CN105321373B - A kind of large parking lot vehicle guide system and its bootstrap technique - Google Patents
A kind of large parking lot vehicle guide system and its bootstrap technique Download PDFInfo
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- CN105321373B CN105321373B CN201510560324.5A CN201510560324A CN105321373B CN 105321373 B CN105321373 B CN 105321373B CN 201510560324 A CN201510560324 A CN 201510560324A CN 105321373 B CN105321373 B CN 105321373B
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Abstract
The invention discloses a kind of large parking lot vehicle guide system and its bootstrap technique.The system includes management server, instruction device and the berth lock being arranged on parking stall, berth lock includes base and drives the motor of base rotation, base is provided with lifter, the top of lifter is provided with baffle plate, baffle plate side is provided with stringer board, base is provided with CPU, first wireless communication module, first electrical compass module and the first U W B alignment sensors, baffle plate is provided with the 2nd U W B alignment sensors and the 3rd U W B alignment sensors, stringer board is provided with the 4th U W B alignment sensors, instruction device includes controller, second wireless communication module, U W B position label, display screen, button group and the second electrical compass module.The present invention specifies an idle parking stall to each vehicle for needing to stop, and guides car owner to find the parking stall by instruction device, save the time of car owner, it is to avoid fight for the appearance of parking stall situation.
Description
Technical field
The present invention relates to parking lot guide technical field, more particularly to a kind of large parking lot vehicle guide system and its draw
Guiding method.
Background technology
With the fast development of urbanization, the big and medium-sized cities of recent year occur in that (business is integrated substantial amounts of MALL
Body), these MALL are generally fitted provided with large-scale parking lot, and parking lot might have up to thousands of parking stalls, and some are also more than
One layer.Car owner is not yet done to parking lot landform to look for parking stall, it is necessary to devote a tremendous amount of time, because each parking stall does not have in advance
It is allocated, the situation for fighting for parking stall is there is also sometimes.
The content of the invention
The purpose of the present invention is overcome in large parking lot, and car owner, which devotes a tremendous amount of time, looks for parking stall, can also go out sometimes
The technical problem of parking stall situation is now fought for there is provided a kind of large parking lot vehicle guide system and its bootstrap technique, it is given
Each vehicle for needing to stop specifies an idle parking stall, and guides car owner to find the parking stall by instruction device, saves
The time of car owner is saved, it is to avoid fight for the appearance of parking stall situation.
In order to solve the above problems, the present invention is achieved using following technical scheme：
A kind of large parking lot vehicle guide system of the present invention, including management server, instruction device and being arranged on are stopped
Berth lock on parking stall, the berth lock includes base and drives the motor of base rotation, and the base is provided with liter
Device drops, and the top of the lifter is provided with the baffle plate transversely set, and the baffle plate side is provided with the stringer board vertical with baffle plate, institute
Base is stated provided with CPU, the first wireless communication module, the first electrical compass module and the first UWB orientation sensings
Device, the baffle plate is provided with the 2nd UWB alignment sensors and the 3rd UWB alignment sensors, and the stringer board is fixed provided with the 4th UWB
Level sensor, the line of the first UWB alignment sensors and the 2nd UWB alignment sensors is vertical with base, the 2nd UWB
The line of alignment sensor and the 3rd UWB alignment sensors is parallel with base, the 2nd UWB alignment sensors and the 4th UWB
The line of alignment sensor is parallel with base, and is hung down with the line of the 2nd UWB alignment sensors and the 3rd UWB alignment sensors
Directly, the instruction device includes controller, the second wireless communication module, UWB positioning label, display screen, button group and the second electricity
Sub- compass module, the CPU respectively with motor, lifter, the first wireless communication module, first electronics sieve
Disk module, the first UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB orientation sensings
Device is electrically connected, and the controller positions label, display screen, button group and the second electronics with the second wireless communication module, UWB respectively
Compass module is electrically connected, and first wireless communication module, the second wireless communication module and management server pass through wireless network
Wireless connection.
In the technical program, management server can be communicated by mobile Internet with user's smart mobile phone, car owner
The whether available free parking stall in parking lot can be inquired about.Car owner obtains instruction device in Entrance at administrative staff, by indicating
Device is sent in parking request, parking solicited message to management server includes the instruction device particular number of itself.Pipe
Reason server, which is received, to be chosen a parking space allocation from idle parking stall after parking request and is used to car owner, and this is stopped
Position is labeled as use state, sends enabled instruction to the berth lock on the parking stall, includes instruction device in enabled instruction
Particular number.
Berth lock on the parking stall is received and started working after enabled instruction, sends parking space information to instruction device,
Parking space information includes position and the numbering on parking stall, and instruction device is received after allocated parking space information, passes through display
Screen shows parking space information, and positioning UWB signal of the label transmission with itself particular number by UWB gives the berth lock.The car
Position lock is passed by the first UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB positioning
Sensor receives the UWB signal that UWB positioning labels are sent, and the CPU of the berth lock is obtained by the first electrical compass module
The direction of earth magnetism due north is taken, using the first UWB alignment sensors as origin, using earth magnetism direct north as Y-axis positive direction, is existed with Y-axis
Horizontal plane rotates clockwise and is oriented to X-axis positive direction after 90 degree, and pointing to the 2nd UWB positioning with the first UWB alignment sensors passes
The direction (i.e. direction straight up) of sensor is Z axis positive direction, sets up XYZ three-dimensional cartesian coordinate systems, the first UWB alignment sensors
Overlapped with the line of the 2nd UWB alignment sensors with Z axis.
Then, CPU drives base rotation by motor so that baffle plate is parallel with earth magnetism direct north,
The straight line that i.e. the 2nd UWB alignment sensors and the 3rd UWB alignment sensors are linked to be is parallel with earth magnetism direct north, and the 3rd UWB determines
The X-axis coordinate of level sensor is 0, and the Y-axis coordinate of the 3rd UWB alignment sensors is y2, and the X-axis of the 4th UWB alignment sensors is sat
It is designated as x3, the Y-axis coordinate of the 4th UWB alignment sensors is 0, because baffle plate is in extreme higher position, the 2nd UWB alignment sensors,
The Z axis coordinate of 3rd UWB alignment sensors and the 4th UWB alignment sensors is all z1, now, the first UWB alignment sensors
Coordinate is (0,0,0), and the coordinates of the 2nd UWB alignment sensors is (0,0, z1), the coordinates of the 3rd UWB alignment sensors for (0,
Y2, z1), the coordinate of the 4th UWB alignment sensors is (x3,0, z1), and the first UWB alignment sensors detect it and positioned with UWB
The distance between label is R0, it is R that the 2nd UWB alignment sensors, which detect it and position the distance between label with UWB,1, the 3rd
It is R that UWB alignment sensors, which detect it and position the distance between label with UWB,2, the 4th UWB alignment sensors detect its with
The distance between UWB positioning labels are R3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), sets up equation group, calculates x,
Y, z value, obtain the coordinate value that UWB positions label.
