CN110807943B - Parking lot navigation system based on networking data of Internet of things - Google Patents
Parking lot navigation system based on networking data of Internet of things Download PDFInfo
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Abstract
The invention provides a parking lot navigation system based on networking data of the Internet of things, which divides a parking lot path with a tree structure into a plurality of road sections, each road section is only provided with an inlet end and an outlet end, at least one port is connected with the plurality of road sections, the inlet end and the outlet end of the device are both provided with a controller, an infrared sensor and a networking module which are respectively connected with the controller, the front end of the outlet end is provided with a display connected with the controller of the exit end of the road section, aiming at each controller, when the corresponding vehicle passes through the infrared sensor corresponding to the controller, the infrared sensor is triggered to output a signal, the infrared sensor transmits the signal to the controller, and after receiving the signal provided by the infrared sensor, and generating corresponding detection information and transmitting the generated detection information to other controllers through the networking module of the controller, wherein the detection information comprises identification information and time information of the infrared sensor which detects the signal. The invention can improve the navigation accuracy.
Description
Technical Field
The invention belongs to the field of navigation, and particularly relates to a parking lot navigation system based on networking data of the Internet of things.
Background
With the continuous popularization of automobiles, the demand of parking lots is gradually increased, and the number of large parking lots is increased. When a driver enters a large parking lot to park, the driver needs to find a free parking space for a long time, so that great trouble is brought to parking. Since the parking lot is usually built underground, if the satellite positioning is used for navigation in the parking lot, the navigation effect is poor.
Disclosure of Invention
The invention provides a parking lot navigation system based on networking data of the Internet of things, and aims to solve the problem that the existing parking lot navigation effect is poor.
According to a first aspect of the embodiments of the present invention, there is provided a parking lot navigation system based on networking data of the internet of things, wherein a parking lot path with a tree structure is divided into a plurality of road segments, each road segment has only two ports, namely an entrance end and an exit end, at least one port is connected to the plurality of road segments, the entrance end and the exit end are both provided with a controller, an infrared sensor and a networking module, the infrared sensor and the networking module are respectively connected to the controller, the front end of the exit end is provided with a display connected to the controller of the exit end of the road segment, each controller triggers the infrared sensor to output a signal when a corresponding vehicle passes through the infrared sensor corresponding to the controller, the infrared sensor transmits the signal to the controller, the controller generates corresponding detection information after receiving the signal provided by the infrared sensor and transmits the generated detection information to each other controller through the networking module, the detection information includes identification information of the infrared sensor which detects the signal and time information when the signal is detected; aiming at a controller at a road section entrance end connected with an entrance and an exit of a parking lot, after receiving a signal provided by an infrared sensor of the controller, the controller allocates a temporary parking space to a vehicle which just enters, a driving route from the entrance and the exit of the parking lot to the temporary parking space is planned according to a parking lot route and transmitted to other controllers through a networking module of the controller, and the driving route comprises the infrared sensors on the road sections through which the vehicle is about to pass and identification information of the infrared sensors;
each controller locally stores an infrared sensor topological graph, the infrared sensor topological graph comprises position relations among infrared sensors in the parking lot and identification information of the infrared sensors, for each road section, the infrared sensor at the inlet end is the last infrared sensor at the outlet end, and the last infrared sensor of the infrared sensor at the inlet end is the infrared sensor at the outlet end of the road section at the previous stage connected with the inlet end of the road section;
each controller comprises a driving route determining unit, a driving route processing unit, a driving route re-planning unit and a driving route updating unit, wherein the driving route determining unit is used for determining the driving route of the vehicle triggering the current infrared sensor to output signals according to the infrared sensor topological graph, the driving routes obtained successively, the identification information of the current infrared sensor in the current detection information and the time information after the current detection information is obtained; the driving route processing unit is used for judging whether a vehicle triggering the current infrared sensor to output a signal moves forwards on the driving route according to the identification information of the current infrared sensor and the determined driving route, and if so, marking the next infrared sensor of the infrared sensor which is recently marked as passed in the determined driving route as passed; the driving route re-planning unit is used for re-planning the driving route of the vehicle if the current infrared sensor corresponds to the controller when the vehicle triggering the output signal of the current infrared sensor does not move ahead on the driving route, and transmitting the re-planned driving route to other controllers through the networking module; the driving route updating unit is used for updating the driving route after the driving route is re-planned or the re-planned driving route is received;
the controller at the exit end of each road section further comprises a display control unit, wherein the display control unit is used for judging whether the current infrared sensor is the infrared sensor at the entrance end of the road section where the controller is located or not aiming at the current infrared sensor in the current detection information provided by other controllers, if so, when the vehicle triggering the output signal of the current infrared sensor is judged to move forwards on the driving route, the display of the display is controlled according to the position relation between the road section where the current infrared sensor is located and the next-stage road section in the determined driving route.
