CN105321373A - Large-scale parking lot vehicle guiding system and guiding method thereof - Google Patents

Abstract

The invention discloses a large-scale parking lot vehicle guiding system and a guiding method thereof. The system comprises a management server, an indication device and parking space locks arranged on parking spaces. Each parking space comprises a base and a driving motor driving the base to rotate. The base is provided with a lifter, the top end of the lifter is provided with a baffle plate, and a vertical plate is arranged at one side of the baffle plate. The base is provided with a central processing unit, a first wireless communication module, a first electronic compass module, a first UWB positioning sensor. The baffle plate is provided with a second UWB positioning sensor and a third UWB positioning sensor. The vertical plate is provided with a fourth UWB positioning sensor. The indication device comprises a controller, a second wireless communication module, a UWB positioning label, a display screen, a button group and a second electronic compass module. By adopting the large-scale parking lot vehicle guiding system, an idle parking space is assigned to each vehicle to be parked, and the indication device guides a driver to find the parking space, so that the time of the driver is saved, and the phenomenon of scramble for the parking space is avoided.

Description

A kind of large parking lot vehicle guide system and bootstrap technique thereof

Technical field

The present invention relates to parking lot guide technical field, particularly relate to a kind of large parking lot vehicle guide system and bootstrap technique thereof.

Background technology

Along with the fast development of urbanization, there is a large amount of MALL (Commercial Complex) in the big and medium-sized cities of recent year, these MALL are generally equipped with large-scale parking lot, and parking lot may have nearly thousands of parking stalls, and some is more than one deck also.Car owner is not yet done to parking lot landform, requires a great deal of time and looks for parking stall, because each parking stall is not distributed in advance, sometimes also there will be the situation fighting for parking stall.

Summary of the invention

The object of the invention is to overcome at large parking lot, car owner spends a large amount of time to look for parking stall, sometimes also there will be the technical matters fighting for parking stall situation, provide a kind of large parking lot vehicle guide system and bootstrap technique thereof, it specifies an idle parking stall to each vehicle stopped that needs, and guide car owner to find this parking stall by indicating device, save the time of car owner, avoid the appearance of fighting for parking stall situation.

In order to solve the problem, the present invention is achieved by the following technical solutions:

A kind of large parking lot vehicle guide system of the present invention, comprises management server, indicating device and the berth lock be arranged on parking stall, described berth lock comprises base and drives the drive motor of base rotation, described base is provided with lifter, the top of described lifter is provided with the baffle plate transversely arranged, described baffle plate side is provided with the stringer board vertical with baffle plate, and described base is provided with CPU (central processing unit), first wireless communication module, first electrical compass module and a UWB alignment sensor, described baffle plate is provided with the 2nd UWB alignment sensor and the 3rd UWB alignment sensor, described stringer board is provided with the 4th UWB alignment sensor, a described UWB alignment sensor is vertical with base with the line of the 2nd UWB alignment sensor, described 2nd UWB alignment sensor is parallel with base with the line of the 3rd UWB alignment sensor, described 2nd UWB alignment sensor is parallel with base with the line of the 4th UWB alignment sensor, and vertical with the line of the 3rd UWB alignment sensor with the 2nd UWB alignment sensor, described indicating device comprises controller, second wireless communication module, UWB positioning label, display screen, button group and the second electrical compass module, described CPU (central processing unit) respectively with drive motor, lifter, first wireless communication module, first electrical compass module, one UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the 4th UWB alignment sensor electrical connection, described controller respectively with the second wireless communication module, UWB positioning label, display screen, button group and the electrical connection of the second electrical compass module, described first wireless communication module, second wireless communication module and management server are by wireless network wireless connections.

In the technical program, management server communicates with user's smart mobile phone by mobile Internet, and car owner can inquire about whether available free parking stall, parking lot.Car owner obtains indicating device at Entrance from managerial personnel, sends the request of parking, include the particular number of this indicating device self in parking solicited message by indicating device to management server.Management server is chosen a parking space allocation after receiving the request of parking and is used to car owner from the parking stall of free time, this parking stall is labeled as using state, send enabled instruction to the berth lock on this parking stall, in enabled instruction, include the particular number of indicating device.

Berth lock on this parking stall is started working after receiving enabled instruction, send parking space information to indicating device, parking space information comprises position and the numbering on parking stall, after indicating device receives the parking space information be assigned with, show parking space information by display screen, sent with the UWB signal of self particular number to this berth lock by UWB positioning label.This berth lock is by a UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the 4th UWB alignment sensor receive the UWB signal that UWB positioning label sends, the CPU (central processing unit) of this berth lock obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, the direction (namely straight up direction) of the 2nd UWB alignment sensor is pointed to for Z axis positive dirction with a UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system, the line of the one UWB alignment sensor and the 2nd UWB alignment sensor overlaps with Z axis.

Then, CPU (central processing unit) drives base rotation by drive motor, make baffle plate parallel with earth magnetism direct north, namely the straight line that is linked to be of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is parallel with earth magnetism direct north, the X-axis coordinate of the 3rd UWB alignment sensor is 0, the Y-axis coordinate of the 3rd UWB alignment sensor is y2, the X-axis coordinate of the 4th UWB alignment sensor is x3, the Y-axis coordinate of the 4th UWB alignment sensor is 0, because baffle plate is in extreme higher position, 2nd UWB alignment sensor, the Z axis coordinate of the 3rd UWB alignment sensor and the 4th UWB alignment sensor is all z1, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), the coordinate of the 4th UWB alignment sensor is (x3, 0, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₀, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₁, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₂, the 4th UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₃, suppose that the coordinate of UWB positioning label is for (x, y, z), sets up system of equations, calculates x, y, the value of z, obtain the coordinate figure of UWB positioning label.

