CN209785247U - Video and inertial navigation combined bicycle parking monitoring system - Google Patents
Video and inertial navigation combined bicycle parking monitoring system Download PDFInfo
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- CN209785247U CN209785247U CN201920017510.8U CN201920017510U CN209785247U CN 209785247 U CN209785247 U CN 209785247U CN 201920017510 U CN201920017510 U CN 201920017510U CN 209785247 U CN209785247 U CN 209785247U
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Abstract
the utility model provides a monitoring system is parked to bicycle that video and inertial navigation combined together, this monitoring system is parked to bicycle include bicycle terminal and video monitoring system, wherein: the bicycle terminal is installed on a bicycle and used for sending inertial navigation data and an ID (identity) of the bicycle to the video monitoring system; the video monitoring system is used for pairing the ID of the bicycle with the bicycle in the bicycle driving image according to the bicycle driving image and the inertial navigation data obtained by the video monitoring system in the same time period, and positioning the bicycle which is successfully paired by using the image after the bicycle is parked. The monitoring video image is combined with the inertial navigation of the bicycle to position the bicycle, and centimeter-level positioning accuracy can be obtained. By the positioning mode, whether the user parks the bicycle in the specified parking area or not can be accurately monitored in real time.
Description
Technical Field
the utility model relates to a bicycle parking monitoring system, in particular to bicycle parking monitoring system that video and inertial navigation combined together.
Background
The shared bicycle brings convenience for the traveling of the majority of citizens, and simultaneously brings a series of problems of disordered parking of the bicycle and the like, and brings considerable puzzles and difficulties for the appearance and city management.
The main reason for the problem of parking a single vehicle in a disorderly manner is that a single vehicle operator cannot well supervise the parking of a user in a standardized manner. At present, a single-vehicle operator mainly adopts an electronic fence technology to standardize users to park, and the technology mainly adopts a satellite positioning technology (such as a Beidou satellite positioning system or a GPS) to combine with an electronic map to manage geographic information to realize the electronic fence. The technology has the problem of low positioning accuracy, and under the condition of environmental shielding, the positioning accuracy error can reach 10-15m, so that the technology cannot well play a role in standardizing the parking of a user.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a monitoring system is parked to bicycle that video and inertial navigation combined together according to above-mentioned prior art's is not enough.
The utility model discloses the purpose is realized accomplishing by following technical scheme:
The utility model provides a video and inertial navigation's bicycle parking monitoring system that combines together, its includes bicycle terminal and video monitoring system, wherein:
The bicycle terminal is installed on a bicycle and used for sending inertial navigation data and an ID (identity) of the bicycle to the video monitoring system;
the video monitoring system is used for pairing the ID of the bicycle with the bicycle in the bicycle driving image according to the bicycle driving image and the inertial navigation data obtained by the video monitoring system in the same time period, and positioning the bicycle which is successfully paired by using the image after the bicycle is parked.
The utility model discloses a further improvement lies in, bicycle terminal includes wireless communication module and is used for acquireing gyroscope and the acceleration sensor of inertial navigation data; and the bicycle terminal sends the inertial navigation data and the ID to the video monitoring system through the wireless communication module.
The utility model discloses a further improvement lies in, the video monitoring system includes video acquisition module and backstage controlling means; the video acquisition module is in communication connection with the background control device through a network; the video acquisition module is connected with a wireless communication module for receiving inertial navigation data and ID identification; the video acquisition module is used for shooting the images of the bicycle after the bicycle is parked and sending the shot images, the received inertial navigation data and the ID identification to the background control device.
The utility model discloses a further improvement lies in, video acquisition module includes wide angle camera, video acquisition module's monitoring area includes the parking area of bicycle.
