plurality of frames of target images are acquired, the target parking space in each frame of target image is identified, and the parking space state corresponding to each frame of target image is determined; determining a change sequence corresponding to the parking space state of the target parking space according to the parking space state corresponding to each frame of the target image; and obtaining the first state based on the change sequence.

The image acquisition device can acquire images of the target parking space according to fixed time intervals to obtain target images, for example, the images are acquired at intervals of 1s, the images are acquired at intervals of 5s, and the like, and the images can be set according to actual needs. After the target image is acquired, the target image can be sent to the electronic device, so that the electronic device can acquire multiple frames of target images. And the electronic equipment identifies the target parking space in each frame of the acquired target image, and obtains the parking space state corresponding to each frame of the target image.

In some embodiments, the target image may be identified through a classification network, so as to obtain a parking space state corresponding to the target image. The classification network may refer to a neural network model, such as a VGG network, a ResNet network, a MobileNet network, an EfficientNet network, and the like.

The neural network model may be trained in advance to arrive at a classification network prior to identifying the target image by the classification network. The method specifically comprises the steps of obtaining a training set, wherein the training set comprises a plurality of sample target images and state labels corresponding to the sample target images, inputting the sample target images into a neural network model to obtain parking space states corresponding to target parking spaces in the sample target images, and calculating a loss function between the parking space states and the state labels until the loss function converges to obtain a classification network. The parking space state output by the classification network in the embodiment of the application can comprise a full occupied state, a fuzzy occupied state and an unoccupied state, wherein the setting of the fuzzy occupied state can facilitate labeling of a sample target image to obtain a state label, and can also avoid errors caused by incapability of obtaining depth information.

For example, referring to fig. 3, a schematic diagram of a parking space condition is shown. In fig. 3, the solid line area is a parking space area, the fully occupied state refers to an area in which an object is within 70% of the parking space area, the fuzzy occupied state refers to an area in which an object is within 70% -120% of the parking space area, and the unoccupied state refers to an area in which an object is outside 120% of the parking space area. For any one target image, the result of the classification network output is any one of a fully occupied state, a fuzzy occupied state and a unoccupied state.

After the parking space state corresponding to each frame of target image is obtained, the changing sequence corresponding to the parking space state can be determined. The change sequence may be composed of a plurality of different parking space states of the same target parking space, and is associated with the movement of the vehicle on the target parking space. For example, the vehicle may travel from outside the target parking space to inside the target parking space and stop, and the parking space state of the target parking space may be changed from the unoccupied state to the fuzzy occupied state, and then from the fuzzy occupied state to the full occupied state. For another example, when a vehicle has been parked in the target parking space and the vehicle leaves the target parking space, the parking space state change sequence of the target parking space may be changed from the fully occupied state to the fuzzy occupied state and then from the fuzzy occupied state to the unoccupied state.

Therefore, according to the parking space state corresponding to each frame of target image, the changing sequence corresponding to the parking space state of the target parking space can be determined.

In some embodiments, the parking space states corresponding to different target images may be the same, for example, it takes 1 minute for a vehicle to enter a target parking space, and if the target images are acquired every 1s, 60 parking space states can be obtained correspondingly. In the 1 minute, the parking space states of the target parking spaces from 1s to 10s are unoccupied states, the parking space states of the target parking spaces from 10s to 40s are fuzzy occupied states, and the parking space states of the target parking spaces from 40s to 60s are full occupied states. Therefore, the change sequence can be determined to be the unoccupied state, the fuzzy occupied state and the full occupied state in sequence, and if the change sequence is the unoccupied state, the fuzzy occupied state and the full occupied state in sequence, the first state can be determined to be the first occupied state.

Similarly, if the change sequence is the full occupied state, the fuzzy occupied state and the unoccupied state in sequence, the first state can be determined to be the first idle state.

