CN102610120B - Method and system for operating and positioning track based on infrared technology - Google Patents
Method and system for operating and positioning track based on infrared technology Download PDFInfo
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Abstract
The invention discloses a method and a system for operating and positioning a track based on an infrared technology. The method comprises the following steps: a first infrared device is started to transmit an infrared positioning signal after the parking of a vehicle on a current parking space is detected; according to the current parking place where the vehicle parks and the parking place corresponding to the current location of the moving device, analysis is conducted to obtain an infrared driving signal for driving the moving device and the infrared driving signal is encoded; the encoded infrared driving signal is transmitted to a third infrared device by a second infrared device and the second infrared device is controlled to stop transmitting infrared positioning signals; the third infrared device drives the moving device to move towards a location corresponding to the current parking place where the vehicle parks, after receiving and decoding the infrared driving signal to obtain moving instruction; and the third infrared device stops moving after receiving the infrared positioning signal sent from the first infrared device. The system disclosed by the invention is integrated in a parking lot system, can save cost and achieve the maximum efficnecy, and becomes an important part of an intelligent parking lot.
Description
Technical field
The present invention relates to intelligent parking lot management domain, particularly a kind of operation of rail moving device and localization method and system based on infrared technique.
Background technology
Intelligent transportation is one of major domain of Internet of Things application, and intelligent parking lot can be the product that intelligent transportation is combined with intelligent building.So-called intelligent parking lot, refer to the high-tech means of utilizing optical, mechanical and electronic integration, the technology of combined sensor and internet, the parking lot of setting up intelligent information system and carrying out automatic management, it has the characteristics such as efficient energy-saving, safe and reliable, opening is extendible, intelligent, can effectively reduce vehicle parking time and car owner to seek the car time, improves parking lot transparent resource degree and utilization factor, reduce managerial personnel's expense, increased the economic benefit of parking lot industry.
In the outer existing intelligent parking system of Now Domestic, seek truck system, can pinpoint way be before each parking stall, all to equip a picture pick-up device, guarantee that each parking stall can accurately judge stopped number plate of vehicle, although this mode can accurately be located, but implementation cost is very high, all need a large amount of investments at the aspect such as video information process, wiring.
Summary of the invention
For the shortcoming and defect existing in above-mentioned prior art, the object of the present invention is to provide a kind of operation of rail moving device and localization method and system based on infrared technique, it is integrated in parking system, cost-saving, reach maximum utility, become the important ingredient of intelligent parking lot.
Object of the present invention realizes by following technical proposals:
The operation of rail moving device and a localization method based on infrared technique, comprise the steps:
In the time detecting that there is storing cycle current parking stall, start the first infrared facility and send infrared positioning signal;
According to parking stall corresponding to the current parking stall of storing cycle and the current present position of mobile device, analyze and draw the infrared driving signal the coding that drive mobile device;
Send encoded infrared driving signal through the second infrared facility to the 3rd infrared facility, and control the second infrared facility and stop sending infrared positioning signal;
The 3rd infrared facility receives infrared driving signal and obtains after movement instruction through decoding, drives the current parking stall correspondence position motion of mobile device to storing cycle;
The 3rd infrared facility receive first infrared facility send infrared positioning signal after stop motion;
Wherein, described the first infrared facility is the infrared facility of the parking stall of current storing cycle, described the second infrared facility is the infrared facility of corresponding parking stall, the current present position of mobile device, described the 3rd infrared facility is the infrared facility on mobile device, in the time having vehicle to enter, the first infrared facility, the second infrared facility change accordingly again.