In an optional implementation manner, for each controller, the driving route determining unit is configured to, after obtaining current detection information, first determine, according to identification information of a current infrared sensor in the current detection information, identification information of a current previous infrared sensor of the current infrared sensor in the infrared sensor topological graph, sequentially determine whether the identification information of the current previous infrared sensor is the same as identification information of an infrared sensor that is recently marked as having passed in each driving route obtained in sequence, if so, use a corresponding driving route as a suspected driving route of a vehicle that triggers an output signal of the current infrared sensor, and determine the number of the suspected driving routes of the vehicle: if a suspected driving route exists, determining the suspected driving route as the driving route of the vehicle triggering the output signal of the current infrared sensor;
if two suspected driving routes exist, firstly determining reference detection information obtained in a front and back preset time period, determining a reference previous infrared sensor of a reference infrared sensor in the infrared sensor topological graph in each reference detection information, judging whether the identification information of the reference previous infrared sensor is the same as the identification information of the infrared sensor which is marked as having passed recently in the two suspected driving routes, and if so, comparing the signal detection time of the reference infrared sensor with the signal detection time of the current infrared sensor: if the time of the signal detected by the current infrared sensor is earlier than the time of the signal detected by the reference infrared sensor, determining a suspected driving route obtained earlier in the two suspected driving routes as the driving route of the vehicle triggering the signal output by the current infrared sensor, and if the time of the signal detected by the current infrared sensor is later than the time of the signal detected by the reference infrared sensor, determining a suspected driving route obtained later in the two suspected driving routes as the driving route of the vehicle triggering the signal output by the current infrared sensor;
the driving route processing unit is used for judging whether the current infrared sensor is the next infrared sensor of the infrared sensor which is recently marked as passed in the determined driving route, if so, the vehicle which triggers the output signal of the current infrared sensor is marked as passed on the driving route, and if not, the vehicle which triggers the output signal of the current infrared sensor is not marked as passed on the driving route;
the driving route re-planning unit is used for taking the current infrared sensor as a starting point infrared sensor if the current infrared sensor corresponds to the controller when judging that the vehicle triggering the output signal of the current infrared sensor does not move ahead on the driving route, re-planning the driving route from the starting point infrared sensor to a terminal point infrared sensor in the determined driving route according to the parking lot path, and transmitting the re-planned driving route to other controllers through the networking module;
the driving route updating unit is used for marking the determined driving route as invalid when judging that the vehicle triggering the output signal of the current infrared sensor does not move ahead on the driving route, determining a previous infrared sensor of the infrared sensor in the infrared sensor topological graph at the starting point in the re-planned driving route after re-planning the driving route or receiving the re-planned driving route, comparing the determined previous infrared sensor with infrared sensors which are recently marked as passed in invalid driving routes, and updating the re-planned driving route to the corresponding invalid driving route if the previous infrared sensor is the same as the infrared sensor which is recently marked as passed in the invalid driving routes.
In another optional implementation manner, for each parking space in the parking lot, indicator lamps are arranged, for each road section, the controllers at the inlet end and the outlet end of the road section are connected with the indicator lamps of the parking spaces on the two sides of the road section, and when the current infrared sensor is the destination infrared sensor in the determined driving route, the controller corresponding to the current infrared sensor controls the indicator lamps of the corresponding parking spaces on the two sides of the road section where the current infrared sensor is located to be turned on.
