CN104457734A - Parking lot navigation system - Google Patents
Parking lot navigation system Download PDFInfo
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- CN104457734A CN104457734A CN201410441751.7A CN201410441751A CN104457734A CN 104457734 A CN104457734 A CN 104457734A CN 201410441751 A CN201410441751 A CN 201410441751A CN 104457734 A CN104457734 A CN 104457734A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
Abstract
The invention discloses a parking lot navigation system. The parking lot navigation system comprises a vehicle-mounted camera device, a vehicle-mounted processing device and a background server, wherein the vehicle-mounted camera device at least comprises a first camera and a second camera, which are arranged on the front end of a vehicle, the first camera and the second camera are respectively arranged on the left side and the right side of the front end of the vehicle according to a preset angular relation, when the vehicle drives in a parking lot, the first camera and the second camera are respectively used for photographing a two-dimensional code mark which is pasted on each beam or wall in the parking lot. By implementing the parking lot navigation system, the two-dimensional code mark in the parking lot is photographed by the cameras, a geographic location character string is calculated by virtue of the two-dimensional code mark, finally the three-dimensional map data is updated according to the geographical location character string, and the navigation image information in the parking lot is displayed. By implementing the parking lot navigation system, the indoor navigation of the vehicle in the parking lot is realized, the operation procedure is simple and clear, the accuracy is high, and the parking lot navigation system is applicable to various application scenes.
Description
[technical field]
The present invention relates to automobile navigation field, particularly relate to a kind of parking ground navigation system.
[background technology]
In prior art, along with the fast development of modern communication technology and wireless network, have increasing occasion to need location Based service, the demand of people to position & navigation increases day by day.At present, known outdoor navigation (as GPS) technology is ripe, but, because of GPS (Global Positioning System, GPS) normally cannot work in indoor, so GPS technology can not be utilized indoor effectively.
Up to now, the indoor navigation system that Ou Hang office is gone out by the computer data model investigation of accelerator, gyroscope sensor, local wireless local area network and relevant building is light not, and input cost is comparatively large, does not have popularization and convenience.
For Google Maps, the positioning service of 70% is all realized by Wi-Fi (technology that the terminal such as PC, handheld device wirelessly can be connected to each other) location, but awaits perfect because of the precision of Wi-Fi factor impact location.
A patent No. is had to be the Chinese patent of " CN101984643A ", disclose " a kind of mobile terminal and indoor navigation method possessing indoor navigation function ", the method is distance, directional information and the atmospheric pressure information of advancing according to mobile terminal, draw mobile terminal in the 3 D stereo positional information of indoor thus realize indoor stereo navigation, but along with the height of floor, the change of atmospheric pressure can affect the accuracy of navigation.
RFID (Radio Frequency Identification, radio-frequency (RF) identification) technology in conjunction with antenna, label and plug-in reader identify religion certificate, but design cost is higher, is subject to the impact of the material such as metal material, water and causes recognition failures or identification error; Near-field communication (NFC) is by the combination of chip, antenna and some softwares, the electronic identity identification in 10 cm range or data transmission can be realized, but its data transmission rate is lower, and application apparatus must possess NFC chip, therefore it is not this mode has certain limitation, thus completely universal.
Third party's map vendors such as Baidu's map have increased the function of indoor map newly, can only the information of display room inner plane, cannot provide more location-based service and navigation Service for user.
As can be seen here, the technology such as outdoor positioning system and radiowave are applied to indoor navigation and will face the problem of navigation accuracy, and the error of outdoor navigation is that indoor navigation application institute is unacceptable; Secondly, have much room for improvement based on the stability of the indoor navigation system designed by Wi-Fi Hotspot and base station and accuracy;
Therefore, the important problem in current this area is: the method how improving indoor positioning, how to develop indoor navigation system easy to implement.
Reference paper: Nils J.Nilsson work, Zheng detains root, Zhuan Yue very translates, artificial intelligence [M]. Beijing: China Machine Press, 2000:86 ~ 88 page (positional information of the positional information and target location that describe current location in detail in this file obtains the navigation algorithm of current location to the guidance path of target location)
[summary of the invention]
Goal of the invention of the present invention is to overcome the defect that in prior art, indoor navigation accuracy rate is lower, system building complicacy is higher, Consumer's Experience is poor.