CPU, using Y-axis positive direction as starting, is rotated counterclockwise as angle augment direction, meter according to x, y value
Calculate Y-axis positive direction and point to projection of the UWB positioning labels in the plane where X-axis and Y-axis with the first UWB alignment sensors
Angle value θ between direction, so that calculating projection of the UWB positioning labels in the plane where X-axis and Y-axis points to first
Angle value α between the direction of UWB alignment sensors and Y-axis positive direction (i.e. earth magnetism direct north), berth lock will be calculated
The coordinate value of angle value α and UWB positioning label is sent to instruction device.Controller obtains ground by the second electrical compass module
The direction of magnetic due north, using earth magnetism direct north as starting, is rotated counterclockwise as angle augment direction, according to the angle value received
α determines the sensing of the pointer of display screen display, and display screen shows pointer, the angle between the sensing of the pointer and earth magnetism due north
Angle value is always α.The real-time detection angles value α and UWB of berth lock positions the coordinate value of label, and is sent to instruction device, indicates
Device adjusts pointer direction in real time.
When car owner finds parking stall according to the sensing of pointer on display screen, car owner is by instruction device on parking stall
Berth lock is sent and asked using parking stall, using including the instruction device particular number of itself, the car in the solicited message of parking stall
Position interlocking is received using after the request of parking stall, by using the particular number and management server in the solicited message of parking stall send it is specific
Numbering is compared, if compared successfully, is fallen baffle plate by lifter, the parking stall can be used in car owner；When car owner drive from
Behind start-stop parking stall, parking stall is sent using request is finished to the berth lock on parking stall by instruction device, the berth lock is received
Baffle plate is raised to extreme higher position using finishing after request by parking stall by lifter, storing cycle is prevented, while sending idle condition
The parking stall is labeled as idle condition by information to management server, management server.
Preferably, the instruction device also includes voice output module, the voice output module is electrically connected with controller
Connect.Voice output module can export voice message.
Preferably, each instruction device has unique particular number.
A kind of bootstrap technique of large parking lot vehicle guide system of the present invention, comprises the following steps：
S1：Car owner obtains instruction device in Entrance at administrative staff, by instruction device to management server
Send in parking request, parking solicited message and include the instruction device particular number of itself；
S2：Management server receives and chooses a parking space allocation to car owner from idle parking stall after parking request
Use, the parking stall is labeled as use state, send enabled instruction to the berth lock on the parking stall, included in enabled instruction
There is the particular number of instruction device；
S3：Berth lock on the parking stall is received and started working after enabled instruction, is sent parking space information and is filled to instruction
Put, instruction device is received after allocated parking space information, parking space information is shown by display screen, positioned and marked by UWB
Sign and issue and send the UWB signal with itself particular number to the berth lock；
S4：The berth lock passes through the first UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors
The UWB signal that UWB positioning labels are sent is received with the 4th UWB alignment sensors, and the CPU of the berth lock passes through the
One electrical compass module obtains the direction of earth magnetism due north, using the first UWB alignment sensors as origin, using earth magnetism direct north as Y
Axle positive direction, is rotated clockwise in horizontal plane with Y-axis and is oriented to X-axis positive direction after 90 degree, referred to the first UWB alignment sensors
It is Z axis positive direction to the direction of the 2nd UWB alignment sensors, sets up XYZ three-dimensional cartesian coordinate systems；
S5：CPU drives base rotation by motor so that baffle plate is parallel with earth magnetism direct north, i.e.,
The straight line that 2nd UWB alignment sensors and the 3rd UWB alignment sensors are linked to be is parallel with earth magnetism direct north, the 3rd UWB positioning
The X-axis coordinate of sensor is 0, and the Y-axis coordinate of the 3rd UWB alignment sensors is y2, due to the 2nd UWB alignment sensors and the 4th
The line of UWB alignment sensors is vertical with the line of the 2nd UWB alignment sensors and the 3rd UWB alignment sensors, and the 4th UWB determines
The X-axis coordinate of level sensor is x3, and the Y-axis coordinate of the 4th UWB alignment sensors is 0, because baffle plate is in extreme higher position, second
The Z axis coordinate of UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors is all z1, now, first
The coordinate of UWB alignment sensors is (0,0,0), and the coordinate of the 2nd UWB alignment sensors is (0,0, z1), and the 3rd UWB positioning is passed
The coordinate of sensor is (0, y2, z1), and the coordinate of the 4th UWB alignment sensors is (x3,0, z1), the inspection of the first UWB alignment sensors
It is R to measure it and position the distance between label with UWB0, the 2nd UWB alignment sensors detect it UWB between positioning label
Distance be R1, it is R that the 3rd UWB alignment sensors, which detect it and position the distance between label with UWB,2, the 4th UWB positioning biographies
It is R that sensor, which detects it and positions the distance between label with UWB,3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), the side of obtaining
Journey group：
Solution is iterated using the least square method based on Taylor series expansion, x is obtained, y, z value obtains UWB and determined
The coordinate value of position label；
S6：CPU according to UWB position label coordinate value, using Y-axis positive direction for originate, rotate counterclockwise for
Angle augment direction, calculates Y-axis positive direction and points to UWB positioning labels where X-axis and Y-axis with the first UWB alignment sensors
Plane on projection direction between angle value θ so that calculate UWB position label in the plane where X-axis and Y-axis
Projection point to angle value α between the direction of the first UWB alignment sensors and Y-axis positive direction, berth lock is by the angle calculated
The coordinate value of angle value α and UWB positioning label is sent to instruction device；
S7：Controller obtains the direction of earth magnetism due north by the second electrical compass module, using earth magnetism direct north as starting,
Rotate counterclockwise as angle augment direction, determined to show the sensing of the pointer of screen display, display according to the angle value α received
Screen display shows pointer, and the angle value between the sensing of the pointer and earth magnetism due north is always α；
S8：When car owner finds parking stall according to the sensing of pointer on display screen, car owner is by instruction device to parking stall
On berth lock send and asked using parking stall, using including the instruction device particular number of itself in the solicited message of parking stall,
The berth lock is received using after the request of parking stall, by what is sent using the particular number in the solicited message of parking stall with management server
Particular number is compared, if compared successfully, is fallen baffle plate by lifter, the parking stall can be used in car owner；When car owner drives
Car is left behind parking stall, sends parking stall using finishing request to the berth lock on parking stall by instruction device, the parking stall interlocking
Receive parking stall and baffle plate is raised to by extreme higher position by lifter using finishing after request, storing cycle is prevented, while sending idle
The parking stall is labeled as idle condition by status information to management server, management server.