CPU (central processing unit) is according to x, the value of y, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of UWB positioning label in the plane at X-axis and Y-axis place, thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction (i.e. earth magnetism direct north), the coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by berth lock.Controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α.The coordinate figure of the real-time detection angle angle value α of berth lock and UWB positioning label, and be sent to indicating device, indicating device adjusts pointer direction in real time.

When car owner finds parking stall according to the sensing of pointer on display screen, car owner sends use parking stall request by indicating device to the berth lock on parking stall, use the particular number including this indicating device self in the solicited message of parking stall, after this berth lock receives and uses parking stall request, by the particular number comparison that the particular number used in the solicited message of parking stall and management server send, if comparison success, then fallen by baffle plate by lifter, car owner can use this parking stall; After car owner drives to leave parking stall, the parking stall request of finishing using is sent to the berth lock on parking stall by indicating device, baffle plate is raised to extreme higher position by lifter after receiving the parking stall request of finishing using by this berth lock, stop storing cycle, send idle condition information to management server, this parking stall is labeled as idle condition by management server simultaneously.

As preferably, described indicating device also comprises voice output module, and described voice output module is electrically connected with controller.Voice output module can export voice message.

As preferably, each indicating device has unique particular number.

The bootstrap technique of a kind of large parking lot vehicle guide system of the present invention, comprises the following steps:

S1: car owner obtains indicating device at Entrance from managerial personnel, sends to management server the request of parking by indicating device, includes the particular number of this indicating device self in parking solicited message;

S2: management server is chosen a parking space allocation after receiving the request of parking and used to car owner from the parking stall of free time, this parking stall is labeled as using state, send enabled instruction to the berth lock on this parking stall, in enabled instruction, include the particular number of indicating device;

S3: the berth lock on this parking stall is started working after receiving enabled instruction, send parking space information to indicating device, after indicating device receives the parking space information be assigned with, show parking space information by display screen, sent with the UWB signal of self particular number to this berth lock by UWB positioning label;

S4: this berth lock is by a UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the 4th UWB alignment sensor receive the UWB signal that UWB positioning label sends, the CPU (central processing unit) of this berth lock obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, the direction of the 2nd UWB alignment sensor is pointed to for Z axis positive dirction with a UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system,

S5: CPU (central processing unit) drives base rotation by drive motor, make baffle plate parallel with earth magnetism direct north, namely the straight line that is linked to be of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is parallel with earth magnetism direct north, the X-axis coordinate of the 3rd UWB alignment sensor is 0, the Y-axis coordinate of the 3rd UWB alignment sensor is y2, because the 2nd UWB alignment sensor is vertical with the line of the 3rd UWB alignment sensor with the 2nd UWB alignment sensor with the line of the 4th UWB alignment sensor, the X-axis coordinate of the 4th UWB alignment sensor is x3, the Y-axis coordinate of the 4th UWB alignment sensor is 0, because baffle plate is in extreme higher position, 2nd UWB alignment sensor, the Z axis coordinate of the 3rd UWB alignment sensor and the 4th UWB alignment sensor is all z1, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), the coordinate of the 4th UWB alignment sensor is (x3, 0, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₀, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₁, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₂, the 4th UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₃, suppose that the coordinate of UWB positioning label is for (x, y, z), obtains system of equations:

$\left\{\begin{array}{c}{R}_0^2={(x-0)}^2+{(y-0)}^2+{(z-0)}^2\\ R_1^2={(x-0)}^2+{(y-0)}^2+{(z-z1)}^2\\ R_2^2={(x-0)}^2+{(y-y2)}^2+{(z-z1)}^2\\ R_3^2={(x-x3)}^2+{(y-0)}^2+{(z-z1)}^2\end{array}\right.$

Adopt and carry out iterative based on the least square method of Taylor series expansion, obtain x, the value of y, z, obtain the coordinate figure of UWB positioning label;

S6: CPU (central processing unit) is according to the coordinate figure of UWB positioning label, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of UWB positioning label in the plane at X-axis and Y-axis place, thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction, the coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by berth lock,

S7: controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α;

S8: when car owner finds parking stall according to the sensing of pointer on display screen, car owner sends use parking stall request by indicating device to the berth lock on parking stall, use the particular number including this indicating device self in the solicited message of parking stall, after this berth lock receives and uses parking stall request, by the particular number comparison that the particular number used in the solicited message of parking stall and management server send, if comparison success, then fallen by baffle plate by lifter, car owner can use this parking stall; After car owner drives to leave parking stall, the parking stall request of finishing using is sent to the berth lock on parking stall by indicating device, baffle plate is raised to extreme higher position by lifter after receiving the parking stall request of finishing using by this berth lock, stop storing cycle, send idle condition information to management server, this parking stall is labeled as idle condition by management server simultaneously.