A kind of operation of rail moving device and positioning system based on infrared technique, comprise mobile device and conveying, also comprise as the main frame of control center, be separately positioned on each parking stall correspondence position checkout equipment, be separately positioned on conveying and the infrared facility of corresponding each parking stall, be arranged on infrared facility on mobile device, for controlling respectively the slave of more than one infrared facility and/or more than one checkout equipment; Wherein,
Described main frame receives checkout equipment and detects that there is the information of storing cycle current parking stall, start the first infrared facility and send infrared positioning signal by controlling corresponding slave, analyze and draw the infrared driving signal the coding that drive mobile device according to parking stall corresponding to the current parking stall of storing cycle and the current present position of mobile device, and send encoded infrared driving signal and stop sending infrared positioning signal to mobile device by corresponding slave control the second infrared facility, the 3rd infrared facility receives infrared driving signal and obtains after move through decoding, drive the current parking stall correspondence position motion of mobile device to storing cycle, receive first infrared facility send infrared positioning signal after stop motion, wherein,
Described the first infrared facility is the infrared facility of the parking stall of current storing cycle, described the second infrared facility is the infrared facility of corresponding parking stall, the current present position of mobile device, described the 3rd infrared facility is the infrared facility on mobile device, in the time having vehicle to enter, the first infrared facility, the second infrared facility change accordingly again.
According to the invention described above scheme, on each parking stall correspondence position and mobile device, be provided with respectively the infrared facility of transmitting-receiving infrared signal, car owner by storing cycle behind parking stall, the present invention program detects the storing cycle information of this parking stall, the infrared facility that starts this parking stall makes it send infrared positioning signal, and according to parking stall corresponding to this parking stall and the current present position of mobile device, analysis draws the infrared driving signal the coding that drive mobile device, send encoded infrared driving signal through corresponding infrared facility to mobile device afterwards, it is the infrared driving signal of the infrared facility transmission of parking stall corresponding to the current present position of mobile device, this infrared driving signal loading mobile device arrive the translational speed of current parking stall of storing cycle and the information of advancing or retreating from starting point parking stall, infrared facility on mobile device obtains after move through decoding after receiving infrared driving signal, and mobile device is determined mobile speed and advances or retreat setting in motion according to move, mobile device is received stop motion after the infrared positioning signal that mobile device corresponding to the current parking stall of storing cycle send.
Accompanying drawing explanation
Fig. 1 is rail moving device based on infrared technique operation of the present invention and the schematic flow sheet of localization method embodiment;
Fig. 2 is rail moving device based on infrared technique operation of the present invention and the structural representation of positioning system embodiment.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment 1
Shown in Figure 1, be rail moving device based on infrared technique operation of the present invention and the schematic flow sheet of localization method embodiment.As shown in Figure 1, the rail moving device operation based on infrared technique in this embodiment comprises step with localization method:
Step S101: in the time detecting that there is storing cycle current parking stall, start the first infrared facility and send infrared positioning signal, enter step S102, wherein, infrared facility generally can comprise infrared receiver and infrared transmitting element, detects the mode whether parking stall has storing cycle, vehicle whether to sail out of parking stall, can be to adopt existing mode in prior art, for example carry out detection mode by ultrasound wave, do not repeat them here;
Step S102: according to parking stall corresponding to the current parking stall of storing cycle and the current present position of mobile device, analysis draws the infrared driving signal the coding that drive mobile device, enter step S103, wherein, it is to adopt certain infrared coding agreement that infrared driving signal is encoded;
Step S103: send encoded infrared driving signal to the 3rd infrared facility through the second infrared facility, and control the second infrared facility and stop sending infrared positioning signal, enter step S104, wherein, mobile device is generally the dolly that has loaded infrared facility, infrared driving signal loading mobile device arrive the translational speed of current parking stall of storing cycle from starting point parking stall, and mobile device advances or the information such as retreats;
Step S104: the 3rd infrared facility receives infrared driving signal and obtains after movement instruction through decoding, drive the current parking stall correspondence position motion of mobile device to storing cycle, enter step S105, wherein, in movement instruction, comprise mobile device and advance or retreat, and the movement velocity information such as be how many;
Step S105: the 3rd infrared facility receive first infrared facility send infrared positioning signal after stop motion, wherein, after mobile device stop motion, can also send infrared signal to the first infrared facility responds as location, it is that the second infrared facility sends a signal to the first infrared facility that location is responded, to receive the follow-up work that completes mobile device after location is responded at the first infrared facility on the one hand, as, receive and take after instruction taking when vehicle in front etc., on the other hand, also be convenient to the parking stall of current storing cycle to be designated as the initial parking stall of mobile device motion next time.
