CN102622781A - Large cluster mechanical three-dimensional garage guiding system and guiding method - Google Patents
Large cluster mechanical three-dimensional garage guiding system and guiding method Download PDFInfo
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Abstract
The invention provides a large cluster mechanical three-dimensional garage guiding system and a guiding method, and provides a guiding method and an intelligent and automatic guiding system integrating user identification, display guide, voice frequency guide, vehicle induction, vehicle detection, image acquisition and the like. The purposes of omitting a barrier system on a passageway of a traditional parking lot, greatly increasing vehicle entering and exiting speed and saving management personnel can be achieved.
Description
Technical field
The present invention relates to a kind of guidance system and bootstrap technique of managing large-scale cluster mechanical stereo garage.
Background technology
Along with growing to even greater heights of Urban Land Price, room rate, the raising of people's income level in recent years in addition, the volume of holding surge of private car has formed contradiction between increasing car and the parking stall still less.For this reason, multi-storied garage had obtained broad development as the product of an ability head it off in the last few years, and had bigger prospect.And multi-storied garage in the past the most just builds up the three-dimensional of building to the parking lot, about this multi-storied garage need be driven, has problems such as inner management and space waste.Full automatic in recent years mechanical type three-dimensional parking garage is favored; Automatically car being transported into inner parking stall from the porch through the internal mechanical structure puts; When picking up the car, automatically it is taken out from correspondence position again; Can save the space greatly thus, and save the user and reach the trouble of looking for the parking stall up and down.But; Prior mechanical multi-storied garage scale is less, all is the duty in monomer garage often, is difficult to satisfy a large amount of demands of stopping; And if the appearance of vehicle amount of simple increase mechanical stereo garage is comparatively difficult; And organize the increasing in the future utilization of large-scale concentrating type shutdown system that mechanical stereo garage is formed, but people use for mechanical stereo garage and lack experience at present, therefore do not possess corresponding good guidance system should be arranged more; The driver tends to because of lacking necessary guiding at a loss as to what to do when getting into large-scale cluster mechanical vehicle parking system; So have only in the existing solution through arranging a large amount of manpower channeling conducts and commander, unusual labor intensive, and with high costs.
In addition; The tradition parking lot management need be in the main entrance and general export banister is set; The driver through out-of-date must the parking card taking and swipe the card, banister up-down meeting repeatedly brings influence to its life-span, is unfavorable for the management and the operation in garage from long-time angle; The setting of banister also can cause vehicle to block up for the big peak period of vehicle flowrate in addition; More than the defective of two aspects, greatly reduce the parking lot service efficiency, also increased management and operation cost.
Summary of the invention
The objective of the invention is to overcome above-mentioned defective, a kind of large-scale cluster mechanical stereo garage guidance system and bootstrap technique that can guide automatically and manage is provided.
The objective of the invention is to realize like this:
Than common garage guidance system and bootstrap technique, beneficial effect of the present invention is to provide a kind of to mechanical stereo garage and collects User Recognition, shows guiding, audio-guided, vehicle induction, vehicle detection, Image Acquisition etc. are guidance system intelligence, robotization and the bootstrap technique of one.
Description of drawings
Below in conjunction with detailed description of the drawings concrete structure of the present invention
Fig. 1 is a system architecture diagram of the present invention;
Fig. 2 is a bootstrap technique process flow diagram of the present invention.
Embodiment
By specifying technology contents of the present invention, structural attitude, realized purpose and effect, give explanation below in conjunction with embodiment and conjunction with figs. are detailed.
See also Fig. 1; A kind of large-scale cluster mechanical stereo garage guidance system of the present invention; It comprises turnover management subsystem, garage guiding subsystem and garage Control Subsystem, and turnover management subsystem and garage guiding subsystem are carried out information interaction in real time through network mode and garage Control Subsystem, and the best information interaction of carrying out in real time is to carry out through the network mode of TCP/IP; Thereby avoided system near heavy-duty motor, to work, the instability of electrical network and the communication that brings is disturbed; In addition, ICP/IP protocol is the network puppy parc, realizes network data exchange and Long-distance Control easily.
Concrete, above-mentioned turnover management subsystem comprises:
The supervisor of paying the fees links to each other with the bill follower, is used to export the parking fee situation of statistics, the release of picking up the car.
The bill follower, printed tickets when the client picks up the car.