The present invention solve that prior art problem adopts technical scheme be a kind of parking ground navigation system of structure, described system comprises:
Vehicle-mounted pick-up equipment, vehicle-mounted treatment facility and background server, wherein,
Described vehicle-mounted pick-up equipment at least comprises the first camera and second camera that are arranged at vehicle front, wherein, described first camera and described second camera are installed in the left and right sides of vehicle front respectively by predetermined angle relation, when vehicle sails parking lot into, described first camera and described second camera are respectively used to take the Quick Response Code be attached on each beam column in parking lot or wall and identify;
Described vehicle-mounted treatment facility comprises image processing module, central processing module, vehicle-carrying communication module, memory module and image display, wherein,
Described image processing module is for the first view data of receiving described first camera and described second camera and absorbing and the second view data, wherein, described first view data or described second view data comprise 2 D code information and Quick Response Code mark housing deformation data respectively; Also for carrying out analyzing and processing to described first view data absorbed and the second view data, extract described 2 D code information in described first view data and the second view data after, outputted to described vehicle-carrying communication module;
Described vehicle-carrying communication module is used for that described 2 D code information is sent to described background server and carries out matching treatment, after the match is successful, described background server returns and described 2 D code information tick lables code one to one to described vehicle, described vehicle-carrying communication module receives described tick lables code, and described tick lables code is sent to central processing module;
Described central processing module is used for calculating geographic coordinate according to described tick lables code, and after calculating geographic orientation according to described Quick Response Code mark housing deformation data, described central processing module calculates the geographic position character string of vehicle present position according to described geographic coordinate and described geographic orientation; Also for transferring the three-dimensional map data in parking lot in described memory module, and in described three-dimensional map data, add described geographic position character string;
Described image processing module is also for carrying out update process to the described three-dimensional map data adding described geographic position character string;
Described image display is used for according to the navigation picture information of three-dimensional map data display vehicle in parking lot after described renewal.
Preferably, described first camera and described second camera, also for when vehicle travels in parking lot, are taken the spatial image in parking lot, and the spatial image information stream of shooting with video-corder are sent to described image processing module in real time;
Described image processing module, also for after described image processing module receives described image information stream, calls default empty parking space analytic function, and carries out analyzing and processing by described empty parking space analytic function to described image information stream;
The analysis processing result of described central processing module also for providing according to described image processing module, judge whether to there is empty parking space, if there is empty parking space, then in described image information stream, extract the 2 D code information nearest with described empty parking space, and determine and its tick lables code one to one according to described nearest 2 D code information, meanwhile, marked in described three-dimensional map data according to described tick lables code.
Preferably, described background server comprises database module, background communication module and background processing module;
Described central processing module also for, extract the 2 D code information nearest with described empty parking space in described image information stream after, control described vehicle-carrying communication module and described 2 D code information be sent to described background communication module;
Described background processing module is used for, control described background communication module the 2 D code information received is done with the navigation map source data stored in described database module to mate, when match with described 2 D code information one to one geographic position time, in described navigation map source data, add the room identification strings in the geographic position of described coupling;
Described background communication module is used for, and keeps the vehicle communicated to connect to broadcast the room identification strings in described geographic position of mating by the period 1 of presetting to described background server.
Preferably, described vehicle-carrying communication module also for, when sailing the vehicle in parking lot into and looking for parking stall in driving, the described room identification strings broadcasted from described background communication module is received by the second round of presetting, meanwhile, described central processing module is used for described room identification strings to add to look in the described navigation picture information of the vehicle of parking stall.
Preferably, described background processing module also for, for the vehicle sailed in parking lot distributes corresponding data upload priority, described vehicle-carrying communication module uploads the station location marker code of empty parking space by described data upload priority.
