CN111179623A - Parking lot navigation method and device and intelligent parking lot system - Google Patents
Parking lot navigation method and device and intelligent parking lot system Download PDFInfo
- Publication number
- CN111179623A CN111179623A CN202010013075.9A CN202010013075A CN111179623A CN 111179623 A CN111179623 A CN 111179623A CN 202010013075 A CN202010013075 A CN 202010013075A CN 111179623 A CN111179623 A CN 111179623A
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- parking lot
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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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
Abstract
The invention discloses a parking lot navigation method, a parking lot navigation device and an intelligent parking lot system, wherein the parking lot navigation method comprises the following steps: 1. setting parking spaces of parking lots and intersections of vehicle driving roads as nodes and numbering the nodes; the driving roads between the nodes are set as Line and numbered; 2. establishing an openlist table and a closelist table and emptying; obtaining the Node point nearest to the current position of the vehicle as the initial Node1Node is to be1Adding openlist; 3. and (4) examining the nodes which are in openlist and not in closelist until the destination node is found, and tracing back to the starting node according to the parent node of the destination node to obtain a path from the starting node to the destination node. The method is simple in algorithm and easy to implement, and can quickly acquire the path from the initial position of the vehicle to the target parking space.
Description
Technical Field
The invention belongs to the technical field of intelligent parking, and particularly relates to a parking lot navigation path generation method, a device applying the method and a parking lot system.
Background
The intelligent parking refers to the comprehensive application of a wireless communication technology, a mobile terminal technology, a GPS (global positioning system) positioning technology, a GIS (geographic information system) technology and the like to the collection, management, inquiry, reservation and navigation services of urban parking spaces, the integration of real-time updating, inquiry, reservation and navigation services of parking space resources, the maximization of the utilization rate of the parking space resources, the maximization of the profit of a parking lot and the optimization of parking services of car owners. The 'wisdom' of wisdom parking is just embodied in: 'intelligent parking place finding + automatic parking fee payment'. The system can be used for daily parking, staggered parking, parking space renting, automobile after-market service, reverse car searching and parking space navigation of an automobile owner.
The purpose of wisdom parking is to let the car owner more conveniently find the parking stall, contains the wisdom of two aspects off-line, on-line. The online intellectualization is realized by that a car owner obtains services such as parking lot and parking space vacancy information, charging standard, reservation, charging, sharing and the like of a designated place by using a mobile terminal, and the functions of prepayment and online account settlement are realized. The offline intellectualization is realized by enabling a parking person to better park in a parking space.
At present, wisdom parking scheme is many to need the user to acquire the appointed parking stall positional information in parking area through online customer end, and earth induction (the parking is induced) through the installation guides the user to go to the parking by oneself, can save the time that the user looked for vacant parking stall by oneself, improves the resource utilization on parking stall.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a parking lot navigation method, a parking lot navigation device based on the navigation method and an intelligent parking lot system, which can assist parking by using a parking robot and reduce the time of a user.
The technical scheme is as follows: the invention discloses a parking lot navigation method on the one hand, which comprises the following steps:
(1) setting parking spaces of parking lots and intersections of vehicle driving roads as nodes and numbering the nodes; the driving roads between the nodes are set as Line and numbered;
(2) establishing an openlist table and a closelist table and emptying; obtaining the Node point nearest to the current position of the vehicle as the initial Node1Node is to be1Adding openlist;
(3) consider a node in openlist and not in closelist:
acquiring and currently surveying NodecAll directly connected nodes form a set Sc；
Traverse set ScEach Node in (1)iIf the Node is a NodeiIs not a destination Node, and NodeiNot in closed elist, Node williAdding openlist and connecting NodeiIs set as Nodec；Nodei∈Sc；
Node is to becMove from openlist to closelist; re-executing the step (3);
if the NodeiIs a destination Node, will NodeiIs set as NodecAnd according to NodecThe parent node of (1) traces back to the start node to obtain a path from the start node to the destination node.