The user identity identification device is arranged at outside each garage inlet, is used for the subscriber identity information that stops is discerned/distributed, and checks subscriber identity information when picking up the car once more; Common user identity identification device can be provided with various reading devices according to demand, can comprise like it:
The wireless fetch equipment of IC/ID card is arranged at whole garage groups porch, is used for the wireless IC/ID of reading card information and deducts fees so that calculate bicycle parking.
Card reader is arranged at monomer garage inlet and outlet doorway, and being used to the card user provides to swipe the card and deposit, withdraw car.
Scrambler, being used for the pin mode is that the user provides and deposits, withdraws car.
Go out bar code device, being used to provide the bill mode that has bar code provides bicycle parking for the user.
Screen bar code recognizer is used for the bill that has bar code is discerned, and picks up the car for the client provides.
Above-mentioned garage guiding subsystem then comprises:
Total guiding display screen, to be arranged at road two-way the main entrance outside, inserts the master control computer, is used to show that whole parking lot fits a type of stopping, and remains parking stall quantity and internal passageway guidance information etc.
Deceleration strip is arranged on ground, place, whole garage groups main entrance, is used to make the vehicle deceleration that gets into whole garage groups; Slow down when the adding of deceleration strip can force automobile to cross, thereby cooperate other system can realize need not the entering the mouth parking lot framework of banister, removed from opening and closing because of banister is frequent and has damaged the inconvenience that brings, the while has further been reduced the system maintenance cost.
The vehicle inductor comprises two groups, and whether first group is arranged at ground, whole garage groups main entrance place in the lump with deceleration strip, be used for the perception vehicle and pass through; Whether second group is arranged at each porch, garage, be used for sense vehicle and arrive;
Wagon detector is arranged at each porch, garage, is used for whether exceeding the garage capacity specification at vehicle warehouse-in back identification vehicle, surpasses and then sends warning message, ends current warehouse-in operation;
Band voice display screen; Comprise two groups; First group is arranged at the porch, garage; Be used to show that whole garage groups residue parking space information and vehicle advance the guiding animation in storehouse, second group of porch that is arranged at each garage, surplus parking space information and the vehicle that is used to show each garage shows that vehicle advances the guiding animation in storehouse when arriving;
The road mirror is arranged at the inner the place ahead that enters the mouth, each garage;
The stopping guide indication is arranged at inner the place ahead, each garage, is used for showing the parking spot guidance information with written form;
Voice and talkback unit are arranged at each porch, garage, are used to provide the voice suggestion of stopping guide, and the garage keeper carries out this inlet driver, and remote speech instructs and driver call manager person asks for help;
At last, also as most important core, above-mentioned garage Control Subsystem comprises:
Distributed database server; Each garage is provided with database in the corresponding whole garage groups; Be used to store the parking spot information and the subscriber identity information of whole garage groups, and provide data interaction to share, adopt distributed data base technique here; Each database is controlled a garage respectively, improves the Modulatory character of management.As an embodiment, the database of distributed database server comprises mutually redundant two, can effectively guarantee the integrality and the security of database; Adopted industrial computer two-shipper working heat standby redundancy function in this Control Subsystem design, fault is lost the accident of management data when guaranteeing to work because of unit, and has backup machine to take over the inoperable machine of failover fast.
Here; As the Redundancy Design of system, the garage Control Subsystem also can be provided with central database except that distributed data base; Inferior central database is arranged on overhead control and charge chamber as required; Be used to back up the database of distributed database server, and can be set to the mode of backing up in realtime as required, to guarantee the real-time of data.
Image acquiring device comprises two groups of cameras, and first group is arranged at the main entrance, garage, is used to obtain the preceding image information of vehicle warehouse-in, and second group is arranged at inlet inside, garage; As an embodiment; Front portion and two ones of rear sides that first group of camera of image acquiring device is arranged at the porch, garage (also possibly be provided with three even a plurality of camera in the practical application; To obtain more comprehensively image information of vehicle); Said front side camera is used to obtain the vehicle front side image information that comprises car plate, two cameras of said rear side be used for from the back both sides obtain the vehicle rear image information, and with image storage at central database.
