CN108810811A - A kind of establishment of large size garage WIFI fingerprint bases and update system and method - Google Patents
A kind of establishment of large size garage WIFI fingerprint bases and update system and method Download PDFInfo
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- CN108810811A CN108810811A CN201810912526.5A CN201810912526A CN108810811A CN 108810811 A CN108810811 A CN 108810811A CN 201810912526 A CN201810912526 A CN 201810912526A CN 108810811 A CN108810811 A CN 108810811A
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- parking stall
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of establishment systems of large-scale garage WIFI fingerprint bases, including the Quick Response Code spray equipment on cruise vehicle and the setting cruise vehicle, WIFI signal acquisition module, data send interactive module, the floor plan of central processing server and large-scale garage, the vehicle that cruises sprays at least one Quick Response Code mark on the ground near each parking stall according to floor plan and is used as coordinate points, and central processing server will be sent with the WIFI position signals of the coordinate points by WIFI signal acquisition module and data transmission interactive module, central processing server identifies correspondence according to the WIFI position signals of the coordinate points of each parking stall received and the Quick Response Code of the parking stall, create the large size garage WIFI fingerprint bases.The invention also discloses the more new systems and method of the establishment system.The present invention realizes WIFI fingerprint bases automation establishment and quickly update, realizes high performance-price ratio, high maneuverability, and providing strong data source for accurate positionin supports.
Description
Technical field
The invention belongs to position and bootstrap technique field, more particularly to the establishment of a kind of large-scale garage WIFI fingerprint bases and more
New system and its method, it is proposed that a kind of a kind of scheme that fast and automatically establishing the i.e. fingerprint base of property data base and corresponding fixed
Position airmanship.
Background technology
Based on WIFI fingerprint bases（That is WIFI signal property data base）Location technology mainly use fingerprint base matching technique：
Multiple routers are placed in garage as signal source, are acquired the WIFI signal feature of all coordinate points positions in advance, are established one
The database of a " characteristic-coordinate points " relationship（Fingerprint base）It is stored in server, when needing positioning by user terminal
WIFI signal feature is matched with the data in the fingerprint base of server, and the position of user at that time is determined with this.
A kind of mobile phone positioning of combination WIFI and bluetooth is disclosed in the Chinese patent of Publication No. CN106131767A
Method proposes WIFI and the localization method that bluetooth combines, using reception WIFI signal intensity to determine a fuzzy position,
By receiving at least three Bluetooth signals in next step, analysis target positioning is calculated according to Bluetooth signal power.In the program
Propagation distance is too small indoors for middle bluetooth, if needing to be laid with a large amount of Bluetooth transmission device indoors in large-scale indoor garage,
Cause system cost excessively high.
Invention content
Technical problem to be solved by the present invention lies in provide establishment and the update system of a kind of large size garage WIFI fingerprint bases
System and its method, realize WIFI fingerprint bases automation create and quickly update, realize high performance-price ratio, high maneuverability, subject to determine
Position provides strong data source and supports.
The invention is realized in this way provide a kind of establishment system of large-scale garage WIFI fingerprint bases, including cruise vehicle with
And the Quick Response Code spray equipment on the setting cruise vehicle, WIFI signal acquisition module, data transmission interactive module, further include setting
It sets in the central processing server of control centre and the large-scale parking stall in garage and the floor plan in channel, the cruise vehicle root
At least one two are sprayed on the ground of setting regions according to floor plan using Quick Response Code spray equipment near each parking stall
It ties up code mark and is used as coordinate points, and interactive module is sent by the coordinate points by the WIFI signal acquisition module and data
WIFI position signals are sent to central processing server, and the central processing server is according to the coordinate of each parking stall received
The WIFI position signals of point establish one-to-one relationship with the Quick Response Code identification information of the parking stall and temporal information, to create simultaneously
Store the large size garage WIFI fingerprint bases.