As preferably, indicating device determines distance and the orientation of UWB positioning label and a UWB alignment sensor in the vertical direction according to the coordinate figure of UWB positioning label, the floor at self place is gone out, self current place floor of display screen display of indicating device, place, parking stall floor and position according to the high computational of place, parking stall floor and every floor.

As preferably, indicating device calculates indicating device and parking stall air line distance in the horizontal plane according to the coordinate figure of UWB positioning label, and display screen shows this distance.

As preferably, described parking space information comprises position and the numbering on parking stall.

Substantial effect of the present invention is: the using state on all parking stalls in monitoring parking lot, an idle parking stall is specified to each vehicle stopped that needs, and guide car owner to find this parking stall fast by indicating device, save the time of car owner, avoid the appearance of fighting for parking stall situation.

Accompanying drawing explanation

Fig. 1 a kind of circuit theory of the present invention connects block diagram;

Fig. 2 is a kind of structural representation of berth lock;

Fig. 3 is the vertical view of Fig. 2;

Fig. 4 is the XYZ three-dimensional cartesian coordinate system set up for initial point with a UWB alignment sensor;

Fig. 5 is a kind of position relationship of a UWB alignment sensor and UWB positioning label;

Fig. 6 is a kind of position relationship of a UWB alignment sensor and UWB positioning label.

In figure: 1, management server, 2, indicating device, 3, berth lock, 4, base, 5, drive motor, 6, lifter, 7, baffle plate, 8, CPU (central processing unit), 9, first wireless communication module, 10, first electrical compass module, 11, one UWB alignment sensor, 12, 2nd UWB alignment sensor, 13, 3rd UWB alignment sensor, 14, 4th UWB alignment sensor, 15, controller, 16, second wireless communication module, 17, UWB positioning label, 18, display screen, 19, button group, 20, second electrical compass module, 21, voice output module, 22, inductor, 23, pilot lamp, 24, hummer, 25, stringer board.

Embodiment

Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.

Embodiment 1: a kind of large parking lot vehicle guide system of the present embodiment, as Fig. 1, Fig. 2, shown in Fig. 3, comprise management server 1, indicating device 2 and the berth lock 3 be arranged on parking stall, the drive motor 5 that berth lock 3 comprises base 4 and drives base 4 to rotate, base 4 is provided with lifter 6, the top of lifter 6 is provided with the baffle plate 7 transversely arranged, baffle plate 7 one middle side part is provided with the stringer board 25 vertical with baffle plate 7, and base 4 is provided with CPU (central processing unit) 8, first wireless communication module 9, first electrical compass module 10 and a UWB alignment sensor 11, baffle plate 7 is provided with the 2nd UWB alignment sensor 12 and the 3rd UWB alignment sensor 13, stringer board 25 is provided with the 4th UWB alignment sensor 14, one UWB alignment sensor 11 is vertical with base 4 with the line of the 2nd UWB alignment sensor 12, 2nd UWB alignment sensor 12 is parallel with base with the line of the 3rd UWB alignment sensor 13, 2nd UWB alignment sensor 12 is parallel with base 4 with the line of the 4th UWB alignment sensor 14, and vertical with the line of the 3rd UWB alignment sensor 13 with the 2nd UWB alignment sensor 12, indicating device 2 comprises controller 15, second wireless communication module 16, UWB positioning label 17, display screen 18, button group 19 and the second electrical compass module 20, CPU (central processing unit) 8 respectively with drive motor 5, lifter 6, first wireless communication module 9, first electrical compass module 10, one UWB alignment sensor 11, 2nd UWB alignment sensor 12, 3rd UWB alignment sensor 13 and the 4th UWB alignment sensor 14 are electrically connected, controller 15 respectively with the second wireless communication module 16, UWB positioning label 17, display screen 18, button group 19 and the second electrical compass module 20 are electrically connected, the first wireless communication module 9, second wireless communication module 16 and management server 1 are by wireless network wireless connections.

Management server communicates with user's smart mobile phone by mobile Internet, and car owner can inquire about whether available free parking stall, parking lot.Car owner obtains indicating device at Entrance from managerial personnel, and send to management server the request of parking by indicating device, include the particular number of this indicating device self in parking solicited message, each indicating device has unique particular number.Management server is chosen a parking space allocation after receiving the request of parking and is used to car owner from the parking stall of free time, this parking stall is labeled as using state, send enabled instruction to the berth lock on this parking stall, in enabled instruction, include the particular number of indicating device.

Berth lock on this parking stall is started working after receiving enabled instruction, send parking space information to indicating device, parking space information comprises position and the numbering on parking stall, after indicating device receives the parking space information be assigned with, show parking space information by display screen, sent with the UWB signal of self particular number to this berth lock by UWB positioning label.This berth lock is by a UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the 4th UWB alignment sensor receive the UWB signal that UWB positioning label sends, the CPU (central processing unit) of this berth lock obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, the direction (namely straight up direction) of the 2nd UWB alignment sensor is pointed to for Z axis positive dirction with a UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system, the line of the one UWB alignment sensor and the 2nd UWB alignment sensor overlaps with Z axis.