Preferably, described central processing module, also for when vehicle finds empty parking space, controls vehicle and moors into described empty parking space, when complete moor into operation time, control the flame-out and unlocking vehicle braking of vehicle; Described central processing module is also for controlling the 2 D code information of described vehicle-mounted communication module to described background server transmission Car Park, and described background server upgrades empty parking space information according to the 2 D code information received in described navigation map source data.
Preferably, also comprise mobile terminal, described mobile terminal comprises mobile communication module, mobile processing module and mobile storage module, wherein,
Described mobile processing module is used for, when car owner leaves vehicle, control described mobile communication module and described vehicle-carrying communication module establishes a communications link, and obtain parking place information by described mobile communication module, or, control described mobile communication module and described background communication module establishes a communications link, and obtain described parking place information by described mobile communication module;
Described mobile communication module also for, establish a communications link with described background communication module, obtain described navigation map source data;
Described mobile processing module also for, described parking place information and described navigation map SDI are integrated into and seek car information;
Described mobile storage module seeks car information described in storing.
Preferably, described mobile processing module also for, when car owner returns parking lot car searching, car information is sought described in calling, and generate seek car navigation information according to described car information and the residing positional information of seeking, wherein, described in seek car navigation information and comprise and initially seek bus or train route line.
Preferably, described mobile terminal also comprises dollying head and mobile image processing module, wherein,
Described dollying head be used for car owner according to described seek bus or train route line seek car time, shoot with video-corder the 2 D code information on the parking lot beam column in front or wall and Quick Response Code mark housing deformation data in real time;
Described mobile image processing module is used for processing 2 D code information and Quick Response Code mark housing deformation data, and transfer to described mobile processing module and described mobile communication module to calculate the position at the current place of car owner, seek bus or train route line in real time according to the position at the current place of car owner and described car Route Generation of initially seeking;
Or, described dollying head focal length is variable, described dollying head is for determining described mobile terminal and parking lot beam column or position relation between the walls and distance relation, described mobile processing module determines the position at the current place of car owner according to described position relation and described distance relation, and seeks bus or train route line described in planning in conjunction with the compass that described mobile terminal is built-in.
Preferably, described central processing module, also for when vehicle finds empty parking space, controls vehicle and moors into described empty parking space, when complete moor into operation time, control the flame-out and unlocking vehicle braking of vehicle; Control described vehicle-carrying communication module to send and described parking position parking place null message one to one to described background server, described background server upgrades the empty parking space information and described navigation map source data that store in described database module according to described parking place null message.
Implement the present invention, first, be attached at the Quick Response Code mark on each beam column in parking lot or wall by camera shooting, meanwhile, calculate geographic orientation according to Quick Response Code mark housing deformation data; Then the geographic position character string of vehicle present position is calculated according to geographic coordinate and geographic orientation; Finally, in three-dimensional map data, add geographic position character string, upgrade three-dimensional map data, and show the navigation picture information of vehicle in parking lot with this, realize the indoor navigation of vehicle in parking lot and operate.When vehicle enters or intend to enter parking lot, assist car owner to find parking space according to this programme, when vehicle intends to sail out of parking lot, also car owner can be assisted to realize seeking car according to this programme and look for car.
The mode that the present invention adopts Quick Response Code identification characteristics and Quick Response Code to identify deformation characteristics to combine, determine the real time position of vehicle in parking lot, accuracy is high, can tackle multiple adaptation scene.
[Figure of description]
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the parking ground navigation system architecture diagram that present pre-ferred embodiments provides;
Fig. 2 is the parking ground navigation system architecture diagram that another preferred embodiment of the present invention provides;
Fig. 3 is the parking ground navigation system architecture diagram that the another preferred embodiment of the present invention provides.
Fig. 4 is the parking ground navigation system architecture diagram that another preferred embodiment of the present invention provides.
[embodiment]
The parking ground navigation system architecture diagram that present pre-ferred embodiments provides as shown in Figure 1.