Further, the cruise vehicle is unmanned driving vehicle, and color sensor battle array is also provided on the cruise vehicle
Row, ultrasonic position inductor, encoder and geomagnetic sensor, the color sensor array each parking stall for identification
Parking stall line position, the ultrasonic position inductor is for determining at a distance from barrier, to obstacle avoidance aiding；The cruise vehicle
Wheel use Mecanum wheel, by the control to wheel differential and rotation direction, the vehicle is made to realize a front and back, left side in garage
Right any direction automatic running, the encoder calculate cruise vehicle using wheel steering, travel speed and running time
Operating range and the position in the garage, the geomagnetic sensor are used to obtain the travel direction auxiliary cruise vehicle of cruise vehicle
Turning.
The invention is realized in this way a kind of more new system of large-scale garage WIFI fingerprint bases is provided, including it is as previously described
Large-scale garage WIFI fingerprint bases establishment system creation and store the large size garage WIFI fingerprint bases, and in the cruise vehicle
The two-dimension code recognition device of upper setting, the cruise vehicle is in the time interval of setting along the channel in garage according to the cruise of setting
Route is scanned by the two-dimension code recognition device and identifies the corresponding Quick Response Code sprayed on the ground of each parking stall
Mark, and upload the WIFI position signals of the coordinate points again to central processing server, the central processing server according to
Receive the new WIFI position signals of the coordinate points and the large-scale garage WIFI fingerprint bases to having created and having stored into Mobile state more
Newly.
Further, the cruise vehicle supplements air brushing instruction according to the instruction requirement of central processing server in garage
The Quick Response Code mark of point and the WIFI location of instruction signal for sending the instruction point arrive central processing server, and the central processing takes
Business device according to receive the supplement instruction point WIFI location of instruction signal and the large-scale garage WIFI for having created and having stored is referred to
Line library is updated into Mobile state.
Further, the more new system further includes the APP modules of user mobile phone and installation, and the APP modules are for referring to
It quotes in parking stall of the family by vehicle parking nearby and reversed lookup has been parked in the vehicle in parking stall, the central processing clothes
Business device obtains the WIFI mobile phone locations signal and the large car to having created and having stored for being located at user mobile phone position in parking stall
Library WIFI fingerprint bases are updated into Mobile state, and the WIFI mobile phone location signals of the user mobile phone position are the APP through user
What module confirmed.
The invention is realized in this way providing a kind of creation method of large-scale garage WIFI fingerprint bases, use such as preceding institute
The establishment systems of the large-scale garage WIFI fingerprint bases stated creates, and includes the following steps：
Step 1：Establish large-scale each parking stall in garage and the floor plan in channel；
Step 2：It is sprayed by Quick Response Code spray equipment using on the ground of setting regions of the cruise vehicle near each parking stall
Few Quick Response Code mark is used as coordinate points, and sending interactive module by the WIFI signal acquisition module and data will be with this
The WIFI position signals of coordinate points are sent to central processing server；
Step 3：The central processing server is according to the WIFI position signals of the coordinate points of each parking stall received and the vehicle
The Quick Response Code identification information and temporal information of position establish one-to-one relationship, to create and store the large size garage WIFI fingerprints
Library.
Further, the creation method further includes utilizing cruise vehicle on the ground in channel by Quick Response Code spray equipment
Quick Response Code mark is sprayed, and sending interactive module by the WIFI signal acquisition module and data will be with the Quick Response Code identification point
WIFI channel position signals be sent to central processing server, it includes parking stall that the central processing server, which creates and stores this,
WIFI position signals and channel WIFI channel position signals large-scale garage WIFI fingerprint bases.
