CN108847053A - A kind of indoor navigation method - Google Patents
A kind of indoor navigation method Download PDFInfo
- Publication number
- CN108847053A CN108847053A CN201810986870.9A CN201810986870A CN108847053A CN 108847053 A CN108847053 A CN 108847053A CN 201810986870 A CN201810986870 A CN 201810986870A CN 108847053 A CN108847053 A CN 108847053A
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- vehicle
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Classifications
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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
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to indoor navigation technical fields, a kind of specifically indoor navigation method, the image collecting device of several fixations is disposed in the traffic route of vehicle, Image Acquisition is carried out to traffic route by image collecting device, the position of the indoor map and image collecting device is stored by background client terminal, after background client terminal receives the image information of image collecting device transmission, the position of vehicle is identified and judged to image, the information of vehicles of request vehicle is issued to background client terminal by mobile terminal, and indoor map is received from background client terminal and requests the position of vehicle.The present invention compared with the existing technology, the advantage is that：Indoor navigation method provided by the invention can carry out precision navigation to the vehicle for travelling parking lot indoors, location algorithm is simple, and navigation accuracy is high, using indoor navigation system of the invention, vehicle can be quickly found out the parking stall of reservation in parking lot indoors, improve parking efficiency.
Description
Technical field
The present invention relates to indoor navigation technical field, a kind of specifically indoor navigation method.
Background technique
Car ownership is constantly rising at present, has a large population and a few land in big and medium-sized cities, and many commercial center's office buildings are all built
Equipped with large-scale underground garage, and underground parking large-scale at present is also very simple to the navigation of vehicle, such as parking lot divides
Region, subregion shows parking stall, or receives GPS signal by mobile phone and carry out location navigation, and there are positioning accurates for these methods
Spend not high, the problem for inaccuracy of navigating.Therefore, it is necessary to design a kind of novel indoor navigation method.
Summary of the invention
It is an object of the invention to solve the deficiencies in the prior art, a kind of indoor navigation method is provided, vehicle is existed
Parking stall is quickly found in underground parking, thus the problem of stopping at release hardly possible.
To achieve the goals above, a kind of indoor navigation method is designed, the method is specific as follows：
It is disposed with the image processing apparatus of several fixations in the traffic route of vehicle, passes through image processing apparatus pair
Vehicle in traffic route carries out image information collecting, is being handled acquired image information and is obtaining vehicle identification letter
After breath, the vehicle identification information including image processing apparatus number is sent to data storage device.
The indoor map, the position of image processing apparatus and image procossing dress are stored by data storage device
Set the vehicle identification information of transmission.
The indoor map that is stored by data storage device, image processing apparatus are called by data processing equipment
Position and vehicle identification information, to judge the position of vehicle.
The information of vehicles of request vehicle is issued to data processing equipment by mobile terminal, and from data processing equipment to movement
The indoor map that end sends the position of request vehicle and data storage is stored.
The present invention also has following preferred technical solution：
The image processing apparatus identifies the license plate information of vehicle in traffic route by acquired image information,
The data processing equipment is according to respectively to different vehicle progress position judgements and according to mobile terminal with license plate information
Request will request the location information of vehicle to be sent to mobile terminal.
The image processing apparatus and several reversed image procossings of several forward directions are successively arranged in the traffic route of vehicle
Device, when vehicle forward travel, positive image processing apparatus is as preceding license plate image processing apparatus for acquiring and handling
The preceding license plate image of vehicle, reversed image processing apparatus is as rear license plate image processing apparatus for acquiring and handling vehicle
License plate image afterwards；When the vehicle is running reversely, positive image processing apparatus is as rear license plate image processing apparatus for acquiring
And the rear license plate image of vehicle is handled, reversed image processing apparatus is as preceding license plate image processing apparatus for acquiring and handling
The preceding license plate image of vehicle.
If an only image processing apparatus collects the image of request vehicle, data processing equipment will collect request
The image processing apparatus of the image of vehicle is made as nearest image processing apparatus, and with the position of nearest image processing apparatus
For the position for requesting vehicle.
