CN106991842B - Parking robot parking and lifting positioning method for underground parking lot - Google Patents
Parking robot parking and lifting positioning method for underground parking lot Download PDFInfo
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- CN106991842B CN106991842B CN201710307367.1A CN201710307367A CN106991842B CN 106991842 B CN106991842 B CN 106991842B CN 201710307367 A CN201710307367 A CN 201710307367A CN 106991842 B CN106991842 B CN 106991842B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
Abstract
The invention discloses a parking robot parking and lift positioning method for an underground parking lot, which comprises the following steps of ① forming a linear network topological structure of the underground parking lot for positioning a parking robot according to geometrical characteristics of lanes of the parking lot, ② activating wireless anchor nodes in a communication range of the parking robot based on the real-time position of the parking robot, ③ solving derived node coordinates by utilizing bilateral two-way wireless distance measurement to reduce a positioning area to obtain the real-time position of a mobile node, accurately solving the distance between the wireless anchor nodes and the parking robot, calculating derived node coordinates which are the same as the anchor nodes by combining the wireless anchor node coordinates in a positioning subspace, and ④ completing finding and lifting of a large underground vehicle parking lot.
Description
Technical Field
The invention relates to a parking robot parking and vehicle lifting positioning method for an underground parking lot.
Background
With the increasing demand of automobile consumption in China, the reserved quantity of urban household automobiles is continuously and rapidly increased, so that the problem of urban traffic jam, particularly urban parking, is outstanding, in parking lots such as shopping malls, commercial centers, office buildings, commercial hotels and traffic hubs, due to the fact that the construction quantity and scale of large parking lots are continuously enlarged, parking lots are numerous and complex in structure, and when a parking robot enters a large underground parking lot to lift, the parking lot cannot be rapidly found. Although some large-scale parking lots divide the serial number to the parking area and can reduce the searching range, when the car owner does not pay attention to or forgets the area where the own car is located, the car owner frequently judges the parking space through the car sound according to the car control key, a large amount of valuable time is wasted, and the use efficiency of the parking lot garage is reduced. Therefore, the vehicles in the underground parking lot need to be positioned, so that the parking robot entering the underground parking lot can know the position of the vehicle in which area, and the parking robot can quickly find the vehicle when returning to the garage by using the vehicle position service function of the parking lot.
Different from outdoor or air open environment, the global positioning system can be used for positioning the mobile vehicle, and the satellite signal is shielded in the underground parking garage due to the closed space environment, so that the global positioning system cannot be used for positioning the vehicle in the underground parking garage. Arranging a plurality of bar code ticket dispensers in a parking lot, printing the position of a vehicle when leaving the parking lot, and inquiring the position of the vehicle through a terminal when returning to pick up the vehicle; the parking lot radio frequency identification technology obtains a signal strength indicated value through a card reader, and then wireless signals and target positions are resolved to obtain the vehicle position of the parking lot; the parking lot video image technology obtains the position of a vehicle in a parking lot garage by comparing and analyzing information such as license plates, license numbers, colors and the like of the vehicle; the vehicle position in the parking lot can be determined by adopting the technologies of ticket picking and positioning, wireless sensor network positioning, visual image positioning and the like, and meanwhile, an upper computer management software platform is developed by means of the vehicle networking technology, so that the parking lot vehicle positioning, garage scheduling, parking guidance, route planning and the like can be managed conveniently and efficiently.
Disclosure of Invention
The invention aims to provide a parking and vehicle lifting positioning method for a parking robot in an underground parking lot, and solves the problem that a parking robot cannot quickly find a parking space when taking a vehicle in a large underground parking lot.