The utility model discloses a further improvement lies in, backstage controlling means includes video image analysis module and backstage management module, video image analysis module be used for according to bicycle driving image and inertial navigation data with the ID sign of bicycle with bicycle in the bicycle driving image pair, and utilize the image after the bicycle parks to pair the bicycle of success and fix a position; the background management module is used for judging whether the bicycle is parked in the parking area according to the positioning result of the bicycle. The background management module includes, but is not limited to, a cloud server.
the utility model discloses a further improvement lies in, bicycle parking monitoring system still includes user's cell-phone terminal; and when the bicycle is parked outside the parking area, the background management module sends violation parking information to the user mobile phone terminal. The illegal parking information is preferably sent through a wireless network or a short message and the like, and can comprise a parked single-vehicle image.
The utility model discloses still include the bicycle parking monitoring method that a video and inertial navigation combined together, it includes following step: the method comprises the steps that a bicycle terminal obtains inertial navigation data of a bicycle and sends the inertial navigation data and an ID to a video monitoring system; the video monitoring system is used for pairing the ID identification of the bicycle with the bicycle in the bicycle driving image according to the bicycle driving image and the inertial navigation data obtained by the video monitoring system in the same time period, and positioning the bicycle which is successfully paired by using the image after the bicycle is parked; after the bicycle is locked, the video monitoring system judges whether the bicycle is parked in a parking area according to the positioning result of the bicycle. Preferably, it is determined whether the bicycle is completely parked in the parking area.
the utility model discloses a further improvement lies in, inertial navigation data includes the orbit information of bicycle; the pairing of the ID identification of the bicycle with the bicycle in the bicycle driving image specifically comprises the following steps:
(1) Identifying a bicycle in the bicycle driving image and detecting the track of the bicycle;
(2) and fitting and matching the track information in the inertial navigation data received in the same time period with the track of the bicycle detected in the bicycle driving image, and pairing the ID corresponding to the track information which is successfully matched with the bicycle in the bicycle driving image.
The utility model discloses a further improvement lies in, inertial navigation data includes the gesture corner information of bicycle; the bicycle terminal reports the attitude corner information of the bicycle to the video monitoring system in real time; the pairing of the ID identification of the bicycle with the bicycle in the bicycle driving image specifically comprises the following steps:
(1) identifying a bicycle in the bicycle driving image, and detecting posture change information of the bicycle;
(2) And fitting and matching the attitude corner information in the inertial navigation data received in the same time period with the detected attitude change information of the bicycle in the bicycle driving image, and pairing the ID corresponding to the successfully matched attitude corner information with the bicycle in the bicycle driving image.
The utility model discloses a further improvement lies in, the bicycle the ID sign with bicycle in the bicycle driving image pairs and accomplishes the back video monitoring system stops to handle inertial navigation data.
the utility model discloses a further improvement lies in, video monitoring system's monitoring area includes the parking area of bicycle.
The utility model discloses a further improvement lies in, after the bicycle was operated through the lock car, the bicycle terminal to the video monitoring system send lock car signal and/or the video monitoring system discerns the operation of locking the car, the video monitoring system judges according to the location result of bicycle whether the bicycle parks in the parking area; and if the single vehicle is parked outside the parking area, the video monitoring system sends violation parking information to the user mobile phone terminal bound with the single vehicle in the same time period. Preferably wireless networks or short messages, etc.
The utility model discloses a further improvement lies in, backstage management module basis video monitoring system's judged result, to the bicycle sends the instruction that the lock car is successful or unsuccessful.
The utility model has the advantages that: the monitoring video image is combined with the inertial navigation of the bicycle to position the bicycle, and centimeter-level positioning accuracy can be obtained. By the positioning mode, whether the user parks the bicycle in the specified parking area or not can be accurately monitored in real time.
Drawings
FIG. 1 is a block diagram of a bicycle parking monitoring system that combines video and inertial navigation in accordance with the present invention;
Fig. 2 is a schematic diagram of the layout of the video capture modules in the present invention.