On the other hand, the invention discloses a parking lot navigation device for realizing the navigation method, which comprises the following steps: the parking space and vehicle driving road acquisition module is used for recording the numbers of nodes and nodes arranged at the parking spaces of the parking lot and the intersections of the vehicle driving road, and the numbers of driving roads Line and Line between the nodes;
the navigation initialization module is used for establishing and emptying an openlist table and a closelist table; obtaining the Node point nearest to the current position of the vehicle as the initial Node1Node is to be1Adding openlist;
and the navigation path acquisition module is used for acquiring a path from the starting node to the destination node according to the parking lot navigation method.
The invention also discloses an intelligent parking lot system using the navigation method, which comprises the following steps: parking lot, parking robot;
a UWB base station is arranged in the parking lot, and a UWB tag is installed on the parking robot; the UWB base station and the UWB tag are used for acquiring the position information of the parking robot;
an entrance parking space is arranged at the entrance of the parking lot, and a parking space is arranged in the parking lot;
the method comprises the steps that a user parks a vehicle in an entrance parking space, the parking robot acquires an idle parking space, a path from the entrance parking space to the idle parking space is acquired according to the parking lot navigation method, and the vehicle of the user is dragged and dropped to the idle parking space.
Has the advantages that: the parking lot navigation method disclosed by the invention is simple in algorithm and easy to realize, and can be used for quickly acquiring the path from the initial position of the vehicle to the target parking space.
Drawings
FIG. 1 is a flow chart of a parking lot navigation method disclosed by the present invention;
FIG. 2 is a schematic diagram of navigation path generation in embodiment 1;
FIG. 3 is a schematic diagram of a parking lot navigation device according to the present invention;
fig. 4 is a schematic view of an intelligent parking lot system disclosed in the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings and the detailed description.
Example 1:
the embodiment discloses a parking lot navigation method, as shown in fig. 1, including:
(1) setting parking spaces of parking lots and intersections of vehicle driving roads as nodes and numbering the nodes; the driving roads between the nodes are set as Line and numbered;
(2) establishing an openlist table and a closelist table and emptying; obtaining the Node point nearest to the current position of the vehicle as the initial Node1Node is to be1Adding openlist;
(3) consider a node in openlist and not in closelist:
acquiring and currently surveying NodecAll directly connected nodes form a set Sc；
Traverse set ScEach Node in (1)iIf the Node is a NodeiIs not a destination Node, and NodeiNot in closed elist, Node williAdding openlist and connecting NodeiIs set as Nodec；Nodei∈Sc；
Node is to becMove from openlist to closelist; re-executing the step (3);
if the NodeiIs a destination Node, will NodeiIs set as NodecAnd according to NodecThe parent node of (1) traces back to the start node to obtain a path from the start node to the destination node.
The driving path of the vehicle is as follows: and the mobile terminal moves to the starting node and then moves to the destination node according to the path.
As shown in FIG. 2, assume Node1 is the initial point and Node7 is the destination Node. The openlist and closelist tables are all cleared.
Firstly, taking Node1 as the current investigation Node, traversing all routes of Node1 and finding Line 1. Another Node in the Line1 is Node2, and meanwhile Node2 is not in the closed list, then the father Node of Node2 is set as Node1, meanwhile Node2 is added into the open list, Node1 is added into the closed list and deleted from the open list.
Next, considering Node2, all routes of Node2 include Line1, Line2, Line3 and Line4, and the other nodes corresponding thereto are Node1, Node3, Node4 and Node 6. Since Node1 is already in closed list, it is not considered that all the father nodes of Node3, Node4 and Node6 are set as Node2, and they are added into open list, and Node2 is added into closed list and deleted from open list.