Image acquiring device is very important in the native system, and it generally includes captures camera, picture catching card and software.The image that camera will enter the mouth and export is sent to the master control computer in real time; The master control computer is discerned it; This identification can comprise the identification of vehicle and handle through number-plate number identification software as required; Extract the identification of the number-plate number, the master control computer supplies system call to this inlet image and the number-plate number and the packing of corresponding turnover field data subsequently.When picking up the car, corresponding warehouse-in image can sought and access to outlet display screen and toll administration chamber display screen automatically, show side by side automatically with present taking-up vehicle image.The image comparison assembly mainly acts on as follows:
Prevent to change trains: the image comparison picture can help the operator on duty to judge in time whether vehicles passing in and out is consistent.
Resolve a dispute: because of mechanical garage normally can't damage vehicle, but many times client's vehicle just has damage not find before admission, when picking up the car, just sees, tends to the damage of thinking that inside, garage is brought, can produce dispute.This moment is adjustable go out warehouse-in before image compare, get rid of and misread.
Parking voucher: when the car owner loses the parking voucher,, can find the bicycle parking position fast, take out vehicle with touch screen operation by the keeper through system queries as long as quote the number-plate number.
Checking free vehicle:, afterwards can verify the authenticity of free vehicle through inquiring about corresponding image as the appearance record that free vehicle is handled.
Distributed data base and master control computer are all by ups power power supply, and UPS is mainly used in the signal of isolating in the electrical network and disturbs, and the integrality of guard signal transmission is avoided the system mistake that causes because of signal contamination, the electricity consumption guarantee when for system temporary interruption being provided simultaneously.
The master control computer; Be used for whole garage groups is planned as a whole allotment control; Comprise that the garage inlet distributes, parking fee is settled accounts, the control of parking situation; It links to each other with two groups of cameras, talkback units of distributed database server, image acquiring device, is used for carrying out data interaction with distributed database server, the image information that the receives the image acquiring device camera in real time driving information Recognition of going forward side by side; It also links to each other with two groups of vehicle inductors, band voice display screen, voice and the talkback unit of garage guiding subsystem; Be used for obtaining vehicle pictures and activating first group of band voice display screen simultaneously and play voice guide, when be triggered second group of camera of rear drive image acquiring device of second group of vehicle inductor obtains vehicle pictures and activate second group of band voice display screen and play the stopping guide animation when be triggered first group of camera of rear drive image acquiring device of first group of vehicle inductor; Treat that car stops good back and sends a signal to distributed data base through enter the mouth outer card reader, bill follower or password setting keyboard, the operation garage tools is accomplished bicycle parking; It links to each other with user identity identification device, the bill follower of turnover management subsystem simultaneously; When being used for picking up the car according to the user identity identification device requests from distributed database server calling and obtaining user identity information; After treating that it checks unanimity; Distribute corresponding vehicle to deliver to certain monomer garage exit place of whole garage groups, and the information such as a mouthful numbering, the computer numbering of picking up the car of picking up the car that will comprise down time, expense, distribution are delivered to the bill follower and are exported.
The invention still further relates to a kind of bootstrap technique that is exclusively used in said system, it comprises step:
A), road is two-way outside approach main entrance, parking lot that total guiding display screen is set, and shows that whole parking lot fits a type of stopping, residue parking stall quantity and internal passageway guidance information etc.
B), be provided with a deceleration strip and vehicle inductor, a front upper place or a side are provided with the LED display of band voice, and the front and back side also is equipped with camera on ground, main entrance, garage; Vehicle is understood forced deceleration under the deceleration strip effect behind this position; Vehicle inductor sense vehicle arrive that system start-up image acquiring device in back is taken pictures and the identification record number-plate number with march into the arena the time; System will be according to from as far as near order assignment bicycle parking inlet; The LED display of this moment can show " please arrive xx number inlet stops ", and also there is voice suggestion the while, can effectively avoid into blocking up of vehicle passage thus.LED display can show vacant or full position, whole garage groups parking stall information before vehicle arrives in addition.
