CN114218346A - Method and system for guiding vehicles in park and park layout drawing method - Google Patents
Method and system for guiding vehicles in park and park layout drawing method Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention relates to the technical field of radio frequency, and discloses a method and a system for guiding vehicles in a park and a park layout drawing method, wherein the guiding method comprises the following steps: presetting a park layout; vehicle information is input, destination information of the vehicle is determined according to service content in the vehicle information, and the destination information is added to the vehicle information; binding tag information of a radio frequency identification tag on a vehicle with corresponding vehicle information; reading the radio frequency identification tag information of a vehicle entering the identification range based on a radio frequency identification reader, and acquiring the destination information of the corresponding vehicle according to the radio frequency identification tag information; generating a traveling route from the corresponding vehicle to the destination based on the destination information of the corresponding vehicle, the position information of the radio frequency identification reader installed at the entrance of the campus and the layout of the campus; and performing forward guidance on the corresponding vehicle based on the traveling route and the external equipment pre-installed in the park. The scheme of the invention realizes the accurate navigation of the external vehicles in the park.
Description
Technical Field
The invention relates to the technical field of radio frequency, in particular to a method and a system for guiding vehicles in a park and a method for drawing a park layout.
Background
With the development of economy, the logistics transportation industry is rapidly developing, and when vehicles enter a park to operate, the specific operation positions in the park are not always known. The current mature technologies for vehicle navigation in the market are the GPS navigation technology and the beidou navigation technology. The GPS navigation technology is integrated into a system by acquiring position information of the actual layout of a park through navigation software such as currently popular God navigation and Baidu maps, and navigation of vehicles in the park is realized through a vehicle-mounted or driver mobile phone positioning system; the Beidou navigation technology is similar to GPS navigation, Beidou positioning information of a park is completed through surveying and mapping in advance, and then real-time navigation is realized through a vehicular system or a Beidou positioning system of portable equipment carried by a driver. The navigation technology is mainly applied to the navigation of a long-distance relative macro and large target, and the navigation of a certain warehouse in a park cannot be covered at present, so that a vehicle cannot accurately and timely arrive at a certain operation place in the park. In short, the existing mature navigation system can navigate the vehicle to the entrance of the park, but the navigation system often does not have the capability when needing to navigate in the park in the specific business process. The reason for this is that such demands are relatively small and mass-oriented, mainly used for navigation of vehicles in a campus, and depending on the needs of the business, the mainstream navigation manufacturers have less investment. And secondly, information such as layout and the like in the park has certain closure and privacy relative to information such as open roads, communities and the like, and for the park with closed management, when a mainstream navigation system in the market records real-time road position information, the information in the range is often difficult to accurately acquire. The invention locates the driving track of the vehicle in the garden and the relative position of the garden by combining the radio frequency identification technology and the layout of the garden, navigates the vehicle to the operation position based on the actual requirement of the service, makes up the problem that the mainstream social navigation system is difficult to go deep into the internal layout of the concrete garden, and the positioning and navigation of the vehicle do not depend on signals such as GPS, and can be widely applied to the garden scenes with ceilings, shelters, and the like.
Disclosure of Invention
In view of the above, the invention provides a method and a system for guiding vehicles in a park and a method for drawing a park layout, which do not depend on information such as a GPS (global positioning system) to navigate foreign vehicles entering the park, and solve the problem that the current navigation system cannot accurately navigate a destination in the park.
In view of the above, an aspect of the embodiments of the present invention provides a method for guiding a vehicle in a park, which specifically includes the following steps:
presetting a garden layout drawing based on the actual physical layout of the garden;
entering vehicle information entering the park, determining destination information of a vehicle according to service content in the vehicle information, and adding the destination information of the vehicle to the vehicle information;
binding tag information of a radio frequency identification tag installed on a vehicle with corresponding vehicle information;
reading the radio frequency identification tag information of a vehicle running into the identification range of a radio frequency identification reader based on the radio frequency identification reader installed at the entrance of the park, and acquiring the destination information of the corresponding vehicle according to the radio frequency identification tag information;
generating a traveling route from the corresponding vehicle to a destination based on the destination information of the corresponding vehicle, the location information of the radio frequency identification reader installed at the entrance of the campus and the campus layout;
and performing forward guidance on the corresponding vehicle based on the traveling route and a peripheral device pre-installed in the park.