The technical scheme for realizing the purpose of the invention is as follows: a parking robot parking and vehicle lifting positioning method for an underground parking lot comprises the following steps:
①, installing wireless anchor nodes in the underground parking lot, installing wireless mobile nodes on the parking robot, and then forming a linear network topology structure of the underground parking lot for positioning the parking robot according to the geometric characteristics of the lanes of the parking lot;
②, activating wireless anchor nodes in the communication range of the parking robot based on the real-time position of the parking robot, and sleeping the rest wireless anchor nodes which do not participate in the positioning service, so that the energy balance of the wireless network is effective while the coverage of the linear network is ensured;
③, solving derived node coordinates by utilizing bilateral two-way wireless ranging to obtain a reduced positioning area to obtain a real-time position of the mobile node, eliminating crystal oscillator errors based on a bilateral two-way ranging method between the wireless anchor node and the wireless mobile node, accurately solving the distance between the wireless anchor node and the parking robot, calculating derived node coordinates which are the same as the anchor node by combining the wireless anchor node coordinates in a positioning subspace, and reducing the positioning errors of the mobile node on the parking robot by reducing the area containing the mobile node;
④, when a parking robot drives into an underground parking lot, determining the current vehicle number, the remaining parking spaces and other garage conditions of the garage, determining the position of the vehicle driving to a preset target parking space, calculating the position of the vehicle in the driving process based on a wireless sensor network in real time, determining the position of the vehicle in a garage map when the parking robot stops the vehicle to the target parking space, obtaining the current real-time position of the parking robot and the position of the parking robot in the garage when the parking robot returns to the garage, meanwhile, comparing the vehicle position with the position of the parking robot, planning a routing path based on the large underground parking lot map, determining the optimal path for lifting the parking robot, calculating the coordinate position of the parking robot in real time to judge whether the coordinate position deviates from the preset path when the parking robot moves to search the vehicle, updating the path based on the current position if the coordinate position deviates from the preset path, otherwise, updating the position of the parking robot until the parking robot garage searches the vehicle, and completing the vehicle finding and vehicle lifting of the large underground parking lot.
The step ① is specifically that the underground parking garage comprises two geometric structures of a parking space and a lane, wherein the lane presents a long and narrow geometric space structure, in order to position a vehicle driving into the parking garage, a wireless anchor node is fixed above the lane, the highest positioning accuracy of a wireless sensor network is taken as an objective function, wireless network connectivity, link communication reliability and wireless signal shielding are considered, node approximate optimization coverage is carried out in a limited lane three-dimensional space, and meanwhile, three-dimensional coordinate calibration is carried out on the current position of the wireless anchor node, so that a linear sensing network for positioning a parking robot in a large underground parking garage is completed.
The wireless anchor node is powered by a battery.
The specific operation method of the step ② is as follows:
a: wireless nodes are deployed in a long and narrow lane to form a linear network topology structure, and the parking lot linear network can be divided into different positioning subspaces spa ═ spa1,spa2,…,spat]Deployment of wireless anchor nodes on both sides of a lane may be denoted as a ═ a1,a2,…,an]', wherein ai＝[xi,yi]'; and a wireless mobile node is installed on the parking robot, and the two-dimensional coordinate of the wireless mobile node can be expressed as m ═ x, y]'; the current parking position of the vehicle in the underground parking lot is pari；
B: and adjusting the time-sharing alternate-break scheduling strategy of the wireless anchor node powered by the battery. At time t, the communication range r of the wireless mobile node is communicated with s wireless anchor nodes act (a)i+1),act(ai+2),…,act(ai+s) Activating to participate in positioning solution of the wireless mobile node, leaving the wireless anchor nodes not in the communication range r not to participate in positioning solution, and leaving the wireless anchor nodes { dor (a)1),dor(a2),…,dor(ai) And { dor (a) }i+s+1),dor(ai+s+2),…,dor(an) And the dormancy is carried out, and the network coverage performance and the energy balanced consumption are considered.
