CN117434567A - Automatic berth positioning method and system for video inspection equipment - Google Patents
Automatic berth positioning method and system for video inspection equipment Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004891 communication Methods 0.000 claims abstract description 6
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- 238000004364 calculation method Methods 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 2
- 238000012216 screening Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 8
- 238000012986 modification Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
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- 230000008569 process Effects 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 3
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- 238000002360 preparation method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 229940108461 rennet Drugs 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
Abstract
The invention mainly relates to a method and a system for automatically positioning berths of video inspection equipment, wherein the method is applied to determining the number of the current berths of the position of the video inspection equipment; the method comprises the following steps: acquiring berth positioning data, wherein the berth positioning data is used for determining the position relation with video inspection equipment; and determining the number of the current berth of the position of the video inspection equipment according to the berth positioning data, the longitude and latitude information and the driving direction of the video inspection equipment. The system comprises: and the berth coordinate acquisition unit and the berth retrieval positioning unit. The berth where the video inspection equipment is located can be rapidly and accurately positioned without the help of other auxiliary positioning equipment, the system cost is reduced, the communication among the equipment is reduced, and the positioning result is more stable.
Description
Technical Field
The invention mainly relates to the technical field of automatic berthing of inspection equipment, in particular to a method and a system for automatically positioning berths of video inspection equipment.
Background
The GPS positioning technology is a global satellite positioning system (GPS) based positioning technology that can achieve positioning, measurement and navigation of an object or position. The principle is that a GPS receiver is used for receiving signals from satellites, the position information of an object or is calculated through error processing and correction of the signals, and the information is transmitted to a mobile terminal or other equipment through a wireless communication technology. The accuracy of the GPS positioning technology depends on various factors, such as the number of satellites, signal transmission errors, multipath effects, and the like, under the general conditions, the GPS positioning technology can achieve positioning accuracy of several meters to tens of meters, and most application requirements are met, but the accuracy required in the inspection process of the video inspection equipment needs to achieve centimeter level and can accurately match the position relationship between the video inspection equipment and the berth.
An RFID card reader is arranged on the video inspection equipment, an RFID electronic tag is arranged on a parking space, and the method comprises the following steps: when the video inspection equipment enters the induction range of the RFID electronic tag, a plurality of RFID signals are acquired at intervals through an RFID card reader; calculating real-time position information of the inspection vehicle according to the identified RFID signals; calculating deviation information by utilizing the real-time position information and the pre-collected coordinate information of the RFID electronic tag; and when the deviation information is larger than a preset threshold value, correcting the real-time position information of the video inspection equipment by using the deviation information.
1. In the prior art, berth positioning of video inspection equipment is finished by means of other hardware equipment;
2. in the prior art, lanes in different directions of a road where error video inspection equipment is located are judged.
3. The prior art is easy to be blocked, so that a correct result cannot be obtained, and data is wrong.
The foregoing background knowledge is intended to assist those of ordinary skill in the art in understanding the prior art that is closer to the present invention and to facilitate an understanding of the inventive concepts and aspects of the present application, and it should be understood that the foregoing background art should not be used to assess the novelty of the technical aspects of the present application without explicit evidence that such matter is disclosed prior to the filing date of the present application.
Disclosure of Invention
In order to solve at least one technical problem mentioned in the background art, the invention aims to provide a berth positioning method and a berth positioning system for video inspection equipment, which can quickly and accurately position the berth where the video inspection equipment is positioned without other auxiliary positioning equipment, thereby reducing the system cost, reducing the communication among the equipment and ensuring more stable positioning results.
The automatic berth positioning method for the video inspection equipment is characterized by comprising the following steps of:
the method is applied to determining the number of the current berth at the position of the video inspection equipment;
the method comprises the following steps:
acquiring berth positioning data, wherein the berth positioning data is used for determining the position relation with video inspection equipment;
and determining the number of the current berth of the position of the video inspection equipment according to the berth positioning data, the longitude and latitude information and the driving direction of the video inspection equipment.
The utility model provides a video inspection equipment automatic positioning berth system, include:
the berth coordinate acquisition unit acquires berth positioning data according to the berth coordinate acquisition equipment and transmits the berth positioning data to the berth retrieval positioning unit;
the berth retrieval positioning unit is used for acquiring longitude and latitude information and running direction of the video inspection equipment according to real-time centimeter-level positioning service based on the global satellite navigation system, reporting data to the background, integrating the data in the background, and determining berth numbers of berths where the video inspection equipment is located according to the berth positioning data and the longitude and latitude information and the running direction of the video inspection equipment.
