CN104183153A - Intelligent parking guiding system based on guidance of quadrotor unmanned plane - Google Patents

Abstract

Disclosed is an intelligent parking guiding system based on guidance of a quadrotor unmanned plane. The system includes a parking lot and is characterized in that the quadrotor unmanned plane is capable of detecting and recording parking-space parking state of the parking lot through an ultrasonic detector carried by the quadrotor unmanned plane; a vehicle sends a signal to the detector so that the detector is enabled to sense the position of the vehicle in the parking lot; and the quadrotor unmanned plane guides the vehicle to enter the parking lot in an optimal route after receiving the signal. The intelligent parking guiding system based on guidance of the quadrotor unmanned plane uses the quadrotor unmanned plane to detect the real-time vehicle state of the parking lot and then calculates an optimal route for parking so that the vehicle is guided to drive into or drive out of the parking lot in the optimal route and thus time consumed in parking of the vehicle is saved.

Description

Based on four rotor wing unmanned aerial vehicles, do the intelligent parking guidance system guiding

Technical field

The invention belongs to intelligent transportation system field, specifically a kind of intelligent parking bootstrap technique guiding of doing based on four rotor wing unmanned aerial vehicles, can help car owner find the empty parking space in parking lot and select optimum marching into the arena and appear on the scene route rapidly.

Background technology

Along with people's economic condition constantly improves, Vehicle's quantity is soaring fast, and people's trip more and more relies on various automobiles, and running car will be parked in parking lot behind destination.Its process is according to direction board, find voluntarily empty parking space and park cars from Entrance enters.But this mode purpose is not strong, and randomness is very large, driver, when finding the parking stall of vacancy, does not know the particular location of hollow parking stall, parking lot.Sometimes, even if parking lot has been fully parked with also, can sail parking lot into, cause the time to be wasted.For solving driver, cannot grasp the real time status in vehicle room in parking lot, existing solution is that intelligent parking guidance system is set in parking lot, this scheme is on each parking stall, sensing apparatus to be installed in parking lot, by inductor, respond on parking stall and have or not vehicle to judge that the empty parking space in parking lot distributes, and on the road of parking lot, use Warning Mark guided vehicle to advance to room direction, but existing intelligent parking guidance system can only be directed to vehicle the general direction of empty parking space, cannot calculate the optimal route that vehicle is advanced.

Chinese patent 201320236591.3 discloses a kind of quadrotor, it comprises frame, brushless electric machine, screw propeller, flight control assemblies and Shatter-resistant device, it is characterized in that: described frame is cruciform, described flight control assemblies is contained in the installation pickup groove of frame central crossover location, brushless electric machine is contained on 4 terminations of frame, screw propeller is arranged on the output shaft of brushless electric machine, Shatter-resistant device is arranged in a side contrary with brushless electric machine is installed in frame, and described brushless electric machine is controlled by flight control assemblies.This quadrotor can be controlled commander department by real-time being transferred to of the surface state of taking photo by plane, and has extended the flight time simultaneously.Based on this technical scheme, improve four rotor wing unmanned aerial vehicles of research and development, the feature of utilizing four rotor wing unmanned aerial vehicles to fly flexibly without dead angle in certain area, apply it in existing parking lot, develop a set of intelligent parking guidance system guiding of doing based on four rotor wing unmanned aerial vehicles.

Summary of the invention

The object of the invention is does not have stopping guide system for existing parking lot, even if or have an intelligent guidance system, but it cannot design the optimal route in vehicles while passing parking lot, still can cause the distance that it is unnecessary that vehicle travels in parking lot, cause the wasting of resources.The invention provides a kind of intelligent parking guidance system guiding of doing based on four rotor wing unmanned aerial vehicles, utilize four rotor wing unmanned aerial vehicles to survey and calculate the best route that enters or roll away from parking lot, improved vehicle discrepancy efficiency.

Technical scheme

In order to realize above-mentioned technical purpose, the present invention designs a kind of intelligent parking guidance system guiding of doing based on four rotor wing unmanned aerial vehicles, it comprises parking lot, it is characterized in that: four rotor wing unmanned aerial vehicles can be surveyed record to parking position parking condition by self-contained ultrasonic detector, vehicle is by make detector perception vehicle position in parking lot to detector transmitted signal, and after four rotor wing unmanned aerial vehicles receive signal, guided vehicle enters parking stall by optimal route.