Preferably, instruction device determines that UWB positioning labels and the first UWB are positioned according to the UWB coordinate values for positioning label
The distance and orientation of sensor in the vertical direction, floor and the high computational per floor go out where itself according to where parking stall
Floor, the display screen of instruction device show itself is currently located floor, floor where parking stall and position.
Preferably, instruction device calculates instruction device with parking stall in level according to the UWB coordinate values for positioning label
Air line distance on face, display screen shows the distance.
Preferably, the parking space information includes position and the numbering on parking stall.
The present invention substantial effect be：The use state on all parking stalls in parking lot is monitored, needs what is stopped to each
Vehicle specifies an idle parking stall, and guides car owner to be quickly found out the parking stall by instruction device, saves car owner's
Time, it is to avoid fight for the appearance of parking stall situation.
Brief description of the drawings
A kind of circuit theory connection block diagram of Fig. 1 present invention；
Fig. 2 is a kind of structural representation of berth lock；
Fig. 3 is Fig. 2 top view；
Fig. 4 is the XYZ three-dimensional cartesian coordinate systems set up using the first UWB alignment sensors as origin；
Fig. 5 is a kind of position relationship that the first UWB alignment sensors position label with UWB；
Fig. 6 is a kind of position relationship that the first UWB alignment sensors position label with UWB.
In figure：1st, management server, 2, instruction device, 3, berth lock, 4, base, 5, motor, 6, lifter, 7, gear
Plate, 8, CPU, the 9, first wireless communication module, the 10, first electrical compass module, the 11, the first UWB orientation sensings
Device, the 12, the 2nd UWB alignment sensors, the 13, the 3rd UWB alignment sensors, the 14, the 4th UWB alignment sensors, 15, controller,
16th, the second wireless communication module, 17, UWB positioning labels, 18, display screen, 19, button group, the 20, second electrical compass module,
21st, voice output module, 22, inductor, 23, indicator lamp, 24, buzzer, 25, stringer board.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment 1：A kind of large parking lot vehicle guide system of the present embodiment, as shown in Figure 1, Figure 2, Figure 3 shows, including pipe
Reason server 1, instruction device 2 and the berth lock 3 being arranged on parking stall, berth lock 3 include base 4 and 4 turns of base of driving
Dynamic motor 5, base 4 is provided with lifter 6, and the top of lifter 6 is provided with the baffle plate 7 transversely set, the side of baffle plate 7
Middle part is provided with the stringer board 25 vertical with baffle plate 7, and base 4 is provided with CPU 8, first the 9, first electricity of wireless communication module
The sub- UWB alignment sensors 11 of compass module 10 and the first, baffle plate 7 is positioned provided with the 2nd UWB alignment sensors 12 and the 3rd UWB
Sensor 13, stringer board 25 is provided with the 4th UWB alignment sensors 14, the first UWB alignment sensors 11 and the 2nd UWB orientation sensings
The line of device 12 is vertical with base 4, and line and the base of the 2nd UWB alignment sensors 12 and the 3rd UWB alignment sensors 13 are put down
OK, the line of the 2nd UWB alignment sensors 12 and the 4th UWB alignment sensors 14 is parallel with base 4, and is positioned with the 2nd UWB
The line of the UWB alignment sensors 13 of sensor 12 and the 3rd is vertical, and instruction device 2 includes controller 15, the second radio communication mold
Block 16, UWB positioning label 17, display screen 18, the electrical compass module 20 of button group 19 and second, CPU 8 respectively with
Motor 5, lifter 6, the first wireless communication module 9, the first electrical compass module 10, the first UWB alignment sensors 11,
Two UWB alignment sensors 12, the 3rd UWB alignment sensors 13 and the 4th UWB alignment sensors 14 are electrically connected, and controller 15 is distinguished
It is electrically connected with the second wireless communication module 16, UWB positioning label 17, display screen 18, the electrical compass module 20 of button group 19 and second
Connect, the first wireless communication module 9, the second wireless communication module 16 and management server 1 pass through wireless network wireless connection.
Management server can be communicated by mobile Internet with user's smart mobile phone, and whether car owner can inquire about parking lot
Available free parking stall.Car owner obtains instruction device in Entrance at administrative staff, by instruction device to management server
Send in parking request, parking solicited message and include the instruction device particular number of itself, each instruction device has
Unique particular number.Management server receive after parking request chosen from idle parking stall a parking space allocation to
Car owner is used, and the parking stall is labeled as into use state, enabled instruction is sent to the berth lock on the parking stall, in enabled instruction
Include the particular number of instruction device.
Berth lock on the parking stall is received and started working after enabled instruction, sends parking space information to instruction device,
Parking space information includes position and the numbering on parking stall, and instruction device is received after allocated parking space information, passes through display
Screen shows parking space information, and positioning UWB signal of the label transmission with itself particular number by UWB gives the berth lock.The car
Position lock is passed by the first UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB positioning
Sensor receives the UWB signal that UWB positioning labels are sent, and the CPU of the berth lock is obtained by the first electrical compass module
The direction of earth magnetism due north is taken, using the first UWB alignment sensors as origin, using earth magnetism direct north as Y-axis positive direction, is existed with Y-axis
Horizontal plane rotates clockwise and is oriented to X-axis positive direction after 90 degree, and pointing to the 2nd UWB positioning with the first UWB alignment sensors passes
The direction (i.e. direction straight up) of sensor is Z axis positive direction, sets up XYZ three-dimensional cartesian coordinate systems, the first UWB alignment sensors
Overlapped with the line of the 2nd UWB alignment sensors with Z axis.
