CN109345860A - Parking garage air navigation aid, device, computer equipment and storage medium - Google Patents
Parking garage air navigation aid, device, computer equipment and storage medium Download PDFInfo
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- CN109345860A CN109345860A CN201811198450.0A CN201811198450A CN109345860A CN 109345860 A CN109345860 A CN 109345860A CN 201811198450 A CN201811198450 A CN 201811198450A CN 109345860 A CN109345860 A CN 109345860A
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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]
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- 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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- Radar, Positioning & Navigation (AREA)
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Abstract
The embodiment of the invention discloses a kind of parking garage air navigation aid, device, computer equipment and storage mediums, include the following steps: the idle parking space information for obtaining parking garage and acquires the location information of user's vehicle by preset indoor navigation system, wherein, indoor navigation system indoors parking lot be provided with it is several for acquire user's vehicle location informations alignment sensor；An idle parking stall, which is chosen, according to default allocation rule and idle parking space information distributes to user's vehicle；According to the location information plane-generating parking navigation information of idle parking stall and user's vehicle, to guide user's vehicle driving to idle parking stall.The location information that the embodiment of the present invention passes through acquisition idle parking space information and user's vehicle, then plane-generating parking navigation information is carried out according to the location information of the idle parking stall and user's vehicle of distributing to user's vehicle, to guide user's vehicle driving to the free time parking stall to stop, the accuracy of indoor navigation can be effectively provided.
Description
Technical field
The present embodiments relate to indoor navigation technical field, especially a kind of parking garage air navigation aid, device, meter
Calculate machine equipment and storage medium.
Background technique
With the improvement of living standards, more and more families have purchased private car, for automobile, when not using
When, it needs to rest in parking lot and causes congestion to avoid to road, user needs to find when driving enters parking lot
Idle parking stall in parking lot, and for parking garage, it is blocked since viewing from inside is not fine, such as by pillar
Or dark, user are difficult quickly to search out idle parking stall.
In the prior art, self-help charging APP in parking lot is very universal, but self-help charging APP is mostly used for recording
Vehicle when admission, the Parking Fee that when appears on the scene and produce, existing parking lot self-help charging APP be unable to quick prompt which
In available free parking stall, and carry out indoor navigation and car owner guided to drive in a vehicle to idle parking stall.
Summary of the invention
The embodiment of the present invention provides a kind of position automatically according to employee to carry out the navigation of the parking garage of goods and materials dispensing
Method, apparatus, computer equipment and storage medium.
In order to solve the above technical problems, the technical solution that the embodiment of the invention uses is: providing a kind of room
Interior parking ground navigation method, includes the following steps:
It obtains the idle parking space information of parking garage and determining for user's vehicle is acquired by preset indoor navigation system
Position information, wherein the indoor navigation system is provided with several for acquiring user's vehicle in the parking garage
The alignment sensor of location information；
An idle parking stall, which is chosen, according to default allocation rule and the idle parking space information distributes to user's vehicle；
According to the location information plane-generating parking navigation information of the idle parking stall and user's vehicle, to guide
User's vehicle driving is stated to the idle parking stall.
Optionally, the location information plane-generating navigation information according to the idle parking stall and user's vehicle,
Further include such as following step after the step of guiding user's vehicle driving to the idle parking stall:
Obtain the location information of user's vehicle parking parking stall and the personal location information of the user；
Vehicle navigation information is sought with personal location information plane-generating according to the positional information, is found with guiding the user
To user's vehicle.
Optionally, the acquisition methods of the personal location information of the user, including such as following step:
Obtain the device location information for several wireless connectivity devices being wirelessly connected with the user terminal of the user；
The personal positioning letter of the user is calculated according to preset cross bearing rule and the device location information
Breath.
Optionally, the acquisition methods of the idle parking space information, including such as following step:
Acquire the parking stall image of the parking stall the parking garage Nei Ge；
Judge whether parking stall is in idle condition according to the parking stall image.
Optionally, described that the step of whether parking stall is in idle condition is judged according to the parking stall image including such as following
Step:
The parking stall image is input in preset parking stall judgment models, wherein the parking stall judgment models are training
To convergent convolutional neural networks model；
Obtain parking stall judgment module output for judging the parking space state information whether parking stall is in idle condition.
Optionally, described to be believed according to the location information plane-generating parking navigation of the idle parking stall and user's vehicle
Breath, the step of to guide user's vehicle driving to the idle parking stall after, further include such as following step:
Obtain the image information for distributing to the idle parking stall of user's vehicle；
Judge whether user's vehicle rests in the idle parking stall according to described image information；
If so, the idle parking stall mark to be distribution state and store into preset parking stall management database.
Optionally, the parking navigation information includes navigation routine cartographic information and navigation voice messaging.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of parking garage navigation device, comprising:
First obtains module, for obtaining the idle parking space information of parking garage and by preset indoor navigation system
Acquire the location information of user's vehicle, wherein the indoor navigation system is provided with several for adopting in the parking garage
Collect the alignment sensor of the location information of user's vehicle；
First processing module, for choosing an idle parking stall point according to default allocation rule and the idle parking space information
User's vehicle described in dispensing；
First execution module, for being stopped according to the location information plane-generating of the idle parking stall and user's vehicle
Navigation information, to guide user's vehicle driving to the idle parking stall.