Further, described four rotor wing unmanned aerial vehicles are folding.

The above-mentioned using method of doing the intelligent parking guidance system guiding based on four rotor wing unmanned aerial vehicles, comprises following step:

(1) two gridding modelings are carried out in described parking lot, be about to the grid type 2-d plane graph that plane is changed in three-dimensional space, parking lot into;

(2) divide parking unit, use the connected graph unicursal algorithmic rule path of cruising;

(3) cruising in the path that unmanned plane completes along planning, surveys each parking stall storing cycle situation.

(4) unmanned plane, after user sends request, carries out optimum parking path planning, and guiding is stopped.

Further, cruising in the path that in described step (3), unmanned plane completes along planning, utilizes ultrasonic detector to survey the storing cycle situation on each parking stall, the data that detect set up to the oscillogram that meets lower surface function:

$h=\frac{\frac{(331.5+0.607t)-\mathrm{\Δt}}{2}}{\sqrt{1+{\tan }^2\mathrm{\θ}1+{\tan }^2\mathrm{\θ}2}}$

Wherein, the height that h-ultrasonic listening is arrived, t-Celsius temperature,

Δ t-ultrasonic detector pulse interval,

θ 1-ultrasonic detector roll angle,

The θ 2-ultrasonic detector angle of pitch,

In the oscillogram obtaining, in each burst length, the parking stall height h that ultrasonic detector is surveyed ₀the position that is greater than the mean value of interior mxm. of burst length and minimum, is judged to be and stops there is vehicle.

Further, described step (4) unmanned plane, after user sends request, carries out optimum parking path planning, and guiding parking, and its detailed process comprises the following steps:

(a) detector is accepted user task request, reads user coordinates;

(b) unmanned plane is lattice point position, parking lot according to this coordinate conversion, plans optimum parking path;

(c) unmanned plane lift-off, goes to target vehicle, starts to carry out stopping guide according to the path of having planned;

(d) be directed to target parking stall, if survey, be still room, wait for that target vehicle parks complete; If occupied, again plan optimum parking path;

(e) when driver picks up the car, request is directed to vehicle location, and guiding task is carried out in unmanned plane lift-off;

(f) unmanned plane guided vehicle leaves parking lot.

Beneficial effect

A kind of intelligent parking guidance system guiding of doing based on four rotor wing unmanned aerial vehicles provided by the invention, after utilizing four rotor wing unmanned aerial vehicles that the real-time vehicle condition in parking lot is surveyed, calculate the optimal route of parking, guided vehicle sails or rolls away from parking lot into from optimal route, has saved the time that vehicle parking consumes.

Embodiment

Below in conjunction with embodiment, the present invention will be further described.

Embodiment

A kind of intelligent parking guidance system guiding of doing based on four rotor wing unmanned aerial vehicles, it comprises parking lot, it is characterized in that: four rotor wing unmanned aerial vehicles can be surveyed record to parking position situation by self-contained ultrasonic detector, vehicle is by make detector perception vehicle position in parking lot to detector transmitted signal, and after four rotor wing unmanned aerial vehicles receive signal, guided vehicle enters parking stall by optimal route.

Described four rotor wing unmanned aerial vehicles are folding.

The above-mentioned using method of doing the intelligent parking guidance system guiding based on four rotor wing unmanned aerial vehicles, comprises following step:

(1) two gridding modelings are carried out in described parking lot, be about to three-dimensional space, parking lot and change plane into

Grid type 2-d plane graph;

(2) divide parking unit, use the connected graph unicursal algorithmic rule path of cruising;

(3) cruising in the path that unmanned plane completes along planning, utilizes ultrasonic detector to survey the storing cycle situation on each parking stall, the data that detect set up to the oscillogram that meets lower surface function:

$h=\frac{\frac{(331.5+0.607t)-\mathrm{\Δt}}{2}}{\sqrt{1+{\tan }^2\mathrm{\θ}1+{\tan }^2\mathrm{\θ}2}}$

Wherein, the height that h-ultrasonic listening is arrived, t-Celsius temperature,

The Δ t-ultrasonic detector burst length,

θ 1-ultrasonic detector horizontal direction deviation angle,

θ 2-ultrasonic detector vertical direction deviation angle,

In the oscillogram obtaining, in each burst length, the parking stall height h that ultrasonic detector is surveyed ₀the position that is greater than the mean value of interior mxm. of burst length and minimum, is judged to be and stops there is vehicle.