There is provided a road side parking charging method, comprising:
acquiring the position information of the video inspection equipment and the number of the berth corresponding to the video inspection equipment based on the automatic berth positioning method of the video inspection equipment;
acquiring license plate information of a vehicle at a berth corresponding to video inspection equipment;
and generating charging information based on the number of the corresponding berth, the license plate information and the acquired time of the vehicle entering the berth and leaving the berth.
Provided is an intelligent terminal, including: a memory, a processor and a program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the method described previously.
The beneficial effects of this application are:
the positioning information uploaded by the berth preset positioning point and the video inspection equipment in real time is used, the relative position relation between the video inspection equipment and the berth is accurately calculated through an algorithm, the relative position between the video inspection equipment and the berth is positioned with high precision, other auxiliary positioning equipment is not needed, the system cost is reduced, the communication between the equipment is reduced, and the positioning result is more stable.
The accurate positioning of the video inspection equipment and the berth obviously improves the order information accuracy of the parking charge in the road, reduces the complaint of the vehicle owners, and further increases the charge public trust of the parking operation company; and the investment and construction cost of an operation company is reduced.
Drawings
To make the above and/or other objects, features, advantages and examples of the present invention more comprehensible, the accompanying drawings which are needed in the detailed description of the present invention are simply illustrative of the present invention and other drawings can be obtained without inventive effort for those skilled in the art.
FIG. 1 shows a flow chart of a method for automatically positioning a berth of a video inspection device;
FIG. 2 shows a schematic diagram of a parking space entry tool of a parking space coordinate acquisition unit;
FIG. 3 shows a schematic view of a berth endpoint set by a berth coordinate acquisition unit;
FIG. 4 shows the addition of berths by a berth coordinate acquisition unit;
FIG. 5 is a schematic diagram showing the relative positions of the berth start point, the berth end point and the coordinate points of the video inspection equipment;
FIG. 6 is a schematic diagram showing the relative positions of the rectangular poise and coordinate points of the video inspection equipment;
fig. 7 is a schematic diagram showing a relative position of a coordinate point determined by projection of the coordinate point of the video inspection device on a berth start point and end point connecting line.
Detailed Description
Suitable substitutions and/or modifications of the process parameters will be apparent to those skilled in the art from the disclosure herein, however, it is to be expressly pointed out that all such substitutions and/or modifications are intended to be encompassed by the present invention. While the products and methods of preparation of the present invention have been described in terms of preferred embodiments, it will be apparent to those skilled in the relevant art that variations and modifications can be made in the products and methods of preparation described herein without departing from the spirit and scope of the invention.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The present invention uses the methods and materials described herein; other suitable methods and materials known in the art may be used. The materials, methods, and examples described herein are illustrative only and not intended to be limiting. All publications, patent applications, patents, provisional applications, database entries, and other references mentioned herein, and the like, are incorporated herein by reference in their entirety. In case of conflict, the present specification, including definitions, will control.
Unless specifically stated otherwise, the materials, methods, and examples described herein are illustrative only and not intended to be limiting. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention, suitable methods and materials are described herein.
The present invention is described in detail below.
Fig. 1 shows a flowchart of a method for automatically positioning a berth by a video inspection device, and as shown in fig. 1, the method comprises the following steps:
step S100, acquiring berth positioning data, wherein the berth positioning data is used for determining the position relation with video inspection equipment;
step 200, determining the number of the current berth of the video inspection equipment according to the berth positioning data, the longitude and latitude information and the driving direction of the video inspection equipment.
The berth positioning data comprise berth starting point longitude and latitude data, berth ending point longitude and latitude data and current berth number.
As shown in fig. 2 to 4, the step of acquiring the berth positioning data in step S100 includes: the on-site implementation personnel holds a berth coordinate acquisition device at a berth starting point and logs in a parking space input tool, clicks on a screen to set the berth starting point, and acquires longitude and latitude data of the starting point; then moving to a berth terminal, clicking on a screen to set the terminal as the berth terminal, collecting latitude and longitude data of the terminal, confirming berth information, clicking to add berths after confirming that no errors exist, and completing collection of one berth data; the collected berth data is transmitted to the background through a communication protocol such as HTTPS protocol and/or HTTP protocol, and is stored in a database.