Then, CPU (central processing unit) drives base rotation by drive motor, make baffle plate parallel with earth magnetism direct north, namely the straight line that is linked to be of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is parallel with earth magnetism direct north, the X-axis coordinate of the 3rd UWB alignment sensor is 0, the Y-axis coordinate of the 3rd UWB alignment sensor is y2, because the 2nd UWB alignment sensor is vertical with the line of the 3rd UWB alignment sensor with the 2nd UWB alignment sensor with the line of the 4th UWB alignment sensor, the X-axis coordinate of the 4th UWB alignment sensor is x3, the Y-axis coordinate of the 4th UWB alignment sensor is 0, because baffle plate is in extreme higher position, 2nd UWB alignment sensor, the Z axis coordinate of the 3rd UWB alignment sensor and the 4th UWB alignment sensor is all z1, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), the coordinate of the 4th UWB alignment sensor is (x3, 0, z1), by the measurement of TOA method, one UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₀, by TOA method, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₁, by TOA method, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₂, by TOA method, the 4th UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₃, suppose that the coordinate of UWB positioning label is for (x, y, z), sets up system of equations, calculates x, y, the value of z, obtain the coordinate figure of UWB positioning label.

As shown in Figure 4, CPU (central processing unit) is according to x, the value of y, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of UWB positioning label in the plane at X-axis and Y-axis place, thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction (i.e. earth magnetism direct north), the coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by berth lock.Controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α.The coordinate figure of the real-time detection angle angle value α of berth lock and UWB positioning label, and be sent to indicating device, indicating device adjusts pointer direction in real time.

Indicating device determines distance and the orientation of UWB positioning label and a UWB alignment sensor in the vertical direction according to the coordinate figure of UWB positioning label, the floor at self place is gone out, self current place floor of display screen display of indicating device, place, parking stall floor and position according to the high computational of place, parking stall floor and every floor.As z=-3.5m, then UWB positioning label is positioned at below a UWB alignment sensor, and the distance of UWB positioning label and a UWB alignment sensor in the vertical direction is 3.5m, and story height is 4m, and berth lock is positioned at 2nd floors, then indicating device is currently located at 1st floor.Indicating device calculates indicating device and parking stall air line distance in the horizontal plane according to the coordinate figure of UWB positioning label, and display screen shows this distance.

When car owner finds parking stall according to the sensing of pointer on display screen, car owner sends use parking stall request by indicating device to the berth lock on parking stall, use the particular number including this indicating device self in the solicited message of parking stall, after this berth lock receives and uses parking stall request, by the particular number comparison that the particular number used in the solicited message of parking stall and management server send, if comparison success, then fallen by baffle plate by lifter, car owner can use this parking stall; After car owner drives to leave parking stall, the parking stall request of finishing using is sent to the berth lock on parking stall by indicating device, baffle plate is raised to extreme higher position by lifter after receiving the parking stall request of finishing using by this berth lock, stop storing cycle, send idle condition information to management server, this parking stall is labeled as idle condition by management server simultaneously.

Indicating device 2 also comprises voice output module 21, and voice output module 21 is electrically connected with controller 15, and voice output module can export voice message.

The bootstrap technique of a kind of large parking lot vehicle guide system of the present embodiment, is applicable to above-mentioned a kind of large parking lot vehicle guide system, comprises the following steps:

S1: car owner obtains indicating device at Entrance from managerial personnel, sends to management server the request of parking by indicating device, includes the particular number of this indicating device self in parking solicited message;

S2: management server is chosen a parking space allocation after receiving the request of parking and used to car owner from the parking stall of free time, this parking stall is labeled as using state, send enabled instruction to the berth lock on this parking stall, in enabled instruction, include the particular number of indicating device;

S3: the berth lock on this parking stall is started working after receiving enabled instruction, send parking space information to indicating device, parking space information comprises position and the numbering on parking stall, after indicating device receives the parking space information be assigned with, show parking space information by display screen, sent with the UWB signal of self particular number to this berth lock by UWB positioning label;

S4: this berth lock is by a UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the 4th UWB alignment sensor receive the UWB signal that UWB positioning label sends, the CPU (central processing unit) of this berth lock obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, the direction (namely straight up direction) of the 2nd UWB alignment sensor is pointed to for Z axis positive dirction with a UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system,

S5: CPU (central processing unit) drives base rotation by drive motor, make baffle plate parallel with earth magnetism direct north, namely the straight line that is linked to be of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is parallel with earth magnetism direct north, the X-axis coordinate of the 3rd UWB alignment sensor is 0, the Y-axis coordinate of the 3rd UWB alignment sensor is y2, because the 2nd UWB alignment sensor is vertical with the line of the 3rd UWB alignment sensor with the 2nd UWB alignment sensor with the line of the 4th UWB alignment sensor, the X-axis coordinate of the 4th UWB alignment sensor is x3, the Y-axis coordinate of the 4th UWB alignment sensor is 0, because baffle plate is in extreme higher position, 2nd UWB alignment sensor, the Z axis coordinate of the 3rd UWB alignment sensor and the 4th UWB alignment sensor is all z1, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), the coordinate of the 4th UWB alignment sensor is (x3, 0, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₀, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₁, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₂, the 4th UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₃, suppose that the coordinate of UWB positioning label is for (x, y, z), obtains system of equations:

$\left\{\begin{array}{c}{R}_0^2={(x-0)}^2+{(y-0)}^2+{(z-0)}^2\\ R_1^2={(x-0)}^2+{(y-0)}^2+{(z-z1)}^2\\ R_2^2={(x-0)}^2+{(y-y2)}^2+{(z-z1)}^2\\ R_3^2={(x-x3)}^2+{(y-0)}^2+{(z-z1)}^2\end{array}\right.$