Optionally, further includes:
Second obtains module, for obtaining the location information of user's vehicle parking parking stall and the individual of the user
Location information；
Second execution module, for seeking vehicle navigation information with personal location information plane-generating according to the positional information,
User's vehicle is searched out to guide the user.
Optionally, further includes:
Third obtains module, for obtaining several wireless connectivity devices being wirelessly connected with the user terminal of the user
Device location information；
Third execution module, it is described for being calculated according to preset cross bearing rule and the device location information
The personal location information of user.
Optionally, further includes:
Submodule is acquired, for acquiring the parking stall image of the parking stall the parking garage Nei Ge；
Judging submodule, for judging whether parking stall is in idle condition according to the parking stall image.
Optionally, further includes:
Implementation sub-module, for the parking stall image to be input in preset parking stall judgment models, wherein the parking stall
Judgment models are to train to convergent convolutional neural networks model；
Acquisition submodule, for obtain parking stall judgment module output for judging whether parking stall is in idle condition
Parking space state information.
Optionally, further includes:
4th obtains module, for obtaining the image information for distributing to the idle parking stall of user's vehicle；
Judgment module, for judging whether user's vehicle rests in the idle parking stall according to described image information
It is interior；
4th execution module, for being distribution shape by the idle parking stall mark when the judgment module is judged as YES
State is simultaneously stored into preset parking stall management database.
Optionally, the parking navigation information includes navigation routine cartographic information and navigation voice messaging.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of computer equipment, including memory and processing
Device is stored with computer-readable instruction in the memory, when the computer-readable instruction is executed by the processor, so that
The processor executes the step of above-mentioned parking garage air navigation aid.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of storage Jie for being stored with computer-readable instruction
Matter, when the computer-readable instruction is executed by one or more processors, so that one or more processors execute above-mentioned room
The step of interior parking ground navigation method.
The embodiment of the present invention has the beneficial effect that through the idle parking space information of acquisition parking garage and by being set to
Multiple alignment sensors in parking garage obtain the location information of user's vehicle, then indoors according to default allocation rule
An idle parking stall is chosen in parking lot and distributes to user's vehicle, further according to the idle parking stall and user for distributing to user's vehicle
The location information of vehicle carries out plane-generating parking navigation information, so that user's vehicle driving to the free time parking stall be guided to stop
It leans on, realizes indoor parking navigation function, acquire the location information of user's vehicle, energy in real time by indoor multiple alignment sensors
The accuracy of indoor navigation is effectively provided.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the basic procedure schematic diagram of parking garage of embodiment of the present invention air navigation aid；
Fig. 2 is the flow diagram that the embodiment of the present invention obtains idle parking space information；
Fig. 3 be the embodiment of the present invention judge parking stall whether be idle state flow diagram；
Fig. 4 is that the embodiment of the present invention guides the flow diagram that vehicle is sought in user room；
Fig. 5 is the flow diagram for the personal location information that the embodiment of the present invention obtains user；
Fig. 6 is the flow diagram for the parking stall that the embodiment of the present invention manages in parking garage；
Fig. 7 is parking garage of embodiment of the present invention navigation device basic structure schematic diagram；
Fig. 8 is computer equipment of embodiment of the present invention basic structure block diagram；
Fig. 9 is the operation principle schematic diagram of cross bearing of the embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
In some processes of the description in description and claims of this specification and above-mentioned attached drawing, contain according to
Multiple operations that particular order occurs, but it should be clearly understood that these operations can not be what appears in this article suitable according to its
Sequence is executed or is executed parallel, and serial number of operation such as 101,102 etc. is only used for distinguishing each different operation, serial number
It itself does not represent and any executes sequence.In addition, these processes may include more or fewer operations, and these operations can
To execute or execute parallel in order.It should be noted that the description such as " first " herein, " second ", is for distinguishing not
Same message, equipment, module etc., does not represent sequencing, does not also limit " first " and " second " and be different type.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those skilled in the art's every other implementation obtained without creative efforts
Example, shall fall within the protection scope of the present invention.
Embodiment 1
It is the basic procedure schematic diagram of the present embodiment parking garage air navigation aid referring specifically to Fig. 1, Fig. 1.