Native system comprises: vehicle-mounted pick-up equipment 100, vehicle-mounted treatment facility 200 and background server 300, wherein:
Vehicle-mounted pick-up equipment 100 at least comprises the first camera 110 and second camera 120 that are arranged at vehicle front, and wherein, the first camera 110 and second camera 120 are installed in the left and right sides of vehicle front respectively by predetermined angle relation.Such as, this predetermined angle can be two camera subtended angle 120 degree, namely ensures that the scope of shooting with video-corder of two cameras can cover the visual field of right ahead, simultaneously, the basis of this field range can also extend to some extent to both sides, enough shoot with video-corder field range to ensure.
Vehicle-mounted treatment facility 200 comprises image processing module 210, central processing module 220, vehicle-carrying communication module 230, memory module 240 and image display 250.
Concrete implementation process is as described below:
When vehicle sails parking lot into, the first camera 110 and second camera 120 are respectively used to take the Quick Response Code be attached on each beam column in parking lot or wall and identify.Be appreciated that this vehicle-mounted pick-up equipment 100 at least comprises two cameras in left and right, meanwhile, the camera of the drive recorder of vehicle self-carrying can also be utilized.
The image processing module 210 of native system receives the first view data and the second view data that described first camera 110 and second camera 120 absorb, wherein, the first view data or the second view data comprise 2 D code information and Quick Response Code mark housing deformation data respectively.Be appreciated that this deformation data comprises the geometric deformation of frame and the ratio deformation of frame.
The image processing module 210 of native system is also for the process of pickup image data analysis.First, described 2 D code information is extracted in view data, then, by vehicle-carrying communication module 230,2 D code information is sent to background server 300 and carries out matching treatment, after the match is successful, background server 300 returns and described 2 D code information tick lables code one to one to vehicle, finally, vehicle-carrying communication module 230 receives this tick lables code, and this tick lables code is sent to central processing module 220.
The central processing module 220 of native system calculates geographic coordinate according to above-mentioned tick lables code, and calculate geographic orientation according to above-mentioned Quick Response Code mark housing deformation data, meanwhile, central processing module 220 calculates the geographic position character string of vehicle present position according to described geographic coordinate and described geographic orientation.
After central processing module 220 completes above-mentioned calculating operation, this central processing module 220 transfers the three-dimensional map data in parking lot in described memory module 240, and in this three-dimensional map data, add the above-mentioned geographic position character string calculated.
The image processing module 210 of native system carries out update process by the described three-dimensional map data adding described geographic position character string.
After image processing module 210 completes and carries out update process operation to above-mentioned three-dimensional map data, image display 250 is again according to the navigation picture information of three-dimensional map data display vehicle in parking lot after described renewal.
Further, when vehicle travels in parking lot, above-mentioned first camera 110 takes the spatial image in parking lot with second camera 120, and the spatial image information stream of shooting with video-corder is sent to described image processing module 210 in real time.After described image processing module 210 receives described image information stream, call default empty parking space analytic function, and by described empty parking space analytic function, analyzing and processing is carried out to described image information stream.Be appreciated that utilizing the filtration of specific graphical analysis function to obtain required target image belongs to prior art means, need not repeat at this.
When image processing module 210 obtains analysis processing result, the analysis processing result that central processing module 220 provides according to image processing module 210, judge whether to there is empty parking space, if there is empty parking space, then in described image information stream, extract the 2 D code information nearest with described empty parking space, and determine and its tick lables code one to one according to described nearest 2 D code information, marked in described three-dimensional map data according to described tick lables code meanwhile.
The parking ground navigation system architecture diagram that another preferred embodiment of the present invention provides as shown in Figure 2.
On the basis of above-described embodiment, this background server 300 comprises database module 310, background communication module 320 and background processing module 330.Wherein:
After central processing module 220 extracts the 2 D code information nearest with described empty parking space in described image information stream, control described vehicle-carrying communication module 230 and described 2 D code information is sent to described background communication module 320.
After background processing module 330 receives above-mentioned 2 D code information, control above-mentioned background communication module 320 2 D code information received is done with the navigation map source data stored in described database module 310 to mate, when match with described 2 D code information one to one geographic position time, in described navigation map source data, add the room identification strings in described geographic position.