Adopt and carry out iterative based on the least square method of Taylor series expansion, obtain x, the value of y, z, obtain the coordinate figure of UWB positioning label;

S6: CPU (central processing unit) is according to the coordinate figure of UWB positioning label, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of (namely on surface level) in the plane at X-axis and Y-axis place of UWB positioning label

Work as x=0, during y > 0, θ=0;

Work as x=0, during y < 0, θ=180;

As x > 0, y=0, θ=270;

As x < 0, y=0, θ=90;

As x > 0, y > 0, $\mathrm{\&theta;}=270+arctg\left(\frac{y}{x}\right);$

As x < 0, y > 0, $\mathrm{\&theta;}=arctg\left(\frac{y}{-x}\right);$

As x < 0, y < 0, $\mathrm{\&theta;}=90+arctg\left(\frac{y}{x}\right);$

As x > 0, y < 0, $\mathrm{\&theta;}=180+arctg\left(\frac{-y}{x}\right);$

Thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction; As shown in Figure 5, if θ < 180, then α=θ+180; As shown in Figure 6, if θ >=180, then α=θ-180; The coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by berth lock; When a UWB alignment sensor point to the direction of the UWB positioning label projection in the plane at X-axis and Y-axis place and Y-axis positive dirction in the same way time, angle value θ=0, α=180;

S7: controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α; When pointed earth magnetism direct north, angle value α=0;

S8: when car owner finds parking stall according to the sensing of pointer on display screen, car owner sends use parking stall request by indicating device to the berth lock on parking stall, use the particular number including this indicating device self in the solicited message of parking stall, after this berth lock receives and uses parking stall request, by the particular number comparison that the particular number used in the solicited message of parking stall and management server send, if comparison success, then fallen by baffle plate by lifter, car owner can use this parking stall; After car owner drives to leave parking stall, the parking stall request of finishing using is sent to the berth lock on parking stall by indicating device, baffle plate is raised to extreme higher position by lifter after receiving the parking stall request of finishing using by this berth lock, stop storing cycle, send idle condition information to management server, this parking stall is labeled as idle condition by management server simultaneously.

The coordinate figure of the real-time detection angle angle value α of berth lock and UWB positioning label, and be sent to indicating device, indicating device adjusts pointer direction in real time, realizes the effect guided in real time.Indicating device determines distance and the orientation of UWB positioning label and a UWB alignment sensor in the vertical direction according to the coordinate figure of UWB positioning label, the floor at self place is gone out, self current place floor of display screen display of indicating device, place, parking stall floor and position according to the high computational of place, parking stall floor and every floor.Indicating device calculates indicating device and parking stall air line distance in the horizontal plane according to the coordinate figure of UWB positioning label, and display screen shows this distance.

Embodiment 2: a kind of large parking lot vehicle guide system of the present embodiment, as Fig. 1, Fig. 2, shown in Fig. 3, comprise management server 1, indicating device 2 and the berth lock 3 be arranged on parking stall, the drive motor 5 that berth lock 3 comprises base 4 and drives base 4 to rotate, base 4 is provided with lifter 6, the top of lifter 6 is provided with the baffle plate 7 transversely arranged, baffle plate 7 side is provided with the stringer board 25 vertical with baffle plate 7, and base 4 is provided with CPU (central processing unit) 8, first wireless communication module 9, first electrical compass module 10, one UWB alignment sensor 11 and the inductor 22 for detecting vehicle, baffle plate 7 is provided with the 2nd UWB alignment sensor 12 and the 3rd UWB alignment sensor 13, stringer board is provided with the 4th UWB alignment sensor 14, one UWB alignment sensor 11 is vertical with base 4 with the line of the 2nd UWB alignment sensor 12, 2nd UWB alignment sensor 12 is parallel with base with the line of the 3rd UWB alignment sensor 13, 2nd UWB alignment sensor 12 is parallel with base 4 with the line of the 4th UWB alignment sensor 14, and vertical with the line of the 3rd UWB alignment sensor 13 with the 2nd UWB alignment sensor 12, indicating device 2 comprises controller 15, second wireless communication module 16, UWB positioning label 17, display screen 18, button group 19 and the second electrical compass module 20, CPU (central processing unit) 8 respectively with drive motor 5, lifter 6, first wireless communication module 9, first electrical compass module 10, one UWB alignment sensor 11, 2nd UWB alignment sensor 12, 3rd UWB alignment sensor 13, 4th UWB alignment sensor 14 and inductor 22 are electrically connected, controller 15 respectively with the second wireless communication module 16, UWB positioning label 17, display screen 18, button group 19 and the second electrical compass module 20 are electrically connected, the first wireless communication module 9, second wireless communication module 16 and management server 1 are by wireless network wireless connections.

Management server communicates with user's smart mobile phone by mobile Internet, and car owner can inquire about whether available free parking stall, parking lot.Car owner obtains indicating device at Entrance from managerial personnel, and send to management server the request of parking by indicating device, include the particular number of this indicating device self in parking solicited message, each indicating device has unique particular number.Management server is chosen a parking space allocation after receiving the request of parking and is used to car owner from the parking stall of free time, this parking stall is labeled as using state, send enabled instruction to the berth lock on this parking stall, in enabled instruction, include the particular number of indicating device.