The berth coordinate acquisition device comprises: GPS equipment, operating system equipment, parking stall enter the instrument, the parking stall is entered the instrument and is integrated into operating system equipment, operating system equipment includes any one of android system equipment, apple system equipment, hong Meng system equipment. The GPS equipment is self-powered, the acquired longitude and latitude data are transmitted to the operating system equipment in real time through the serial port, the data transmission format is NMEA-0183, the operating system equipment is provided with parking space entry tool software, and the received longitude and latitude data are analyzed according to the NMEA-0183 format to serve as a data source for berth acquisition.
In step S200, determining the number of the current berth at the position of the video inspection device according to the berth positioning data, the latitude and longitude information and the driving direction of the video inspection device, includes: based on a global satellite navigation system, acquiring longitude and latitude information and a running direction of video inspection equipment according to real-time centimeter-level positioning service, reporting data to a background, integrating the data by the background, and determining a berth number of a berth where the video inspection equipment is located according to the berth positioning data and the longitude and latitude information and the running direction of the video inspection equipment. According to a berth positioning algorithm of the video inspection equipment, calculating the distance between the video inspection equipment and a berth starting point according to the reported coordinate point, and outputting if the distance is smaller than 6m, wherein the distance calculation formula is explained as follows:
the method comprises the steps of approximating the earth to be a sphere, regarding a triangle formed by connecting two points with the center of the earth as a spherical triangle, calculating the distance by referring to the principle of trigonometry, and obtaining a formula for calculating the distance between two points on the sphere according to the spherical cosine theorem:
distance＝acos(sin(lat 1 )×sin(lat 2 )+cos(lat 1 )×cos(lat 1 )×
cos(lon 2 -lon 1 ))×R×1000(1)
wherein lat 1 And lon 1 Latitude and longitude respectively representing the berth origin; lat 2 And lon 2 Latitude and longitude, respectively, representing the berth end point; sin represents a sine function; cos represents a cosine function; acos represents an inverse cosine function; r represents an earth radius parameter, and is selected from the range of 6350-6380 km, preferably 6378.137km. distance is the last calculated distance between two points, singleThe bits are kilometers. Notably, lat should first be taken 1 、lon 1 、lat 2 And lon 2 The degrees of longitude and latitude expressed are converted into radians: degeres× (pi/180), where degeres represents the degrees of longitude and latitude and pi represents the circumference ratio.
And searching from the database by utilizing the formula of the distance calculation, screening and outputting the reported coordinate points and the berth list in the berth starting point 6m, wherein the width of the parking space is 2-3 m, so that at most 3 berths can be searched. And then determining the relative positions of the coordinate points and the berths according to a formula of distance calculation. The determination of the relative positions of the coordinate points and the berths is explained as follows.
As shown in fig. 5, point a is the collected berth starting point, point b is the collected berth ending point, point c is any point (longitude and latitude) reported in the running process of the video inspection equipment, and is recorded as the coordinate point c of the current video inspection equipment.
According to the longitude and latitude of the position information c point of the video inspection equipment obtained by the real-time centimeter-level positioning service, the distance of abc three points can be calculated by utilizing a formula for calculating the distance: ab. ac, bc, wherein ab represents the distance from the collected berth origin a to the collected berth destination b; ac represents the distance from the acquired berth starting point a to the coordinate point c of the current video inspection equipment; bc represents the distance from the collected berth end point b to the coordinate point c of the current video inspection equipment.
Then according to the sea-rennet formulaWherein-> The area S of Δabc can be obtained, and the vertical distance of the c-point distance ab can be calculated according to the area of the triangleI.e. height h of Δabc ab If neither ac nor bc is greater than the diagonal length of the rectangleThe point c is positioned in the berth 102 between the point a and the point b; otherwise, the c point is located outside the berth between the a point and the b point, and a specific schematic diagram is shown in fig. 6. Formulas (2-1), (2-2), and (2-3) together constitute formula (2).
If the point c is not in the berth 102 area, calculating the ac and bc who are large, if ac > bc, indicating that the point c is in the b-side berth 103; if bc > ac, c is located within the a-side berth 101.
Then assume that the d point is high h ab The lengths of ad and bd can be directly calculated by using the Pythagorean theorem on the drop foot of ab, as shown in fig. 7, so that the position of the point c is clear, for example: the c point is located in the area in front of the berth 102, the length of the c point from ab is H, the c point is projected on ab as d, the d is located from the a point length ad, and the d is located from the b point length bd.