The reference numbers are as follows:
1a single-vehicle terminal, 2a video monitoring system, 3 a single vehicle, 4 parking areas, 5 a wireless communication module,
6 gyroscope, 7 video acquisition module, 8 background control device, 9 wireless communication module,
10 video image analysis module, 11 background management module, 12 user mobile phone terminal,
13 acceleration sensor.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings, so as to fully understand the objects, the features and the effects of the present invention.
example (b): as shown in fig. 1 and 2, the present embodiment discloses a video and inertial navigation combined single-vehicle parking monitoring system, which includes a single-vehicle terminal 1 and a video monitoring system 2. The bicycle terminal 1 is installed on a bicycle 3 and used for detecting inertial navigation data of the bicycle 3 and sending the inertial navigation data and the ID of the bicycle 3 to the video monitoring system 2. The video monitoring system 2 is used for pairing the ID identification of the bicycle 3 with the bicycle 3 in the bicycle driving image according to the bicycle driving image and the inertial navigation data obtained in the same time period, and locating the bicycle 3 which is successfully paired by using the image after the bicycle is parked. The image of the single vehicle after parking can be used for positioning the single vehicle 3 with high precision, and whether the user parks the single vehicle 3 in the specified parking area 4 can be accurately judged according to the positioning result.
The bicycle terminal 1 includes a wireless communication module 5, and a gyroscope 6 and an acceleration sensor 13 for acquiring inertial navigation data. The gyroscope 6 is used for monitoring the posture change of the bicycle 3, and the acceleration sensor 13 is a three-axis acceleration sensor and is used for being matched with the gyroscope 6 to detect the track information of the bicycle 3. In this embodiment, the inertial navigation data includes the attitude rotation angle information of the bicycle 3 and the trajectory information of the bicycle. The track information is obtained by integrating the attitude rotation angle information and the data of the acceleration sensor.
The bicycle terminal 1 may be part of an electronic lock of the bicycle 3 or may be in communication with the electronic lock of the bicycle 3. The electronic lock of the bicycle 3 can generate a bicycle locking signal after the bicycle locking operation, and the bicycle terminal 1 can send the bicycle locking signal to the video monitoring system 2 through the wireless communication module 5. The bicycle terminal 1 sends inertial navigation data and the ID to the video monitoring system through a wireless communication module 5. The wireless communication module 5 can communicate with the video monitoring system through protocols such as 2G/4G or Bluetooth.
The video monitoring system 2 comprises a video acquisition module 7 and a background control device 8. The video acquisition module 7 is a wide-angle camera, the monitoring area of the video acquisition module 7 comprises the parking area 4 of the bicycle 3, and the video acquisition module 7 is used for shooting images in the monitoring area; the images shot by the video acquisition module 7 include the image of the single vehicle 3 running in the monitored area and the image of the single vehicle 3 after parking, and usually, the single vehicle 3 enters the monitored area and finally parks in the parking area 4. The video acquisition module 7 is connected with a wireless communication module 9 matched with the bicycle terminal 1, and the video acquisition module 7 can receive data sent by the bicycle terminal 1 through the wireless communication module 9. The video acquisition module 7 is in communication connection with the background control device 8 through a network. The video acquisition module 7 sends the images shot by the video acquisition module, the received inertial navigation data and the ID to the background control device 8 through the network.
The background control device 8 comprises a video image analysis module 10 and a background management module 11. The video image analysis module 10 is used for pairing the ID of the bicycle 3 with a bicycle in the bicycle image according to the bicycle image and the inertial navigation data, and positioning the bicycle 3 which is successfully paired by using the image after the bicycle 3 is parked; the video image analysis module 10 is used for judging whether the bicycle 3 is parked in the parking area 4 according to the positioning result of the bicycle 3.
The bicycle parking monitoring system in this embodiment further includes a user handset terminal 12. When the single vehicle of the background control device 8 is parked outside the parking area, the background management module of the background control device 8 sends violation parking information to the user mobile phone terminal 12 through the wireless network.
the monitoring of the parking of the bicycle by using the system specifically comprises the following steps:
(1) The bicycle terminal 1 acquires inertial navigation data of the bicycle 3 and sends the inertial navigation data and the ID of the bicycle 3 to the video monitoring system 2. The bicycle terminal 1 acquires inertial navigation data of the bicycle 3 through the gyroscope 6 and the acceleration sensor 13, wherein the inertial navigation data comprises track information and attitude rotation angle information of the bicycle 3.