In some embodiments, in order to improve accuracy of the determined first state, when the change sequence is sequentially an unoccupied state, a fuzzy occupied state, and a fully occupied state, and the duration of the fully occupied state is greater than or equal to a second preset duration, the first state is determined to be the first occupied state. As described in the foregoing example, if the second preset duration is 10s, at 40s, the change sequence corresponding to the parking space state of the target parking space is detected to be the unoccupied state, the fuzzy occupied state and the fully occupied state in sequence, and if the parking space state corresponding to each frame of target image is the fully occupied state within 41s-51s, the fully occupied state is considered to last 10s, and the first state can be determined to be the first occupied state at 51 s.

Similarly, if the change sequence corresponding to the parking space state is a full occupied state, a fuzzy occupied state and a non-occupied state in sequence, and the duration of the non-occupied state is greater than or equal to a first preset duration, determining that the first state is a first idle state. The first preset duration and the second preset duration may be set to the same value, or may be set to different values, and may be specifically set according to actual needs, which is not limited herein.

After the first state is determined to be the first occupied state, an object occupying the target parking space can be further confirmed. As one embodiment, the first occupancy state may include a target occupancy state and a normal occupancy state, wherein the target occupancy state refers to the target object occupying the target parking space, and the normal occupancy state refers to any object other than the target object occupying the target parking space. In order to further determine whether the target parking space is in a target occupied state or a common occupied state, a target object in the target image can be identified; if the target object is identified, determining the first occupied state as a target occupied state; if the target object is not identified, determining that the first occupied state is a common occupied state.

Specifically, when the first state is determined to be the first occupied state, the target image corresponding to the time may be input into the detection network, and the detection network outputs the identification result of the target object. As described in the previous example, the first state is determined to be the first occupied state at 51s, and the target image acquired at 51s may be input into the detection network. The detection network may refer to a neural network, such as an SSD network, a YOLO network, or the like, and may be trained in advance before the detection network is used, so that the neural network has the capability of identifying the target object, thereby obtaining the detection network.

In some embodiments, when the detection network is obtained through training, a corresponding training data set is obtained, the training data set comprises a plurality of sample images and object labels corresponding to each sample image, the sample images are input into the neural network to obtain corresponding predicted objects, a loss function between the predicted objects and the object labels is calculated, and the detection network is obtained until the loss function converges, wherein the detection network has the capability of identifying various objects. If the predicted object output by the detection network contains the target object, the target object can be recognized; if the predicted object output by the detection network does not contain the target object, the target object is not recognized.

In some embodiments, the training dataset may be a sample image that includes only the target object, and an object tag corresponding to the sample image, such that the training-derived detection network has only the ability to identify the target object. If the predicted object output by the detection network is a target object, the target object can be recognized; if the predicted object output by the detection network is not the target object, the target object is not recognized.

In the embodiment of the application, the target object may refer to a truck, a forklift or other vehicles, that is, when the truck, the forklift or other vehicles are identified, the first occupancy state may be considered as a target occupancy state; if no vehicles such as trucks, forklifts and the like are identified, the first occupied state can be considered as a common occupied state.

And S120, when the first state is a first occupied state, determining whether a second state is acquired within a preset time period after the first occupied state is acquired, wherein the second state is obtained by detecting the target parking space by the parking space detection equipment.

If the first state is the first occupied state, it may be determined whether the second state is acquired within a preset time period after the first occupied state is obtained. The second state is a state obtained by detecting the target parking space by the parking space detection device, and when the parking space state of the target parking space is detected to change, the parking space detection device can send the second state to the electronic device, for example, when the parking space state of the target parking space changes from occupied to idle, the second idle state can be sent to the electronic device, and when the parking space state of the target parking space changes from idle to occupied, the second occupied state can be sent to the electronic device. That is, the second state may include a second occupied state and a second idle state.

The preset time period refers to a preset duration, for example, 10 minutes, 1 minute, etc., and may be specifically set according to actual needs.

Determining whether the second state is acquired within a preset time period after the first occupied state is acquired may be recording a time when the first occupied state is acquired, and starting to count from the time so as to determine whether the second state is acquired within the preset time period.

S130, if the second state is not acquired within the preset time period, determining the current occupied state of the target parking space according to the first occupied state.