The invention has the beneficial effects that:
1. the method comprises the steps of firstly determining a current previous infrared sensor of the current infrared sensor in an infrared sensor topological graph, and comparing the current previous infrared sensor with infrared sensors which are obtained successively and are marked as passed recently in all driving routes, so as to determine the driving route of a vehicle triggering the output signal of the current infrared sensor, and therefore, even if the vehicle enters a wrong road section, the driving route of the vehicle triggering the output signal of the current infrared sensor can be accurately found; according to the method, the time when the two vehicles pass through the corresponding infrared sensors to trigger the output signals of the corresponding infrared sensors is obtained aiming at the condition that the two vehicles are suspected to run immediately ahead, and the running route of the vehicle triggering the output signals of the corresponding infrared sensors is determined according to the morning and evening of the time and the establishment of the two suspected running routes, so that the running route of the vehicle triggering the output signals of the current infrared sensors can be accurately found out even if the two vehicles run immediately ahead; when the vehicle moves forwards on the driving route, the next infrared sensor of the infrared sensor which is recently marked as passed in the determined driving route is marked as passed, so that the position of the vehicle can be conveniently positioned through the driving route of the vehicle; when the vehicle does not move forwards on the driving route, the driving route is replanned and updated, and the accurate navigation of the vehicle can be realized even if the vehicle enters a wrong road section; according to the invention, the infrared sensor is utilized to realize parking lot navigation, so that the navigation accuracy can be improved;
2. according to the invention, after the vehicle travels to the road section entrance end, the display is controlled according to the position relation between the road section where the current infrared sensor is located and the next-level road section in the determined traveling route, and the display is controlled and displayed when the vehicle travels on the traveling route, so that the timeliness and the accuracy of display can be improved;
3. according to the invention, after the vehicle enters the last road section of the driving route, the indicator lights on the corresponding parking spaces on the two sides of the road section are controlled to be turned on, so that the vehicle can further quickly and accurately reach the temporary parking space.
Drawings
FIG. 1 is a block diagram of an embodiment of a parking lot navigation system based on networking data of the Internet of things;
FIG. 2 is a schematic diagram of an embodiment of a tree-structured parking lot path according to the present invention;
FIG. 3 is a schematic view of one embodiment of two vehicles of the present invention following forward travel;
FIG. 4 is a schematic diagram of the connection among the controller, the infrared sensor and the networking module at the exit end of the road segment according to the present invention;
fig. 5 is a schematic diagram of the connection relationship among the road segment entrance end controller, the infrared sensor, the networking module and the display.
Detailed Description
In order to make the technical solutions in the embodiments of the present invention better understood and make the above objects, features and advantages of the embodiments of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the term "connected" is to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, or a communication between two elements, or may be a direct connection or an indirect connection through an intermediate medium, and a specific meaning of the term may be understood by those skilled in the art according to specific situations.
Referring to fig. 1, a block diagram of an embodiment of the parking lot navigation system based on networking data of the internet of things is shown. The system divides a parking lot path of a tree structure (a road section connected with an entrance and an exit of a parking lot is a root road section) into a plurality of road sections, and only has two ports of an entrance end and an exit end and at least one port is connected with the plurality of road sections for each road section. The parking lot path is constructed into the tree structure, and the tree structure is improved, so that each road section in the tree structure is only provided with two ports, and at least one port is connected with a plurality of road sections, the position of a vehicle can be accurately positioned. With reference to fig. 2, in the conventional tree structure, the road segment 1 and the road segment 6 are the same road segment, and at this time, the specific position of the vehicle on the road segment cannot be accurately located, and in the improved tree structure of the system, the road segment 1 and the road segment 6 are different road segments, and at this time, the vehicle can be accurately located on the road segment 1 or the road segment 6; each road section in the system has only one upper road section, for example, the upper road section of the road sections 2, 3 and 6 in fig. 2 is road section 1, and the upper road section of the road sections 4 and 5 is road section 3.