The specific operation method of the step ③ is as follows:
a: the method comprises the following steps that a wireless mobile node installed on a parking robot and a wireless anchor node deployed in a parking lot perform a bilateral two-way ranging method: at wireless anchor node ai+1When communicating with the wireless mobile node m, the wireless anchor node ai+1The time taken for receiving the data returned after being transmitted to the wireless mobile node m is
And wireless mobile node m receives-processes-forwards from wireless anchor node ai+1The data of (a) takes time of
At wireless mobile node m and wireless anchor node ai+1During communication, the wireless mobile node m receives the data transmitted to the wireless anchor node a by the wireless mobile node mi+1The time taken for the later returned data is
And wireless anchor node ai+1The time taken for receiving-processing-forwarding the data from the wireless mobile node m is
B: based on wireless anchor node { ai+1,ai+2,…,ai+sObtaining a wireless anchor node { a ] by bilateral two-way ranging method with a wireless mobile node mi+1,ai+2,…,ai+sT ═ t for time sequence between it and the wireless mobile node mi+1,ti+2,…,ti+s]Wherein
Combining light velocities v based on the time seriescBy using
Distance measurement resolving between wireless anchor node and wireless mobile node of parking robot is carried out, wherein d is ═ di+1,di+2,…,di+s]Eliminating the distance measurement error caused by the crystal oscillator;
c: the linear coverage strategy of the wireless sensor network enables the wireless mobile node m to be a wireless anchor node { a ] in a communication rangei+1,ai+2,…,ai+sThe internal points of the network are formed based on the coordinates { a ] of the wireless anchor nodesi+1,ai+2,…,ai+sH, combining the distance d between nodes ═ di+1,di+2,…,di+s]By using a coordinate formula
And
iterative computation is carried out to obtain derived node coordinates of corresponding wireless anchor nodes
Wherein
The positioning area containing the wireless mobile node is reduced by adopting the derived node, and the derived node coordinates are used for coordinate calculation
The position pos of the wireless mobile node can be obtained by solving the formula1,pos2,…,post]。
The specific operation method of the step ④ is as follows:
a: the parking robot returns to the underground parking lot to lift the car, and the wireless mobile node position of the parking robot is located at pos in the parking lotiWith the vehicle parking position pariMatching is carried out based on the map of the large underground parking lot with the shortest reachable distance
Routing path planning is carried out for constraint, and the optimal path for lifting the parking robot is determined<m1→m2,…,mk-1→mk>；
B: judging the current moving position pos when the parking robot liftsiWhen deviating from the planned path, i.e.
New route path' based on local linear network planning<m1'→m'2,…,m'k-1→m'k>And correcting the error route measurement in the process of lifting the parking robot to formThe parking robot suboptimal route and a sub-short route table are used for solving in real time by using a neighbor wireless anchor node to obtain the position pos of a wireless mobile nodei'；
C: with wireless mobile node position posi' gradually approaching parking robot parking position pariI.e. posi'＝pariAnd the parking robot finishes vehicle searching and vehicle lifting in the large underground parking lot.
By adopting the technical scheme, the invention has the following beneficial effects: (1) the invention adopts the wireless sensor network to determine the vehicle position according to the moving target positioning characteristics of large underground parking lots in closed environments. The method comprises the steps that as a vehicle operation area in a parking lot is a narrow and long space, namely a geometric scene with a large length-width ratio, a linear topological structure of a wireless sensing network is determined according to a lane of the parking lot, and a wireless anchor node is deployed in an area with the highest positioning accuracy; the wireless mobile nodes installed on the vehicle are used for carrying out dormancy and activation adjustment on the linear positioning subspace, so that when the vehicle is driven away from a certain positioning area, the corresponding wireless anchor nodes enter a dormancy mode, the energy loss caused by frequent communication between the wireless anchor nodes and the wireless mobile nodes is reduced, the linear network coverage is ensured, and meanwhile, the network energy is enhanced effectively; measuring the geometric distance between a wireless anchor node and a wireless mobile node through bilateral two-way wireless distance measurement, weakening a distance measurement error caused by a crystal oscillator, improving the wireless distance measurement precision, carrying out derived node coordinate calculation by combining a wireless anchor node reference coordinate on the basis, and improving the parking robot positioning precision by reducing a feasible region of a positioning region; when the parking robot returns to the garage to pick up the vehicle, the routing path can be planned based on the previous position, and a suboptimal route and a secondary short-circuit routing table of the parking robot are formed. The invention can solve the problem that the parking robot can quickly find own vehicle in a plurality of parking spaces with complicated structures in the parking lot, saves the precious time of the parking robot and improves the use efficiency of the parking lot garage.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which
Fig. 1 is a schematic view of the parking lot layout of the present invention.