If the second state is not acquired within the preset time period, the following situations are possible:

1. the parking space detection equipment fails and cannot send a second state to the electronic equipment;

2. the object occupying the target parking space is not a target object, and the parking space detection equipment cannot detect the occupation of the non-target object, so that the second state cannot be acquired;

3. the object occupying the target parking space is a target object, but the target object does not enter the detection range of the parking space detection device, so that the second state cannot be obtained.

In these three cases, the second state cannot be acquired, so that the current occupancy state of the target parking space can be determined directly according to the first occupancy state. If the first occupied state is the target occupied state, the current occupied state can be directly determined to be the target occupied state, and if the first occupied state is the common occupied state, the current occupied state can be directly determined to be the common occupied state.

It should be noted that the parking space detection device may have a self-checking function, when a fault of the parking space detection device is detected, fault information may be reported to the electronic device, and in case of the fault of the parking space detection device, a current occupation state of the target parking space may be determined directly according to the received first state.

And S140, if the second state is acquired in the preset time period and is a second occupied state, determining the current occupied state of the target parking space according to the first occupied state and the second occupied state.

If the second state is acquired within the preset time and the acquired second state is the second occupied state, the current occupied state of the target parking space can be determined directly according to the first occupied state and the second occupied state. If the second occupied state is received within the preset time period, the current occupied state of the target parking space can be determined to be the occupied state.

It should be noted that, the current occupation state of the target parking space can be determined by executing the steps S130 and S140 alternatively. If the second occupied state is received in the preset time period, the current occupied state is immediately determined according to the first occupied state and the second occupied state, and if the second occupied state is not received in the preset time period, the current occupied state can be immediately determined according to the first occupied state without continuously waiting for the second occupied state when the second occupied state exceeds the preset time period, and therefore the current occupied state can be determined by waiting for the preset time period at most after the first occupied state is received, and the efficiency of determining the current occupied state can be improved.

In some embodiments, the current occupied states of the determinable target parking space represent that the target parking space is currently occupied, and after determining that the target parking space is currently occupied, determining time corresponding to the current occupied state of the determinable target parking space can be obtained; determining the acquisition time when the second idle state is acquired; determining a maintenance time length based on the determination time and the acquisition time; if the maintenance duration is smaller than the preset duration, determining the current occupied state of the target parking space according to the first state; and if the maintenance time length is greater than or equal to the preset time length, the second idle state is the current occupied state of the target parking space.

The method comprises the steps of obtaining a determination time corresponding to the fact that the current occupied state of a target parking space is occupied, determining the time when a second idle state is received for the first time after the determination time as the obtaining time, calculating a time interval between the determination time and the obtaining time to obtain a maintenance time length, and determining the current occupied state of the target parking space according to the first state if the maintenance time length is smaller than a preset time length; and if the maintenance time length is greater than or equal to the preset time length, determining the current occupied state of the target parking space according to the second idle state.

For example, the time when the current occupancy state indicates that the occupancy state is occupied is determined to be 60s, the preset duration is 60s, if the second idle state is received at 70s, it may be considered that the target object entering the target parking space is just about to leave the target parking space after staying for 10s, and at this time, the following 2 cases may be possible:

1. the target object is adjusted to enter the target parking space, for example, the position is adjusted by repeated reversing;

2. the target object is to leave the target parking space.

In order to improve the accuracy of the determined current occupancy state, the current occupancy state may be determined according to the acquired first state. If the target object is in a reversing adjustment position, the acquired first state still indicates that the target object is occupied, and the first state is taken as the shake interference of the parking space detection equipment can be avoided. If the target object leaves the target parking space, the first state is also converted into the first idle state, and the current occupied state can be accurately determined based on the first state.

When the current occupied state of the target parking space is determined according to the first state, if the first state is the target occupied state, determining that the current occupied state is the target occupied state; if the first state is the ordinary occupied state, determining that the current occupied state is the ordinary occupied state; and if the first state is the first idle state, determining that the current occupied state is the first idle state.

If the second idle state is acquired at 121s, the occupied state can be considered to be maintained for a preset time period, and the current occupied state can be directly determined according to the second idle state under the normal condition, and the first state is not required to be waited, so that the determination efficiency is improved.