Aiming at each road section, the inlet end and the outlet end of the road section are provided with controllers, and an infrared sensor and a networking module which are respectively connected with the controllers are arranged, the front end of the outlet end of the road section is provided with a display connected with the controller of the outlet end of the road section, aiming at each controller, when a corresponding vehicle passes through the infrared sensor corresponding to the controller, the infrared sensor is triggered to output a signal, the infrared sensor transmits the signal to the controller, the controller generates corresponding detection information and transmits the generated detection information to other controllers through the networking module of the controller after receiving the signal provided by the infrared sensor, and the detection information comprises identification information of the infrared sensor for detecting the signal and time information when the signal is detected. According to the invention, the controllers, the infrared sensors and the networking module are arranged at the access ports of each road section, the Internet of things is established among the controllers through the networking module, and the identification information of the infrared sensors is sent to the Internet of things when the vehicles pass through the corresponding infrared sensors, so that each controller can obtain the identification information of the corresponding infrared sensor, and a data basis can be provided for the accurate positioning of each subsequent vehicle.
Aiming at the controller at the road section entrance end connected with the parking lot entrance and exit, after receiving a signal provided by an infrared sensor of the controller, the controller allocates a temporary parking space to a vehicle which just enters, a driving route from the parking lot entrance and exit to the temporary parking space is planned according to the parking lot route and transmitted to other controllers through a networking module of the controller, and the driving route comprises the infrared sensors on the road sections through which the vehicle is about to pass and identification information of the infrared sensors. According to the invention, the controller allocates the temporary parking spaces to the vehicles when the vehicles enter, the temporary parking spaces do not need to be allocated by other devices outside the Internet of things, the independence of the devices in the whole Internet of things can be improved, and the data basis can be provided for accurate positioning of each subsequent vehicle by planning the corresponding driving route for each entering vehicle. The driving route is planned based on the parking lot path. In addition, each controller locally stores an infrared sensor topological graph, the infrared sensor topological graph comprises the position relation among the infrared sensors in the parking lot and identification information of the infrared sensors, for each road section, the infrared sensor at the inlet end is the last infrared sensor at the outlet end, and the last infrared sensor of the infrared sensor at the inlet end is the infrared sensor at the outlet end of the road section at the previous stage connected with the inlet end of the road section. Since each road section has only one previous road section in the tree structure, each infrared sensor in the infrared sensor topological graph has only one previous infrared sensor. According to the invention, the infrared sensor topological graph is locally stored in each controller, so that a data base can be provided for accurate positioning of subsequent vehicles.
Although the vehicle gets into the parking area, each infrared sensor after detecting the signal, its corresponding controller all can send the identification information who detects the infrared sensor of signal to each other controller in the thing networking, the vehicle that gets into the parking area usually can not only be one, how to distinguish infrared sensor because which car passes through the trigger output signal to pinpoint each vehicle, become the key that realizes accurate navigation. For this purpose, for each controller, as shown in fig. 4, it includes a driving route determining unit, a driving route processing unit, a driving route re-planning unit, and a driving route updating unit.
The driving route determining unit is used for determining the driving route of the vehicle triggering the current infrared sensor to output signals according to the infrared sensor topological graph, the driving routes obtained in sequence, the identification information of the current infrared sensor in the current detection information and the time information after the current detection information is obtained. Specifically, the driving route determining unit is configured to, after obtaining current detection information, first determine, according to identification information of a current infrared sensor in the current detection information, identification information of a current previous infrared sensor of the current infrared sensor in the infrared sensor topological graph, sequentially determine whether the identification information of the current previous infrared sensor is the same as identification information of an infrared sensor that is recently marked as having passed in each driving route obtained in sequence, if so, use a corresponding driving route as a suspected driving route of a vehicle that triggers an output signal of the current infrared sensor, and determine the number of the suspected driving routes of the vehicle:
and if a suspected driving route exists, determining the suspected driving route as the driving route of the vehicle triggering the output signal of the current infrared sensor. Although the system can navigate the vehicle, the vehicle may miss the best opportunity for navigation and steering and enter the wrong road section, if backing up at the garage at the time, a great safety hazard may exist, and when another vehicle is immediately behind the vehicle, the possibility of backing up does not exist. If the situation that the vehicle enters the wrong road section is not considered, the vehicle cannot find the parking space allocated to the vehicle after entering the wrong road section, and the navigation accuracy of other vehicles is influenced. For this reason, the present invention does not directly compare the identification information of the current infrared sensor with the identification information of the next infrared sensor in each route, which is the infrared sensor that has been most recently marked as having passed, when the vehicle is located, because once the vehicle enters the wrong road segment, the current infrared sensor will not belong to the infrared sensor in the route of the vehicle, and thus the determined route matching the current infrared sensor will be incorrect. Because the infrared sensor which is marked as passing in the driving route recently is fixed, and the current previous infrared sensor of the current infrared sensor in the infrared sensor topological graph is also fixed, the current previous infrared sensor of the current infrared sensor in the infrared sensor topological graph is firstly determined, and the current previous infrared sensor is compared with the infrared sensors which are marked as passing in the driving routes obtained successively, so that the driving route of the vehicle triggering the output signal of the current infrared sensor is determined, and the driving route of the vehicle triggering the output signal of the current infrared sensor can be accurately found even after the vehicle enters a wrong road section.