Then, CPU drives base rotation by motor so that baffle plate is parallel with earth magnetism direct north,
The straight line that i.e. the 2nd UWB alignment sensors and the 3rd UWB alignment sensors are linked to be is parallel with earth magnetism direct north, and the 3rd UWB determines
The X-axis coordinate of level sensor is 0, and the Y-axis coordinates of the 3rd UWB alignment sensors is y2, due to the 2nd UWB alignment sensors and the
The line of four UWB alignment sensors is vertical with the line of the 2nd UWB alignment sensors and the 3rd UWB alignment sensors, the 4th UWB
The X-axis coordinate of alignment sensor is x3, and the Y-axis coordinate of the 4th UWB alignment sensors is 0, because baffle plate is in extreme higher position, the
The Z axis coordinate of two UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors is all z1, now, first
The coordinate of UWB alignment sensors is (0,0,0), and the coordinate of the 2nd UWB alignment sensors is (0,0, z1), and the 3rd UWB positioning is passed
The coordinate of sensor is (0, y2, z1), and the coordinate of the 4th UWB alignment sensors is (x3,0, z1), and the first UWB alignment sensors lead to
It is R to cross TOA method measurements and detect it to position the distance between label with UWB0, the 2nd UWB alignment sensors pass through TOA methods
It is R to detect it and position the distance between label with UWB1, the 3rd UWB alignment sensors detect itself and UWB by TOA methods
It is R to position the distance between label2, the 4th UWB alignment sensors detect it by TOA methods and position UWB between label
Distance be R3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), sets up equation group, calculates x, y, z value obtains UWB
Position the coordinate value of label.
As shown in figure 4, CPU is according to x, y value, using Y-axis positive direction as starting, is rotated counterclockwise as angle
Augment direction, calculates Y-axis positive direction and points to UWB positioning labels flat where X-axis and Y-axis with the first UWB alignment sensors
Angle value θ between the direction of projection on face, so as to calculate throwing of the UWB positioning labels in the plane where X-axis and Y-axis
Shadow points to the angle value α between the direction of the first UWB alignment sensors and Y-axis positive direction (i.e. earth magnetism direct north), berth lock
The angle value α and UWB that the calculate coordinate value for positioning label are sent to instruction device.Controller passes through the second electronic compass
Module obtains the direction of earth magnetism due north, using earth magnetism direct north to originate, rotates counterclockwise as angle augment direction, according to reception
The angle value α arrived determines the sensing of the pointer of display screen display, and display screen shows pointer, and the sensing of the pointer and earth magnetism are just
Angle value between north is always α.The real-time detection angles value α and UWB of berth lock positions the coordinate value of label, and is sent to instruction
Device, instruction device adjusts pointer direction in real time.
Instruction device determines UWB positioning labels and the first UWB alignment sensors perpendicular according to the UWB coordinate values for positioning label
Nogata upward distance and orientation, the floor according to where floor where parking stall and the high computational per floor go out itself, refer to
The display screen of showing device, which is shown, itself is currently located floor, parking stall place floor and position.Such as z=-3.5m, then UWB positioning
Label be located at the first UWB alignment sensors below, UWB positioning label and the first UWB alignment sensor in the vertical directions away from
From for 3.5m, story height is 4m, and berth lock is located at 2 buildings, it indicates that device is currently located at 1 building.Instruction device is positioned according to UWB
The coordinate value of label calculates instruction device and the air line distance of parking stall in the horizontal plane, and display screen shows the distance.
When car owner finds parking stall according to the sensing of pointer on display screen, car owner is by instruction device on parking stall
Berth lock is sent and asked using parking stall, using including the instruction device particular number of itself, the car in the solicited message of parking stall
Position interlocking is received using after the request of parking stall, by using the particular number and management server in the solicited message of parking stall send it is specific
Numbering is compared, if compared successfully, is fallen baffle plate by lifter, the parking stall can be used in car owner；When car owner drive from
Behind start-stop parking stall, parking stall is sent using request is finished to the berth lock on parking stall by instruction device, the berth lock is received
Baffle plate is raised to extreme higher position using finishing after request by parking stall by lifter, storing cycle is prevented, while sending idle condition
The parking stall is labeled as idle condition by information to management server, management server.
Instruction device 2 also includes voice output module 21, and voice output module 21 is electrically connected with controller 15, voice output
Module can export voice message.
The bootstrap technique of a kind of large parking lot vehicle guide system of the present embodiment, it is adaptable to above-mentioned a kind of large-scale to stop
Parking lot vehicle guide system, comprises the following steps：
S1：Car owner obtains instruction device in Entrance at administrative staff, by instruction device to management server
Send in parking request, parking solicited message and include the instruction device particular number of itself；
S2：Management server receives and chooses a parking space allocation to car owner from idle parking stall after parking request
Use, the parking stall is labeled as use state, send enabled instruction to the berth lock on the parking stall, included in enabled instruction
There is the particular number of instruction device；
S3：Berth lock on the parking stall is received and started working after enabled instruction, is sent parking space information and is filled to instruction
Put, parking space information includes position and the numbering on parking stall, instruction device is received after allocated parking space information, by aobvious
Display screen shows parking space information, and positioning UWB signal of the label transmission with itself particular number by UWB gives the berth lock；
S4：The berth lock passes through the first UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors
The UWB signal that UWB positioning labels are sent is received with the 4th UWB alignment sensors, and the CPU of the berth lock passes through the
One electrical compass module obtains the direction of earth magnetism due north, using the first UWB alignment sensors as origin, using earth magnetism direct north as Y
Axle positive direction, is rotated clockwise in horizontal plane with Y-axis and is oriented to X-axis positive direction after 90 degree, referred to the first UWB alignment sensors
It is Z axis positive direction to the direction (i.e. direction straight up) of the 2nd UWB alignment sensors, sets up XYZ three-dimensional cartesian coordinate systems；
S5：CPU drives base rotation by motor so that baffle plate is parallel with earth magnetism direct north, i.e.,
The straight line that 2nd UWB alignment sensors and the 3rd UWB alignment sensors are linked to be is parallel with earth magnetism direct north, the 3rd UWB positioning
The X-axis coordinate of sensor is 0, and the Y-axis coordinate of the 3rd UWB alignment sensors is y2, due to the 2nd UWB alignment sensors and the 4th
The line of UWB alignment sensors is vertical with the line of the 2nd UWB alignment sensors and the 3rd UWB alignment sensors, and the 4th UWB determines
The X-axis coordinate of level sensor is x3, and the Y-axis coordinate of the 4th UWB alignment sensors is 0, because baffle plate is in extreme higher position, second
The Z axis coordinate of UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors is all z1, now, first
The coordinate of UWB alignment sensors is (0,0,0), and the coordinate of the 2nd UWB alignment sensors is (0,0, z1), and the 3rd UWB positioning is passed
The coordinate of sensor is (0, y2, z1), and the coordinate of the 4th UWB alignment sensors is (x3,0, z1), the inspection of the first UWB alignment sensors