As shown in Figure 1, a kind of parking garage air navigation aid, includes the following steps:
S1100, the idle parking space information for obtaining parking garage simultaneously acquire user's vehicle by preset indoor navigation system
Location information, wherein the indoor navigation system is provided with several for acquiring the user in the parking garage
The alignment sensor of the location information of vehicle；
Indoor navigation system includes several alignment sensors being set in parking garage, wherein alignment sensor is used
In using user's vehicle location information, implement when, alignment sensor can use camera, WiFi, infrared sensor with
And any one in ultrasonic sensor, by taking camera as an example, system by the vehicle running route in parking lot indoors with
And camera is set at parking stall, the license plate image of vehicle is acquired by camera, system is according to OCR (Optical
Character Recognition, optical character identification) technology identification license plate number, to judge whether the vehicle is user
Vehicle, the position that the image then obtained according to acquisition calculates user's vehicle obtains location information, specifically, due to camera
Position is fixed, it is possible to by the light subscribed to vehicle emissions, according to the stroke of light and flight time
The vehicle is calculated at a distance from camera, and then determines the location information of the vehicle.
In one alternate embodiment, by taking WiFi is positioned as an example, multiple Wi-Fi hotspots are provided with by parking lot indoors,
Navigator or user terminal in user's vehicle are connect with Wi-Fi hotspot, and system can penetrate that Wi-Fi hotspot of access,
Match again and closes the Wi-Fi hotspot for closing on three or more, so that it may determine the position of user's vehicle, specifically, as shown in figure 9,
WiFi positioning is generally judged using " nearest neighbour method ", i.e., near which Wi-Fi hotspot or base station, that is, think to be in where, such as
Nearby there are multiple information sources, then can be by cross bearing (positioning of three sides) for example including WIFIA, WIFIB and WIFIC, it is fixed to improve
Position precision.As long as system can obtain the message that terminal is sent back to by Wi-Fi, the positioning of terminal can be achieved with, positioning principle is are as follows:
The information of terminal is passed to system by server, completes the data collection of front end, when some terminal needs to position, then is matched
The positioning of terminal can be realized in the positioning message of wireless aps transmission, wherein terminal refer to navigator in user's vehicle or
User terminal.
The idle parking space information of parking garage refer in parking garage not yet stop vehicle, and be not previously allocated
The parking space information gone out, when implementing, referring to Fig. 2, Fig. 2 is that one embodiment of the invention obtains the basic of idle parking space information
Flow diagram.
As shown in Fig. 2, the acquisition methods of the free time parking space information, including such as following step:
S1110, the parking stall image for acquiring the parking stall the parking garage Nei Ge；
Shooting, collecting parking stall image can be carried out to the parking stall by installing camera above parking stall.With camera pair
For parking stall carries out shooting, collecting target video, the basic unit for forming target video is image one by one, system according to
The target video chooses parking stall image, specifically, can be carried out by Video processing software (such as OpenCV) to target video
Processing, is split as several frame picture images for target video, in carrying out target video when the acquisition of picture image, passes through timing
The mode of acquisition is obtained extracts picture image from target video.Such as the speed opened with 0.5s mono- is in the frame picture of target video
A Target Photo is extracted in image, but not limited to this, according to the difference of concrete application scene, acquire the speed of picture image
It is able to carry out the adjustment of adaptability, Adjustment principle is, system processing capacity is stronger and the tracking accuracy requirement the high, acquires
Time is shorter, reach with picture pick-up device acquisition image Frequency Synchronization when until；Otherwise, then acquisition time interval is longer, but most
Long acquisition time interval must not exceed 1s, then select a frame picture image conduct at random in multiple picture images elected
Parking stall image.It is of course also possible to select one by way of randomly selecting in picture image all directly in target video
Frame picture image is as parking stall image.
S1120, judge whether parking stall is in idle condition according to the parking stall image.
System judges whether the parking stall is idle parking stall according to parking stall image, specifically, can be by trained to receipts
The convolutional neural networks model held back realize judge parking stall whether Kong Xian function, referring to Fig. 3, Fig. 3 is a reality of the invention
Apply judge in example parking stall whether be idle state basic procedure schematic diagram.
As shown in figure 3, described the step of whether parking stall is in idle condition judged according to the parking stall image, including as follows
State step:
S1121, the parking stall image is input in preset parking stall judgment models, wherein the parking stall judgment models
For training to convergent convolutional neural networks model；
Parking stall judgment models be for judging whether parking stall stops the tool of vehicle, can be by default when implementing
Parking stall image set carry out training convolutional neural networks model, to obtain parking stall judgment models, when being trained, convolutional Neural net
The input layer of network model, which obtains, is marked with classification referring to the training sample data (parking stall image set) of information, specifically, trains sample
Notebook data can be acquired by web crawlers or existing image data base, by taking web crawlers as an example, be climbed by network
Worm crawls several parking stall images (such as 1,000,000) in internet, before being trained to a parking stall image, needs pair
The classification of image is marked referring to information, and anticipation can use in the prior art trained to convergent image recognition model
Judged.
In one alternate embodiment, the training of the present embodiment is obtained by web crawlers or existing image data base
Sample data, by above-mentioned training sample data training to convergent neural network model, due to the parking stall same in training
The parking stall image of (parked vehicles or non-parked vehicles) is identical under various circumstances, and therefore, neural network model exports same
The classification corresponding with parking stall image of one parking stall under various circumstances judge information with higher convergence, data it is discrete
It spends lower.Similarly, parking stall judgment models are trained according to the above method, so that parking stall judgment models extract parking stall image
The parking space state information whether being in idle condition meets the expection of people.