There may be a situation in the parking lot where two vehicles are traveling immediately ahead, as shown in fig. 3, vehicle 1 and vehicle 2 are traveling immediately ahead, when the vehicle 1 passes the infrared sensor 2-1, the vehicle 2 passes the infrared sensor 3-1, the infrared sensor 2-1 and the infrared sensor 3-1 are both the infrared sensor 1-2 on the last infrared sensor in the infrared sensor topological graph, according to the infrared sensor 1-2, two suspected driving routes can be determined, at the moment, the controller can not determine whether the vehicle 1 or the vehicle 2 triggers the infrared sensor 2-1 to output signals, since the vehicle 1 is located in front of the vehicle 2, the time when the vehicle 1 triggers the output signal of the infrared sensor should be earlier than the time when the vehicle 2 triggers the output signal of the infrared sensor, and the time for establishing the corresponding driving route of the vehicle 1 is earlier than the time for establishing the corresponding driving route of the vehicle 2.
For this reason, if there are two suspected driving routes, it indicates that there is a case where two vehicles are traveling immediately ahead, at this time, first, reference detection information (which may include detection information triggered by other vehicles other than the two vehicles) obtained in a front and back preset time period is determined, and a reference previous infrared sensor of a reference infrared sensor in each reference detection information in the infrared sensor topological graph is determined, and it is determined whether identification information of each reference previous infrared sensor is the same as identification information of an infrared sensor that is marked as having passed recently in the two suspected driving routes, if so, the time for detecting a signal by the reference infrared sensor and the current infrared sensor is compared: and if the time when the current infrared sensor detects the signal is earlier than the time when the reference infrared sensor detects the signal, determining a suspected driving route obtained earlier in the two suspected driving routes as the driving route of the vehicle triggering the signal output by the current infrared sensor, and if the time when the current infrared sensor detects the signal is later than the time when the reference infrared sensor detects the signal, determining a suspected driving route obtained later in the two suspected driving routes as the driving route of the vehicle triggering the signal output by the current infrared sensor. According to the method, the time when the two vehicles pass through the corresponding infrared sensors to trigger the output signals of the corresponding infrared sensors is obtained aiming at the condition that the two vehicles are suspected to run immediately ahead, and the running route of the vehicle triggering the output signals of the corresponding infrared sensors is determined according to the morning and evening of the time and the establishment of the two suspected running routes, so that the running route of the vehicle triggering the output signals of the current infrared sensors can be accurately found out even if the two vehicles run immediately ahead.
The driving route processing unit is used for judging whether a vehicle triggering the current infrared sensor to output signals moves forwards on the driving route according to the identification information of the current infrared sensor and the determined driving route, and if so, marking the next infrared sensor of the infrared sensor which is recently marked as passed in the determined driving route as passed. Specifically, the driving route processing unit is configured to determine whether the current infrared sensor is a next infrared sensor of an infrared sensor that is most recently marked as having passed in the determined driving route, if so, it indicates that the vehicle that triggered the output signal of the current infrared sensor is traveling on the driving route thereof, and mark the next infrared sensor of the infrared sensor that is most recently marked as having passed in the determined driving route as having passed, otherwise, it indicates that the vehicle that triggered the output signal of the current infrared sensor is not traveling on the driving route thereof. When the vehicle moves forwards on the driving route, the next infrared sensor of the infrared sensor which is most recently marked as passed in the determined driving route is marked as passed, so that the position of the vehicle can be conveniently positioned through the driving route of the vehicle.