It is R to measure it and position the distance between label with UWB0, the 2nd UWB alignment sensors detect it UWB between positioning label
Distance be R1, it is R that the 3rd UWB alignment sensors, which detect it and position the distance between label with UWB,2, the 4th UWB positioning biographies
It is R that sensor, which detects it and positions the distance between label with UWB,3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), the side of obtaining
Journey group：
Solution is iterated using the least square method based on Taylor series expansion, x is obtained, y, z value obtains UWB and determined
The coordinate value of position label；
S6：CPU according to UWB position label coordinate value, using Y-axis positive direction for originate, rotate counterclockwise for
Angle augment direction, calculates Y-axis positive direction and points to UWB positioning labels where X-axis and Y-axis with the first UWB alignment sensors
Plane on projection (i.e. on horizontal plane) direction between angle value θ,
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,
As x ＜ 0, y ＞ 0,
As x ＜ 0, y ＜ 0,
As x ＞ 0, y ＜ 0,
The first UWB orientation sensings are pointed to so as to calculate projection of the UWB positioning labels in the plane where X-axis and Y-axis
Angle value α between the direction of device and Y-axis positive direction；If as shown in figure 5, θ ＜ 180, α=θ+180；As shown in fig. 6, such as
Fruit θ >=180, then α=θ -180；The angle value α and UWB that the calculate coordinate value for positioning label are sent to instruction by berth lock
Device；When the first UWB alignment sensors point to direction and the Y of projection of the UWB positioning labels in the plane where X-axis and Y-axis
When axle positive direction is in the same direction, angle value θ=0, α=180；
S7：Controller obtains the direction of earth magnetism due north by the second electrical compass module, using earth magnetism direct north as starting,
Rotate counterclockwise as angle augment direction, determined to show the sensing of the pointer of screen display, display according to the angle value α received
Screen display shows pointer, and the angle value between the sensing of the pointer and earth magnetism due north is always α；When pointer points to earth magnetism direct north
When, angle value α=0；
S8：When car owner finds parking stall according to the sensing of pointer on display screen, car owner is by instruction device to parking stall
On berth lock send and asked using parking stall, using including the instruction device particular number of itself in the solicited message of parking stall,
The berth lock is received using after the request of parking stall, by what is sent using the particular number in the solicited message of parking stall with management server
Particular number is compared, if compared successfully, is fallen baffle plate by lifter, the parking stall can be used in car owner；When car owner drives
Car is left behind parking stall, sends parking stall using finishing request to the berth lock on parking stall by instruction device, the parking stall interlocking
Receive parking stall and baffle plate is raised to by extreme higher position by lifter using finishing after request, storing cycle is prevented, while sending idle
The parking stall is labeled as idle condition by status information to management server, management server.
The real-time detection angles value α and UWB of berth lock positions the coordinate value of label, and is sent to instruction device, instruction device
Adjustment pointer direction, realizes the effect guided in real time in real time.Instruction device determines that UWB determines according to the UWB coordinate values for positioning label
The distance and orientation of position label and the first UWB alignment sensor in the vertical directions, according to floor where parking stall and every floor
The floor that goes out where itself of high computational, the display screen of instruction device, which is shown, itself is currently located building where floor, parking stall
Layer and position.Instruction device calculates instruction device and parking stall in the horizontal plane straight according to the UWB coordinate values for positioning label
Linear distance, display screen shows the distance.
Embodiment 2：A kind of large parking lot vehicle guide system of the present embodiment, as shown in Figure 1, Figure 2, Figure 3 shows, including pipe
Reason server 1, instruction device 2 and the berth lock 3 being arranged on parking stall, berth lock 3 include base 4 and 4 turns of base of driving
Dynamic motor 5, base 4 is provided with lifter 6, and the top of lifter 6 is provided with the baffle plate 7 transversely set, the side of baffle plate 7
Provided with the stringer board 25 vertical with baffle plate 7, base 4 is provided with CPU 8, the first wireless communication module 9, first electronics sieve
Disk module 10, the first UWB alignment sensors 11 and the inductor 22 for detecting vehicle, baffle plate 7 are positioned provided with the 2nd UWB and passed
The UWB alignment sensors 13 of sensor 12 and the 3rd, stringer board is provided with the 4th UWB alignment sensors 14, the first UWB alignment sensors 11
It is vertical with base 4 with the line of the 2nd UWB alignment sensors 12, the 2nd UWB alignment sensors 12 and the 3rd UWB alignment sensors
13 line is parallel with base, and the line of the 2nd UWB alignment sensors 12 and the 4th UWB alignment sensors 14 is parallel with base 4,
And it is vertical with the line of the 2nd UWB alignment sensors 12 and the 3rd UWB alignment sensors 13, instruction device 2 include controller 15,
Second wireless communication module 16, UWB positioning label 17, display screen 18, the electrical compass module 20 of button group 19 and second, centre
Unit 8 is managed respectively with motor 5, lifter 6, the first wireless communication module 9, the first electrical compass module 10, the first UWB to determine
Level sensor 11, the 2nd UWB alignment sensors 12, the 3rd UWB alignment sensors 13, the 4th UWB alignment sensors 14 and sensing
Device 22 is electrically connected, controller 15 respectively with the second wireless communication module 16, UWB positioning label 17, display screen 18, button group 19 and
Second electrical compass module 20 is electrically connected, and the first wireless communication module 9, the second wireless communication module 16 and management server 1 are logical
Cross wireless network wireless connection.
Management server can be communicated by mobile Internet with user's smart mobile phone, and whether car owner can inquire about parking lot
Available free parking stall.Car owner obtains instruction device in Entrance at administrative staff, by instruction device to management server
Send in parking request, parking solicited message and include the instruction device particular number of itself, each instruction device has
Unique particular number.Management server receive after parking request chosen from idle parking stall a parking space allocation to
Car owner is used, and the parking stall is labeled as into use state, enabled instruction is sent to the berth lock on the parking stall, in enabled instruction
Include the particular number of instruction device.
Berth lock on the parking stall is received and started working after enabled instruction, sends parking space information to instruction device,
Parking space information includes position and the numbering on parking stall, and instruction device is received after allocated parking space information, passes through display
Screen shows parking space information, and positioning UWB signal of the label transmission with itself particular number by UWB gives the berth lock.The car
Position lock is passed by the first UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB positioning
Sensor receives the UWB signal that UWB positioning labels are sent, and the CPU of the berth lock is obtained by the first electrical compass module
The direction of earth magnetism due north is taken, using the first UWB alignment sensors as origin, using earth magnetism direct north as Y-axis positive direction, is existed with Y-axis
Horizontal plane rotates clockwise and is oriented to X-axis positive direction after 90 degree, and pointing to the 2nd UWB positioning with the first UWB alignment sensors passes
The direction (i.e. direction straight up) of sensor is Z axis positive direction, sets up XYZ three-dimensional cartesian coordinate systems, the first UWB alignment sensors
Overlapped with the line of the 2nd UWB alignment sensors with Z axis.