In some embodiments, generating the travel route of the corresponding vehicle to the destination based on the destination information of the corresponding vehicle, the location information of the radio frequency identification reader installed at the entrance of the campus, and the campus layout, includes:
in the campus layout, determining the current position of the corresponding vehicle based on the position information of the radio frequency identification reader installed at the entrance of the campus, and acquiring the current road where the corresponding vehicle is located based on the current position of the corresponding vehicle;
judging whether the current road leads to a destination or not based on the destination information of the corresponding vehicle;
and if the current road leads to the destination, obtaining a travel route of the corresponding vehicle from the current position to the destination.
In some embodiments, the method further comprises:
if the current road does not lead to the destination, acquiring all roads connected with the current road;
judging whether each road connected with the current road leads to a destination or not;
if any road connected with the current road leads to the destination, all paths from the current position to the destination of the corresponding vehicle are obtained;
calculating all acquired paths based on a Daxter algorithm to obtain a traveling route from the current position to the destination of the corresponding vehicle;
and if the road connected with the current road does not lead to the destination, acquiring each road connected with the current road, and returning to the step of judging whether each road connected with the current road leads to the destination or not until the traveling route of the corresponding vehicle from the current position to the destination is obtained.
In some embodiments, the method further comprises:
generating a running track of the corresponding vehicle based on radio frequency identification readers which are sequentially passed by the corresponding vehicle in the running process of the corresponding vehicle, wherein the radio frequency identification readers are all radio frequency identification readers arranged in a park;
determining whether the corresponding vehicle is yawing based on a travel track of the corresponding vehicle and a travel route of the corresponding vehicle;
and if the corresponding vehicle drifts, regenerating the traveling route of the corresponding vehicle based on a Daxort algorithm, and guiding the advancing direction of the corresponding vehicle based on the regenerated traveling route and the playing device.
In some embodiments, the method further comprises: and if the corresponding vehicle does not yaw, continuing to advance and guide the vehicle through external equipment pre-installed in the garden based on the advancing route.
In some embodiments, generating the travel track of the corresponding vehicle based on the radio frequency identification readers that the corresponding vehicle sequentially passes by includes:
reading the tag information of the corresponding vehicle based on the radio frequency identification reader which the corresponding vehicle passes through;
and generating a driving track of the vehicle based on the time when the tag information of the corresponding vehicle is read by each radio frequency identification reader and the corresponding position information of each radio frequency identification reader.
In some embodiments, reading tag information of the corresponding vehicle based on a radio frequency identification reader through which the corresponding vehicle passes includes:
judging whether the label information format of the corresponding vehicle conforms to a preset format or not;
and if the tag information format of the corresponding vehicle conforms to the preset format, recording the time for reading the tag information of the corresponding vehicle by the radio frequency identification reader into the tag information of the corresponding vehicle.
In some embodiments, calculating all the acquired paths based on the dyxored algorithm to obtain the travel route of the corresponding vehicle from the current position to the destination includes:
adding a constraint condition to the Darlait algorithm based on the campus layout;
and calculating all the acquired paths based on the Daxter algorithm added with the constraint conditions to obtain the traveling route from the corresponding vehicle to the destination of the corresponding vehicle.
In another aspect of the embodiments of the present invention, a method for drawing a campus layout diagram is further provided, including:
determining the direction of the garden layout diagram based on a general orientation method, and drawing the garden layout diagram in a first quadrant of a coordinate axis;
abstracting each entity in a park into elements in a park layout diagram, and defining attributes of the elements, wherein the elements comprise roads, intersections, buildings, entrances and exits and radio frequency identification readers, and the attributes of the elements comprise IDs of the elements, types of the elements, names of the elements and coordinates of the elements.
In yet another aspect of the embodiments of the present invention, there is also provided a system for guiding a vehicle at a park, including:
a preset module configured to preset a campus layout drawing drawn based on an actual physical layout of a campus;
the recording module is configured to record vehicle information entering the park, determine destination information of the vehicle according to service content in the vehicle information, and add the destination information of the vehicle to the vehicle information;
a binding module configured to bind tag information of a radio frequency identification tag mounted on a vehicle with corresponding vehicle information;
the reading module is configured to read the radio frequency identification tag information of a vehicle running into the identification range of a radio frequency identification reader based on the radio frequency identification reader installed at a campus entrance, and acquire the destination information of the corresponding vehicle according to the radio frequency identification tag information;
a generation module configured to generate a travel route of the corresponding vehicle to a destination based on destination information of the corresponding vehicle, location information of the radio frequency identification reader installed at a campus entrance, and the campus layout;
a guidance module configured to forward guide the corresponding vehicle based on the travel route and a play-out device pre-installed in a campus.