The invention is realized in this way providing a kind of update method of large-scale garage WIFI fingerprint bases, use such as preceding institute
The more new systems of the large-scale garage WIFI fingerprint bases stated updates, including following update mode：
The first update mode：In the time interval of setting, the cruise vehicle is required according to the instruction of central processing server
It cruises, scanned by the two-dimension code recognition device and is identified on the ground of the setting regions near each parking stall in garage
The Quick Response Code of spraying identifies, and uploads the WIFI position signals of the coordinate points simultaneously to central processing server, the centre
Manage server according to receive the coordinate points WIFI position signals and the large-scale garage WIFI fingerprint bases to having created and having stored into
Mobile state updates；
Second of update mode：The cruise vehicle supplements spray in garage at any time according to the instruction requirement of central processing server
The Quick Response Code mark for instructing point and the WIFI location of instruction signal for sending the point are painted to central processing server, the central processing
WIFI location of instruction signal of the server according to the instruction point for receiving the supplement and the large-scale garage WIFI to having created and having stored
Fingerprint base is updated into Mobile state；
The third update mode：It is updated using user mobile phone and the APP modules of installation, the APP modules are used for guiding
In parking stall of the family by vehicle parking nearby and reversed lookup has been parked in the vehicle in parking stall, the central processing server
Obtain the WIFI mobile phone locations signal and the large-scale garage to having created and having stored for being located at user mobile phone position in parking stall
WIFI fingerprint bases are updated into Mobile state, and the WIFI mobile phone location signals of the user mobile phone position are the APP moulds through user
What block confirmed.
Compared with prior art, the establishment of large-scale garage WIFI fingerprint bases of the invention and update system and method, tool
There are following characteristics：
1）, can low cost, high automation, high performance realize positioning and draw in real time for large car library especially underground garage
It leads, practicability and automation is considered, using channel coordinate Quick Response Code coding and signal acquisition scheme.Trolley is determined by sensor
With the relative position of parking stall line, accuracy is relatively high.Positioning accuracy depends on number of probes, and comparatively dense is compared in sensor placement
When, precision is relatively high.
2）, cruise vehicle using Quick Response Code spray equipment coding demarcate position, later WIFI signal acquisition module establish WIFI
Position is determined when information data and by Quick Response Code when guiding in real time.Compared to artificial acquisition, position is accurate, and acquisition facilitates automatic
Change.It is acquired simultaneously using more cruise vehicles, and the vehicle that cruises whole-process automatic can acquire, efficient, required time is short.
3）, cruise vehicle be queued in the garage in walk, it then follows traffic rule, when necessary will actively evacuation, do not interfere vehicle to go out
Storage.
4）, structure WIFI fingerprint bases can be in the matching process according to user feedback dynamic corrections.
Description of the drawings
Fig. 1 is a preferred embodiment of the present invention floor map（Part）；
Fig. 2 is the floor map of cruise vehicle in Fig. 1；
Fig. 3 is the schematic diagram that two cruise vehicles cruise simultaneously in Fig. 1；
Fig. 4 is the obstacle process schematic of cruise vehicle.
Specific implementation mode
In order to make technical problems, technical solutions and advantages to be solved be more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
It please refers to shown in Fig. 1 and Fig. 2, the preferred embodiment of the establishment system of present invention large size garage WIFI fingerprint bases,
It is sent including the Quick Response Code spray equipment 11 on cruise vehicle 1 and the setting cruise vehicle 1, WIFI signal acquisition module, data
Interactive module further includes being arranged in the central processing server of control centre and the large-scale parking stall in garage and the planar cloth in channel
Set figure（As shown in Figure 1）.
The cruise vehicle 1 uses setting area of the Quick Response Code spray equipment 11 near each parking stall 2 according to floor plan
At least one Quick Response Code mark 3 is sprayed on the ground in domain and is used as coordinate points, and passes through the WIFI signal acquisition module and data
It sends interactive module and the WIFI position signals of the coordinate points is sent to central processing server（It is not shown in figure）.The center
Processing server is according to the WIFI position signals of the coordinate points of each parking stall 2 received and the Quick Response Code identification information of the parking stall
One-to-one relationship is established with temporal information, to create and store the large size garage WIFI fingerprint bases.