According to the parking space occupation state determining method provided by the embodiment of the application, when the first occupation state is acquired, whether the second occupation state is acquired within the preset time period is determined, the current occupation state is determined in different modes according to the time interval between the acquisition of the first occupation state and the acquisition of the second occupation state, if the second occupation state is received within the preset time period, the current occupation state can be immediately determined, and if the second occupation state is not received within the preset time period, the current occupation state can be determined by waiting for the preset time period at most, so that the current occupation state of the target parking space can be accurately and rapidly determined.

The parking space occupation state determining scheme provided by the embodiment of the application can be applied to various logistics transit scenes. For example, taking cargo circulation as an example, the dispatching of the vehicles can be realized according to the occupation condition of the clamping positions or the parking spaces, so that the cargo circulation efficiency is improved. The scheme provided by the embodiment of the application can more accurately and rapidly determine the current occupation condition of the clamping position or the parking space so as to accurately schedule the vehicle based on the current occupation condition, thereby improving the efficiency of cargo circulation.

The method described in the above embodiments will be described in further detail below.

In this embodiment, when the parking space detection device detects that the parking space is occupied in the cargo circulation scene, the target object in the parking space can be considered to perform the operation, and the method of the embodiment of the application is described in detail by taking the vehicle as an example.

As shown in fig. 4, a specific flow of a parking space occupation state determining method is as follows:

s210, if the first occupied state is acquired, determining whether a second occupied state is acquired within a preset time period after the first occupied state is acquired.

S220, if the second occupied state is acquired, determining the current occupied state according to the first occupied state and the second occupied state.

S230, if the second occupied state is not acquired, determining the current occupied state according to the first occupied state.

S240, determining the maintaining duration of the current occupied state according to the received second idle state.

S250, if the maintenance duration is smaller than the preset duration, determining the current occupied state of the target parking space according to the first state.

And S260, if the maintenance time length is greater than or equal to the preset time length, determining the current occupied state of the target parking space according to the second idle state.

The first state is a state obtained by identifying the target parking space in the target image, and specifically may include a first occupied state and a first idle state, and the first occupied state may include a normal occupied state and a target occupied state. The second state is a state obtained by detecting the target parking space by the parking space detection device, and specifically may include a second occupied state and a second idle state.

If the first occupied state is received and the second occupied state is acquired within a preset time period after the first occupied state is acquired, the vehicle can be considered to be parked into the target parking space, namely, the operation is started in the target parking space, and the target parking space is in the occupied state.

If the first occupied state is received and the second occupied state is not acquired within a preset time period after the first occupied state is acquired, the vehicle can be considered to be parked into the target parking space, but no operation is performed, and the target parking space is in the occupied state.

Recording the moment of determining that the target parking space is occupied as the determination moment, if the vehicle leaves from the target parking space, receiving the second idle state, determining the moment of receiving the second idle state as the acquisition moment, and calculating the time interval between the determination moment and the acquisition moment as the maintenance duration.

If the maintenance time length is smaller than the preset time length, indicating that the vehicle is possibly in a reversing adjustment position, regarding the shaking condition, and determining the current occupation state of the target parking space according to the first state.

And if the maintenance time length is greater than or equal to the preset time length, determining the current occupied state of the target parking space according to the second idle state. Meanwhile, the above process can also correspondingly refer to fig. 5, which shows an overall logic schematic diagram for determining the current state of the target parking space.

It should be noted that, if the parking space detection device fails, after receiving the failure information reported by the parking space detection device, the current occupation state of the target parking space may be determined only according to the first state.

As can be seen from the above, in the parking space occupation state determining method provided by the embodiment of the present application, when the first occupation state is received, whether the second occupation state is received within the preset time period is determined, and the current occupation state of the target parking space is determined by integrating the preset time period, the first occupation state and the second occupation state. After the fact that the target parking space is occupied currently is determined, determining occupied maintenance time length according to the received second idle state, and determining the current occupied state of the target parking space based on the maintenance time length, the second idle state and the first state. The time for receiving the second state, the second state and the first state are comprehensively considered to accurately and rapidly determine the current occupied state of the target parking space.