Fig. 2 is a flow chart of parking lot lifting positioning path planning and navigation refinement according to the present invention.
Fig. 3 is a flow chart of step ③ of the present invention.
Fig. 4 is a flow chart of step ④ of the present invention.
The reference numbers in the drawings are:
the system comprises a wireless anchor node 1, a parking robot 2, a wireless mobile node 3, a parking lot lane 4 and a vehicle 5.
Detailed Description
(example 1)
Referring to fig. 1 to 4, the parking robot parking lift positioning method for an underground parking lot of the present embodiment includes the following steps:
①, installing a wireless anchor node 1 in an underground parking garage, installing a wireless mobile node 3 on a parking robot 2, and then forming a linear network topology structure of the underground parking garage 4 for positioning the parking robot 2 according to the geometric characteristics of a lane 4 of the parking garage, wherein the lane has two geometric structures of a parking space and a lane, the wireless anchor node is fixed above the lane in order to position a vehicle 5 driving into the parking garage, the wireless anchor node is powered by a battery, the highest positioning precision of a wireless sensor network is taken as an objective function, meanwhile, wireless network connectivity, link communication reliability and wireless signal shielding are considered, node approximate optimization coverage is carried out in the three-dimensional space of a limited lane, and simultaneously, the current position of the wireless anchor node is calibrated in three-dimensional coordinates, and the linear sensing network for positioning the parking robot in the large-scale underground parking garage is completed.
②, activating the wireless anchor nodes 1 in the communication range of the parking robot based on the real-time position of the parking robot 2, and sleeping the rest wireless anchor nodes 1 which do not participate in the positioning service, thereby ensuring the linear network coverage and simultaneously considering the wireless network energy balance effectiveness, wherein the specific operation method comprises the following steps:
a: deploying wireless nodes in long and narrow lanes to form linear network topology nodeThe linear network of the parking lot can be divided into different positioning subspaces spa ═ spa1,spa2,…,spat]Deployment of wireless anchor nodes on both sides of a lane may be denoted as a ═ a1,a2,…,an]', wherein ai＝[xi,yi]'; and a wireless mobile node 3 is mounted on the parking robot 2, and its two-dimensional coordinate can be expressed as m ═ x, y]'; the current parking position of the vehicle in the underground parking lot is pari；
B: and adjusting the time-sharing break scheduling strategy of the wireless anchor node 1 powered by the battery. At time t, the communication range r of the wireless mobile node is communicated with s wireless anchor nodes act (a)i+1),act(ai+2),…,act(ai+s) Activating to participate in positioning solution of the wireless mobile node 3, leaving the wireless anchor nodes 1 which are not in the communication range r not to participate in positioning solution, and leaving the remaining wireless anchor nodes { dor (a)1),dor(a2),…,dor(ai) And { dor (a) }i+s+1),dor(ai+s+2),…,dor(an) And the dormancy is carried out, and the network coverage performance and the energy balanced consumption are considered.