Training sample data are made of to classification referring to information data, wherein the classification ginseng of training sample data
It is by manually being demarcated according to information.Classify and refers to people according to the training side of input convolutional neural networks model referring to information
To, the artificial judgement that training sample data are made by the judgment criteria and true state of universality, that is, people couple
The expectation of convolutional neural networks model output data.
Convolutional neural networks model is already existing all kinds of image recognition models in the prior art, by training sample data
In Illnesses Diagnoses image be sequentially inputted in convolutional neural networks model, convolutional neural networks model carries out parking stall image special
Sign is extracted and classification, then according to the classification results of the weight calculation parking stall image, that is, exports the classification judgement of the parking stall image
Information.
Classification judges that information is the excited data that convolutional neural networks model is exported according to the parking stall image of input, in mind
It is not trained to before convergence through network model, classification judges information for the biggish numerical value of discreteness, when neural network model quilt
To after restraining, classification judges information for metastable data for training.
In the training process, desired output is calculated by loss function and whether excitation output is consistent, that is, compared same
The classification of one parking stall image judges whether information is consistent with classification referring to information, and loss function is for detecting convolutional Neural net
Category of model judges information and desired classification referring to the whether consistent detection function of information in network model.When convolution mind
When output result through network model is inconsistent referring to information with classification, need to carry out the weight in convolutional neural networks model
Correction, so that the output result of convolutional neural networks model is identical referring to the expected result of information as classification.
L (Y, f (x))=Shu Y-f (X) Shu
L indicates that the Euclidean distance between excitation output of desired output, Y indicate that desired output, f (X) indicate that excitation is defeated
Out.
When L is greater than preset distance threshold, show that there is biggish difference, output between desired output and excitation output
As a result inconsistent.
When the classification of the output of convolutional neural networks model judges information and classification is inconsistent referring to information, basis is needed
Back-propagation algorithm is adjusted the weight in convolutional neural networks model, so that the output result of convolutional neural networks model
It is identical referring to the expected result of information as classification.
In some embodiments, loss function by calculate excitation classification value and setting expectation classification value between away from
From (Euclidean distance or space length), whether the expectation classification value to determine excitation classification value and setting is consistent, setting first
Threshold value (for example, 0.05), when the distance between expectation classification value for motivating classification value and setting is less than or equal to first threshold,
It then determines that excitation classification value is consistent with the expectation classification value of setting, otherwise, then motivates classification value and the expectation classification value of setting not
Unanimously.
When the classification of neural network model judge information and setting classification it is inconsistent referring to information when, need using random
Gradient descent algorithm is corrected the weight in neural network model so that the output result of convolutional neural networks model with point
Class is identical referring to the expected result of information.By the training and correction repeatedly of numerous training sample images, when neural network mould
When type output category judges that the classification of information and each training sample image reaches and (be not limited to) 99.9% referring to information comparison, training
Terminate.
What S1122, the acquisition parking stall judgment module exported is used to judge the parking stall shape whether parking stall is in idle condition
State information.
After inputting parking stall image in the judgment models of parking stall, the parking space state letter of parking stall judgment module output can be obtained
Breath, the present embodiment can judge whether parking stall is in idle condition automatically, not need artificially to participate in, and improve automation journey
Degree.
S1200, the use is distributed to according to default allocation rule and the idle parking space information selection one idle parking stall
Family vehicle；
Default allocation rule is that system is pre-set for managing and distributing idle parking stall to the distribution side of user's vehicle
Method, such as default allocation rule are that preferential distribute gives user's vehicle close to the parking stall of Entrance, then system automatic collection is used
Family vehicle enters the room the access information in parking lot, and distributes one with access information distance recently according to the access information
User's vehicle is given in idle parking stall.
When implementing, such as Zhang San drives to enter the room parking lot from A3 mouthfuls, wherein parking garage includes basement one
Parking lot, setting is there are three entrance and three outlets, and three outlets respectively correspond A1 mouthfuls, A2 mouthfuls and A3 mouthfuls, three outlet difference
Corresponding B1 mouthful, B2 mouthful and B3 mouthful, system obtains parking stall available free in parking garage, and chooses and A3 mouthfuls apart from recently
Distribute to the vehicle of Zhang San in one idle parking stall.
S1300, according to the location information plane-generating parking navigation information of the idle parking stall and user's vehicle, with
User's vehicle driving is guided to the idle parking stall.