In order to better implement the method, the embodiment of the application also provides a parking space occupation state determining device which can be integrated in electronic equipment, wherein the electronic equipment can be a terminal, a server and other equipment. The terminal can be a mobile phone, a tablet personal computer, an intelligent Bluetooth device, a notebook computer, a personal computer and other devices; the server may be a single server or a server cluster composed of a plurality of servers.

For example, in this embodiment, a method according to an embodiment of the present application will be described in detail by taking a case where the parking space occupation state determining device is specifically integrated in the server.

For example, as shown in fig. 6, the parking space occupation state determining apparatus 300 may include a first state acquiring module 310, a second state acquiring module 320, a first determining module 330, and a second determining module 340, as follows:

the first state obtaining module 310 is configured to obtain a first state, where the first state is a state obtained by identifying a target parking space in a target image;

the second state obtaining module 320 is configured to determine whether a second state is obtained within a preset time period after the first occupied state is obtained when the first state is the first occupied state, where the second state is a state obtained by detecting the target parking space by the parking space detecting device;

A first determining module 330, configured to determine, if the second state is not acquired within the preset period of time, a current occupancy state of the target parking space according to the first occupancy state;

the second determining module 340 is configured to determine, if the second state is acquired within the preset time period and the second state is a second occupied state, a current occupied state of the target parking space according to the first occupied state and the second occupied state.

In some embodiments, the second state further includes a second idle state, and the parking space occupation state determining apparatus 300 further includes a third determining module for:

determining the acquisition time when the second idle state is acquired;

In some embodiments, the first state acquisition module 310 is further configured to:

and obtaining the first state based on the change sequence.

In some embodiments, the parking space state includes any one of a fully occupied state, a unoccupied state, and a fuzzy occupied state, and the first state acquisition module 310 is further configured to:

In some embodiments, the first occupancy state includes a target occupancy state or a normal occupancy state, and the first state acquisition module 310 is further configured to:

identifying a target object in the target image; if the target object is identified, determining that the first occupied state is a target occupied state; and if the target object is not identified, determining that the first occupied state is a common occupied state.

In the implementation, each module may be implemented as an independent entity, or may be combined arbitrarily, and implemented as the same entity or several entities, and the implementation of each module may be referred to the foregoing method embodiment, which is not described herein again.

As can be seen from the above, the parking space occupation state determining device in this embodiment may determine whether the second occupation state is acquired within the preset time period when the first occupation state is acquired, determine the current occupation state in different manners according to the time interval between the acquisition of the first occupation state and the second occupation state, and immediately determine the current occupation state if the second occupation state is received within the preset time period, and determine the current occupation state if the second occupation state is not received within the preset time period, and at most wait for the preset time period, thereby comprehensively considering the state obtained by image recognition and the state obtained by the parking space detection device, and not only can accurately determine the current occupation state of the target parking space, but also can improve the confirmation efficiency of the current occupation state.

The embodiment of the present application further provides an electronic device, in this embodiment, the electronic device may be one or a combination of the server, the parking space detection device, and the image capturing device mentioned in the foregoing examples, for example, the image capturing device and the parking space detection device are integrated into one electronic device, and for example, the server, the parking space detection device, and the image capturing device are integrated into one electronic device. For example, as shown in fig. 7, a schematic structural diagram of an electronic device according to an embodiment of the present application is shown, specifically:

the electronic device may include one or more processor cores 401, one or more computer-readable storage media memory 402, a power supply 403, an input module 404, and a communication module 405, among other components. It will be appreciated by those skilled in the art that the electronic device structure shown in fig. 7 is not limiting of the electronic device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components. Wherein:

the processor 401 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 402, and calling data stored in the memory 402, thereby performing overall monitoring of the electronic device. In some embodiments, processor 401 may include one or more processing cores; in some embodiments, processor 401 may integrate an application processor that primarily processes operating systems, user interfaces, applications, and the like, with a modem processor that primarily processes wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 401.