③, solving derived node coordinates by bilateral two-way wireless ranging to obtain a real-time position of the mobile node by reducing a positioning area, eliminating crystal oscillator errors based on a bilateral two-way ranging method between the wireless anchor node 1 and the wireless mobile node 3, accurately solving the distance between the wireless anchor node 1 and the parking robot 2, calculating derived node coordinates which are the same as the anchor node by combining the wireless anchor node 1 coordinates in a positioning subspace, and reducing the positioning errors of the mobile node on the parking robot 2 by reducing the area containing the mobile node, wherein the specific operation method comprises the following steps:
a: the wireless mobile node 3 installed on the parking robot 2 and the wireless anchor node 1 deployed in the parking lot perform a bilateral two-way ranging method: at wireless anchor node ai+1When communicating with the wireless mobile node m, the wireless anchor node ai+1The time taken for receiving the data returned after being transmitted to the wireless mobile node m is
While moving wirelesslyNode m receives-processes-forwards from wireless anchor node ai+1The data of (a) takes time of
At wireless mobile node m and wireless anchor node ai+1During communication, the wireless mobile node m receives the data transmitted to the wireless anchor node a by the wireless mobile node mi+1The time taken for the later returned data is
And wireless anchor node ai+1The time taken for receiving-processing-forwarding the data from the wireless mobile node m is
B: based on wireless anchor node { ai+1,ai+2,…,ai+sObtaining a wireless anchor node { a ] by bilateral two-way ranging method with a wireless mobile node mi+1,ai+2,…,ai+sT ═ t for time sequence between it and the wireless mobile node mi+1,ti+2,…,ti+s]Wherein
Combining light velocities v based on the time seriescBy using
Distance measurement calculation d ═ d is carried out between the wireless anchor node 1 and the wireless mobile node 3 of the parking robot 2i+1,di+2,…,di+s]Eliminating the distance measurement error caused by the crystal oscillator;
c: the linear coverage strategy of the wireless sensor network enables the wireless mobile node m to be a wireless anchor node { a ] in a communication rangei+1,ai+2,…,ai+sThe internal points of the network are formed based on the coordinates { a ] of the wireless anchor nodesi+1,ai+2,…,ai+sH, combining the distance d between nodes ═ di+1,di+2,…,di+s]By using a coordinate formula
And
iterative computation is carried out to obtain derived node coordinates of corresponding wireless anchor nodes
Wherein
The positioning area containing the wireless mobile node is reduced by adopting the derived node, and the derived node coordinates are used for coordinate calculation
The position pos of the wireless mobile node can be obtained by solving the formula1,pos2,…,post]。
④, when the parking robot 2 drives into the underground parking lot, determining the current vehicle 5 number, the remaining parking spaces and other garage conditions of the garage, determining the position of the vehicle 5 to a preset target parking space, calculating the position of the vehicle 5 in the driving process based on the wireless sensor network in real time, when the parking robot 2 stops the vehicle 5 to the target parking space, determining the position of the vehicle 5 in a garage map, when the parking robot 2 returns to the garage, obtaining the current real-time position of the parking robot 2 and the position of the parking robot in the garage, simultaneously comparing the position of the vehicle 5 with the position of the parking robot 2, planning a routing path based on the large underground parking map, determining the best parking path for the parking robot 2 to lift, calculating the coordinate position of the parking robot 2 in real time to judge whether the parking robot deviates from the preset path when the parking robot 2 moves, updating the path based on the current position if the parking path deviates from the preset path, otherwise updating the position of the parking robot 2 until the parking robot 2 finds the vehicle 5 in the garage, and completing the vehicle 5 and vehicle lifting of the large underground parking lot.
A: parking robot 2 returns to groundTaking the car out of the parking lot, and parking the position pos of the wireless mobile node 3 of the robot 2 in the parking lotiWith the vehicle parking position pariMatching is carried out based on the map of the large underground parking lot with the shortest reachable distance
Routing path planning is carried out for constraint, and the optimal path for lifting the parking robot is determined<m1→m2,…,mk-1→mk>；
B: judging the current moving position pos when the parking robot liftsiWhen deviating from the planned path, i.e.