In invention, air brushing Quick Response Code is mainly not used to the identification of user's barcode scanning, but is used for WIFI fingerprint databases
Cruise during foundation the position calibration of vehicle, user using when it is not necessary that scan the two-dimensional code can real-time location navigation.Such as user
It is ready to can be used for identification position if barcode scanning.
As an embodiment of the present invention, the cruise vehicle 1 is unmanned driving vehicle.The cruise vehicle 1 with go out storage
The size of vehicle is close.It is also provided with color sensor array 12 on the cruise vehicle 1, ultrasonic position inductor 13, compiles
Code device 14 and geomagnetic sensor 15.The Quick Response Code spray equipment 11 is arranged in the bottom of cruise vehicle 1.The WIFI signal is adopted
Collect module, data send interactive module, encoder 14 and geomagnetic sensor 15 and are arranged in driver's cabin.The color sensor
On the bracket 18 of the cruise vehicle 1 of array 12.The ultrasonic position inductor 13 is arranged in the periphery of cruise vehicle 1 and bracket 18
On periphery.
The parking stall line position of each parking stall for identification of the color sensor array 12.The ultrasonic position inductor
13 for determining at a distance from barrier, and to obstacle avoidance aiding, being also used for cruise vehicle 1 and the contraposition process of target parking stall 2 ensures
Quick Response Code coding, the position of reading code are reasonable.The wheel 16 of the cruise vehicle 1 uses Mecanum wheel, by wheel differential and
The control of rotation direction, any direction automatic running around making the vehicle be realized in garage.The encoder 14 utilizes wheel
The operating range of son steering, travel speed and running time to calculate cruise vehicle and the position in the garage.Describedly
Magnetic Sensor 15 is used to obtain the travel direction auxiliary cruise vehicle turning of cruise vehicle 1.The cruise vehicle 1 is by can be with ultrasonic wave position
It sets inductor 13 and senses warehouse entering trolley R, can measures to keep clear be taken to it automatically.
The Quick Response Code mark 3 is 5cm ~ 80cm at a distance from the parking stall line of place parking stall 2.The ultrasonic position induction
The mounting height of device 13 is higher than the lower part of storage vehicle chassis（Except wheel）.The adjacent ultrasonic wave position sensor 13
Spacing is less than the cross-sectional width that pillar is built in the wheelspan and garage of storage vehicle.
Shown in please referring to Fig.2, it is assumed that the inlet of parking stall 2 is 1 meter there are one notch, length, passes through color sensor battle array
Row 12 detect notch to determine the position on parking stall.In the present embodiment, the color sensor array 12 includes multiple colors
Sensor, multiple color sensors are mounted on the bracket 18 of cruise vehicle 1, and the stop line of parking stall 2 is yellow, more on bracket 18
Entire notch is completely covered a color sensor.According to the sensor distribution situation for detecting yellow line and notch, so that it may with
Judge the specific location of cruise vehicle 1.If some region of color sensor all can't detect yellow line, it is judged as notch.
In Fig. 2, A1, B1, C1, G1, H1 amount to 5 color sensors will detect yellow line, meanwhile, D, E, F, D1, E1, F1, D2, E2,
The field colors sensor such as F2 returns to the color on ground, these color sensors all do not detect yellow line, judge this ranging from
Notch.One notch corresponds to a parking stall, can identify parking stall by notch, one Quick Response Code of air brushing before each parking stall.
The relative position on trolley and parking stall can also be judged by the detection case of each color sensor, in parking stall
Between coding.
Quick Response Code air brushing in the centre position in the front of parking stall 2, the position can by detecting the midpoint of yellow line notch,
Judged by the return value of each color sensor.The cruise vehicle 1 passes through vehicle-mounted face according to floor plan automatically walk
Colour sensor array 12 calibrates target parking stall 2, using Quick Response Code spray equipment 11 in the channel of 2 entrance center face of each parking stall
At least one Quick Response Code mark 3 is sprayed on the ground in region is used as coordinate points.