And the driving route re-planning unit is used for re-planning the driving route of the vehicle if the current infrared sensor corresponds to the controller when judging that the vehicle triggering the output signal of the current infrared sensor does not move ahead on the driving route, and transmitting the re-planned driving route to other controllers through the networking module. Specifically, the driving route replanning unit is configured to, when it is determined that the vehicle triggering the output signal of the current infrared sensor does not move forward on the driving route of the vehicle, if the current infrared sensor corresponds to the controller, take the current infrared sensor as a start point infrared sensor, replan the driving route from the start point infrared sensor to an end point infrared sensor in the determined driving route according to the parking lot path, and transmit the replanned driving route to each of the other controllers through the networking module. When the vehicle does not move forwards on the driving route, the driving route is re-planned, and the accurate navigation of the vehicle can be realized even if the vehicle enters a wrong road section.
The driving route updating unit is used for updating the driving route after the driving route is re-planned or the re-planned driving route is received. Specifically, the driving route updating unit is configured to mark the determined driving route as invalid when it is determined that the vehicle triggering the output signal of the current infrared sensor does not move forward on the driving route, determine a previous infrared sensor of the infrared sensor topology map at a starting point in the re-planned driving route after re-planning the driving route or receiving the re-planned driving route, compare the determined previous infrared sensor with infrared sensors that have been recently marked as passed in invalid driving routes, and update the re-planned driving route to a corresponding invalid driving route if the previous infrared sensor is the same as the infrared sensor that has been recently marked as passed in the invalid driving routes. The invention updates the re-planned driving route, and can realize accurate navigation of the vehicle even if the vehicle enters the wrong road section.
In addition, as shown in fig. 5, the controller at the exit end of each road segment further includes a display control unit, where the display control unit is configured to determine, for a current infrared sensor in current detection information provided by other controllers, whether the current infrared sensor is an infrared sensor at the entrance end of the road segment where the controller is located, and if so, control display of the display according to a positional relationship between the road segment where the current infrared sensor is located and a next-level road segment in the determined driving route when it is determined that a vehicle triggering an output signal of the current infrared sensor travels on the driving route. According to the invention, after the vehicle travels to the road section entrance end, the display is controlled according to the position relation between the road section where the current infrared sensor is located and the next-level road section in the determined traveling route, and the display is controlled and displayed when the vehicle travels on the traveling route, so that the timeliness and the accuracy of display can be improved.
Aiming at each parking space in the parking lot, indicator lamps are arranged, and aiming at each road section, controllers on an inlet end and an outlet end of the road section are connected with the indicator lamps of the parking spaces on two sides of the road section, and when the current infrared sensor is a terminal infrared sensor in the determined driving route, the controller corresponding to the current infrared sensor controls the indicator lamps of the corresponding parking spaces on two sides of the road section where the current infrared sensor is located to be lightened. According to the invention, after the vehicle enters the last road section of the driving route, the indicator lights on the corresponding parking spaces on the two sides of the road section are controlled to be turned on, so that the vehicle can further quickly and accurately reach the temporary parking spaces, and the accurate use of the corresponding parking spaces is realized.