C), each garage inlet in parking lot can give identifying such as " 01 inlet～10 inlets ".The outer road of the inlet in each garage is provided with the vehicle inductor.The next door holds the car size, manipulates the direction board of flow process and Service Phone except that being provided with the garage; Also be provided with a LED TV; In order to show the surplus position information of Ben Cheku car and light bus; Guiding (coach) animation in the time of also will playing vehicle and enter the storehouse also can use the driver of stopping for the first time.After the vehicle that correspondence is assigned with the parking stall arrive to be specified the road of xx number inlet front; After vehicle inductor sense vehicle arrived, guiding (coach) animation when the LED TV will be play vehicle and enter the storehouse, its corresponding garage door opened automatically that (garage door all is a closed condition when non-vehicle passes in and out; Both can prevent that unrelated person from getting into the garage; Can prevent that also vehicle from arbitrarily entering the storehouse nearby, thereby cause the garage, front idle in a large number, and intake vent stops up).The driver guides according to coach's animation of porch LED TV, and vehicle is left into xx number inlet.Camera also is equipped with in inlet inside, and the road mirror is equipped with in the place ahead, and inside has LED literal guidance information (advance, stop, retreating) and voice suggestion in addition, helps the driver that car is stopped.
D), when vehicle arrives the porch, the inlet wagon detector will detect vehicle automatically, as surpassing garage capacity specification (overlength, ultra wide, superelevation, overweight); Equipment will not move; LED in inlet screen and voice show cancelling stocks information simultaneously, and can be at master control room display abnormality warning message, and the keeper can supervise the driver to drive to withdraw from the video intercom functional guidance; After confirming that overrun vehicle withdraws from, this inlet could be replied normal operation.
E), after the operator has normally stopped vehicle, system will be through voice suggestion such as " please draw parking brake, bring all behind the carry-on articles and to confirm bicycle parking on the doorway ".Then the car owner gets back to flicking " bicycle parking " key on the user identity identification device of garage inlet; Then " selection swipe the card parking, establish password or get bar code paper and stop " can appear in display screen; If the fixed client that holds (comprising various IC/ID cards) can be selected to swipe the card; To block a brush garage door and promptly close automatically, the driver can leave, and vehicle can deposit the parking stall that computer distributes automatically in; If interim client is stopped, then possibly correspondence provide " get bar code paper or establish password "; As selecting " getting bar code paper ", system can print the computer generated invoice that contains bar code automatically; As selecting " establishing password ", then on numeric keypad, import 6 from the passwords of establishing.If any repetition, system can point out and reset; As do not have the repetition password, and then select affirmation Post-Grunge door promptly to close automatically, the driver can leave, and vehicle can deposit the parking stall that computer distributes automatically in; System can deposit all parking informations in central database (information comprises: photo before and after the vehicle when marching into the arena, the number-plate number, the zone of the time that deposits in, the computer of bicycle parking numbering, parking etc.) after parking was accomplished.
F), when picking up the car, check be used for identity information after correspondence pay the fees, accomplish pay the fees after, inform it zone of picking up the car that comprises expense, distribution, the information of the computer numbering of driving, and the release of picking up the car.
G), the user is to the correspondence mouth of picking up the car, the input identity information, discern errorless after, corresponding vehicle is taken out to this mouth of picking up the car from depositing, pick up the car through literal and voice guide user simultaneously.
The outlet in each garage is provided with equally such as " 01 outlet～10 outlet " and identifies, and a central management cash desk possibly is set in the parking lot or establish a plurality of cash desks according to the needs of practical application, to satisfy the needs of paying the fees.When picking up the car for the temporary parking client, the computer generated invoice of car owner during with bicycle parking to arbitrary cash desk cash pay the fees.After the custodian reads the bar code of computer generated invoice or inputs corresponding password with bar-code scanner; Charge chamber external LED screen shows car owner's amount of money of need paying the fees; After the keeper collects the charges; By " affirmation is picked up the car " key; System distributes XX outlet to pick up the car automatically, and prints corresponding bill (information of bill comprises: the number of picking up the car etc. is waited in the amount of money of collection of charges, the zone of picking up the car and XX outlet, computer numbering, the front of picking up the car), and display screen will point out with voice simultaneously: " ask license plate number be the car owner of XXXXX export to XX pick up the car ".Errorless like the license plate number affirmation, the car owner goes to this exit position to wait for, otherwise keeper's start-up system query function.Vehicle is handled upside down equipment when delivering to corresponding outlet, and system is with literal and voice suggestion: " car owner who please license plate number be XXXXX picks up the car ", the car owner after hearing prompting leaves vehicle.Hold fixedly IC/ID card client and can arrive administrative office and swipe the card and pick up the car, also can arriving directly swipes the card on the corresponding outlet card reader picks up the car (as forgetting automobile storage in which storehouse, can swipe the card in any exit that voice can You are prompted with " please arrive XX export to swipe the card pick up the car ").Can many people swipe the card continuously, system is by the sequencing of swiping the card pick up the car automatically continuously (swipe the card back system deduct fees automatically).