If being judged when the image for thering are at least two image processing apparatus to collect request vehicle by location recognition method
Request the position of vehicle.
The location recognition method is specific as follows：It is first determined whether there is image processing apparatus to collect request vehicle
Preceding license board information sorts most preceding preceding license plate image processing apparatus according to road direction if so, taking as nearest image procossing
Device；Most preceding rear license plate image processing apparatus is sorted as nearest image processing apparatus according to road direction if it is not, then taking, and
Using the position of nearest image processing apparatus as the position of request vehicle.
The image processing apparatus carries out an Image Acquisition at interval of the period of setting, and works as data processing equipment
Receive mobile terminal sending request vehicle information of vehicles after, data processing equipment calculate the location information of vehicle and immediately to
Mobile terminal issues the location information of request vehicle.
The present invention also designs a kind of device for the indoor navigation method, and the device includes such as lower component：
It is several for carrying out Image Acquisition to carry out information collection to the vehicle in traffic route, to adopting to traffic route
After the image information that collection obtains is identified, vehicle identification information is sent to the image processing apparatus of data storage device.
The vehicle that position and image processing apparatus for storing the indoor map, image processing apparatus are sent
The data storage device of identification information.
For call by data storage device storage the indoor map, image processing apparatus position and
Vehicle identification information, to judge the data processing equipment of the position of vehicle.
It is received indoorly for issuing the information of vehicles of request vehicle to data processing equipment, and from data processing equipment
The mobile terminal of the position of figure and request vehicle.
The present invention compared with the existing technology, the advantage is that：Indoor navigation method provided by the invention can be to traveling in room
The vehicle in interior parking lot carries out precision navigation, and traditional indoor orientation method is carried out by mobile phone signal or other wireless signals
Positioning, positioning accuracy is not high, and location algorithm is complicated, and method location algorithm provided by the invention is simple, and navigation accuracy is high, uses
Indoor navigation system of the invention, vehicle can be quickly found out the parking stall of reservation in parking lot indoors, improve parking effect
Rate.
Detailed description of the invention
Fig. 1 is the application schematic diagram in present invention parking lot indoors in an embodiment.
Fig. 2 is the work flow diagram of image collecting device of the present invention in an embodiment.
Fig. 3 is the method flow schematic diagram that the present invention judges nearest image collecting device in an embodiment.
Fig. 4 is the method schematic diagram of acquisition request vehicle indoor location of the present invention in an embodiment.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings, and the structure and principle of this device are for the people of this profession
It is very clearly.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this
Invention.
The present invention is disposed with the image collecting device of several fixations in the traffic route of vehicle, passes through Image Acquisition
Device carries out Image Acquisition to traffic route to carry out information collection, and the image that will be collected to the vehicle in traffic route
And acquisition time is sent to background client terminal as image information, then stores the indoor map by background client terminal
And the position of image collecting device, after background client terminal receives the image information of image collecting device transmission, backstage
Client is identified to image and is judged the position of vehicle, and image information includes image collecting device picture collected and adopts
The time point of collection, then the information of vehicles for requesting vehicle is issued to background client terminal by mobile terminal, and receive from background client terminal
Indoor map and the position for requesting vehicle.
Using camera as image collecting device in present embodiment, using cell phone application end as mobile terminal.Firstly the need of thing
The cartographic information in parking lot is first acquired, and cartographic information is saved to background server.And in the traffic route in parking lot
Multiple cameras are deployed with, as shown in Figure 1.The location information of camera is also stored on map in traffic route.When vehicle passes through
Cross route, the camera disposed on route can identify this information of vehicles because the geographical location of camera be it is fixed, can
With the position of the Information locating vehicle acquired according to camera.
The cartographic information in parking lot is downloaded at cell phone application end first, and the vehicle letter of request vehicle is issued to background server
Breath, and requests the position of vehicle to be pushed to cell phone application end by background server, from cell phone application end on map to user
Show navigation information.
The corresponding air navigation aid for being used in parking garage is described in further detail below.