The invention has at least the following beneficial technical effects: passing a preset park layout; recording vehicle information of a driving park, and determining destination information of a vehicle according to service content in the vehicle information; binding tag information of a radio frequency identification tag installed on a vehicle with corresponding vehicle information; reading the radio frequency identification tag information of a vehicle entering the identification range of a radio frequency identification reader based on the radio frequency identification reader installed at the entrance of the park; generating a traveling route from the corresponding vehicle to the destination based on the destination information of the corresponding vehicle, the position information of the radio frequency identification reader installed at the entrance of the campus and the layout of the campus; based on the advancing route and the external equipment pre-installed in the garden, the corresponding vehicles are advanced and guided, the navigation of the advancing route of the external vehicles in the garden is realized without depending on the GPS information or the Beidou positioning information of the roads in the garden, and the navigation accuracy is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by using the drawings without creative efforts.
FIG. 1 is a diagram illustrating an embodiment of a method for drawing a campus layout according to the present invention;
FIG. 2 is a block diagram of one embodiment of a method of directing vehicles at a campus provided by the present invention;
FIG. 3 is a schematic diagram of one embodiment of a campus layout provided by the present invention;
figure 4 is a schematic diagram of an embodiment of a system for directing vehicles at a campus in accordance with the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments of the present invention are described in further detail with reference to the accompanying drawings.
It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.
Based on the above purpose, a first aspect of the embodiments of the present invention provides an embodiment of a method for drawing a campus layout, as shown in fig. 1, which specifically includes the following steps:
s101, determining the direction of the garden layout diagram based on a general orientation method, and drawing the garden layout diagram in a first quadrant of a coordinate axis;
s103, abstracting each entity in the garden into elements in the garden layout diagram, and defining attributes of the elements, wherein the elements comprise roads, intersections, buildings, entrances and exits, and radio frequency identification readers, and the attributes of the elements comprise IDs of the elements, types of the elements, names of the elements, and coordinates of the elements.
Based on the actual physical layout of the garden, a garden layout is drawn, the garden layout adopts a general orientation method, and the garden layout uses the first quadrant of the coordinate axis.
There are several main types of elements in the campus layout: the system comprises roads, intersections, buildings, entrances and exits, wherein the roads need to be distinguished by one-way lines and two-way lines, the traveling direction of vehicles is convenient to control, the entrances and exits are divided into garden entrances and exits and building entrances and exits, information such as coordinates and the like needs to be marked on the roads, the buildings, the entrances and exits in a garden layout, and the information is stored in a database in a two-dimensional graph mode.
The definition format of the attributes of the elements is detailed in table 1.
TABLE 1
Abstracting each entity target in the garden into an element of the garden, wherein when the entity targets are stored in a database, the garden and the element are in a one-to-many contained relationship, and the main attributes of the element comprise: the attributes of element ID, element name, coordinate positions of upper left, lower left, upper right and lower right corners, element type and the like; the element types are classified into types of roads, office areas, warehouses, entrances, exits, radio frequency identification readers and the like; wherein the element ID is the primary key when stored in the database. Further, for a road element, its driving direction needs to be marked, and the driving direction includes: the method comprises the following steps of X-axis positive direction single row, Y-axis positive direction single row, X-axis direction bidirectional same row, Y-axis direction bidirectional same row, XY-axis 45-degree-angle-direction zero-point direction single row, XY-axis 45-degree-angle-direction reverse zero-point direction single row and XY-axis 45-degree-angle bidirectional same row, wherein for roads which are not parallel to the X axis or the Y axis and are not at 45 degrees, the method depends on an induction rule of the X axis for roads which the angle is less than 45 degrees, and depends on an induction rule of the Y axis for roads which the angle is more than 45 degrees.
Through above-mentioned embodiment, combine the actual physics overall arrangement in garden, draw the garden layout to realize the navigation to the vehicle that gets into the garden based on the garden layout that draws, make the navigation to external vehicle no longer rely on the GPS information or the big dipper locating information of garden inner road, the degree of accuracy of navigation is high, is particularly suitable for sealing and semi-closed garden.