When can not detect yellow line notch when the walking of vehicle 1 of cruising is in two passageways in left and right, cruise vehicle 1 is encoded according to traveling
The time of speed and timer that device 14 detected, traveling suitably apart from when automatic code-spraying, avoid passage portion 4 from not having
When yellow line notch, ground does not have the case where coding.
It is provided with 20 ultrasonic position inductors 13, each ultrasonic position inductor 13 in the periphery of cruise vehicle 1
Transmitting ultrasonic wave outward, as indicated by a dashed arrow in the figure, whether ultrasonic sensing periphery has barrier.
Vehicle 1 cruise along the direction running for being parallel to parking stall yellow line, a constant distance will be kept with parking stall 2, if
It is set to 50cm, by detecting the return value of each color sensor, the travel direction of control cruise vehicle 1, as cruise 1 side of vehicle on the way
To deviation, immediately direction is adjusted, is controlled yellow line in figure within the scope of color sensor with this.When the channel 4
Parking stall spraying finishes, and cruise vehicle 1 will turn direction automatically, quarter bend is turned to by geomagnetic sensor auxiliary control, into another
Continue coding in one channel 4.
Shown in please referring to Fig.3, the coding simultaneously of more cruise vehicles 1 can be used in channel 4, the region is same with two cruise vehicles 1
When the coding before parking stall 2.A vehicles are responsible for the parking stall of periphery, and B vehicles are responsible for the parking stall of central part.After current channel 4 has sprayed, A vehicles
It turns left into the channel 4 on the left side, continues coding, B vehicles, which are turned right, enters the channel 4 on the right, continues coding.
It please also refer to shown in Fig. 2 and Fig. 4, cruise vehicle 1 of the invention has the function of automatic obstacle.The vehicle 1 that cruises installs two
Ten ultrasonic position inductors 13 detect front, rear, left and right four direction.According to the prediction of central processing server and currently
When the ultrasonic position inductor 13 in face detects barrier P, cruise vehicle 1 avoids after being travelled to left, travels further along, with
13 disturbance in judgement object P of right lateral side ultrasonic position inductor is used afterwards, when right lateral side ultrasonic position inductor 13 judges obstacle
In the absence of object P, the vehicle 1 that illustrates to cruise has crossed barrier P, and trolley is to preceding traveling, reentering stop line after right translation
Region.
The invention also discloses a kind of more new systems of large-scale garage WIFI fingerprint bases, including foregoing large-scale garage
The establishment system creation of WIFI fingerprint bases simultaneously stores the large size garage WIFI fingerprint bases, and be arranged on the cruise vehicle 1
Two-dimension code recognition device 17.The cruise vehicle 1 is in the time interval of setting along the channel in garage 4 according to the cruise path of setting
Traveling is scanned by the two-dimension code recognition device 17 and identifies the corresponding Quick Response Code mark sprayed on the ground of each parking stall
Know, and uploads the WIFI position signals of the coordinate points again to central processing server.The central processing server is according to connecing
It receives the new WIFI position signals of the coordinate points and the large-scale garage WIFI fingerprint bases to having created and having stored is updated into Mobile state.
Two-dimentional code position can be calculated by speed, the directional information for the vehicle 1 that cruises under normal circumstances.Deviate in position
When, using the color sensor array 12 on the bracket 18 of cruise vehicle 1, with the step of when similar coding by positioning parking stall center
Find corresponding two-dimentional code position in position.Cruise vehicle 1 can be allowed accurately to find Quick Response Code by this way.