After the location information that idle parking stall and user's vehicle has been determined, it can be advised according to free time parking stall and location information
The navigation routine for drawing guidance user's vehicle driving to the free time parking stall, when implementing, the parking navigation information includes navigation road
Line cartographic information and navigation voice messaging, by taking Zhang San drives to go to work as an example, the office block where Zhang San company is provided with three
It is layer underground parking, respectively negative one layer, two layers and three layers minus minus, when Zhang San, which drives up to corporate office buildings, wants parking,
System acquisition enters parking lot by the C1 mouth of negative one layer to Zhang San, and wherein the parking lot of negative one layer has not had idle parking stall,
System is assigned with an idle parking stall positioned at minus two layers to Zhang San, and system is according to idle parking stall and the Zhang San that should be located at minus two layers
Vehicle location information plane-generating parking navigation information and be sent on the navigator of user's vehicle, thus pass through the navigation
Instrument is to user's displaying navigation routine cartographic information and plays navigation voice messaging, specifically, the navigation routine are as follows: first guide Zhang San
It drives directly to arrive by negative one layer at minus two layers of idle parking stall, avoids Zhang San when negative one layer is found idle parking stall and wasted
Between the case where.
When implementing, user can be arranged the allocation rule for distributing idle parking stall with oneself, such as user is by default distribution
Rule setting are as follows: preferential to distribute close to the idle parking stall of parking exit, then system can preferentially select one according to the user's choice
The idle parking stall of a parking exit is used to user to meet the needs of users.It drives to enter the room parking from A3 mouthfuls with Zhang San
For, parking garage is divided into negative one layer, minus two layers and minus three layers of this three layers of underground parkings, and sets in the parking garage
3 elevators are equipped with, respectively correspond A, B and C, wherein the family of Zhang San is at A, so default allocation rule is arranged in Zhang San
For " preferred allocation idle parking stall closer from A elevator ", due to negative one layer and minus two layers of no idle parking stall, system is selected
Taken one of the minus three floor idle parking stall nearest with A elevator to distribute to Zhang San to use, system according to free time parking stall with
Plane-generating navigation information between A3 mouthfuls acquires the vehicle of Zhang San during Zhang San drives to the free time parking stall in real time
Location information and guiding in real time Zhang San ignore negative one layer and minus two layers are directly driven to drive at the minus three layers free time parking stall, reality
Existing indoor navigation function.
The present embodiment is by obtaining the idle parking space information of parking garage and more in parking garage by being set to
A alignment sensor obtains the location information of user's vehicle, then chooses one according in default allocation rule indoors parking lot
User's vehicle is distributed in idle parking stall, further according to the idle parking stall and user's vehicle of distributing to user's vehicle location information into
Row plane-generating parking navigation information realizes indoor parking so that user's vehicle driving to the free time parking stall be guided to stop
Navigation feature acquires the location information of user's vehicle by indoor multiple alignment sensors in real time, can effectively provide interior and lead
The accuracy of boat.
In one alternate embodiment, the vehicle stopped due to parking garage is more or since user is unfamiliar with the room
Interior parking lot is easy to cause user to take a long time the case where finding vehicle in parking lot indoors, at this point, system can be
User provides the navigation routine at guidance user's row to the position of parked vehicles, referring to Fig. 4, Fig. 4 is one implementation of the present invention
The basic procedure schematic diagram of vehicle is sought in example guidance user room.
As shown in figure 4, described navigated according to the location information plane-generating of the idle parking stall and user's vehicle is believed
Breath, the step of to guide user's vehicle driving to the idle parking stall after, further include such as following step:
The personal location information of S1400, the location information for obtaining user's vehicle parking parking stall and the user；
When implementing, the position letter of user's vehicle parking parking stall can be acquired by being set to the camera above parking stall
Breath acquires the license plate image of user's vehicle by camera, and system recognizes the license plate number of user's vehicle according to OCR technique,
To judge the parking space information of user's vehicle parking parking stall.
In one alternate embodiment, referring to Fig. 5, Fig. 5 is the personal positioning that one embodiment of the invention obtains user
The basic procedure schematic diagram of information.
As shown in figure 5, the acquisition methods of the personal location information of the user, including such as following step:
S1410, the device location for obtaining several wireless connectivity devices being wirelessly connected with the user terminal of the user are believed
Breath；
Wireless connectivity devices are the devices that is set in parking garage and can be wirelessly connected with user terminal, in reality
Shi Shi, wireless connectivity devices include but is not limited to Wi-Fi hotspot and Bluetooth connection device, since wireless connectivity devices are fixed
Be installed on the predetermined position of parking garage, thus the device location information of wireless connectivity devices be it is fixed, specifically,
The wireless connectivity devices connecting with user terminal can be determined by the device id of user terminal, system traverses parking garage
In all wireless connectivity devices, at least two wireless connectivity devices connecting with user terminal can be filtered out according to device id.
S1420, the individual that the user is calculated according to preset cross bearing rule and the device location information
Location information.
Cross bearing rule is three side location algorithms, is to calculate user terminal to wireless connectivity devices by time of measuring
Distance, (set by the distance of multiple wireless connectivity devices to user terminal and the actual physics coordinate of wireless connectivity devices
Standby location information), so that it may calculate the three-dimensional coordinate where user terminal.The personal location information of user can by with
Family terminal carries out positioning acquisition and obtains, and by taking WiFi is positioned as an example, the user terminal of user and is set in parking garage
Wi-Fi hotspot connection, system can close on three or more through that Wi-Fi hotspot of user terminal access, then with closing
Wi-Fi hotspot, so that it may determine the position of user terminal, and then obtain the personal location information of user.