Wherein, the first infrared facility is the infrared facility of the parking stall of current storing cycle, the second infrared facility is the infrared facility of corresponding parking stall, the current present position of mobile device, the 3rd infrared facility is the infrared facility on mobile device, in the time having again vehicle to enter, the first infrared facility, the second infrared facility change accordingly, on the parking stall that enters and stop using another vehicle, infrared facility is as the first infrared facility, and using the infrared facility on parking stall corresponding to mobile device present position at that time as the second infrared facility.
Accordingly, according to the scheme in the present embodiment, the scheme of the embodiment of the present invention is in the time detecting that parking stall has vehicle to park, the infrared facility that starts the current parking stall of storing cycle sends infrared positioning signal, analyze and draw and drive the infrared facility of parking stall corresponding to the infrared driving signal of mobile device the current present position of the mobile device of encoding to send encoded infrared driving signal to mobile device according to parking stall corresponding to the current parking stall of storing cycle and the current present position of mobile device, and close simultaneously parking stall corresponding to the current present position of mobile device infrared facility send infrared positioning signal, infrared facility on mobile device receives the parking stall motion of infrared driving signal rear drive mobile device to current storing cycle, until receive current storing cycle parking stall correspondence position infrared facility send infrared positioning signal after stop motion, in the time having storing cycle again, repeat above-mentioned steps.
In the embodiment of the invention described above, step S102 can comprise step: analyze the optimal path of mobile device from the current parking stall correspondence position of current present position arrival storing cycle; Draw the infrared driving signal the coding that drive mobile device according to optimal path information.Wherein, analyzing optimum operation route can realize in the following way, encoded (as from 1 to N) in all parking stalls in advance, when there is storing cycle current parking stall, this parking stall is the terminal parking stall that mobile device need to arrive, and parking stall corresponding to the current present position of mobile device is initial parking stall, go out optimum operation route according to the Coded Analysis of terminal parking stall coding and initial parking stall, as according to the size of the absolute value of the difference of the coding of terminal parking stall coding and initial parking stall, determine and be forward travel or retreat, also can determine travelling speed etc. according to its size, but optimum operation route definite is not limited to this kind of mode.
Wherein, according to the embodiment of the invention described above, the each motion of mobile device is all to move to another parking stall correspondence position from a parking stall correspondence position, therefore, when initial, mobile device should be positioned to the correspondence position of a certain parking stall, rail moving device based on infrared technique of the present invention moves the power-on self-test step that also should comprise mobile device with localization method, and the power-on self-test step of follow shot device comprises the steps:
Step 001: after system powers on, the infrared facility of controlling the correspondence position of each parking stall sends infrared positioning signal, now, infrared positioning signal is all opened and sent to the infrared facility of the correspondence position of each parking stall;
Step 002: after the positioning signal that mobile device sends at the self check infrared facility that receives any one parking stall in service, stop motion also sends infrared signal as location response, because the object of self check operation is to make mobile device rest in a certain parking stall correspondence position, this parking stall can be any one parking stall;
Step 003: when inquiring current parking stall correspondence position and have mobile device with polling mode, the infrared facility of controlling other parking stalls stops sending infrared positioning signal, and the locating information of record move device, complete power-on self-test, wherein, the infrared positioning signal that the infrared facility of parking stall corresponding to current mobile device present position sends does not stop, with the motion that prevents that mobile device from causing due to gravity or other reasons.
In addition, when exceeding Preset Time and do not inquire any parking stall correspondence position while having mobile device, mobile device enters (back and forth movement) state that moves back and forth automatically, and constantly expand move distance find positioning signal, wherein, Preset Time can be set according to actual conditions, as selected 10s.
On the other hand, when mobile device is positioned at the current parking stall correspondence position of storing cycle, can respond the corresponding mobile device in current parking stall and send infrared signal, afterwards, to be stopped and be taken in current parking stall, the number-plate number information being parked cars to obtain is for the subsequent treatment of intelligent parking lot, therefore, after mobile device is ready in the location, current parking stall of storing cycle, drive the camera head on mobile device also will the current parking stall of storing cycle be parked cars and be taken, can from captured image, identify parked cars number-plate number information for vehicle management of intelligent parking lot etc.