Background communication module 320 keeps the vehicle communicated to connect to broadcast described room identification strings by the period 1 of presetting to described background server 300.Be appreciated that, when vehicle sails this parking lot into, the implementation process that native system pressed by this vehicle implements image real time transfer operation, simultaneously, also have other vehicles enter or intend to enter this parking lot, also have other vehicles and prepare to exit this parking lot, now, background server 300 will to the above-mentioned vehicle broadcast them room identification strings having demand for services.
Further, above-mentioned vehicle-carrying communication module 230 also for, when sailing the vehicle in parking lot into and looking for parking stall in driving, the described room identification strings broadcasted from described background communication module 320 is received by the second round of presetting, meanwhile, described central processing module 220 is looked in the described navigation picture information of the vehicle of parking stall for described room identification strings being added.
Further, above-mentioned background processing module 330 also for, for the vehicle sailed in parking lot distributes corresponding data upload priority, described vehicle-carrying communication module 230 uploads the station location marker code of empty parking space by described data upload priority.
When vehicle finds empty parking space, and when mooring into described empty parking space, above-mentioned central processing module 220 controls described vehicle-mounted communication module sends 2 D code information from Car Park to described background server 300, when complete moor into operation time, central processing module 220 controls the braking of vehicle flame-out also unlocking vehicle, and described background server 300 upgrades empty parking space information according to the 2 D code information received in described navigation map source data.
The parking ground navigation system architecture diagram that the another preferred embodiment of the present invention provides as shown in Figure 3.
On the basis of embodiment as shown in Figure 2, the system of the present embodiment also comprises mobile terminal 400, and this mobile terminal 400 comprises mobile communication module 410, mobile processing module 420 and mobile storage module 430, wherein:
When car owner leaves vehicle, mobile processing module 420 controls described mobile communication module 410 and establishes a communications link with described vehicle-carrying communication module 230, and obtain parking place information by described mobile communication module 410, or, control described mobile communication module 410 to establish a communications link with described background communication module 320, and obtain described parking place information by described mobile communication module 410.
First, after mobile communication module 410 and described background communication module 320 establish a communications link, mobile communication module 410 obtains described navigation map source data.
Then, after mobile communication module 410 gets above-mentioned navigation map source data, this moves processing module 420 and described parking place information and described navigation map SDI is integrated into and seeks car information.
Finally, stored by mobile storage module 430 and above-mentionedly seek car information.
Further, mobile processing module 420 also for, when car owner returns parking lot car searching, car information is sought described in calling, and generate seek car navigation information according to described car information and the residing positional information of seeking, wherein, described in seek car navigation information and comprise and initially seek bus or train route line.
The parking ground navigation system architecture diagram that another preferred embodiment of the present invention provides as shown in Figure 4.
On the basis of the embodiment shown in Fig. 3, the mobile terminal 400 of the present embodiment also comprises dollying head 440 and mobile image processing module 450, wherein:
Dollying head 440 for car owner according to described seek bus or train route line seek car time, shoot with video-corder the 2 D code information on the parking lot beam column in front or wall and Quick Response Code mark housing deformation data in real time.
Mobile image processing module 450 is for processing 2 D code information and Quick Response Code mark housing deformation data, and transfer to described mobile processing module 420 and described mobile communication module 410 to calculate the position at the current place of car owner, seek bus or train route line in real time according to the position at the current place of car owner and described car Route Generation of initially seeking.
Or, described dollying head 440 focal length is variable, described dollying head 440 is for determining described mobile terminal 400 and parking lot beam column or position relation between the walls and distance relation, described mobile processing module 420 determines the position at the current place of car owner according to described position relation and described distance relation, and seeks bus or train route line described in planning in conjunction with the compass that described mobile terminal 400 is built-in.
Further, central processing module 220 also for, when detecting car owner and leaving parking position, control the braking of vehicle flame-out also unlocking vehicle, simultaneously, control described vehicle-carrying communication module 230 to send and described parking position parking place null message one to one to described background server 300, described background server 300 upgrades the empty parking space information and described navigation map source data that store in described database module 310 according to described parking place null message.