In an actual scene, accurate basic data can be provided for a subsequent service platform after the relative positions of video inspection equipment and berths are judged. Such as: the xxxxxx license plate is stopped on the 102 berth, and the service platform performs service processing according to the data. The method for road side parking charging is provided, and the position information of the video inspection equipment and the number 102 of the berth corresponding to the video inspection equipment are obtained based on the automatic positioning berth system of the video inspection equipment; acquiring license plate information xxxxxx of a vehicle at a berth corresponding to video inspection equipment; and generating charging information based on the number 102 of the corresponding berth, the license plate information xxxxxx and the acquired time of entering the berth and leaving the berth of the vehicle.
The automatic positioning berth system of the video inspection equipment comprises a berth coordinate acquisition unit for acquiring data and a berth retrieval positioning unit for positioning. The berth coordinate acquisition unit acquires berth positioning data according to the berth coordinate acquisition equipment, and transmits the berth positioning data to the berth retrieval positioning unit. Based on a global satellite navigation system, the berth retrieval positioning unit acquires longitude and latitude information and a running direction of the video inspection equipment according to the real-time centimeter-level positioning service, reports data to the background, integrates the data and determines the berth number of the berth where the video inspection equipment is located according to the berth positioning data and the longitude and latitude information and the running direction of the video inspection equipment.
There is provided a road side parking charging method, comprising:
acquiring the position information of the video inspection equipment and the number of the berth corresponding to the video inspection equipment based on the automatic berth positioning method of the video inspection equipment;
acquiring license plate information of a vehicle at a berth corresponding to video inspection equipment;
and generating charging information based on the number of the corresponding berth, the license plate information and the acquired time of the vehicle entering the berth and leaving the berth.
Further provided is an intelligent terminal, comprising: the video inspection equipment comprises a memory, a processor and a program which is stored in the memory and can run on the processor, wherein the program realizes the steps of the automatic positioning berth method of the video inspection equipment when being executed by the processor, and can achieve the same technical effect, and the repeated steps are avoided.
Memory includes both permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of memory for a computer include, but are not limited to, phase change memory (PR AM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, read only compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
The conventional technology in the above embodiments is known to those skilled in the art, and thus is not described in detail herein.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Various modifications or additions to the described embodiments may be made by those skilled in the art to which the invention pertains or may be substituted in a similar manner without departing from the spirit of the invention or beyond the scope of the appended claims.
While the invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope thereof.
While the above detailed description has shown, described, and pointed out novel features as applied to various embodiments, it will be understood that various omissions, substitutions, and changes in the form and details of the device or method illustrated may be made without departing from the spirit of the disclosure. In addition, the various features and methods described above may be used independently of one another, or may be combined in various ways. All possible combinations and subcombinations are intended to fall within the scope of this disclosure. Many of the embodiments described above include similar components, and thus, these similar components are interchangeable in different embodiments. While the invention has been disclosed in the context of certain embodiments and examples, it will be understood by those skilled in the art that the invention extends beyond the specifically disclosed embodiments to other alternative embodiments and/or uses and obvious modifications and equivalents thereof. Therefore, the present invention is not intended to be limited by the specific disclosure of the preferred embodiments herein.
The invention is a well-known technique.
Claims (10)
1. The automatic berth positioning method for the video inspection equipment is characterized by comprising the following steps of:
the method is applied to determining the number of the current berth at the position of the video inspection equipment;
the method comprises the following steps:
acquiring berth positioning data, wherein the berth positioning data is used for determining the position relation with video inspection equipment;
and determining the number of the current berth of the position of the video inspection equipment according to the berth positioning data, the longitude and latitude information and the driving direction of the video inspection equipment.
2. The method for automatically positioning berths of video inspection equipment according to claim 1, wherein: the acquiring the berth positioning data comprises the following steps:
the on-site implementation personnel holds a berth coordinate acquisition device at a berth starting point and logs in a parking space input tool, clicks on a screen to set the berth starting point, and acquires longitude and latitude data of the starting point; then moving to a berth terminal, clicking on a screen to set the terminal as the berth terminal, collecting latitude and longitude data of the terminal, confirming berth information, clicking to add berths after confirming that no errors exist, and completing collection of one berth data; and transmitting the acquired berth data to the background through a communication protocol, and storing the acquired berth data in a database.
3. The method for automatically positioning berths of video inspection equipment according to claim 1, wherein:
the determining the number of the current berth of the video inspection equipment according to the berth positioning data, the longitude and latitude information and the driving direction of the video inspection equipment comprises the following steps:
based on a global satellite navigation system, acquiring longitude and latitude information and a running direction of video inspection equipment according to real-time centimeter-level positioning service, reporting data to a background, integrating the data by the background, and determining a berth number of a berth where the video inspection equipment is located according to the berth positioning data and the longitude and latitude information and the running direction of the video inspection equipment.