In addition, when detecting that current parking stall has after storing cycle, this parking space state can also be updated to state in use, in the time that vehicle sails out of current parking stall, this parking space state is updated to unused state, facilitates the management of intelligent parking lot or the inquiry of vacant parking stall etc.
Embodiment 2
According to the operation of rail moving device and the localization method based on infrared technique of the invention described above, the present invention also provides a kind of rail moving device based on infrared technique operation and positioning system, below is elaborated with the concrete example of positioning system with regard to the rail moving device operation based on infrared technique of the present invention.The rail moving device operation based on infrared technique of the embodiment of the present invention and the structural representation of positioning system have been shown in Fig. 2.
As shown in Figure 2, a kind of operation of rail moving device and positioning system based on infrared technique, comprise mobile device 206 and conveying 207, also comprise the main frame 201 as control center, be separately positioned on the checkout equipment 203 of each parking stall correspondence position, be separately positioned on conveying and the infrared facility 204 of corresponding each parking stall, be arranged on the infrared facility 205 on mobile device 206, control the slave 202 of more than one infrared facility 204 (or 205) and/or more than one checkout equipment 203, wherein, in Fig. 2, identical device has only marked one, and do not draw the annexation of slave 202 and infrared facility 204 (or 205), in real system, be to be connected by wired or wireless mode, be arranged on conveying 207 and the infrared facility 204 of corresponding each parking stall and be arranged on the infrared facility 205 on mobile device 206, generally that each infrared facility 204 (or 205) comprises an infrared receiver and an infrared transmitting element, infrared receiver is for receiving corresponding infrared signal, infrared transmitting element is for sending corresponding infrared signal, main frame 201 and each slave 202 can be connected in series by RS-485 bus, between main frame and each slave, communication can adopt question-response mode, if reply overtime, adopt secondary repeating transmission mode to guarantee to communicate by letter successfully,
Accordingly, according to the scheme in the present embodiment, in the time that checkout equipment 203 detects that there is storing cycle current parking stall, report main frame 201 by corresponding slave 202, main frame 201 sends the slave 202 of instruction to the current parking stall of control storing cycle, the infrared facility 204 that slave 202 starts the current parking stall of this storing cycle sends infrared positioning signal, main frame 201 is analyzed and is drawn the infrared driving signal the coding that drive mobile device 206 according to parking stall corresponding to the current parking stall of storing cycle and the current present position of mobile device 206, send encoded infrared driving signal through the infrared facility 204 of parking stall corresponding to the current present position of mobile device 206 to mobile device 206 again, infrared facility 205 on mobile device 206 receives infrared driving signal and obtains after move through decoding, to the current parking stall correspondence position motion of storing cycle, infrared facility 205 on last mobile device 206 receives after the infrared positioning signal of current parking stall transmission of storing cycle, after stop motion, can also send infrared signal to the infrared facility of the corresponding parking stall after mobile device stop motion responds as location.
The above-mentioned operation of rail moving device and positioning system based on infrared technique, its main frame 201 can comprise path analysis unit, arrive the optimal path of the current parking stall correspondence position of storing cycle from current present position for analyzing mobile device 206, and draw and drive the infrared driving signal of mobile device 206 and encode according to optimal path information, wherein, optimum operation route can be realized in the following way, encoded (as from 1 to N) in all parking stalls in advance, when there is storing cycle current parking stall, this parking stall is that mobile device 206 needs the terminal parking stall arriving, and the current parking stall of parking of mobile device 206 is initial parking stall, go out optimum operation route according to the Coded Analysis of terminal parking stall and initial parking stall, but optimum operation route definite is not limited to this kind of mode.
In a specific embodiment, the above-mentioned operation of rail moving device and positioning system based on infrared technique, its main frame 201 can also comprise the power-on self-test unit of mobile device, the power-on self-test unit of mobile device is for after system powers on, infrared facility 204 to each parking stall sends the instruction of opening infrared positioning signal, and start the self check operating instruction of mobile device 206, mobile device 206 is in service in self check, on mobile device 206, infrared facility 205 receives after the positioning signal that the infrared facility 204 of a certain parking stall sends, stop motion also sends infrared signal as location response, when main frame 201 inquires current parking stall correspondence position and has mobile device 206 with polling mode, close the infrared positioning signal that the infrared facility 204 of other parking stalls sends, and the locating information of record move device 206, complete power-on self-test, after power-on self-test, mobile device has just rested on a certain parking stall, afterwards this parking stall as the first storing cycle after the initial parking stall of mobile device 206.