Then, the Node3, Node4 and Node6 are examined. Node4, Node6 all directly connected nodes are in close, and they are not the target point, and they are added into close directly. When Node3 is examined and Node7 is found to be the target point, the parent Node of Node7 is set as Node 3. Then, according to the father Node3 of the Node7 and the father Node2 of the Node3, the initial Node1 is found all the time, the ids of the nodes are stored in a route table, a path from the Node1 to the Node7 is obtained, and the path is the acquired navigation path.
Example 2:
the present embodiment discloses a parking lot navigation apparatus for implementing the navigation method in embodiment 1, as shown in fig. 3, including:
the parking space and vehicle driving road acquisition module is used for recording the numbers of nodes and nodes arranged at the parking spaces of the parking lot and the intersections of the vehicle driving road, and the numbers of driving roads Line and Line between the nodes;
the navigation initialization module is used for establishing and emptying an openlist table and a closelist table; obtaining the Node point nearest to the current position of the vehicle as the initial Node1Node is to be1Adding openlist;
a navigation path acquisition module for acquiring a path from an origin node to a destination node according to the parking lot navigation method according to claim 1.
Example 3:
the embodiment discloses an intelligent parking lot system applying the parking lot navigation method in embodiment 1, as shown in fig. 4, including: parking lot, parking robot;
4 UWB base stations are arranged in the parking lot, and UWB tags are installed on the parking robot; the UWB tag is communicated with the four UWB base stations through an Ultra Wide Band (UWB) technology to acquire distances between the UWB tag and the four UWB base stations, and then the position of the UWB tag is calculated through matrix operation, so that the position information of the parking robot is acquired;
an entrance parking space is arranged at the entrance of the parking lot and used for storing the vehicle to be parked; a parking space and a robot parking space are arranged in the parking lot;
the parking robot is characterized in that magnetic stripes are laid on a vehicle running road in the parking lot, a magnetic induction sensor is mounted on the parking robot, and the magnetic induction sensor can sense the magnetic stripes on the road, so that the parking robot moves along the magnetic stripes to realize accurate parking; in this embodiment, the parking robot adopts Arduino development board to read and integrate magnetic induction sensor's signal.
The entrance parking spaces, the parking spaces and the robot parking spaces are all set to be Node, and the roads between the Node are set to be Line. A user parks a vehicle in an entrance parking space, and an idle parking robot acquires a path from the parking position of the robot to the entrance parking space according to a navigation method and runs to the entrance parking space; and acquiring an idle parking space, acquiring a path from the entrance parking space to the idle parking space according to a parking lot navigation method, and dragging and dropping the vehicle of the user to the idle parking space.
In order to facilitate the use of a user, the system further comprises a client, wherein the client is an intelligent mobile terminal and mainly realizes three functions: 1. and checking the parking space information of the parking lot, namely checking the parking space occupation condition of the parking lot through the client application by a user, and judging whether vacant parking spaces exist or not. 2. And checking the information of the vehicle parked by the user, namely checking the information of the parking space, the parking time and the like where the vehicle of the user is parked. 3. And the payment module is used for paying the parking fee through the payment module in the client application when the vehicle is taken.
The parking robot is also provided with a navigation compass and a laser radar, and the navigation compass can acquire current direction information; the laser radar continuously scans the surrounding environment to obtain the distance between the laser radar and the surrounding object, and controls the parking robot to run and stop according to the distance information so as to prevent the parking robot from colliding with the surrounding object. The operation of the parking robot is realized by driving wheels to rotate by a motor, and the rotating speed of the motor is controlled by a motor speed regulator, so that the operation speed of the parking robot is controlled. The parking robot is provided with a carriage for dragging the vehicle to be parked.