4. The method for automatically positioning berths of video inspection equipment according to claim 3, wherein:
the background integrates the data and determines the berth number of the berth where the video inspection equipment is located according to the berth positioning data, the longitude and latitude information of the video inspection equipment and the driving direction, and the method comprises the following steps:
1) According to the reported coordinate points, calculating the distance from the berth starting point to the berth end point according to a distance calculation formula of the formula (1), and outputting if the distance is smaller than 6 m:
distance＝acos(sin(lat 1 )×sin(lat 2 )+cos(lat 1 )×cos(lat 1 )×
cos(lon 2 -lon 1 ))×R×1000(1)
wherein lat 1 And lon 1 Latitude and longitude respectively representing the berth origin; lat 2 And lon 2 Latitude and longitude, respectively, representing the berth end point; sin represents a sine function; cos represents a cosine function; acos represents an inverse cosine function; r represents an earth radius parameter;
2) Searching from a database by utilizing the distance calculation formula in the step 1), screening and outputting a reported video inspection equipment coordinate point and a berth list in a berth starting point 6m, and calculating the relative positions of the video inspection equipment coordinate point and the berth according to the formula (2):
ab represents the distance from the collected berth starting point a to the collected berth end point b; ac represents the distance from the acquired berth starting point a to the coordinate point c of the current video inspection equipment; bc represents the distance from the collected berth end point b to the coordinate point c of the current video inspection equipment; s represents the area of Δabc; p represents half the circumference of Δabc; h is a ab Representing the vertical distance from the coordinate point c to the coordinate point ab of the current video inspection equipment;
3) Constructing a rectangle with ab as one side, a video inspection equipment running route as the opposite side, a perpendicular line from a to the video inspection equipment running route as one side and b perpendicular line to the video inspection equipment running route as the opposite side, calculating the diagonal length of the rectangle, and determining the berth number corresponding to the point c according to the size relation between ac and bc and the diagonal length of the rectangle and the size relation between ac and bc.
5. The method for automatically positioning berths of video inspection equipment according to claim 4, wherein:
in the step 3), if ac and bc are not greater than the length of the diagonal line of the rectangle, the point c is positioned in the berth between the point a and the point b; otherwise, the c point is positioned outside the berth between the a point and the b point.
6. The method for automatically positioning berths of video inspection equipment according to claim 4, wherein:
in the step 3), when the point c is located outside the berth between the point a and the point b, if ac is greater than bc, the point c is located inside the berth on the side b; if bc > ac, then point c is located in the a-side berth.
7. Automatic positioning berth system of video inspection equipment, its characterized in that includes:
the berth coordinate acquisition unit acquires berth positioning data according to the berth coordinate acquisition equipment and transmits the berth positioning data to the berth retrieval positioning unit;
the berth retrieval positioning unit is used for acquiring longitude and latitude information and running direction of the video inspection equipment according to real-time centimeter-level positioning service based on the global satellite navigation system, reporting data to the background, integrating the data in the background, and determining berth numbers of berths where the video inspection equipment is located according to the berth positioning data and the longitude and latitude information and the running direction of the video inspection equipment.
8. The video inspection device auto-positioning berth system of claim 7, wherein:
an RFID card reader is arranged on the video inspection equipment, an RFID electronic tag is arranged on the berth, and when the video inspection equipment enters the induction range of the RFID electronic tag, a plurality of RFID signals are acquired at intervals through the RFID card reader; calculating real-time position information of the inspection vehicle according to the identified RFID signals; calculating deviation information by utilizing the real-time position information and the pre-collected coordinate information of the RFID electronic tag; and when the deviation information is larger than a preset threshold value, correcting the real-time position information of the video inspection equipment by using the deviation information.
9. The road side parking charging method is characterized by comprising the following steps:
obtaining the position information of the video inspection equipment and the number of the berth corresponding to the video inspection equipment based on the automatic berth positioning method of the video inspection equipment according to any one of claims 1 to 8;
acquiring license plate information of a vehicle at a berth corresponding to video inspection equipment;
and generating charging information based on the number of the corresponding berth, the license plate information and the acquired time of the vehicle entering the berth and leaving the berth.
10. Intelligent terminal, its characterized in that includes: memory, a processor and a program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the method of any one of claims 1 to 8.
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