By elaboration and the explanation of embodiment detailed above; those of ordinary skill in the art can both understand thought of the present invention according to the above embodiments thus make some simply distortion and improvement; but no matter how to be out of shape and to improve; as long as the technical scheme of its distortion and improvement, in concept of the present invention, all should be subject to protection of the present invention.
Claims (10)
1. a parking ground navigation system, is characterized in that, described system comprises:
Vehicle-mounted pick-up equipment, vehicle-mounted treatment facility and background server, wherein,
Described vehicle-mounted pick-up equipment at least comprises the first camera and second camera that are arranged at vehicle front, wherein, described first camera and described second camera are installed in the left and right sides of vehicle front respectively by predetermined angle relation, when vehicle sails parking lot into, described first camera and described second camera are respectively used to take the Quick Response Code be attached on each beam column in parking lot or wall and identify;
Described vehicle-mounted treatment facility comprises image processing module, central processing module, vehicle-carrying communication module, memory module and image display, wherein,
Described image processing module is for the first view data of receiving described first camera and described second camera and absorbing and the second view data, wherein, described first view data or described second view data comprise 2 D code information and Quick Response Code mark housing deformation data respectively; Also for carrying out analyzing and processing to described first view data absorbed and the second view data, extract described 2 D code information in described first view data and the second view data after, outputted to described vehicle-carrying communication module;
Described vehicle-carrying communication module is used for that described 2 D code information is sent to described background server and carries out matching treatment, after the match is successful, described background server returns and described 2 D code information tick lables code one to one to described vehicle, described vehicle-carrying communication module receives described tick lables code, and described tick lables code is sent to central processing module;
Described central processing module is used for calculating geographic coordinate according to described tick lables code, and after calculating geographic orientation according to described Quick Response Code mark housing deformation data, described central processing module calculates the geographic position character string of vehicle present position according to described geographic coordinate and described geographic orientation; Also for transferring the three-dimensional map data in parking lot in described memory module, and in described three-dimensional map data, add described geographic position character string;
Described image processing module is also for carrying out update process to the described three-dimensional map data adding described geographic position character string;
Described image display is used for according to the navigation picture information of three-dimensional map data display vehicle in parking lot after described renewal.
2. parking ground navigation system according to claim 1, it is characterized in that, described first camera and described second camera are also for when vehicle travels in parking lot, spatial image in shooting parking lot, and the spatial image information stream of shooting with video-corder is sent to described image processing module in real time;
Described image processing module, also for after described image processing module receives described image information stream, calls default empty parking space analytic function, and carries out analyzing and processing by described empty parking space analytic function to described image information stream;
The analysis processing result of described central processing module also for providing according to described image processing module, judge whether to there is empty parking space, if there is empty parking space, then in described image information stream, extract the 2 D code information nearest with described empty parking space, and determine and its tick lables code one to one according to described nearest 2 D code information, meanwhile, marked in described three-dimensional map data according to described tick lables code.
3. parking ground navigation system according to claim 2, is characterized in that, described background server comprises database module, background communication module and background processing module;
Described central processing module also for, extract the 2 D code information nearest with described empty parking space in described image information stream after, control described vehicle-carrying communication module and described 2 D code information be sent to described background communication module;
Described background processing module is used for, control described background communication module the 2 D code information received is done with the navigation map source data stored in described database module to mate, when match with described 2 D code information one to one geographic position time, in described navigation map source data, add the room identification strings in the geographic position of described coupling;
Described background communication module is used for, and keeps the vehicle communicated to connect to broadcast the room identification strings in described geographic position of mating by the period 1 of presetting to described background server.
4. parking ground navigation system according to claim 3, it is characterized in that, described vehicle-carrying communication module also for, when sailing the vehicle in parking lot into and looking for parking stall in driving, the described room identification strings broadcasted from described background communication module is received by the second round of presetting, meanwhile, described central processing module is used for described room identification strings to add to look in the described navigation picture information of the vehicle of parking stall.