(2) the video monitoring system 2 shoots a bicycle image in a monitoring area of the video monitoring system, matches the ID of the bicycle 3 with the bicycle 3 in the bicycle image according to the bicycle image and inertial navigation data obtained in the same time period, and then positions the bicycle which is successfully matched by using the image after the bicycle 3 is parked. The single vehicle 3 is positioned by using the monitoring image, centimeter-level positioning accuracy can be obtained, but the unique ID of the single vehicle 3 cannot be in one-to-one correspondence with the single vehicle 3 in the image after the single vehicle 3 stops, so that the ID and the single vehicle 3 in the single vehicle driving image need to be paired by using inertial navigation data in the embodiment, and the track or posture change of the single vehicle 3 in the single vehicle driving image in the same time period should be matched with the inertial navigation data. After the pairing is completed, the video monitoring system 2 continuously tracks the driving track of the successfully paired bicycle 3 until the bicycle 3 stops or drives away from the monitoring area, so that the video monitoring system can position the stopped bicycle 3. After the bicycle 3 is successfully paired, the video monitoring system 2 stops processing the inertial navigation data subsequently sent by the bicycle terminal 1 of the bicycle 3.
In this embodiment, the video monitoring system 2 preferentially uses the track information in the inertial navigation data to pair the ID identifier with the bicycle 3 in the bicycle driving image. The pairing of the ID identification of the bicycle 3 and the bicycle 3 in the bicycle driving image according to the track information specifically comprises the following steps:
(2.1a) identifying the single vehicles 3 in the single vehicle driving image, and detecting the track of each single vehicle 3; in this embodiment, the images acquired by the video acquisition module 7 are continuous video images, and the track of each bicycle 3 in the bicycle driving image can be acquired through the continuous video images;
And (2.2a) fitting and matching the track information in the inertial navigation data with the track of the detected bicycle 3 in the bicycle driving image, wherein if the track of a certain bicycle 3 in the bicycle driving image is the same as the track information of the inertial navigation data, the inertial navigation data is matched with the bicycle 3. The ID identification corresponding to the inertial navigation data is paired with the bicycle 3.
however, the inertial navigation error is large, and when a plurality of bicycles 3 move in the parking area 4, the trajectories of the bicycles may be similar, so that it is difficult to pair the bicycle in the bicycle driving image with the ID using the trajectory information. In this case, the video surveillance system 2 preferentially pairs the ID identification with the bicycle 3 in the bicycle image using the attitude corner information in the inertial navigation data. In the moving process of the bicycle 3, the bicycle terminal 1 reports the attitude corner information of the bicycle 3 to the video monitoring system 2 in real time; the pairing of the ID identification of the bicycle 3 and the bicycle 3 in the bicycle driving image specifically comprises the following steps:
(2.1b) identifying a bicycle in the bicycle image of the monitored area, and detecting the posture change information of the bicycle 3;
And (2.2b) fitting and matching the attitude corner information in the inertial navigation data with the detected attitude change information of the bicycle in the bicycle image, and matching the inertial navigation data with the bicycle 3 if the attitude change condition of a certain bicycle 3 in the bicycle image is the same as the attitude corner information. And matching the ID corresponding to the successfully matched track information with the bicycle in the bicycle driving image.
(3) After the bicycle 3 is locked, the video monitoring system 2 judges whether the bicycle 3 is parked in the parking area 4 according to the positioning result of the bicycle.
in general, after the bicycle 3 is parked, the user locks the bicycle, so the method continuously tracks the successfully paired bicycle 3 and locates the bicycle 3 according to the image of the successfully paired bicycle 3.
after the bicycle 3 is locked, the bicycle terminal 1 sends a locking signal to the video monitoring system 2, the video monitoring system identifies the locking operation, and the video monitoring system 2 judges whether the bicycle 3 is parked in the parking area 4 according to the positioning result of the bicycle 3. If the single vehicle 3 is parked outside the parking area 4, the background management module 11 in the video monitoring system 2 sends violation parking information to the mobile phone terminal of the user through a wireless network so as to prompt the user to stop the vehicle according to the rule.