It can be seen from the above embodiments that, in the present invention, a previous infrared sensor currently in the infrared sensor topological graph is determined, and the previous infrared sensor is compared with the infrared sensor that is recently marked as having passed in each of the obtained driving routes, so as to determine the driving route of the vehicle that triggers the output signal of the current infrared sensor, and therefore, even after the vehicle enters an incorrect road section, the driving route of the vehicle that triggers the output signal of the current infrared sensor can be accurately found; according to the method, the time when the two vehicles pass through the corresponding infrared sensors to trigger the output signals of the corresponding infrared sensors is obtained aiming at the condition that the two vehicles are suspected to run immediately ahead, and the running route of the vehicle triggering the output signals of the corresponding infrared sensors is determined according to the morning and evening of the time and the establishment of the two suspected running routes, so that the running route of the vehicle triggering the output signals of the current infrared sensors can be accurately found out even if the two vehicles run immediately ahead; when the vehicle moves forwards on the driving route, the next infrared sensor of the infrared sensor which is recently marked as passed in the determined driving route is marked as passed, so that the position of the vehicle can be conveniently positioned through the driving route of the vehicle; when the vehicle does not move forwards on the driving route, the driving route is replanned and updated, and the accurate navigation of the vehicle can be realized even if the vehicle enters a wrong road section; the invention realizes parking lot navigation by using the infrared sensor, and can improve the navigation accuracy. In order to avoid the influence of the outgoing vehicle on the navigation and positioning of the incoming vehicle, the infrared sensor can be arranged on the incoming lane side of the parking lot, or the parking lot can be used for separating the incoming lane from the outgoing lane.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (2)
1. A parking lot navigation system based on networking data of the Internet of things is characterized in that a parking lot path with a tree structure is divided into a plurality of road sections, only two ports of an inlet end and an outlet end are arranged for each road section, at least one port is connected with the plurality of road sections, the inlet end and the outlet end of each road section are provided with a controller, an infrared sensor and a networking module which are respectively connected with the controller, a display connected with the controller of the outlet end of the road section is arranged at the front end of the outlet end of each road section, each controller triggers the infrared sensor to output signals when a corresponding vehicle passes through the infrared sensor corresponding to the controller, the infrared sensor transmits the signals to the controller, the controller generates corresponding detection information after receiving the signals provided by the infrared sensor and transmits the generated detection information to other controllers through the networking module, the detection information includes identification information of the infrared sensor which detects the signal and time information when the signal is detected; aiming at a controller at a road section entrance end connected with an entrance and an exit of a parking lot, after receiving a signal provided by an infrared sensor of the controller, the controller allocates a temporary parking space to a vehicle which just enters, a driving route from the entrance and the exit of the parking lot to the temporary parking space is planned according to a parking lot route and transmitted to other controllers through a networking module of the controller, and the driving route comprises the infrared sensors on the road sections through which the vehicle is about to pass and identification information of the infrared sensors;
each controller locally stores an infrared sensor topological graph, the infrared sensor topological graph comprises position relations among infrared sensors in the parking lot and identification information of the infrared sensors, for each road section, the infrared sensor at the inlet end is the last infrared sensor at the outlet end, and the last infrared sensor of the infrared sensor at the inlet end is the infrared sensor at the outlet end of the road section at the previous stage connected with the inlet end of the road section;
each controller comprises a driving route determining unit, a driving route processing unit, a driving route re-planning unit and a driving route updating unit, wherein the driving route determining unit is used for determining the driving route of the vehicle triggering the current infrared sensor to output signals according to the infrared sensor topological graph, the driving routes obtained successively, the identification information of the current infrared sensor in the current detection information and the time information after the current detection information is obtained; the driving route processing unit is used for judging whether a vehicle triggering the current infrared sensor to output a signal moves forwards on the driving route according to the identification information of the current infrared sensor and the determined driving route, and if so, marking the next infrared sensor of the infrared sensor which is recently marked as passed in the determined driving route as passed; the driving route re-planning unit is used for re-planning the driving route of the vehicle if the current infrared sensor corresponds to the controller when the vehicle triggering the output signal of the current infrared sensor does not move ahead on the driving route, and transmitting the re-planned driving route to other controllers through the networking module; the driving route updating unit is used for updating the driving route after the driving route is re-planned or the re-planned driving route is received;