5. parking ground navigation system according to claim 4, it is characterized in that, described background processing module also for, for the vehicle sailed in parking lot distributes corresponding data upload priority, described vehicle-carrying communication module uploads the station location marker code of empty parking space by described data upload priority.
6. parking ground navigation system according to claim 5, is characterized in that, described central processing module, also for when vehicle finds empty parking space, controls vehicle and moors into described empty parking space, when complete moor into operation time, control the flame-out and unlocking vehicle braking of vehicle; Described central processing module is also for controlling the 2 D code information of described vehicle-mounted communication module to described background server transmission Car Park, and described background server upgrades empty parking space information according to the 2 D code information received in described navigation map source data.
7. parking ground navigation system according to claim 6, is characterized in that, also comprise mobile terminal, and described mobile terminal comprises mobile communication module, mobile processing module and mobile storage module, wherein,
Described mobile processing module is used for, when car owner leaves vehicle, control described mobile communication module and described vehicle-carrying communication module establishes a communications link, and obtain parking place information by described mobile communication module, or, control described mobile communication module and described background communication module establishes a communications link, and obtain described parking place information by described mobile communication module;
Described mobile communication module also for, establish a communications link with described background communication module, obtain described navigation map source data;
Described mobile processing module also for, described parking place information and described navigation map SDI are integrated into and seek car information;
Described mobile storage module seeks car information described in storing.
8. parking ground navigation system according to claim 7, it is characterized in that, described mobile processing module also for, when car owner returns parking lot car searching, car information is sought described in calling, and generate seek car navigation information according to described car information and the residing positional information of seeking, wherein, described in seek car navigation information and comprise and initially seek bus or train route line.
9. parking ground navigation system according to claim 8, is characterized in that, described mobile terminal also comprises dollying head and mobile image processing module, wherein,
Described dollying head be used for car owner according to described seek bus or train route line seek car time, shoot with video-corder the 2 D code information on the parking lot beam column in front or wall and Quick Response Code mark housing deformation data in real time;
Described mobile image processing module is used for processing 2 D code information and Quick Response Code mark housing deformation data, and transfer to described mobile processing module and described mobile communication module to calculate the position at the current place of car owner, seek bus or train route line in real time according to the position at the current place of car owner and described car Route Generation of initially seeking;
Or, described dollying head focal length is variable, described dollying head is for determining described mobile terminal and parking lot beam column or position relation between the walls and distance relation, described mobile processing module determines the position at the current place of car owner according to described position relation and described distance relation, and seeks bus or train route line described in planning in conjunction with the compass that described mobile terminal is built-in.
10. parking ground navigation system according to claim 9, is characterized in that, described central processing module, also for when vehicle finds empty parking space, controls vehicle and moors into described empty parking space, when complete moor into operation time, control the flame-out and unlocking vehicle braking of vehicle; Control described vehicle-carrying communication module to send and described parking position parking place null message one to one to described background server, described background server upgrades the empty parking space information and described navigation map source data that store in described database module according to described parking place null message.
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| CN104809771A (en) * | 2015-04-30 | 2015-07-29 | 上海天奕达电子科技有限公司 | Vehicle searching method and system |
| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
| CN105469637A (en) * | 2016-01-04 | 2016-04-06 | 上海斐讯数据通信技术有限公司 | Parking positioning method and parking positioning device based on two-dimensional code |
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| CN107123271A (en) * | 2017-06-09 | 2017-09-01 | 江苏物码信息技术有限公司 | A kind of shutdown system and its method based on Quick Response Code |
| CN109141443A (en) * | 2017-06-16 | 2019-01-04 | 纵目科技（上海）股份有限公司 | The localization method and system of perception data are acquired according to mobile terminal |
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| CN108615266A (en) * | 2018-05-09 | 2018-10-02 | 广东金鉴检测科技有限公司 | A kind of parking system and method based on visible light communication |
| CN110021190A (en) * | 2019-04-29 | 2019-07-16 | 昆明理工大学 | A kind of the parking stall two-dimensional code identification method and device of bus or train route collaboration |
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