In addition, after the bicycle 3 is locked, the background management module 11 of the video monitoring system 2 sends a bicycle locking success instruction or a bicycle locking unsuccessful instruction to the bicycle terminal 1 of the bicycle 3 through the wireless network according to the judgment result of whether the bicycle 3 is located in the parking area 4. When the bicycle terminal 1 receives the command that the bicycle is not locked successfully, the bicycle terminal 1 bounces off the electronic lock of the bicycle 3 and controls the electronic lock to send out an audio prompt signal to prompt a user to stop the bicycle according to the standard.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (6)
1. The utility model provides a monitoring system is parked to bicycle that video and inertial navigation combined together which characterized in that, includes bicycle terminal and video monitoring system, wherein:
The bicycle terminal is installed on a bicycle and used for sending inertial navigation data and an ID (identity) of the bicycle to the video monitoring system;
The video monitoring system is used for pairing the ID of the bicycle with the bicycle in the bicycle driving image according to the bicycle driving image and the inertial navigation data obtained by the video monitoring system in the same time period, and positioning the bicycle which is successfully paired by using the image after the bicycle is parked.
2. The system for monitoring the parking of a single vehicle combining video and inertial navigation according to claim 1, wherein the single vehicle terminal comprises a wireless communication module, a gyroscope and an acceleration sensor for acquiring the inertial navigation data; and the bicycle terminal sends the inertial navigation data and the ID to the video monitoring system through the wireless communication module.
3. The system for monitoring the parking of a single vehicle combining video and inertial navigation according to claim 1, wherein the video monitoring system comprises a video acquisition module and a background control device; the video acquisition module is in communication connection with the background control device through a network; the video acquisition module is connected with a wireless communication module for receiving inertial navigation data and ID identification; the video acquisition module is used for shooting the images of the bicycle after the bicycle is parked and sending the shot images, the received inertial navigation data and the ID identification to the background control device.
4. the system of claim 3, wherein the video capture module comprises a wide-angle camera and the surveillance area of the video capture module comprises a parking area of the single vehicle.
5. The system for monitoring the parking of a single vehicle combining video and inertial navigation as claimed in claim 4, wherein the background control device comprises a video image analysis module and a background management module, the video image analysis module is configured to pair the ID of the single vehicle with the single vehicle in the single vehicle driving image according to the single vehicle driving image and the inertial navigation data, and locate the single vehicle successfully paired with the image after the single vehicle is parked; the video image analysis module is used for judging whether the bicycle is parked in the parking area according to the positioning result of the bicycle.
6. The video and inertial navigation combined bicycle parking monitoring system according to claim 5, further comprising a user handset terminal; and when the bicycle is parked outside the parking area, the background management module sends violation parking information to the user mobile phone terminal.
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| CN201920017510.8U CN209785247U (en) | 2019-01-04 | 2019-01-04 | Video and inertial navigation combined bicycle parking monitoring system |
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| CN201920017510.8U CN209785247U (en) | 2019-01-04 | 2019-01-04 | Video and inertial navigation combined bicycle parking monitoring system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109523778A (en) * | 2019-01-04 | 2019-03-26 | 上海钧正网络科技有限公司 | A kind of bicycle that video is combined with inertial navigation parks monitoring system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109523778A (en) * | 2019-01-04 | 2019-03-26 | 上海钧正网络科技有限公司 | A kind of bicycle that video is combined with inertial navigation parks monitoring system and method |
| CN109523778B (en) * | 2019-01-04 | 2023-11-24 | 上海钧正网络科技有限公司 | Bicycle parking monitoring system and method combining video with inertial navigation |
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