Referring to Fig. 1, there is parking lot P at present, there is a request vehicle I, the reservation parking stall J of vehicle is requested, in the P of parking lot
Road on correspond to each parking stall position be deployed with a pair of of camera, one of camera is imaged as preceding license plate
Head, another camera is as rear license plate camera, and each camera has unique number in systems.In background server
It is stored with parking lot plan electronic map, and record has the location information of each camera in electronic map.
It referring to fig. 2, is the work flow diagram of Car license recognition camera, all Car license recognition cameras are simultaneously in parking lot
Scanning, 100 milliseconds of sweep interval, and the license plate of scanning recognition is reported to the parking system as background server,
Due to the distance range that Car license recognition camera recognizes license plate be it is fixed, can be according to the position for recognizing license plate camera
Extrapolate the position of vehicle.If there is multiple cameras recognize the same license plate, in conjunction with the driving direction of vehicle, then from vehicle
Nearest camera position calculates vehicle location.
Referring to fig. 4, if an only image acquisition device to request vehicle image when, background client terminal will acquire
To request vehicle image image collecting device as nearest image collecting device, and with nearest image collecting device
Position of the position as request vehicle；If have at least two image acquisition devices to request vehicle image when, pass through
The position of location recognition method judgement request vehicle.
It is the method flow schematic diagram for judging nearest camera referring to Fig. 3, whether license plate acquisition device acquires before first judging
To the image of request vehicle, request vehicle image is collected and the most preceding preceding license plate image collecting device of sequence is if so, taking
Nearest image collecting device；Request vehicle image is collected and the most preceding rear license plate image collecting device that sorts if it is not, then taking
For nearest image collecting device, and using the position of nearest image collecting device as the position of request vehicle.
Assuming that requesting the traffic route of vehicle is the camera A-D being arranged from left to right at this time from left to right in Fig. 1
For preceding license plate camera, the camera E-H being arranged from right to left is rear license plate camera, when cell phone application end is to background client terminal
When issuing position enquiring request, the station acquisition result such as following table of vehicle is requested：
| Time | Camera number | License plate type | License plate number |
| 12300 milliseconds | C | Preceding license plate | Shanghai A XX |
| 12300 milliseconds | D | Preceding license plate | Shanghai A XX |
| 12300 milliseconds | G | License plate afterwards | Shanghai A XX |
| 12300 milliseconds | H | License plate afterwards | Shanghai A XX |
The rear license plate camera set for collecting license board information is arranged as GH in sequence；
It is CD that the preceding license plate camera set of license board information, which is collected, according to road direction sequence；
Then according to algorithm, camera C is nearest camera, using the position of camera C as the position of request vehicle.
Parking lot electronic map is downloaded by cell phone application end, after the information for sending request vehicle to background client terminal, is stopped
The location information that parking lot system can push request vehicle every 100 milliseconds gives cell phone application end, and cell phone application end is according to location information
Guidance path is provided according to general purpose routine planning algorithm in conjunction with electronic map and vehicle heading.
It can be navigated, quickly be reached specified by cell phone application end after entering underground parking the invention enables vehicle
Parking stall, and later automatic driving vehicle can also be docked in system, and automatic driving vehicle is navigate to by this method
Nearby complete automatic parking in parking stall.By indoor navigation system, vehicle can be quickly found out stopping for reservation in parking lot indoors
Parking stall improves parking efficiency, can achieve energy-saving and emission reduction purposes.
Claims (7)
1. a kind of indoor navigation method, it is characterised in that the method is specific as follows：
The image processing apparatus of several fixations is disposed in the traffic route of vehicle, by image processing apparatus to driving
Vehicle on route carries out image information collecting, is being handled acquired image information and is obtaining vehicle identification information
Afterwards, the vehicle identification information including image processing apparatus number is sent to data storage device；
The indoor map, the position of image processing apparatus and image processing apparatus hair are stored by data storage device
The vehicle identification information sent；
The arrangement of the indoor map, image processing apparatus that are stored by data processing equipment calling by data storage device
Position and vehicle identification information, to judge the position of vehicle；
The information of vehicles of request vehicle is issued to data processing equipment by mobile terminal, and is sent out from data processing equipment to mobile terminal
Send the indoor map for requesting the position of vehicle and data storage to be stored.