Berth lock on this parking stall is started working after receiving enabled instruction, send parking space information to indicating device, parking space information comprises position and the numbering on parking stall, after indicating device receives the parking space information be assigned with, show parking space information by display screen, sent with the UWB signal of self particular number to this berth lock by UWB positioning label.This berth lock is by a UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the 4th UWB alignment sensor receive the UWB signal that UWB positioning label sends, the CPU (central processing unit) of this berth lock obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, the direction (namely straight up direction) of the 2nd UWB alignment sensor is pointed to for Z axis positive dirction with a UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system, the line of the one UWB alignment sensor and the 2nd UWB alignment sensor overlaps with Z axis.

Then, CPU (central processing unit) drives base rotation by drive motor, make baffle plate parallel with earth magnetism direct north, namely the straight line that is linked to be of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is parallel with earth magnetism direct north, the X-axis coordinate of the 3rd UWB alignment sensor is 0, the Y-axis coordinate of the 3rd UWB alignment sensor is y2, because the 2nd UWB alignment sensor is vertical with the line of the 3rd UWB alignment sensor with the 2nd UWB alignment sensor with the line of the 4th UWB alignment sensor, the X-axis coordinate of the 4th UWB alignment sensor is x3, the Y-axis coordinate of the 4th UWB alignment sensor is 0, because baffle plate is in extreme higher position, 2nd UWB alignment sensor, the Z axis coordinate of the 3rd UWB alignment sensor and the 4th UWB alignment sensor is all z1, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), the coordinate of the 4th UWB alignment sensor is (x3, 0, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₀, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₁, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₂, the 4th UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₃, suppose that the coordinate of UWB positioning label is for (x, y, z), sets up system of equations, calculates x, y, the value of z, obtain the coordinate figure of UWB positioning label.

As shown in Figure 4, CPU (central processing unit) is according to x, the value of y, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of UWB positioning label in the plane at X-axis and Y-axis place, thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction (i.e. earth magnetism direct north), the coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by berth lock.Controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α.The coordinate figure of the real-time detection angle angle value α of berth lock and UWB positioning label, and be sent to indicating device, indicating device adjusts pointer direction in real time.

Indicating device determines distance and the orientation of UWB positioning label and a UWB alignment sensor in the vertical direction according to the coordinate figure of UWB positioning label, the floor at self place is gone out, self current place floor of display screen display of indicating device, place, parking stall floor and position according to the high computational of place, parking stall floor and every floor.As z=-3.5m, then UWB positioning label is positioned at below a UWB alignment sensor, and the distance of UWB positioning label and a UWB alignment sensor in the vertical direction is 3.5m, and story height is 4m, and berth lock is positioned at 2nd floors, then indicating device is currently located at 1st floor.Indicating device calculates indicating device and parking stall air line distance in the horizontal plane according to the coordinate figure of UWB positioning label, and display screen shows this distance.

CPU (central processing unit) calculates indicating device and parking stall air line distance in the horizontal plane according to the coordinate figure of UWB positioning label, when car owner finds parking stall according to the sensing of pointer on display screen, berth lock detects that indicating device and parking stall air line distance is in the horizontal plane less than setting value D, baffle plate is fallen by the lifter of berth lock, and car owner can use this parking stall; When car owner does not need to use this parking stall, car owner drives to leave parking stall, inductor now on berth lock detects that vehicle leaves, baffle plate is raised to extreme higher position by the lifter of berth lock, stop storing cycle, send idle condition information to management server, this parking stall is labeled as idle condition by management server simultaneously.

Indicating device 2 also comprises voice output module 21, and voice output module 21 is electrically connected with controller 15, and voice output module can export voice message.Baffle plate 7 is provided with pilot lamp 23 and hummer 24, and pilot lamp 23 and hummer 24 are electrically connected with CPU (central processing unit) 8 respectively.When vehicle and parking stall distance are less than setting value, pilot lamp flicker attracts car owner to note.When baffle plate declines or rise, buzzer call reminds car owner to note.

The bootstrap technique of a kind of large parking lot vehicle guide system of the present embodiment, is applicable to above-mentioned a kind of large parking lot vehicle guide system, comprises the following steps:

S1: car owner obtains indicating device at Entrance from managerial personnel, sends to management server the request of parking by indicating device, includes the particular number of this indicating device self in parking solicited message;

S2: management server is chosen a parking space allocation after receiving the request of parking and used to car owner from the parking stall of free time, this parking stall is labeled as using state, send enabled instruction to the berth lock on this parking stall, in enabled instruction, include the particular number of indicating device;

S3: the berth lock on this parking stall is started working after receiving enabled instruction, send parking space information to indicating device, parking space information comprises position and the numbering on parking stall, after indicating device receives the parking space information be assigned with, show parking space information by display screen, sent with the UWB signal of self particular number to this berth lock by UWB positioning label;

S4: this berth lock is by a UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the 4th UWB alignment sensor receive the UWB signal that UWB positioning label sends, the CPU (central processing unit) of this berth lock obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, the direction (namely straight up direction) of the 2nd UWB alignment sensor is pointed to for Z axis positive dirction with a UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system,