S1500, with personal location information plane-generating vehicle navigation information is sought according to the positional information, to guide the use
Family searches out user's vehicle.
It, can be according to the position after the location information of the personal location information and user's vehicle parking parking stall that obtain user
Information and personal location information planned, so that generate that guiding user finds user's vehicle seeks vehicle navigation information.Implementing
When, user drives to rest in minus two layers of the underground parking in market of a parking stall, when user wants after market is consumed
When driving is left, since parking lot of the user to the market is unfamiliar with, user forgets the position of the vehicle parking of oneself, at this point,
The mobile phone of indoor navigation application program on user's opening mobile phone, system and user establish connection to acquire of user
People's location information, meanwhile, system gets the license plate number of user's vehicle according to the record of user mobile phone, then according to the license plate
Number positions the location information of the vehicle parking parking stall of user in parking lot indoors, and then according to the personal location information of user
Vehicle navigation information is sought in location information planning with vehicle parking parking stall, and the mobile phone of user shows that this seeks vehicle navigation information to user,
To guide at user's row to the position of the vehicle parking parking stall, user is facilitated quickly to search out vehicle.
In one alternate embodiment, referring to Fig. 6, Fig. 6 is the vehicle in invention one embodiment management parking garage
The basic procedure schematic diagram of position.
As shown in figure 3, described lead according to the parking of the location information plane-generating of the idle parking stall and user's vehicle
Navigate information, the step of to guide user's vehicle driving to the idle parking stall after, further include such as following step:
S1600, acquisition distribute to the image information of the idle parking stall of user's vehicle；
The image information of parking stall can be acquired by installing camera above parking stall to acquire, since system is distributed
Behind user's vehicle idle parking stall, user drives to need the time to the free time parking stall, so the acquisition of the image to idle parking stall
It can be carried out after one section of preset time after user's vehicle is distributed in the free time parking stall by system, such as: 2 minutes, 5 minutes
Or 10 minutes, with reduce persistently to the free time parking stall acquisition image and caused by the wasting of resources.
S1700, judge whether user's vehicle rests in the idle parking stall according to described image information；
According to the Image Acquisition to the parking stall for distributing to user's vehicle, and then judge whether user's vehicle rests in the free time
In parking stall.
S1800, if so, being distribution state by the idle parking stall mark and storing to preset parking stall management database
In.
When user's vehicle parking is when system is distributed in the idle parking stall of user's vehicle, system is by the free time parking space sign
It is denoted as distribution state and stores, thus the case where avoiding to the free time parking stall duplicate allocation to different user's vehicles.With system
For the idle parking stall that distribution number is T007 is to the vehicle use of Zhang San, Zhang San drives traveling to the parking stall T007 and rests in
In the parking stall, system has been rested in the parking stall T007 by the vehicle that the camera on the parking stall collects Zhang San, by this
T007 parking stall mark is distribution state and stores into parking stall management database.
On the other hand, or by taking system distribution numbers the idle parking stall for being T007 to the vehicle use of Zhang San as an example, system
It is suspended state, the vehicle in suspended state by the T007 parking stall mark when distributing the parking stall T007 to the vehicle of the Zhang San
Position cannot reallocate to other user's vehicles, and Zhang San is entering the room parking lot at traveling to the parking stall T007, and discovery has
One vehicle just leaves away from parking lot and vacates the parking stall that number is T008, and Zhang San is i.e. by vehicle parking in the parking stall T008
System collects Zhang San by vehicle parking in the parking stall T008 by the camera being set to above the parking stall T008, and system automatically will
The T008 parking stall mark stores for distribution state and after being associated with the vehicle of Zhang San to parking stall management database, meanwhile, system will
The parking stall T007 is converted to idle state by suspended state, which can continue to distribute to other user's vehicles.To keep away
The case where exempting from the same parking stall while distributing to multiple user's vehicles, improves the reliability of parking stall management.
In order to solve the above technical problems, the embodiment of the present invention also provides parking garage navigation device.
It is the present embodiment parking garage navigation device basic structure schematic diagram referring specifically to Fig. 7, Fig. 7.
As shown in fig. 7, a kind of parking garage navigation device, comprising: first obtains module 2100, first processing module
2200 and first execution module 2300, wherein the first acquisition module 2100 is used to obtain the idle parking space information of parking garage
And the location information of user's vehicle is acquired by preset indoor navigation system, wherein the indoor navigation system is in the room
Interior parking lot is provided with several for acquiring the alignment sensor of the location information of user's vehicle；First processing module 2200
User's vehicle is distributed to for choosing an idle parking stall according to default allocation rule and the idle parking space information；First
Execution module 2300 is used for the location information plane-generating parking navigation information according to the idle parking stall and user's vehicle,
To guide user's vehicle driving to the idle parking stall.