The variation of WIFI signal value caused by electromagnetic environment variation caused by being changed in view of various plus environmentals, to ensure
The validity of WIFI fingerprint base databases determines WIFI fingerprints on the analysis foundation of WIFI fingerprint base database Fluctuations
Library dynamic refresh interval, regularly schedules cruise 1 automatic cruising of vehicle, and automatic collection WIFI signal intensity value is sent to central processing
Server changes WIFI fingerprint databases, realizes quick dynamic refresh.
The cruise vehicle 1 supplements the two dimension of air brushing instruction point according to the instruction requirement of central processing server in garage
Code mark 3 and the WIFI location of instruction signal of the instruction point is sent to central processing server.The central processing server root
According to receive the supplement instruction point WIFI location of instruction signal and the large-scale garage WIFI fingerprint bases to having created and having stored into
Mobile state updates.
In addition to conventional 1 automatic collection of cruise vehicle establishes WIFI fingerprint bases, WIFI fingerprint bases can also be according to user client
The feedback at end, verification and the WIFI signal characteristic value for correcting warehouse compartment 2.
The more new system further includes the APP modules of user mobile phone and installation.The APP modules are for guiding user by vehicle
It is parked in parking stall nearby and reversed searches the vehicle being parked in parking stall.The central processing server obtains position
WIFI mobile phone locations signal in user mobile phone position in parking stall and the large-scale garage WIFI fingerprints to having created and having stored
Library is updated into Mobile state, and the WIFI mobile phone location signals of the user mobile phone position are that the APP modules through user confirm.
The invention also discloses a kind of creation methods of large-scale garage WIFI fingerprint bases, use foregoing large car
The establishment systems of library WIFI fingerprint bases creates, and includes the following steps：
Step 1：Establish large-scale each parking stall 2 in garage and the floor plan in channel 4；
Step 2：It is sprayed by Quick Response Code spray equipment 11 using on the ground of setting regions of the cruise vehicle 1 near each parking stall 2
It applies at least one Quick Response Code mark 3 and is used as coordinate points, and interactive module is sent by the WIFI signal acquisition module and data
WIFI position signals with the coordinate points are sent to central processing server.
Step 3：The central processing server is according to the WIFI position signals of the coordinate points of each parking stall 2 received
One-to-one relationship is established with the Quick Response Code identification information and temporal information of the parking stall, to create and store the large size garage
WIFI fingerprint bases.
The creation method further includes spraying two by Quick Response Code spray equipment on the ground in channel 4 using cruise vehicle 1
Code mark is tieed up, and interactive module is sent by the WIFI with the Quick Response Code identification point by the WIFI signal acquisition module and data
Channel position signal is sent to central processing server.The central processing server creates and stores the WIFI for including parking stall
The large-scale garage WIFI fingerprint bases of position signal and the WIFI channel position signals in channel.
Quick Response Code identifies both location informations as channel 4, also the station location marker as corresponding parking stall 2, is even more patrolled
Boat vehicle 1 provides coordinate information when acquiring WIFI signal.In use, as needed can be in any position air brushing two dimension of parking stall 2
Code mark, setting coordinate points mark.User does not need to scan these Quick Response Codes in.The present invention will use more cruise vehicles
1, in respective region coding, realizes whole-process automatic coding, determines that position, advantage are the phases on Quick Response Code and parking stall using sensor
The acquisition more accurate to position, can be in the preceding any position coding in parking stall.In the present embodiment, Quick Response Code is sprayed on parking stall
Centre, position remote yellow line 50cm apart from parking stall.
The invention also discloses a kind of update methods of large-scale garage WIFI fingerprint bases, use foregoing large car
The more new systems of library WIFI fingerprint bases updates, including following update mode：
The first update mode：In the time interval of setting, the cruise vehicle 1 is required according to the instruction of central processing server
It cruises in garage, the ground of the setting regions near each parking stall 2 is scanned and identified by the two-dimension code recognition device 11
On the Quick Response Code mark 3 that has sprayed, and upload the WIFI position signals of the coordinate points simultaneously to central processing server, in described
Entreat processing server according to the WIFI position signals and the large-scale garage WIFI fingerprints to having created and having stored for receiving the coordinate points
Library is updated into Mobile state.