S5: CPU (central processing unit) drives base rotation by drive motor, make baffle plate parallel with earth magnetism direct north, namely the straight line that is linked to be of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is parallel with earth magnetism direct north, the X-axis coordinate of the 3rd UWB alignment sensor is 0, the Y-axis coordinate of the 3rd UWB alignment sensor is y2, because the 2nd UWB alignment sensor is vertical with the line of the 3rd UWB alignment sensor with the 2nd UWB alignment sensor with the line of the 4th UWB alignment sensor, the X-axis coordinate of the 4th UWB alignment sensor is x3, the Y-axis coordinate of the 4th UWB alignment sensor is 0, because baffle plate is in extreme higher position, 2nd UWB alignment sensor, the Z axis coordinate of the 3rd UWB alignment sensor and the 4th UWB alignment sensor is all z1, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), the coordinate of the 4th UWB alignment sensor is (x3, 0, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₀, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₁, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₂, the 4th UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₃, suppose that the coordinate of UWB positioning label is for (x, y, z), obtains system of equations:

$\left\{\begin{array}{c}{R}_0^2={(x-0)}^2+{(y-0)}^2+{(z-0)}^2\\ R_1^2={(x-0)}^2+{(y-0)}^2+{(z-z1)}^2\\ R_2^2={(x-0)}^2+{(y-y2)}^2+{(z-z1)}^2\\ R_3^2={(x-x3)}^2+{(y-0)}^2+{(z-z1)}^2\end{array}\right.$

Adopt and carry out iterative based on the least square method of Taylor series expansion, obtain x, the value of y, z, obtain the coordinate figure of UWB positioning label;

S6: CPU (central processing unit) is according to the coordinate figure of UWB positioning label, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of UWB positioning label in the plane at X-axis and Y-axis place

Work as x=0, during y > 0, θ=0;

Work as x=0, during y < 0, θ=180;

As x > 0, y=0, θ=270;

As x < 0, y=0, θ=90;

As x > 0, y > 0, $\mathrm{\&theta;}=270+arctg\left(\frac{y}{x}\right);$

As x < 0, y > 0, $\mathrm{\&theta;}=arctg\left(\frac{y}{-x}\right);$

As x < 0, y < 0, $\mathrm{\&theta;}=90+arctg\left(\frac{y}{x}\right);$

As x > 0, y < 0, $\mathrm{\&theta;}=180+arctg\left(\frac{-y}{x}\right);$

Thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction; As shown in Figure 5, if θ < 180, then α=θ+180; As shown in Figure 6, if θ >=180, then α=θ-180; The coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by berth lock; When a UWB alignment sensor point to the direction of the UWB positioning label projection in the plane at X-axis and Y-axis place and Y-axis positive dirction in the same way time, angle value θ=0, α=180;

S7: controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α; When pointed earth magnetism direct north, angle value α=0;

S8: CPU (central processing unit) calculates indicating device and parking stall air line distance in the horizontal plane according to the coordinate figure of UWB positioning label, when car owner finds parking stall according to the sensing of pointer on display screen, berth lock detects that indicating device and parking stall air line distance is in the horizontal plane less than setting value D, baffle plate is fallen by the lifter of berth lock, and car owner can use this parking stall; When car owner does not need to use this parking stall, car owner drives to leave parking stall, inductor now on berth lock detects that vehicle leaves, baffle plate is raised to extreme higher position by the lifter of berth lock, stop storing cycle, send idle condition information to management server, this parking stall is labeled as idle condition by management server simultaneously.

The coordinate figure of the real-time detection angle angle value α of berth lock and UWB positioning label, and be sent to indicating device, indicating device adjusts pointer direction in real time, realizes the effect guided in real time.Indicating device determines distance and the orientation of UWB positioning label and a UWB alignment sensor in the vertical direction according to the coordinate figure of UWB positioning label, the floor at self place is gone out, self current place floor of display screen display of indicating device, place, parking stall floor and position according to the high computational of place, parking stall floor and every floor.Indicating device calculates indicating device and parking stall air line distance in the horizontal plane according to the coordinate figure of UWB positioning label, and display screen shows this distance.

Claims (7)

1. a large parking lot vehicle guide system, it is characterized in that: comprise management server (1), indicating device (2) and the berth lock (3) be arranged on parking stall, the drive motor (5) that described berth lock (3) comprises base (4) and drives base (4) to rotate, described base (4) is provided with lifter (6), the top of described lifter (6) is provided with the baffle plate (7) transversely arranged, described baffle plate (7) side is provided with the stringer board (25) vertical with baffle plate (7), described base (4) is provided with CPU (central processing unit) (8), first wireless communication module (9), first electrical compass module (10) and a UWB alignment sensor (11), described baffle plate (7) is provided with the 2nd UWB alignment sensor (12) and the 3rd UWB alignment sensor (13), described stringer board is provided with the 4th UWB alignment sensor (14), a described UWB alignment sensor (11) is vertical with base (4) with the line of the 2nd UWB alignment sensor (12), described 2nd UWB alignment sensor (12) is parallel with base with the line of the 3rd UWB alignment sensor (13), described 2nd UWB alignment sensor (12) is parallel with base (4) with the line of the 4th UWB alignment sensor (14), and it is vertical with the line of the 3rd UWB alignment sensor (13) with the 2nd UWB alignment sensor (12), described indicating device (2) comprises controller (15), second wireless communication module (16), UWB positioning label (17), display screen (18), button group (19) and the second electrical compass module (20), described CPU (central processing unit) (8) respectively with drive motor (5), lifter (6), first wireless communication module (9), first electrical compass module (10), one UWB alignment sensor (11), 2nd UWB alignment sensor (12), 3rd UWB alignment sensor (13) and the electrical connection of the 4th UWB alignment sensor (14), described controller (15) respectively with the second wireless communication module (16), UWB positioning label (17), display screen (18), button group (19) and the second electrical compass module (20) electrical connection, described first wireless communication module (9), second wireless communication module (16) and management server (1) are by wireless network wireless connections.