the controller at the exit end of each road section further comprises a display control unit, wherein the display control unit is used for judging whether the current infrared sensor is the infrared sensor at the entrance end of the road section where the controller is located or not aiming at the current infrared sensor in the current detection information provided by other controllers, if so, when judging that a vehicle triggering the output signal of the current infrared sensor moves forwards on the driving route of the vehicle, the display of the display is controlled according to the position relation between the road section where the current infrared sensor is located and the next-stage road section in the determined driving route;
for each controller, the driving route determining unit is configured to, after obtaining current detection information, first determine, according to identification information of a current infrared sensor in the current detection information, identification information of a current previous infrared sensor of the current infrared sensor in the infrared sensor topological graph, sequentially determine whether the identification information of the current previous infrared sensor is the same as identification information of an infrared sensor that is recently marked as having passed in each driving route obtained in sequence, if so, take a corresponding driving route as a suspected driving route of a vehicle that triggers an output signal of the current infrared sensor, and determine the number of the suspected driving routes of the vehicle: if a suspected driving route exists, determining the suspected driving route as the driving route of the vehicle triggering the output signal of the current infrared sensor;
if two suspected driving routes exist, firstly determining reference detection information obtained in a front and back preset time period, determining a reference previous infrared sensor of a reference infrared sensor in the infrared sensor topological graph in each reference detection information, judging whether the identification information of the reference previous infrared sensor is the same as the identification information of the infrared sensor which is marked as having passed recently in the two suspected driving routes, and if so, comparing the signal detection time of the reference infrared sensor with the signal detection time of the current infrared sensor: if the time of the signal detected by the current infrared sensor is earlier than the time of the signal detected by the reference infrared sensor, determining a suspected driving route obtained earlier in the two suspected driving routes as the driving route of the vehicle triggering the signal output by the current infrared sensor, and if the time of the signal detected by the current infrared sensor is later than the time of the signal detected by the reference infrared sensor, determining a suspected driving route obtained later in the two suspected driving routes as the driving route of the vehicle triggering the signal output by the current infrared sensor;
the driving route processing unit is used for judging whether the current infrared sensor is the next infrared sensor of the infrared sensor which is recently marked as passed in the determined driving route, if so, the vehicle which triggers the output signal of the current infrared sensor is marked as passed on the driving route, and if not, the vehicle which triggers the output signal of the current infrared sensor is not marked as passed on the driving route;
the driving route re-planning unit is used for taking the current infrared sensor as a starting point infrared sensor if the current infrared sensor corresponds to the controller when judging that the vehicle triggering the output signal of the current infrared sensor does not move ahead on the driving route, re-planning the driving route from the starting point infrared sensor to a terminal point infrared sensor in the determined driving route according to the parking lot path, and transmitting the re-planned driving route to other controllers through the networking module;
the driving route updating unit is used for marking the determined driving route as invalid when judging that the vehicle triggering the output signal of the current infrared sensor does not move ahead on the driving route, determining a previous infrared sensor of the infrared sensor in the infrared sensor topological graph at the starting point in the re-planned driving route after re-planning the driving route or receiving the re-planned driving route, comparing the determined previous infrared sensor with infrared sensors which are recently marked as passed in invalid driving routes, and updating the re-planned driving route to the corresponding invalid driving route if the previous infrared sensor is the same as the infrared sensor which is recently marked as passed in the invalid driving routes.
2. The internet of things networking data-based parking lot navigation system according to claim 1, wherein for each parking space in the parking lot, an indicator lamp is provided, for each road section, the controllers at the entrance end and the exit end of the road section are connected to the indicator lamps of the parking spaces on both sides of the road section, and when the current infrared sensor is the destination infrared sensor in the determined driving route, the controller corresponding to the current infrared sensor controls the indicator lamps of the parking spaces on both sides of the road section where the current infrared sensor is located to be turned on.
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| CN201911033720.7A CN110807943B (en) | 2019-10-28 | 2019-10-28 | Parking lot navigation system based on networking data of Internet of things |
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| CN201911033720.7A CN110807943B (en) | 2019-10-28 | 2019-10-28 | Parking lot navigation system based on networking data of Internet of things |
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| JP2003279361A (en) * | 2002-03-26 | 2003-10-02 | Clarion Co Ltd | Car navigation system and method and program for navigation |
| CN108267144A (en) * | 2016-12-30 | 2018-07-10 | 沈阳美行科技有限公司 | A kind of navigation routine recommends method, system and its apparatus |
| CN108230741B (en) * | 2018-03-01 | 2020-11-24 | 山东建筑大学 | Parking lot vehicle track tracking method and system based on ultrasonic time sequence |
| CN108305504A (en) * | 2018-03-13 | 2018-07-20 | 京东方科技集团股份有限公司 | A kind of parking stall air navigation aid and system |
| CN108986526A (en) * | 2018-07-04 | 2018-12-11 | 深圳技术大学（筹） | A kind of intelligent parking method and system of view-based access control model sensing tracking vehicle |
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