The present embodiment is by obtaining the idle parking space information of parking garage and more in parking garage by being set to
A alignment sensor obtains the location information of user's vehicle, then chooses one according in default allocation rule indoors parking lot
User's vehicle is distributed in idle parking stall, further according to the idle parking stall and user's vehicle of distributing to user's vehicle location information into
Row plane-generating parking navigation information realizes indoor parking so that user's vehicle driving to the free time parking stall be guided to stop
Navigation feature acquires the location information of user's vehicle by indoor multiple alignment sensors in real time, can effectively provide interior and lead
The accuracy of boat.
In some embodiments, parking garage navigation device further include: second obtains module and the second execution module,
Wherein, the second acquisition module is used to obtain the location information of user's vehicle parking parking stall and the personal positioning of the user
Information；Second execution module is for seeking vehicle navigation information with personal location information plane-generating according to the positional information, to lead
Draw the user and searches out user's vehicle.
In some embodiments, parking garage navigation device further include: third obtains module and third execution module,
Wherein, third obtains the equipment that module is used to obtain several wireless connectivity devices being wirelessly connected with the user terminal of the user
Location information；Third execution module is used to be calculated according to preset cross bearing rule and the device location information described
The personal location information of user.
In some embodiments, parking garage navigation device further include: acquisition submodule and judging submodule,
In, acquisition submodule is used to acquire the parking stall image of the parking stall the parking garage Nei Ge；Judging submodule is used for according to
Parking stall image judges whether parking stall is in idle condition.
In some embodiments, parking garage navigation device further include: implementation sub-module and submodule,
In, implementation sub-module is for the parking stall image to be input in preset parking stall judgment models, wherein the parking stall judges mould
Type is to train to convergent convolutional neural networks model；Acquisition submodule is used to obtain being used for for the parking stall judgment module output
Judge the parking space state information whether parking stall is in idle condition.
In some embodiments, parking garage navigation device further include: the 4th obtains module, judgment module and the 4th
Execution module, wherein the 4th acquisition module is used to obtain the image information for distributing to the idle parking stall of user's vehicle；
Judgment module is used to judge according to described image information whether user's vehicle to rest in the idle parking stall；4th executes
Module is used for when the judgment module is judged as YES, and the idle parking stall mark is distribution state and is stored to preset vehicle
In position management database.
In some embodiments, parking garage navigation device further include: the parking navigation information includes navigation road
Line cartographic information and navigation voice messaging.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
In order to solve the above technical problems, the embodiment of the present invention also provides computer equipment.It is this referring specifically to Fig. 8, Fig. 8
Embodiment computer equipment basic structure block diagram.
As shown in figure 8, the schematic diagram of internal structure of computer equipment.As shown in figure 8, the computer equipment includes passing through to be
Processor, non-volatile memory medium, memory and the network interface of bus of uniting connection.Wherein, the computer equipment is non-easy
The property lost storage medium is stored with operating system, database and computer-readable instruction, can be stored with control information sequence in database
Column, when which is executed by processor, may make processor to realize a kind of parking garage air navigation aid.The meter
The processor of machine equipment is calculated for providing calculating and control ability, supports the operation of entire computer equipment.The computer equipment
Memory in can be stored with computer-readable instruction, when which is executed by processor, may make processor
Execute a kind of parking garage air navigation aid.The network interface of the computer equipment is used for and terminal connection communication.This field skill
Art personnel are appreciated that structure shown in figure, and only the block diagram of part-structure relevant to application scheme, is not constituted
Restriction to the computer equipment that application scheme is applied thereon, specific computer equipment may include than as shown in the figure
More or fewer components perhaps combine certain components or with different component layouts.
Processor obtains module 2100, first processing module 2200 and for executing in Fig. 7 first in present embodiment
The concrete function of one execution module 2300, program code and Various types of data needed for memory is stored with the above-mentioned module of execution.Net
Network interface is used for the data transmission between user terminal or server.Memory in present embodiment is stored with indoor parking
Program code and data needed for executing all submodules in the navigation device of field, server are capable of the program code of invoking server
And data execute the function of all submodules.
Computer is by obtaining the idle parking space information of parking garage and multiple in parking garage by being set to
Alignment sensor obtains the location information of user's vehicle, then chooses a sky according in default allocation rule indoors parking lot
User's vehicle is distributed in not busy parking stall, carries out further according to the location information for the idle parking stall and user's vehicle for distributing to user's vehicle
Plane-generating parking navigation information realizes that indoor parking is led so that user's vehicle driving to the free time parking stall be guided to stop
Boat function, is acquired the location information of user's vehicle in real time by indoor multiple alignment sensors, can effectively provide indoor navigation
Accuracy.
The present invention also provides a kind of storage mediums for being stored with computer-readable instruction, and the computer-readable instruction is by one
When a or multiple processors execute, so that one or more processors execute the navigation of parking garage described in any of the above-described embodiment
The step of method.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, which can be stored in computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, storage medium above-mentioned can be magnetic
The non-volatile memory mediums such as dish, CD, read-only memory (Read-Only Memory, ROM) or random storage memory
Body (Random Access Memory, RAM) etc..