Then, CPU drives base rotation by motor so that baffle plate is parallel with earth magnetism direct north,
The straight line that i.e. the 2nd UWB alignment sensors and the 3rd UWB alignment sensors are linked to be is parallel with earth magnetism direct north, and the 3rd UWB determines
The X-axis coordinate of level sensor is 0, and the Y-axis coordinates of the 3rd UWB alignment sensors is y2, due to the 2nd UWB alignment sensors and the
The line of four UWB alignment sensors is vertical with the line of the 2nd UWB alignment sensors and the 3rd UWB alignment sensors, the 4th UWB
The X-axis coordinate of alignment sensor is x3, and the Y-axis coordinate of the 4th UWB alignment sensors is 0, because baffle plate is in extreme higher position, the
The Z axis coordinate of two UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors is all z1, now, first
The coordinate of UWB alignment sensors is (0,0,0), and the coordinate of the 2nd UWB alignment sensors is (0,0, z1), and the 3rd UWB positioning is passed
The coordinate of sensor is (0, y2, z1), and the coordinate of the 4th UWB alignment sensors is (x3,0, z1), the inspection of the first UWB alignment sensors
It is R to measure it and position the distance between label with UWB0, the 2nd UWB alignment sensors detect it UWB between positioning label
Distance be R1, it is R that the 3rd UWB alignment sensors, which detect it and position the distance between label with UWB,2, the 4th UWB positioning biographies
It is R that sensor, which detects it and positions the distance between label with UWB,3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), foundation side
Journey group, calculates x, and y, z value obtains the coordinate value that UWB positions label.
As shown in figure 4, CPU is according to x, y value, using Y-axis positive direction as starting, is rotated counterclockwise as angle
Augment direction, calculates Y-axis positive direction and points to UWB positioning labels flat where X-axis and Y-axis with the first UWB alignment sensors
Angle value θ between the direction of projection on face, so as to calculate throwing of the UWB positioning labels in the plane where X-axis and Y-axis
Shadow points to the angle value α between the direction of the first UWB alignment sensors and Y-axis positive direction (i.e. earth magnetism direct north), berth lock
The angle value α and UWB that the calculate coordinate value for positioning label are sent to instruction device.Controller passes through the second electronic compass
Module obtains the direction of earth magnetism due north, using earth magnetism direct north to originate, rotates counterclockwise as angle augment direction, according to reception
The angle value α arrived determines the sensing of the pointer of display screen display, and display screen shows pointer, and the sensing of the pointer and earth magnetism are just
Angle value between north is always α.The real-time detection angles value α and UWB of berth lock positions the coordinate value of label, and is sent to instruction
Device, instruction device adjusts pointer direction in real time.
Instruction device determines UWB positioning labels and the first UWB alignment sensors perpendicular according to the UWB coordinate values for positioning label
Nogata upward distance and orientation, the floor according to where floor where parking stall and the high computational per floor go out itself, refer to
The display screen of showing device, which is shown, itself is currently located floor, parking stall place floor and position.Such as z=-3.5m, then UWB positioning
Label be located at the first UWB alignment sensors below, UWB positioning label and the first UWB alignment sensor in the vertical directions away from
From for 3.5m, story height is 4m, and berth lock is located at 2 buildings, it indicates that device is currently located at 1 building.Instruction device is positioned according to UWB
The coordinate value of label calculates instruction device and the air line distance of parking stall in the horizontal plane, and display screen shows the distance.
CPU calculates instruction device and parking stall in the horizontal plane according to UWB coordinate values for positioning label
Air line distance, when car owner finds parking stall according to the sensing of pointer on display screen, berth lock detects instruction device and parking
The air line distance of position in the horizontal plane is less than setting value D, and the lifter of berth lock falls baffle plate, and the parking can be used in car owner
Position；When car owner need not use the parking stall, car owner drives to leave parking stall, and now the inductor on berth lock detects car
Leave, baffle plate is raised to extreme higher position by the lifter of berth lock, prevents storing cycle, while sending idle state information to pipe
Server is managed, the parking stall is labeled as idle condition by management server.
Instruction device 2 also includes voice output module 21, and voice output module 21 is electrically connected with controller 15, voice output
Module can export voice message.Baffle plate 7 is provided with indicator lamp 23 and buzzer 24, and indicator lamp 23 and buzzer 24 are respectively with
Central Processing Unit 8 is electrically connected.When vehicle and parking stall distance are less than setting value, indicator lamp flicker attracts car owner to note.Work as gear
When plate is down or up, buzzer call reminds car owner to note.