In this embodiment, the overall system flow is as follows: the method comprises the steps that a user requests parking through a client side application, meanwhile, a vehicle to be parked is placed into an entrance parking space, after the server receives the request, an instruction is sent to enable a parking robot to go to the place where the vehicle to be parked is placed, after the vehicle is placed into the parking space, the server obtains an empty parking space in the parking lot, meanwhile, a navigation algorithm is operated to assist the parking robot to move, the parking robot moves to a target parking space along a navigation magnetic stripe laid in the parking lot, after the target parking space is reached, the parking robot puts down the vehicle to be parked, meanwhile, the parking robot returns to the robot parking. When the user gets the car, the parking fee payment is carried out through the client application, after the payment is completed, the server sends an instruction to the parking robot, the parking robot takes the car out and puts the car in the exit, and the user gets the car and leaves the car.
The disclosed wisdom parking area system of this embodiment utilizes the automatic handling user's vehicle of parking robot, realizes full-automatic parking and gets the car, has saved user's time greatly, has improved the utilization efficiency in parking area. Meanwhile, the client application is arranged, so that a user can check parking space information of a parking lot, own vehicle parking information and pay parking fee on line conveniently.
Claims (6)
1. The parking lot navigation method is characterized by comprising the following steps:
(1) setting parking spaces of parking lots and intersections of vehicle driving roads as nodes and numbering the nodes; the driving roads between the nodes are set as Line and numbered;
(2) establishing an openlist table and a closelist table and emptying; obtaining the Node point nearest to the current position of the vehicle as the initial Node1Node is to be1Adding openlist;
(3) consider a node in openlist and not in closelist:
acquiring and currently surveying NodecAll directly connected nodes form a set Sc；
Traverse set ScEach Node in (1)iIf the Node is a NodeiIs not a destination Node, and NodeiNot in closed elist, Node williAdding openlist and connecting NodeiIs set as Nodec；Nodei∈Sc；
Node is to becMove from openlist to closelist; re-executing the step (3);
if the NodeiIs a destination Node, will NodeiIs set as NodecAnd according to NodecTracing the father node to the starting node to obtain the node from the starting node to the destination nodePath of (1).
2. Parking lot navigation device characterized by, includes:
the parking space and vehicle driving road acquisition module is used for recording the numbers of nodes and nodes arranged at the parking spaces of the parking lot and the intersections of the vehicle driving road, and the numbers of driving roads Line and Line between the nodes;
the navigation initialization module is used for establishing and emptying an openlist table and a closelist table; obtaining the Node point nearest to the current position of the vehicle as the initial Node1Node is to be1Adding openlist;
a navigation path acquisition module for acquiring a path from an origin node to a destination node according to the parking lot navigation method according to claim 1.
3. Wisdom parking area system, its characterized in that includes: parking lot, parking robot;
a UWB base station is arranged in the parking lot, and a UWB tag is installed on the parking robot; the UWB base station and the UWB tag are used for acquiring the position information of the parking robot;
an entrance parking space is arranged at the entrance of the parking lot, and a parking space is arranged in the parking lot;
the parking lot navigation method comprises the steps that a user parks a vehicle in an entrance parking space, a parking robot obtains an idle parking space, a path from the entrance parking space to the idle parking space is obtained according to the parking lot navigation method of claim 1, and the vehicle of the user is dragged and dropped to the idle parking space.
4. The intelligent parking lot system of claim 1, further comprising a client, wherein the client is an intelligent mobile terminal and is used for inquiring an idle parking space, inquiring parking information of a user or paying a fee.
5. The intelligent parking lot system of claim 1, wherein a magnetic stripe is laid on the driving road of the vehicle, a magnetic induction sensor is mounted on the parking robot, and the parking robot moves along the magnetic stripe to realize accurate parking.
6. The intelligent parking lot system of claim 1, further comprising a robot parking space for parking an idle parking robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010013075.9A CN111179623A (en) | 2020-01-07 | 2020-01-07 | Parking lot navigation method and device and intelligent parking lot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010013075.9A CN111179623A (en) | 2020-01-07 | 2020-01-07 | Parking lot navigation method and device and intelligent parking lot system |
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| CN111179623A true CN111179623A (en) | 2020-05-19 |
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Application publication date: 20200519 |
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