The memory 402 may be used to store software programs and modules, and the processor 401 executes various functional applications and data processing by executing the software programs and modules stored in the memory 402. The memory 402 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data created according to the use of the electronic device, etc. In addition, memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

The electronic device also includes a power supply 403 for powering the various components, and in some embodiments, the power supply 403 may be logically connected to the processor 401 by a power management system, such that charge, discharge, and power consumption management functions are performed by the power management system. The power supply 403 may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

The electronic device may also include an input module 404, which input module 404 may be used to receive entered numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

The electronic device may also include a communication module 405, and in some embodiments the communication module 405 may include a wireless module, through which the electronic device may wirelessly transmit over a short distance, thereby providing wireless broadband internet access to the user. For example, the communication module 405 may be used to assist a user in e-mail, browsing web pages, accessing streaming media, and so forth.

Although not shown, the electronic device may further include a display unit or the like, which is not described herein. In particular, in this embodiment, the processor 401 in the electronic device loads executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 executes the application programs stored in the memory 402, so as to implement various functions as follows:

The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.

From the above, the electronic device may determine whether to acquire the second occupancy state in the preset time period when acquiring the first occupancy state, determine the current occupancy state in different manners according to the time interval between the acquisition of the first occupancy state and the second occupancy state, if the second occupancy state is received in the preset time period, immediately determine the current occupancy state, and if the second occupancy state is not received in the preset time period, at most wait for the preset time period to determine the current occupancy state, thereby comprehensively considering the state obtained by image recognition and the state obtained by the parking space detection device, accurately determining the current occupancy state of the target parking space, and improving the confirmation efficiency of the current occupancy state.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.

To this end, an embodiment of the present application provides a computer readable storage medium storing a plurality of instructions that can be loaded by a processor to perform any of the steps in the method for determining a parking space occupancy state provided in the embodiment of the present application. For example, the instructions may perform the steps of:

Wherein the storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.

The steps in any parking space occupation state determining method provided by the embodiment of the present application can be executed due to the instructions stored in the storage medium, so that the beneficial effects that any parking space occupation state determining method provided by the embodiment of the present application can be achieved, and detailed descriptions of the previous embodiments are omitted.

The method, the device, the electronic equipment and the computer readable storage medium for determining the parking space occupation state provided by the embodiment of the application are described in detail, and specific examples are applied to the principle and the implementation of the application, and the description of the above embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, the present description should not be construed as limiting the present application.

Claims

1. A method for determining a parking space occupancy state, the method comprising:

2. The method of claim 1, wherein the second state further comprises a second idle state, and wherein after the determining the current occupancy state of the target spot, the method further comprises:

Determining the acquisition time when the second idle state is acquired;

if the maintenance duration is smaller than the preset duration, determining the current occupied state of the target parking space according to the first state;

3. The method of claim 2, wherein the first state includes any one of a target occupancy state, a normal occupancy state, and a first idle state, wherein the determining the current occupancy state of the target parking space from the first state includes:

4. The method of claim 1, wherein the acquiring the first state comprises:

determining a change sequence corresponding to the parking space state of the target parking space according to the parking space state corresponding to the target image;

and obtaining the first state based on the change sequence.

5. The method of claim 4, wherein the parking spot status includes any one of a fully occupied status, a unoccupied status, and a fuzzy occupied status, the deriving the first status based on the change order includes:

6. The method of claim 4, wherein the parking spot status includes any one of a fully occupied status, a unoccupied status, and a fuzzy occupied status, the deriving the first status based on the change order includes:

7. The method of claim 6, wherein the first occupancy state comprises a target occupancy state or a normal occupancy state, and wherein after the determining that the first state is the first occupancy state, the method further comprises:

identifying a target object in the target image;

8. A parking space occupation state determining apparatus, characterized by comprising:

9. An electronic device comprising a processor and a memory, the memory storing a plurality of instructions; the processor loads instructions from the memory to perform the steps in the parking space occupancy state determination method according to any one of claims 1 to 7.

10. A computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the steps of the parking space occupancy state determination method of any one of claims 1 to 7.