The bootstrap technique of a kind of large parking lot vehicle guide system of the present embodiment, it is adaptable to above-mentioned a kind of large-scale to stop
Parking lot vehicle guide system, comprises the following steps：
S1：Car owner obtains instruction device in Entrance at administrative staff, by instruction device to management server
Send in parking request, parking solicited message and include the instruction device particular number of itself；
S2：Management server receives and chooses a parking space allocation to car owner from idle parking stall after parking request
Use, the parking stall is labeled as use state, send enabled instruction to the berth lock on the parking stall, included in enabled instruction
There is the particular number of instruction device；
S3：Berth lock on the parking stall is received and started working after enabled instruction, is sent parking space information and is filled to instruction
Put, parking space information includes position and the numbering on parking stall, instruction device is received after allocated parking space information, by aobvious
Display screen shows parking space information, and positioning UWB signal of the label transmission with itself particular number by UWB gives the berth lock；
S4：The berth lock passes through the first UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors
The UWB signal that UWB positioning labels are sent is received with the 4th UWB alignment sensors, and the CPU of the berth lock passes through the
One electrical compass module obtains the direction of earth magnetism due north, using the first UWB alignment sensors as origin, using earth magnetism direct north as Y
Axle positive direction, is rotated clockwise in horizontal plane with Y-axis and is oriented to X-axis positive direction after 90 degree, referred to the first UWB alignment sensors
It is Z axis positive direction to the direction (i.e. direction straight up) of the 2nd UWB alignment sensors, sets up XYZ three-dimensional cartesian coordinate systems；
S5：CPU drives base rotation by motor so that baffle plate is parallel with earth magnetism direct north, i.e.,
The straight line that 2nd UWB alignment sensors and the 3rd UWB alignment sensors are linked to be is parallel with earth magnetism direct north, the 3rd UWB positioning
The X-axis coordinate of sensor is 0, and the Y-axis coordinate of the 3rd UWB alignment sensors is y2, due to the 2nd UWB alignment sensors and the 4th
The line of UWB alignment sensors is vertical with the line of the 2nd UWB alignment sensors and the 3rd UWB alignment sensors, and the 4th UWB determines
The X-axis coordinate of level sensor is x3, and the Y-axis coordinate of the 4th UWB alignment sensors is 0, because baffle plate is in extreme higher position, second
The Z axis coordinate of UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors is all z1, now, first
The coordinate of UWB alignment sensors is (0,0,0), and the coordinate of the 2nd UWB alignment sensors is (0,0, z1), and the 3rd UWB positioning is passed
The coordinate of sensor is (0, y2, z1), and the coordinate of the 4th UWB alignment sensors is (x3,0, z1), the inspection of the first UWB alignment sensors
It is R to measure it and position the distance between label with UWB0, the 2nd UWB alignment sensors detect it UWB between positioning label
Distance be R1, it is R that the 3rd UWB alignment sensors, which detect it and position the distance between label with UWB,2, the 4th UWB positioning biographies
It is R that sensor, which detects it and positions the distance between label with UWB,3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), the side of obtaining
Journey group：
Solution is iterated using the least square method based on Taylor series expansion, x is obtained, y, z value obtains UWB and determined
The coordinate value of position label；
S6：CPU according to UWB position label coordinate value, using Y-axis positive direction for originate, rotate counterclockwise for
Angle augment direction, calculates Y-axis positive direction and points to UWB positioning labels where X-axis and Y-axis with the first UWB alignment sensors
Plane on projection direction between angle value θ,
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,
As x ＜ 0, y ＞ 0,
As x ＜ 0, y ＜ 0,
As x ＞ 0, y ＜ 0,
The first UWB orientation sensings are pointed to so as to calculate projection of the UWB positioning labels in the plane where X-axis and Y-axis
Angle value α between the direction of device and Y-axis positive direction；If as shown in figure 5, θ ＜ 180, α=θ+180；As shown in fig. 6, such as
Fruit θ >=180, then α=θ -180；The angle value α and UWB that the calculate coordinate value for positioning label are sent to instruction by berth lock
Device；When the first UWB alignment sensors point to direction and the Y of projection of the UWB positioning labels in the plane where X-axis and Y-axis
When axle positive direction is in the same direction, angle value θ=0, α=180；
S7：Controller obtains the direction of earth magnetism due north by the second electrical compass module, using earth magnetism direct north as starting,
Rotate counterclockwise as angle augment direction, determined to show the sensing of the pointer of screen display, display according to the angle value α received
Screen display shows pointer, and the angle value between the sensing of the pointer and earth magnetism due north is always α；When pointer points to earth magnetism direct north
When, angle value α=0；
S8：CPU calculates instruction device with parking stall in horizontal plane according to the UWB coordinate values for positioning label
On air line distance, when car owner finds parking stall according to the sensing of pointer on display screen, berth lock detect instruction device with
The air line distance of parking stall in the horizontal plane is less than setting value D, and the lifter of berth lock falls baffle plate, and this can be used to stop for car owner
Parking stall；When car owner need not use the parking stall, car owner is driven to leave parking stall, and now the inductor on berth lock is detected
Vehicle is left, and baffle plate is raised to extreme higher position by the lifter of berth lock, prevents storing cycle, at the same send idle state information to
The parking stall is labeled as idle condition by management server, management server.
The real-time detection angles value α and UWB of berth lock positions the coordinate value of label, and is sent to instruction device, instruction device
Adjustment pointer direction, realizes the effect guided in real time in real time.Instruction device determines that UWB determines according to the UWB coordinate values for positioning label
The distance and orientation of position label and the first UWB alignment sensor in the vertical directions, according to floor where parking stall and every floor
The floor that goes out where itself of high computational, the display screen of instruction device, which is shown, itself is currently located building where floor, parking stall
Layer and position.Instruction device calculates instruction device and parking stall in the horizontal plane straight according to the UWB coordinate values for positioning label
Linear distance, display screen shows the distance.
Claims (7)
1. a kind of large parking lot vehicle guide system, it is characterised in that：Including management server (1), instruction device (2) and set
The berth lock (3) on parking stall is put, the berth lock (3) includes the motor that base (4) and driving base (4) are rotated
(5), the base (4) is provided with lifter (6), and the top of the lifter (6) is provided with the baffle plate (7) transversely set, institute
Baffle plate (7) side is stated provided with the stringer board (25) vertical with baffle plate (7), the base (4) is provided with CPU (8), the
Set on one wireless communication module (9), the first electrical compass module (10) and the first UWB alignment sensors (11), the baffle plate (7)
There are the 2nd UWB alignment sensors (12) and the 3rd UWB alignment sensors (13), the stringer board is provided with the 4th UWB orientation sensings
The line of device (14), the first UWB alignment sensors (11) and the 2nd UWB alignment sensors (12) is vertical with base (4), institute
The line for stating the 2nd UWB alignment sensors (12) and the 3rd UWB alignment sensors (13) is parallel with base, and the 2nd UWB determines
The line of level sensor (12) and the 4th UWB alignment sensors (14) is parallel with base (4), and with the 2nd UWB alignment sensors
(12) and the 3rd UWB alignment sensors (13) line it is vertical, the instruction device (2) includes controller (15), second wireless
Communication module (16), UWB positioning labels (17), display screen (18), button group (19) and the second electrical compass module (20), it is described
CPU (8) respectively with motor (5), lifter (6), the first wireless communication module (9), the first electronic compass mould
Block (10), the first UWB alignment sensors (11), the 2nd UWB alignment sensors (12), the 3rd UWB alignment sensors (13) and
Four UWB alignment sensors (14) are electrically connected, and the controller (15) is marked with the second wireless communication module (16), UWB positioning respectively
Sign (17), display screen (18), button group (19) and the second electrical compass module (20) electrical connection, first wireless communication module
(9), the second wireless communication module (16) and management server (1) pass through wireless network wireless connection.
2. a kind of large parking lot vehicle guide system according to claim 1, it is characterised in that：The instruction device
(2) voice output module (21) is also included, the voice output module (21) electrically connects with controller (15).