Wherein, the power-on self-test unit of mobile device is also in the time having mobile device 206 on the guide rail that exceedes Preset Time and main frame 201 and do not inquire any parking stall correspondence position, controlling mobile device 206 moves back and forth, and constantly expand move distance and find the positioning signal of parking stall, wherein, Preset Time can be set according to actual conditions, as selected 10s.
On the other hand, when mobile device 206 is positioned at the current parking stall correspondence position of storing cycle, to be stopped and be taken in current parking stall, the number-plate number information being parked cars to obtain is for the subsequent treatment of intelligent parking lot, therefore, rail moving device operation based on infrared technique also comprises with positioning system the filming apparatus being arranged on mobile device 206, filming apparatus for when mobile device 206 the current parking stall of storing cycle locate ready after, the current parking stall of storing cycle is parked cars and is taken.
In addition, can also according to actual needs, at each parking stall correspondence position, state indicating device be set respectively, be used for when detecting that current parking stall has after storing cycle, this parking space state is updated to state in use, in the time that vehicle sails out of current parking stall, this parking space state is updated to unused state.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any modification of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in claim protection domain of the present invention.
Claims (10)
1. the operation of the rail moving device based on infrared technique and a localization method, is characterized in that, comprises the steps:
In the time detecting that there is storing cycle current parking stall, start the first infrared facility and send infrared positioning signal;
According to parking stall corresponding to the current parking stall of storing cycle and the current present position of mobile device, analyze and draw the infrared driving signal the coding that drive mobile device;
Send encoded infrared driving signal through the second infrared facility to the 3rd infrared facility, and control the second infrared facility and stop sending infrared positioning signal;
The 3rd infrared facility receives infrared driving signal and obtains after movement instruction through decoding, drives the current parking stall correspondence position motion of mobile device to storing cycle;
The 3rd infrared facility receive first infrared facility send infrared positioning signal after stop motion;
Wherein, described the first infrared facility is the infrared facility of the parking stall of current storing cycle, and described the second infrared facility is the infrared facility of corresponding parking stall, the current present position of mobile device, and described the 3rd infrared facility is the infrared facility on mobile device.
2. the operation of rail moving device and the localization method based on infrared technique according to claim 1, it is characterized in that, described according to parking stall corresponding to the current parking stall of storing cycle and the current present position of mobile device, analyze and show that the infrared driving signal of driving mobile device coding comprise step:
Analyze mobile device arrives the current parking stall correspondence position of storing cycle optimal path from current present position;
Draw the infrared driving signal the coding that drive mobile device according to optimal path information.
3. the operation of rail moving device and the localization method based on infrared technique according to claim 1 and 2, is characterized in that, also comprise the power-on self-test step of mobile device, the power-on self-test step of described mobile device comprises the steps:
After system powers on, the infrared facility that starts each parking stall sends infrared positioning signal;
Mobile device is in service in self check, and the infrared facility on mobile device receives after the positioning signal of infrared facility transmission corresponding to any parking stall, and stop motion also sends infrared signal and responds as location;
When inquiring current parking stall correspondence position and have mobile device with polling mode, infrared facility corresponding to parking stall of controlling except current parking stall stops sending infrared positioning signal, and the locating information of record move device, completes power-on self-test.
4. the operation of rail moving device and the localization method based on infrared technique according to claim 3, it is characterized in that, when exceeding Preset Time and do not inquire any parking stall correspondence position while having mobile device, mobile device moves back and forth, and constantly expands move distance and find positioning signal.
5. the rail moving device based on infrared technique moves and localization method according to claim 1, characterized by further comprising step:
When mobile device is after correspondence position location in the current parking stall of storing cycle is ready, drive the camera head on mobile device that the current parking stall of storing cycle is parked cars and taken;
Or/and
When detecting that current parking stall has after storing cycle, this parking space state is updated to state in use, in the time that vehicle sails out of current parking stall, this parking space state is updated to unused state.