Second of update mode：The cruise vehicle 1 is mended in garage at any time according to the instruction requirement of central processing server
It fills the Quick Response Code mark 3 of air brushing instruction point and sends the WIFI location of instruction signal of the point to central processing server.In described
Entreat WIFI location of instruction signal of the processing server according to the instruction point for receiving the supplement and the large car to having created and having stored
Library WIFI fingerprint bases are updated into Mobile state.
The third update mode：It is updated using user mobile phone and the APP modules of installation.The APP modules are for referring to
It quotes in parking stall 2 of the family by vehicle parking nearby and reversed lookup has been parked in the vehicle in parking stall 2.The central processing
Server, which obtains, is located at the WIFI mobile phone locations signal of user mobile phone position and the large size to having created and having stored in parking stall 2
Garage WIFI fingerprint bases are updated into Mobile state, and the WIFI mobile phone location signals of the user mobile phone position are through user
What APP modules confirmed.
User by verification parking stall digital number and guides soft after vehicle stops parking stall, or before being driven out to parking stall
The accuracy that part number carrys out feedback information can be by the physical location of client feedback, with the reality of active user if there is error
Border WIFI signal characteristic value replaces former error signal, is modified.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (8)
1. a kind of establishment system of large size garage WIFI fingerprint bases, which is characterized in that including cruise vehicle and the setting cruise
Quick Response Code spray equipment, WIFI signal acquisition module, data on vehicle send interactive module, further include being arranged in control centre
Central processing server and the large-scale parking stall in garage and the floor plan in channel, the cruise vehicle make according to floor plan
It uses and sprays at least one Quick Response Code mark on the ground of setting regions of the Quick Response Code spray equipment near each parking stall as seat
Punctuate, and send interactive module by the WIFI signal acquisition module and data and send the WIFI position signals of the coordinate points
To central processing server, the central processing server is according to the WIFI position signals of the coordinate points of each parking stall received
One-to-one relationship is established with the Quick Response Code identification information and temporal information of the parking stall, to create and store the large size garage
WIFI fingerprint bases.
2. the establishment system of large size garage as described in claim 1 WIFI fingerprint bases, which is characterized in that the cruise vehicle is nothing
People's driving vehicle is also provided with color sensor array, ultrasonic position inductor, encoder and ground on the cruise vehicle
Magnetic Sensor, the parking stall line position of the color sensor array each parking stall for identification, the ultrasonic position inductor
For determining at a distance from barrier, to obstacle avoidance aiding；The wheel of the cruise vehicle uses Mecanum wheel, by wheel
The control of differential and rotation direction, any direction automatic running around making the vehicle be realized in garage, the encoder profit
With the operating range of wheel steering, travel speed and running time to calculate cruise vehicle and the position in the garage, institute
State travel direction auxiliary cruise vehicle turning of the geomagnetic sensor for obtaining cruise vehicle.
3. a kind of more new system of large size garage WIFI fingerprint bases, which is characterized in that including as claimed in claim 1 or 2 big
The establishment system creation of type garage WIFI fingerprint bases simultaneously stores the large size garage WIFI fingerprint bases, and is set on the cruise vehicle
The two-dimension code recognition device set, the cruise vehicle is in the time interval of setting along the channel in garage according to the cruise path of setting
Traveling, is scanned by the two-dimension code recognition device and identifies the corresponding Quick Response Code mark sprayed on the ground of each parking stall
Know, and upload the WIFI position signals of the coordinate points again to central processing server, the central processing server is according to connecing
It receives the new WIFI position signals of the coordinate points and the large-scale garage WIFI fingerprint bases to having created and having stored is updated into Mobile state.