2. a kind of large parking lot vehicle guide system according to claim 1, it is characterized in that: described indicating device (2) also comprises voice output module (21), described voice output module (21) is electrically connected with controller (15).

3. a kind of large parking lot vehicle guide system according to claim 1 and 2, is characterized in that: each indicating device (2) has unique particular number.

4. a bootstrap technique for large parking lot vehicle guide system, is applicable to a kind of large parking lot vehicle guide system as described in claim arbitrary in claim 1-3, it is characterized in that, comprise the following steps:

S1: car owner obtains indicating device at Entrance from managerial personnel, sends to management server the request of parking by indicating device, includes the particular number of this indicating device self in parking solicited message;

S2: management server is chosen a parking space allocation after receiving the request of parking and used to car owner from the parking stall of free time, this parking stall is labeled as using state, send enabled instruction to the berth lock on this parking stall, in enabled instruction, include the particular number of indicating device;

S3: the berth lock on this parking stall is started working after receiving enabled instruction, send parking space information to indicating device, after indicating device receives the parking space information be assigned with, show parking space information by display screen, sent with the UWB signal of self particular number to this berth lock by UWB positioning label;

S4: this berth lock is by a UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the 4th UWB alignment sensor receive the UWB signal that UWB positioning label sends, the CPU (central processing unit) of this berth lock obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, the direction of the 2nd UWB alignment sensor is pointed to for Z axis positive dirction with a UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system,

S5: CPU (central processing unit) drives base rotation by drive motor, make baffle plate parallel with earth magnetism direct north, namely the straight line that is linked to be of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is parallel with earth magnetism direct north, the X-axis coordinate of the 3rd UWB alignment sensor is 0, the Y-axis coordinate of the 3rd UWB alignment sensor is y2, because the 2nd UWB alignment sensor is vertical with the line of the 3rd UWB alignment sensor with the 2nd UWB alignment sensor with the line of the 4th UWB alignment sensor, the X-axis coordinate of the 4th UWB alignment sensor is x3, the Y-axis coordinate of the 4th UWB alignment sensor is 0, because baffle plate is in extreme higher position, 2nd UWB alignment sensor, the Z axis coordinate of the 3rd UWB alignment sensor and the 4th UWB alignment sensor is all z1, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), the coordinate of the 4th UWB alignment sensor is (x3, 0, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₀, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₁, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₂, the 4th UWB alignment sensor detects that the distance between itself and UWB positioning label is R ₃, suppose that the coordinate of UWB positioning label is for (x, y, z), obtains system of equations:

$\left\{\begin{array}{c}{R}_0^2={(x-0)}^2+{(y-0)}^2+{(z-0)}^2\\ R_1^2={(x-0)}^2+{(y-0)}^2+{(z-z1)}^2\\ R_2^2={(x-0)}^2+{(y-y2)}^2+{(z-z1)}^2\\ R_3^2={(x-x3)}^2+{(y-0)}^2+{(z-z1)}^2\end{array}\right.$

Adopt and carry out iterative based on the least square method of Taylor series expansion, obtain x, the value of y, z, obtain the coordinate figure of UWB positioning label;

S6: CPU (central processing unit) is according to the coordinate figure of UWB positioning label, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of UWB positioning label in the plane at X-axis and Y-axis place, thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction, the coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by berth lock,

S7: controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α;

S8: when car owner finds parking stall according to the sensing of pointer on display screen, car owner sends use parking stall request by indicating device to the berth lock on parking stall, use the particular number including this indicating device self in the solicited message of parking stall, after this berth lock receives and uses parking stall request, by the particular number comparison that the particular number used in the solicited message of parking stall and management server send, if comparison success, then fallen by baffle plate by lifter, car owner can use this parking stall; After car owner drives to leave parking stall, the parking stall request of finishing using is sent to the berth lock on parking stall by indicating device, baffle plate is raised to extreme higher position by lifter after receiving the parking stall request of finishing using by this berth lock, stop storing cycle, send idle condition information to management server, this parking stall is labeled as idle condition by management server simultaneously.

5. the bootstrap technique of a kind of large parking lot vehicle guide system according to claim 4, it is characterized in that: indicating device determines distance and the orientation of UWB positioning label and a UWB alignment sensor in the vertical direction according to the coordinate figure of UWB positioning label, the floor at self place is gone out, self current place floor of display screen display of indicating device, place, parking stall floor and position according to the high computational of place, parking stall floor and every floor.

6. the bootstrap technique of a kind of large parking lot vehicle guide system according to claim 4 or 5, it is characterized in that: indicating device calculates indicating device and parking stall air line distance in the horizontal plane according to the coordinate figure of UWB positioning label, and display screen shows this distance.

7. the bootstrap technique of a kind of large parking lot vehicle guide system according to claim 4 or 5, is characterized in that: described parking space information comprises position and the numbering on parking stall.