3. a kind of large parking lot vehicle guide system according to claim 1 or 2, it is characterised in that：It is each to indicate dress
Putting (2) all has unique particular number.
4. a kind of bootstrap technique of large parking lot vehicle guide system, it is adaptable to such as any claim in claim 1-3
Described a kind of large parking lot vehicle guide system, it is characterised in that comprise the following steps：
S1：Car owner obtains instruction device in Entrance at administrative staff, is sent by instruction device to management server
Include the instruction device particular number of itself in parking request, parking solicited message；
S2：Management server, which is received, to be chosen a parking space allocation from idle parking stall after parking request and makes to car owner
With by the parking stall labeled as use state, transmission enabled instruction includes to the berth lock on the parking stall in enabled instruction
The particular number of instruction device；
S3：Berth lock on the parking stall is received and started working after enabled instruction, is sent parking space information to instruction device, is referred to
Showing device is received after allocated parking space information, and parking space information is shown by display screen, and positioning label by UWB sends
UWB signal with itself particular number gives the berth lock；
S4：The berth lock passes through the first UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and
Four UWB alignment sensors receive the UWB signal that UWB positioning labels are sent, and the CPU of the berth lock passes through the first electricity
Sub- compass module obtains the direction of earth magnetism due north, using the first UWB alignment sensors as origin, using earth magnetism direct north as Y-axis just
Direction, is rotated clockwise in horizontal plane with Y-axis and is oriented to X-axis positive direction after 90 degree, and the is pointed to the first UWB alignment sensors
The direction of two UWB alignment sensors is Z axis positive direction, sets up XYZ three-dimensional cartesian coordinate systems；
S5：CPU drives base rotation by motor so that baffle plate is parallel with earth magnetism direct north, i.e., and second
The straight line that UWB alignment sensors and the 3rd UWB alignment sensors are linked to be is parallel with earth magnetism direct north, the 3rd UWB orientation sensings
The X-axis coordinate of device is 0, and the Y-axis coordinate of the 3rd UWB alignment sensors is y2, due to the 2nd UWB alignment sensors and the 4th UWB
The line of alignment sensor is vertical with the line of the 2nd UWB alignment sensors and the 3rd UWB alignment sensors, the 4th UWB positioning
The X-axis coordinate of sensor is x3, and the Y-axis coordinate of the 4th UWB alignment sensors is 0, because baffle plate is in extreme higher position, second
The Z axis coordinate of UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors is all z1, now, first
The coordinate of UWB alignment sensors is (0,0,0), and the coordinate of the 2nd UWB alignment sensors is (0,0, z1), and the 3rd UWB positioning is passed
The coordinate of sensor is (0, y2, z1), and the coordinate of the 4th UWB alignment sensors is (x3,0, z1), the inspection of the first UWB alignment sensors
It is R to measure it and position the distance between label with UWB0, the 2nd UWB alignment sensors detect it UWB between positioning label
Distance be R1, it is R that the 3rd UWB alignment sensors, which detect it and position the distance between label with UWB,2, the 4th UWB positioning biographies
It is R that sensor, which detects it and positions the distance between label with UWB,3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), the side of obtaining
Journey group：
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Solution is iterated using the least square method based on Taylor series expansion, x is obtained, y, z value obtains UWB positioning marks
The coordinate value of label；
S6：CPU positions the coordinate value of label according to UWB, using Y-axis positive direction as starting, rotates counterclockwise as angle
Augment direction, calculates Y-axis positive direction and points to UWB positioning labels flat where X-axis and Y-axis with the first UWB alignment sensors
Angle value θ between the direction of projection on face, so as to calculate throwing of the UWB positioning labels in the plane where X-axis and Y-axis
Shadow points to the angle value α between the direction of the first UWB alignment sensors and Y-axis positive direction, and berth lock is by the angle value α calculated
And the coordinate value of UWB positioning labels is sent to instruction device；
S7：Controller obtains the direction of earth magnetism due north by the second electrical compass module, using earth magnetism direct north as starting, inverse time
It is angle augment direction that pin, which is rotated, is determined to show the sensing of the pointer of screen display according to the angle value α received, shows screen display
Pointer is shown, the angle value between the sensing of the pointer and earth magnetism due north is always α；
S8：When car owner finds parking stall according to the sensing of pointer on display screen, car owner is by instruction device on parking stall
Berth lock is sent and asked using parking stall, using including the instruction device particular number of itself, the car in the solicited message of parking stall
Position interlocking is received using after the request of parking stall, by using the particular number and management server in the solicited message of parking stall send it is specific
Numbering is compared, if compared successfully, is fallen baffle plate by lifter, the parking stall can be used in car owner；When car owner drive from
Behind start-stop parking stall, parking stall is sent using request is finished to the berth lock on parking stall by instruction device, the berth lock is received
Baffle plate is raised to extreme higher position using finishing after request by parking stall by lifter, storing cycle is prevented, while sending idle condition
The parking stall is labeled as idle condition by information to management server, management server.
5. a kind of bootstrap technique of large parking lot vehicle guide system according to claim 4, it is characterised in that：Indicate
Device according to UWB position label coordinate value determine UWB positioning label and the first UWB alignment sensor in the vertical directions away from
From and orientation, the floor according to where floor where parking stall and the high computational per floor go out itself, the display of instruction device
Floor and position where screen display itself is currently located floor, parking stall.
6. a kind of bootstrap technique of large parking lot vehicle guide system according to claim 4 or 5, it is characterised in that：
Instruction device calculates instruction device and the air line distance of parking stall in the horizontal plane according to the UWB coordinate values for positioning label, shows
Display screen shows instruction device and the air line distance of parking stall in the horizontal plane.
7. a kind of bootstrap technique of large parking lot vehicle guide system according to claim 4 or 5, it is characterised in that：
The parking space information includes position and the numbering on parking stall.
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| CN108711301A (en) * | 2018-05-30 | 2018-10-26 | 叶景 | Parking stall management method and system |
| CN109914878B (en) * | 2019-03-28 | 2020-12-01 | 浙江工业大学 | Non-electric intelligent market parking lot based on piezoelectric effect and electromagnetic induction |
| CN110412630A (en) * | 2019-08-06 | 2019-11-05 | 深圳市元征科技股份有限公司 | Vehicle positioning method and relevant apparatus in a kind of garage |
| CN111399792B (en) * | 2020-03-20 | 2023-01-17 | 维沃移动通信有限公司 | Content sharing method and electronic equipment |
| CN111636740A (en) * | 2020-06-08 | 2020-09-08 | 河海大学常州校区 | Liftable formula intelligence parking stall roadblock system |
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