In sum, during to casual user's vehicle turnover parking lot, native system combines software to cooperate can accomplish following utility function:
1, the driver can be according to road outside the parking lot during bicycle parking, the main entrance, until each inlet of garage all has perfect guidance information, special circumstances can also with keeper's video intercom, can exempt artificial guiding commander basically, reduce handling cost greatly.
When 2, picking up the car,, can accomplish automatically and pick up the car and deduct fees through the identification of swiping the card of each garage exit for fixing card user; For the casual user, through checking identity in charge chamber through the mode of checking bar code or password, completion is paid the fees and is started the program of picking up the car automatically; This point not only can reduce the fee collection amount, but also can shorten client's stand-by period.
3, can remove road, the total gateway brake system of traditional managing system of car parking, the trouble that reduces driver's card taking or swipe the card improves traffic efficiency.This point is especially effective to large parking lot.
The above is merely embodiments of the invention; Be not so limit claim of the present invention; Every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. one kind large-scale cluster mechanical stereo garage guidance system; It is characterized in that: it comprises turnover management subsystem, garage guiding subsystem and garage Control Subsystem, and turnover management subsystem and garage guiding subsystem are carried out information interaction in real time through network mode and garage Control Subsystem;
Said turnover management subsystem comprises:
The supervisor of paying the fees links to each other with the bill follower, is used to export the parking fee situation of statistics, the release of picking up the car;
The user identity identification device is arranged at outside each garage inlet, is used for the subscriber identity information that stops is discerned/distributed, and checks subscriber identity information when picking up the car once more;
The bill follower, printed tickets when the client picks up the car;
Said garage guiding subsystem comprises:
Deceleration strip is arranged on ground, place, whole garage groups main entrance, is used to make the vehicle deceleration that gets into whole garage groups;
The vehicle inductor comprises two groups, first group with deceleration strip be arranged at ground, whole garage groups porch in the lump, be used for the perception vehicle and whether pass through; Whether second group is arranged at each porch, garage, be used for sense vehicle and arrive;
Wagon detector is arranged at each porch, garage, is used for whether exceeding the garage capacity specification at vehicle warehouse-in back identification vehicle, surpasses and then sends warning message, ends current warehouse-in operation;
Band voice display screen; Comprise two groups; First group is arranged at the porch, garage; Be used to show that whole garage groups residue parking space information and vehicle advance the guiding animation in storehouse, second group of porch that is arranged at each garage, surplus parking space information and the vehicle that is used to show each garage shows that vehicle advances the guiding animation in storehouse when arriving;
The road mirror is arranged at the inner the place ahead that enters the mouth, each garage;
The stopping guide indication is arranged at each inside, garage, is used for showing the parking spot guidance information with written form;
Said garage Control Subsystem comprises:
Distributed database server, each garage is provided with database in the corresponding whole garage groups, is used to store the parking spot information and the subscriber identity information of whole garage groups, and provides data interaction to share;
Image acquiring device comprises two groups of cameras, and first group is arranged at the main entrance, garage, is used to obtain the preceding image information of vehicle warehouse-in, and second group is arranged at inlet inside, garage;
Voice and talkback unit are arranged at inside, monomer garage, are used to provide the voice suggestion of stopping guide, and the garage keeper carries out this inlet driver, and remote speech instructs and driver call manager person asks for help;
The master control computer; Be used for whole garage groups is planned as a whole allotment control; Comprise that the garage inlet distributes, parking fee is settled accounts, the control of parking situation; It links to each other with two groups of cameras, talkback units of distributed database server, image acquiring device, is used for carrying out data interaction with distributed database server, the image information that the receives the image acquiring device camera in real time driving information Recognition of going forward side by side; It also links to each other with two groups of vehicle inductors of garage guiding subsystem, two groups of band voice display screens and voice and talkback unit; Be used for obtaining vehicle pictures and activating first group of band voice display screen simultaneously and play voice guide, when be triggered second group of camera of rear drive image acquiring device of second group of vehicle inductor obtains vehicle pictures and activate second group of band voice display screen and play the stopping guide animation when be triggered first group of camera of rear drive image acquiring device of first group of vehicle inductor; Treat that car stops good back operation garage tools and accomplishes bicycle parking; It links to each other with user identity identification device, the bill follower of turnover management subsystem simultaneously; Be used for according to the user identity identification device requests from distributed database server calling and obtaining user identity information; After treating that it checks unanimity; Distribute corresponding vehicle to deliver to certain monomer garage exit place of whole garage groups, and will comprise that mouthful numbering of picking up the car, the computer of the picking up the car numbering of down time, expense, distribution deliver to the output of bill follower.