2. indoor navigation method as described in claim 1, it is characterised in that the image processing apparatus passes through collected
Image information identifies the license plate information of vehicle in traffic route, and the data processing equipment is according to respectively with license plate information
Position judgement is carried out to different vehicles and the location information of vehicle will be requested to be sent to mobile terminal according to the request of mobile terminal.
3. indoor navigation method as described in claim 1, it is characterised in that be successively arranged in the traffic route of vehicle several
Positive image processing apparatus and several reversed image processing apparatus, when vehicle forward travel, positive image procossing dress
Set the preceding license plate image for being used to acquire and handle vehicle as preceding license plate image processing apparatus, reversed image processing apparatus conduct
License plate image processing apparatus is used to acquire and handle the rear license plate image of vehicle afterwards；When the vehicle is running reversely, positive image
Processing unit is used to acquire and handle the rear license plate image of vehicle, reversed image procossing dress as rear license plate image processing apparatus
Set the preceding license plate image for being used to acquire and handle vehicle as preceding license plate image processing apparatus.
4. indoor navigation method as claimed in claim 3, it is characterised in that asked if an only image processing apparatus collects
When seeking the image of vehicle, data processing equipment will collect the image processing apparatus of the image of request vehicle as nearest image
Processing unit, and using the position of nearest image processing apparatus as the position of request vehicle；
If when the image for thering are at least two image processing apparatus to collect request vehicle, judging to request by location recognition method
The position of vehicle.
5. indoor navigation method as claimed in claim 4, it is characterised in that the location recognition method is specific as follows：First
The preceding license board information that image processing apparatus collects request vehicle is judged whether there is,
Most preceding preceding license plate image processing apparatus is sorted as nearest image processing apparatus according to road direction if so, taking；If
No, then taking according to the most preceding rear license plate image processing apparatus of road direction sequence is nearest image processing apparatus,
And using the position of nearest image processing apparatus as the position of request vehicle.
6. indoor navigation method as described in claim 1, it is characterised in that the image processing apparatus is at interval of setting
Period carries out an Image Acquisition, and after data processing equipment receives the information of vehicles of request vehicle of mobile terminal sending,
Data processing equipment calculates the location information of vehicle and issues the location information of request vehicle to mobile terminal immediately.
7. a kind of device for indoor navigation method as described in claim 1, it is characterised in that the device includes such as
Lower component：
It is several for carrying out Image Acquisition to carry out information collection to the vehicle in traffic route, to acquiring to traffic route
To image information identified after, vehicle identification information is sent to the image processing apparatus of data storage device；
The vehicle identification that position and image processing apparatus for storing the indoor map, image processing apparatus are sent
The data storage device of information；
For call by data storage device storage the indoor map, image processing apparatus position and vehicle
Identification information, to judge the data processing equipment of the position of vehicle；
For issuing the information of vehicles of request vehicle to data processing equipment, and from data processing equipment receive indoor map and
Request the mobile terminal of the position of vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810986870.9A CN108847053A (en) | 2018-08-28 | 2018-08-28 | A kind of indoor navigation method |
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| CN201810986870.9A CN108847053A (en) | 2018-08-28 | 2018-08-28 | A kind of indoor navigation method |
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| CN110164135A (en) * | 2019-01-14 | 2019-08-23 | 腾讯科技（深圳）有限公司 | A kind of localization method, positioning device and positioning system |
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Effective date of registration: 20200611 Address after: 201203 Shanghai City, Pudong New Area China (Shanghai) free trade zone fanchun Road No. 400 Building 1 layer 3 Applicant after: Shanghai Longfeng Intelligent Technology Co.,Ltd. Address before: 201313 Room 118, Building 20, No. 83 Lane 1-42, Hongxiang North Road, Wanxiang Town, Pudong New Area, Shanghai Applicant before: LONGHUI INTELLIGENT TECHNOLOGY (SHANGHAI) Co.,Ltd. |
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Application publication date: 20181120 |