Further, described step (4) unmanned plane, after user sends request, carries out optimum parking path planning, and guiding parking, and its detailed process comprises the following steps:

(a) detector is accepted user task request, reads user coordinates;

(b) unmanned plane is lattice point position, parking lot according to this coordinate conversion, plans optimum parking path;

(c) unmanned plane lift-off, goes to target vehicle, starts to carry out stopping guide according to the path of having planned;

(d) be directed to target parking stall, if survey, be still room, wait for that target vehicle parks complete; If occupied, again plan optimum parking path;

(e) when driver picks up the car, request is directed to vehicle location, and guiding task is carried out in unmanned plane lift-off;

(f) unmanned plane guided vehicle leaves parking lot.

A kind of intelligent parking guidance system guiding of doing based on four rotor wing unmanned aerial vehicles provided by the invention, after utilizing four rotor wing unmanned aerial vehicles that the real-time vehicle condition in parking lot is surveyed, calculate the optimal route of parking, guided vehicle sails or rolls away from parking lot into from optimal route, has saved the time that vehicle parking consumes.

Claims (5)

1. an intelligent parking guidance system of doing to guide based on four rotor wing unmanned aerial vehicles, it comprises parking lot, it is characterized in that: four rotor wing unmanned aerial vehicles can be surveyed record to parking position parking condition by self-contained ultrasonic detector, vehicle is by make detector perception vehicle position in parking lot to detector transmitted signal, and after four rotor wing unmanned aerial vehicles receive signal, guided vehicle enters parking stall by optimal route.

2. a kind of intelligent parking guidance system guiding of doing based on four rotor wing unmanned aerial vehicles as claimed in claim 1, is characterized in that: described four rotor wing unmanned aerial vehicles are folding.

3. based on four rotor wing unmanned aerial vehicles, do a using method for the intelligent parking guidance system guiding, it is characterized in that: it comprises following step:

(1) two gridding modelings are carried out in described parking lot, be about to the grid type 2-d plane graph that plane is changed in three-dimensional space, parking lot into;

(2) divide parking unit, use the connected graph unicursal algorithmic rule path of cruising;

(3) cruising in the path that unmanned plane completes along planning, surveys each parking stall storing cycle situation;

(4) unmanned plane, after user sends request, carries out optimum parking path planning, and guiding is stopped.

4. a kind of using method of doing the intelligent parking guidance system guiding based on four rotor wing unmanned aerial vehicles as claimed in claim 1, it is characterized in that: cruise in the path that in described step (3), unmanned plane completes along planning, utilize ultrasonic detector to survey the storing cycle situation on each parking stall, the data that detect set up to the oscillogram that meets lower surface function:

$h=\frac{\frac{(331.5+0.607t)-\mathrm{\Δt}}{2}}{\sqrt{1+{\tan }^2\mathrm{\θ}1+{\tan }^2\mathrm{\θ}2}}$

Wherein, the height that h-ultrasonic listening is arrived,

T-Celsius temperature,

Δ t-ultrasonic detector pulse interval,

θ 1-ultrasonic detector roll angle,

The θ 2-ultrasonic detector angle of pitch,

In the oscillogram obtaining, in each burst length, the parking stall height h0 that ultrasonic detector is surveyed is greater than the position of the mean value of interior mxm. of burst length and minimum, is judged to be and stops there is vehicle.

5. a kind of using method of doing the intelligent parking guidance system guiding based on four rotor wing unmanned aerial vehicles as claimed in claim 1, it is characterized in that: described step (4) unmanned plane is after user sends request, carry out optimum parking path planning, and guiding parking, its detailed process comprises the following steps:

(a) detector is accepted user task request, reads user coordinates;

(b) unmanned plane is lattice point position, parking lot according to this coordinate conversion, plans optimum parking path;

(c) unmanned plane lift-off, goes to target vehicle, starts to carry out stopping guide according to the path of having planned;

(d) be directed to target parking stall, if survey, be still room, wait for that target vehicle parks complete; If occupied, again plan optimum parking path;

(e) when driver picks up the car, request is directed to vehicle location, and guiding task is carried out in unmanned plane lift-off;

(f) unmanned plane guided vehicle leaves parking lot.