6. the operation of rail moving device and the positioning system based on infrared technique, comprise mobile device and conveying, characterized by further comprising as the main frame of control center, be separately positioned on each parking stall correspondence position checkout equipment, be separately positioned on conveying and the infrared facility of corresponding each parking stall, be arranged on infrared facility on mobile device, for controlling respectively the slave of more than one infrared facility and/or more than one checkout equipment; Wherein,
Described main frame receives checkout equipment and detects that there is the information of storing cycle current parking stall, start the first infrared facility and send infrared positioning signal by controlling corresponding slave, analyze and draw the infrared driving signal the coding that drive mobile device according to parking stall corresponding to the current parking stall of storing cycle and the current present position of mobile device, and send encoded infrared driving signal and stop sending infrared positioning signal to mobile device by corresponding slave control the second infrared facility, the 3rd infrared facility receives infrared driving signal and obtains after move through decoding, drive the current parking stall correspondence position motion of mobile device to storing cycle, receive first infrared facility send infrared positioning signal after stop motion, wherein,
The first infrared facility is the infrared facility of the parking stall of current storing cycle, and the second infrared facility is the infrared facility of corresponding parking stall, the current present position of mobile device, and the 3rd infrared facility is the infrared facility on mobile device.
7. the operation of rail moving device and the positioning system based on infrared technique according to claim 6, it is characterized in that, described main frame comprises path analysis unit, arrive the optimal path of the current parking stall correspondence position of storing cycle for analyzing mobile device from current present position, and draw according to optimal path information the infrared driving signal the coding that drive mobile device.
8. according to the operation of rail moving device and positioning system based on infrared technique described in claim 6 or 7, it is characterized in that, described main frame also comprises the power-on self-test unit of mobile device, described power-on self-test unit is for after system powers on, infrared facility to each parking stall sends the instruction of opening infrared positioning signal, and start the self check operating instruction of mobile device, described mobile device is also in service in self check, infrared facility on mobile device receives after the positioning signal of infrared facility transmission corresponding to any one parking stall, stop motion also sends infrared signal as location response, when described main frame has mobile device for inquiring current parking stall correspondence position with polling mode, infrared facility corresponding to parking stall of controlling except current parking stall stops sending infrared positioning signal, and the locating information of record move device, completes power-on self-test.
9. the rail moving device based on infrared technique moves and positioning system according to claim 8, it is characterized in that described main frame also exceedes Preset Time for working as, when not inquiring any parking stall correspondence position and having mobile device, control mobile device mobile device is moved back and forth, and constantly expand move distance and find infrared positioning signal.
10. the rail moving device based on infrared technique moves and positioning system according to claim 6, it is characterized in that, also comprises:
Be arranged on the filming apparatus on mobile device, for when mobile device is after correspondence position location in the current parking stall of storing cycle is ready, the current parking stall of storing cycle parked cars and taken;
Or/and
Be separately positioned on the state indicating device of each parking stall correspondence position, for when detecting that current parking stall has after storing cycle, this parking space state be updated to state in use, in the time that vehicle sails out of current parking stall, this parking space state is updated to unused state.
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| CN201210078825.6A CN102610120B (en) | 2012-03-22 | 2012-03-22 | Method and system for operating and positioning track based on infrared technology |
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| CN105023459B (en) * | 2015-06-29 | 2017-10-03 | 北京鸿游科技有限公司 | A kind of portable identifying device of parking stall car plate and recognition methods |
| CN107798906A (en) * | 2017-10-18 | 2018-03-13 | 武汉嘉杰电讯科技发展有限公司 | A kind of communication system and its method for underground parking garage guiding |
| CN109130930A (en) * | 2018-09-04 | 2019-01-04 | 上海科世达-华阳汽车电器有限公司 | A kind of new type auto plug gun system applied to electric vehicle charging |
| CN109767626B (en) * | 2018-12-20 | 2021-03-16 | 北京筑梦园科技有限公司 | Roadside parking inspection method and system, patrol car and server |
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