4. the more new system of large size garage as claimed in claim 3 WIFI fingerprint bases, which is characterized in that the cruise vehicle according to
The instruction requirement of central processing server supplements the Quick Response Code mark of air brushing instruction point in garage and sends the instruction point
WIFI location of instruction signal is to central processing server, and the central processing server is according to the instruction point for receiving the supplement
WIFI location of instruction signal and the large-scale garage WIFI fingerprint bases to having created and having stored are updated into Mobile state.
5. the more new system of large size garage as claimed in claim 3 WIFI fingerprint bases, which is characterized in that the more new system is also
APP modules including user mobile phone and installation, the APP modules for guide user by vehicle parking in parking stall nearby with
And reversed lookup has been parked in the vehicle in parking stall, the central processing server obtains in place positioned at user mobile phone institute in parking stall
The WIFI mobile phone locations signal and the large-scale garage WIFI fingerprint bases to having created and having stored set are updated into Mobile state, the user
The WIFI mobile phone location signals of mobile phone position are that the APP modules through user confirm.
6. a kind of creation method of large size garage WIFI fingerprint bases, which is characterized in that it is used as claimed in claim 1 or 2
The establishment systems of large-scale garage WIFI fingerprint bases creates, and includes the following steps：
Step 1：Establish large-scale each parking stall in garage and the floor plan in channel；
Step 2：It is sprayed by Quick Response Code spray equipment using on the ground of setting regions of the cruise vehicle near each parking stall
Few Quick Response Code mark is used as coordinate points, and sending interactive module by the WIFI signal acquisition module and data will be with this
The WIFI position signals of coordinate points are sent to central processing server；
Step 3：The central processing server is according to the WIFI position signals of the coordinate points of each parking stall received and the vehicle
The Quick Response Code identification information and temporal information of position establish one-to-one relationship, to create and store the large size garage WIFI fingerprints
Library.
7. the creation method of large size garage as claimed in claim 6 WIFI fingerprint bases, which is characterized in that the creation method is also
Quick Response Code mark is sprayed by Quick Response Code spray equipment on the ground in channel including the use of cruise vehicle, and is believed by the WIFI
Number acquisition module and data send interactive module and the WIFI channel position signals with the Quick Response Code identification point are sent to centre
Server is managed, the central processing server creates and stores the channels WIFI of the WIFI position signals and channel comprising parking stall
The large-scale garage WIFI fingerprint bases of position signal.
8. a kind of update method of large size garage WIFI fingerprint bases, which is characterized in that it is used as arbitrary in claim 3 to 5
The more new systems of large-scale garage WIFI fingerprint bases described in one updates, including following update mode：
The first update mode：In the time interval of setting, the cruise vehicle is required according to the instruction of central processing server
It cruises, scanned by the two-dimension code recognition device and is identified on the ground of the setting regions near each parking stall in garage
The Quick Response Code of spraying identifies, and uploads the WIFI position signals of the coordinate points simultaneously to central processing server, the centre
Manage server according to receive the coordinate points WIFI position signals and the large-scale garage WIFI fingerprint bases to having created and having stored into
Mobile state updates；
Second of update mode：The cruise vehicle supplements spray in garage at any time according to the instruction requirement of central processing server
The Quick Response Code mark for instructing point and the WIFI location of instruction signal for sending the point are painted to central processing server, the central processing
WIFI location of instruction signal of the server according to the instruction point for receiving the supplement and the large-scale garage WIFI to having created and having stored
Fingerprint base is updated into Mobile state；
The third update mode：It is updated using user mobile phone and the APP modules of installation, the APP modules are used for guiding
In parking stall of the family by vehicle parking nearby and reversed lookup has been parked in the vehicle in parking stall, the central processing server
Obtain the WIFI mobile phone locations signal and the large-scale garage to having created and having stored for being located at user mobile phone position in parking stall
WIFI fingerprint bases are updated into Mobile state, and the WIFI mobile phone location signals of the user mobile phone position are the APP moulds through user
What block confirmed.
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