It should be understood that although each step in the flow chart of attached drawing is successively shown according to the instruction of arrow,
These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, can execute in the other order.Moreover, at least one in the flow chart of attached drawing
Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, execution sequence, which is also not necessarily, successively to be carried out, but can be with other
At least part of the sub-step or stage of step or other steps executes in turn or alternately.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of parking garage air navigation aid, which is characterized in that include the following steps:
It obtains the idle parking space information of parking garage and is believed by the positioning that preset indoor navigation system acquires user's vehicle
Breath, wherein the indoor navigation system is provided with several for acquiring the positioning of user's vehicle in the parking garage
The alignment sensor of information；
An idle parking stall, which is chosen, according to default allocation rule and the idle parking space information distributes to user's vehicle；
According to the location information plane-generating parking navigation information of the idle parking stall and user's vehicle, to guide the use
Family vehicle driving is to the idle parking stall.
2. parking garage air navigation aid according to claim 1, which is characterized in that it is described according to the idle parking stall and
The location information plane-generating navigation information of user's vehicle, to guide user's vehicle driving to the idle parking stall
Further include such as following step after step:
Obtain the location information of user's vehicle parking parking stall and the personal location information of the user；
Vehicle navigation information is sought with personal location information plane-generating according to the positional information, searches out institute to guide the user
State user's vehicle.
3. parking garage air navigation aid according to claim 2, which is characterized in that the personal location information of the user
Acquisition methods, including such as following step:
Obtain the device location information for several wireless connectivity devices being wirelessly connected with the user terminal of the user；
The personal location information of the user is calculated according to preset cross bearing rule and the device location information.
4. parking garage air navigation aid according to claim 1, which is characterized in that the acquisition of the free time parking space information
Method, including such as following step:
Acquire the parking stall image of the parking stall the parking garage Nei Ge；
Judge whether parking stall is in idle condition according to the parking stall image.
5. parking garage air navigation aid according to claim 4, which is characterized in that described to be sentenced according to the parking stall image
The step of whether disconnected parking stall is in idle condition, including such as following step:
The parking stall image is input in preset parking stall judgment models, wherein the parking stall judgment models are that training is extremely received
The convolutional neural networks model held back；
Obtain parking stall judgment module output for judging the parking space state information whether parking stall is in idle condition.
6. parking garage air navigation aid according to claim 1, which is characterized in that it is described according to the idle parking stall and
The location information plane-generating parking navigation information of user's vehicle, to guide user's vehicle driving to the idle vehicle
Further include such as following step after the step of position:
Obtain the image information for distributing to the idle parking stall of user's vehicle；
Judge whether user's vehicle rests in the idle parking stall according to described image information；
If so, the idle parking stall mark to be distribution state and store into preset parking stall management database.
7. according to claim 1 to parking garage air navigation aid described in 6 any one, which is characterized in that the parking is led
Boat information includes navigation routine cartographic information and navigation voice messaging.
8. a kind of parking garage navigation device characterized by comprising
First obtains module, for obtaining the idle parking space information of parking garage and being acquired by preset indoor navigation system
The location information of user's vehicle, wherein the indoor navigation system is provided with several for acquiring institute in the parking garage
State the alignment sensor of the location information of user's vehicle；
First processing module is distributed to for choosing an idle parking stall according to default allocation rule and the idle parking space information
User's vehicle；
First execution module, for the location information plane-generating parking navigation according to the idle parking stall and user's vehicle
Information, to guide user's vehicle driving to the idle parking stall.
9. a kind of computer equipment, including memory and processor, it is stored with computer-readable instruction in the memory, it is described
When computer-readable instruction is executed by the processor, so that the processor executes such as any one of claims 1 to 7 right
It is required that the step of parking garage air navigation aid.
10. a kind of storage medium for being stored with computer-readable instruction, the computer-readable instruction is handled by one or more
When device executes, so that one or more processors execute the parking garage as described in any one of claims 1 to 7 claim
The step of air navigation aid.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811198450.0A CN109345860A (en) | 2018-10-15 | 2018-10-15 | Parking garage air navigation aid, device, computer equipment and storage medium |
| PCT/CN2018/125112 WO2020077873A1 (en) | 2018-10-15 | 2018-12-28 | Indoor parking lot navigation method and device, computer apparatus, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811198450.0A CN109345860A (en) | 2018-10-15 | 2018-10-15 | Parking garage air navigation aid, device, computer equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109345860A true CN109345860A (en) | 2019-02-15 |
Family
ID=65310308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811198450.0A Pending CN109345860A (en) | 2018-10-15 | 2018-10-15 | Parking garage air navigation aid, device, computer equipment and storage medium |
Country Status (2)
| Country | Link |
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| CN (1) | CN109345860A (en) |
| WO (1) | WO2020077873A1 (en) |
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| CN110264777A (en) * | 2019-06-26 | 2019-09-20 | 广州小鹏汽车科技有限公司 | Indoor vehicle air navigation aid, device, storage medium and vehicle control terminal |
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