New route path' based on local linear network planning<m1'→m'2,…,m'k-1→m'k>Correcting the wrong routing measurement in the process of lifting the parking robot to form a suboptimal route and a secondary short-circuit route table of the parking robot, and calculating in real time by utilizing a neighbor wireless anchor node to obtain the position pos of the wireless mobile nodei'；
C: with wireless mobile node position posi' gradual approach to parking robot 2 parking location pariI.e. posi'＝pariAnd the parking robot finishes vehicle searching and vehicle lifting in the large underground parking lot.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A parking robot parking and lifting positioning method for an underground parking lot is characterized by comprising the following steps: the method comprises the following steps:
①, installing a wireless anchor node (1) in the underground parking lot, installing a wireless mobile node (3) on the parking robot (2), and then forming a linear network topology structure of the underground parking lot for positioning the parking robot (2) according to the geometrical characteristics of the parking lot lanes (4);
②, activating the wireless anchor nodes (1) in the communication range of the parking robot based on the real-time position of the parking robot (2), and sleeping the rest wireless anchor nodes (1) which do not participate in the positioning service, thereby ensuring the linear network coverage and simultaneously considering the wireless network energy balance effectiveness, and the specific operation method is as follows:
a: wireless nodes are deployed in a long and narrow lane to form a linear network topology structure, and the parking lot linear network can be divided into different positioning subspaces spa ═ spa1,spa2,…,spat]The deployment of wireless anchor nodes (1) on both sides of the lane may be denoted as a ═ a1,a2,…,an]', wherein ai＝[xi,yi]'; and a wireless mobile node (3) is installed on the parking robot (2), and the two-dimensional coordinate of the wireless mobile node can be expressed as m ═ x, y]'; the current parking position of the vehicle in the underground parking lot is pari；
B: adjusting a time-sharing alternate-break scheduling strategy of a wireless anchor node (1) powered by a battery: at time t, the communication range r of the wireless mobile node is communicated with s wireless anchor nodes act (a)i+1),act(ai+2),…,act(ai+s) Activating to participate in positioning solution of the wireless mobile node (3), leaving the wireless anchor nodes (1) which are not in the communication range r not to participate in positioning solution, and leaving the remaining wireless anchor nodes { dor (a)1),dor(a2),…,dor(ai) And { dor (a) }i+s+1),dor(ai+s+2),…,dor(an) The dormancy is carried out, and the network coverage performance and the energy balance consumption are considered;
③, solving derived node coordinates by using bilateral two-way wireless ranging to reduce a positioning area to obtain a real-time position of the mobile node, eliminating crystal oscillator errors based on a bilateral two-way ranging method between the wireless anchor node (1) and the wireless mobile node, accurately solving the distance between the wireless anchor node (1) and the parking robot (2), calculating derived node coordinates which are the same as the anchor node by combining the coordinates of the wireless anchor node (1) in a positioning subspace, and reducing the positioning errors of the mobile node on the parking robot (2) by reducing the area containing the mobile node;
④, when the parking robot (2) drives into an underground parking lot, the number of current vehicles (5) in the garage and the garage condition of the remaining parking spaces are determined, it is required to determine that the vehicles (5) drive to a preset target parking space position, the position of the vehicles (5) in the driving process is calculated in real time based on a wireless sensor network, when the parking robot (2) stops the vehicles (5) to the target parking space, the position of the vehicles (5) in the garage map is determined, when the parking robot (2) returns to the parking, the current real-time position of the parking robot (2) and the position of the vehicles in the garage are obtained, meanwhile, the positions of the vehicles (5) and the parking robot (2) are compared, routing path planning is carried out based on the large underground parking lot map, the optimal path of the parking robot (2) is determined, meanwhile, when the parking robot (2) moves, the coordinate position of the parking robot judges whether the vehicles deviate from the preset path or not when the parking robot (2) moves, if the vehicle deviates from the preset path, the path updating is carried out based on the current position, otherwise, the position of the parking robot (2) is updated until the garage (5) and the vehicle (5) is found.
2. The parking robot parking and lifting positioning method for the underground parking garage according to claim 1 is characterized in that the underground parking garage comprises two geometric structures of a parking space and a lane, wherein the lane presents a long and narrow geometric space structure, in order to position a vehicle (5) driving into the parking garage, the wireless anchor node (1) is fixed above the lane, the highest positioning precision of a wireless sensor network is taken as an objective function, meanwhile, wireless network connectivity, link communication reliability and wireless signal shielding are considered, node approximate optimization coverage is carried out in a limited lane three-dimensional space, meanwhile, three-dimensional coordinates calibration is carried out on the current position of the wireless anchor node (1), and a linear parking sensing network for positioning the robot (2) in a large underground parking garage is completed.
3. The parking robot parking lift positioning method for the underground parking lot according to claim 1 or 2, characterized in that: the wireless anchor node (1) is powered by a battery.