2. large-scale cluster mechanical stereo garage guidance system as claimed in claim 1 is characterized in that: the user identity identification device of said turnover management subsystem comprises,
The wireless fetch equipment of IC/ID card is arranged at whole garage groups porch, is used for the wireless IC/ID of reading card information and deducts fees so that calculate bicycle parking;
Card reader is arranged at monomer garage inlet and outlet doorway, and being used to the card user provides to swipe the card and deposit, withdraw car;
Scrambler, being used for the pin mode is that the user provides and deposits, withdraws car;
Go out bar code device, being used to provide the bill mode that has bar code provides bicycle parking for the user;
Screen bar code recognizer is used for the bill that has bar code is discerned, and picks up the car for the client provides.
3. large-scale cluster mechanical stereo garage guidance system as claimed in claim 1 is characterized in that: the database of said distributed database server comprises mutually redundant two.
4. large-scale cluster mechanical stereo garage guidance system as claimed in claim 3, it is characterized in that: said garage Control Subsystem also comprises central database, is used to back up the database of distributed database server.
5. large-scale cluster mechanical stereo garage guidance system as claimed in claim 1, it is characterized in that: said garage Control Subsystem also comprises UPS, UPS respectively with the corresponding setting of distributed data base and master control computer.
6. like any described large-scale cluster mechanical stereo garage guidance system of claim 1-5; It is characterized in that: first group of camera of said image acquiring device is arranged at two ones of front portion and the rear sides of porch, garage; Said front side camera is used to obtain the vehicle front side image information that comprises car plate, and two cameras of said rear side are used for obtaining the vehicle rear image information from the both sides, back.
7. large-scale cluster mechanical stereo garage guidance system as claimed in claim 6 is characterized in that: said turnover management subsystem, garage guiding subsystem and garage Control Subsystem are carried out information interaction in real time through the network mode of TCP/IP.
8. bootstrap technique that is exclusively used in claim 1, it is characterized in that: it comprises step,
A), the total guiding display screen through main entrance, cluster garage, show that whole parking lot fits a type of stopping, residue parking stall quantity and internal passageway guidance information;
B), make the vehicle deceleration that gets into whole garage groups through deceleration strip; After the perception vehicle arrives, obtain vehicle when hypograph and discern information of vehicles, record is marched into the arena the time; Then be that it distributes the bicycle parking inlet from the monomer garage, and comprise the hollow parking stall information of whole garage groups and the information of allocation result through video, voice playing;
C), the porch, corresponding monomer garage distributed perceives after vehicle arrives, displaying video advances the storehouse guiding, and opens garage door, further accomplishes through literal guidance information and voice suggestion guiding and stops;
D), after vehicle arrives the porch, detect vehicle and whether surpass the garage capacity specification, report to the police if surpass then, otherwise continue step;
E), stop after, play guidance information, treat that the user registers/obtain the bicycle parking identity information to the porch, garage after, after garage door is closed with vehicle transport to the position of distributing of depositing;
F), when picking up the car, check be used for identity information after correspondence pay the fees, accomplish pay the fees after, inform it zone of picking up the car that comprises expense, distribution, the information of the computer numbering of driving, and the release of picking up the car;
G), the user is to the correspondence mouth of picking up the car, the input identity information, discern errorless after, corresponding vehicle is taken out to this mouth of picking up the car from depositing, pick up the car through literal and voice guide user simultaneously.
9. bootstrap technique as claimed in claim 8 is characterized in that: enter the mouth as far as the order assignment of advancing according to distance for it distributes the bicycle parking inlet from the monomer garage after the perception vehicle puts in place in the said steps A.
10. like claim 8 or 9 described bootstrap techniques, it is characterized in that: also comprise in the said steps A, after the perception vehicle arrives, obtain vehicle front, rear side two sides' view data this moment.
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