4. The parking robot parking and lifting positioning method for the underground parking lot as claimed in claim 1, wherein the specific operation method of the step ③ is as follows:
a: a wireless mobile node (3) installed on a parking robot (2) and a wireless anchor node (1) deployed in a parking lot perform a bilateral two-way ranging method: at wireless anchor node ai+1When communicating with the wireless mobile node m, the wireless anchor node ai+1The time taken for receiving the data returned after being transmitted to the wireless mobile node m is
And wireless mobile node m receives-processes-forwards from wireless anchor node ai+1The data of (a) takes time of
At wireless mobile node m and wireless anchor node ai+1During communication, the wireless mobile node m receives the data transmitted to the wireless anchor node a by the wireless mobile node mi+1The time taken for the later returned data is
And wireless anchor node ai+1The time taken for receiving-processing-forwarding the data from the wireless mobile node m is
B: based on wireless anchor node { ai+1,ai+2,…,ai+sObtaining a wireless anchor node { a ] by bilateral two-way ranging method with a wireless mobile node mi+1,ai+2,…,ai+sT ═ t for time sequence between it and the wireless mobile node mi+1,ti+2,…,ti+s]Wherein
Combining light velocities v based on the time seriescBy using
Distance measurement calculation between a wireless anchor node (1) and a wireless mobile node (3) of a parking robot (2) is carried out, wherein d is equal to [ d [ [ d ]i+1,di+2,…,di+s]Eliminating the distance measurement error caused by the crystal oscillator;
c: the linear coverage strategy of the wireless sensor network enables the wireless mobile node m to be a wireless anchor node { a ] in a communication rangei+1,ai+2,…,ai+sThe internal points of the network are formed based on the coordinates { a ] of the wireless anchor nodesi+1,ai+2,…,ai+sH, combining the distance d between nodes ═ di+1,di+2,…,di+s]By using a coordinate formula
And
iterative computation is carried out to obtain derived node coordinates of corresponding wireless anchor nodes
Wherein
The positioning area containing the wireless mobile node is reduced by adopting the derived node, and the derived node coordinates are used for coordinate calculation
The position pos of the wireless mobile node can be obtained by solving the formula1,pos2,…,post]。
5. The parking robot parking and lifting positioning method for the underground parking lot as claimed in claim 1, wherein the specific operation method of the step ④ is as follows:
a: the parking robot (2) returns to the underground parking lot to lift the car, and the wireless mobile node (3) of the parking robot (2) is positioned at pos in the parking lotiWith the vehicle parking position pariMatching is carried out based on the map of the large underground parking lot with the shortest reachable distance
Routing path planning is carried out for constraint, and the optimal path for lifting the parking robot is determined<m1→m2,…,mk-1→mk>；
B: judging current mobile position pos 'when parking robot lifts'iWhen deviating from the planned path, i.e.
New route path' based on local linear network planning<m'1→m'2,…,m'k-1→m'k>Correcting wrong routing measurement in the parking robot car lifting process to form a parking robot suboptimal route and a secondary short route table, and calculating in real time by utilizing a neighbor wireless anchor node to obtain a wireless mobile node position pos'i；
C: with wireless mobile node location pos'iGradually approaches the parking position par of the parking robot (2)iI.e. pos'i＝pariAnd the parking robot finishes vehicle searching and vehicle lifting in the large underground parking lot.
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| CN108269423A (en) * | 2018-01-29 | 2018-07-10 | 广州市君望机器人自动化有限公司 | Reverse car seeking device and robot based on robot |
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| CN109087526A (en) * | 2018-08-06 | 2018-12-25 | 上海义嘉工业技术有限公司 | A kind of intelligent parking method based on Omni-mobile AGV |
| CN109003466A (en) * | 2018-09-18 | 2018-12-14 | 常州轻工职业技术学院 | Parking lot guide robot, its working method and parking lot guidance system |
| CN111504316B (en) * | 2019-01-30 | 2023-03-31 | 北京优位智停科技有限公司 | Method for vehicle navigation and ground moving device |
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| CN103065496B (en) * | 2012-12-20 | 2014-12-31 | 北京时代凌宇科技有限公司 | Parking lot vehicle tracking and locating management system and method based on geomagnetism |
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