Based on the same inventive concept, according to another aspect of the present invention, as shown in fig. 2, an embodiment of the present invention also provides an embodiment of a method for guiding a vehicle at a park. As shown in fig. 2, it includes the following steps:
s201, presetting a garden layout drawing drawn based on the actual physical layout of a garden;
s203, entering vehicle information entering the park, determining destination information of the vehicle according to service content in the vehicle information, and adding the destination information of the vehicle to the vehicle information;
s205, binding the tag information of the radio frequency identification tag installed on the vehicle with the corresponding vehicle information;
s207, reading the radio frequency identification tag information of the vehicle running into the identification range of the radio frequency identification reader based on the radio frequency identification reader installed at the entrance of the park, and acquiring the destination information of the corresponding vehicle according to the radio frequency identification tag information;
s209, generating a traveling route from the corresponding vehicle to the destination based on the destination information of the corresponding vehicle, the position information of the radio frequency identification reader installed at the entrance of the park and the park layout;
s211, advancing guidance is conducted on the corresponding vehicle based on the travelling route and the external equipment which is installed in the garden in advance.
A campus layout drawing drawn based on the physical layout of a campus is imported in the system in advance.
Radio Frequency Identification (RFID) readers are installed at key positions of a park, such as an entrance and an exit of the park and parking places of various business processing posts, such as positions of registration, inspection, weight detection, building entrances and exits, and the RFID readers can be installed before or after a system is introduced into a park layout. If the RFID reader is installed before the system is imported into the park layout, the RFID reader is used as an element in the park layout when the park layout is drawn, and the RFID reader is defined in the park layout according to the format of the attribute of the element; if the RFID reader is installed after the system is imported into the park layout, after the installation is finished, the RFID reader is marked in the park layout according to the format of the defined attribute of the element, for example, the element ID, the element name, the coordinate positions of the upper left corner, the lower left corner, the upper right corner and the lower right corner are stored, and the element type is the RFID reader.
The main operating frequencies and effective identification distances of the RFID technology are: low frequency 125-; the high frequency is 13.56MHz, the identification distance is less than 1m, the ultrahigh frequency is 902-928MHz, the identification distance is 1-30m, and the microwave is 2.54 GHz. The identification distance of the RFID technology ranges from several centimeters to dozens of meters, and the application range is very wide. In this embodiment, the frequency of the selected RFID reader and the RFID tag is 915 MHz.
Vehicle information of an external vehicle driving into the park is identified and recorded, and the vehicle information mainly comprises: registering record ID, vehicle license plate number, driver name, driver mobile phone number and service content; the recorded vehicle information is persisted in a database; the system determines the destination information of the current vehicle according to the service content, wherein the destination information is consistent with the information of buildings, entrances and exits and the like drawn in the garden layout drawing; the destination information of the current vehicle is persisted into the vehicle information of the current vehicle of the database, and more specifically, the ID of the destination information of the current vehicle may be assigned into the destination field of the vehicle information.
And installing an RFID label on the vehicle running into the park, and binding the vehicle and the RFID label to enable the vehicle information and the RFID information to be uniquely bound.
The RFID label is a customized accessory, mainly comprises RFID label, magnetism, battery, the interface that charges etc. and the RFID label is used for the identity of only appointed label, has non-repeatability, and magnetism is inhaled mainly used and is adsorbed on with the automobile body, is a nimble mounting means, and areas such as northeast, winter outdoor cold need lock with the mode of physics lock, and the battery mainly used power supply of RFID label and the power supply of magnetism are inhaled.
After the RFID label is bound with the vehicle information, persistence is carried out in a database, and the main content of the persistence comprises the following steps: the unique code of the record ID, the vehicle license plate number and the RFID label is registered, so that the unique vehicle can be inquired based on the unique code of the RFID label.
Reading RFID label information of a vehicle entering an identification range of an RFID reader based on the RFID reader installed at the entrance of the park; inquiring the license plate number of the current vehicle and the destination information of the current vehicle from a database according to the RFID label information; determining the actual position of the current vehicle according to the position information of a radio frequency identification reader installed at the entrance of the park, and generating a traveling route from the corresponding vehicle to a destination according to the actual position of the current vehicle and the destination information of the current vehicle and by combining a park layout; the method comprises the steps of carrying out forward guidance on a current vehicle based on a traveling route and external equipment pre-installed in a park, wherein the forward guidance mainly comprises the steps of enabling the vehicle to continue to move forward, turning right at a front intersection, turning left at the front intersection and the like.
In the embodiment, the layout diagram of the park is preset; recording vehicle information of a driving park, and determining destination information of a vehicle according to service content in the vehicle information; binding tag information of a radio frequency identification tag installed on a vehicle with corresponding vehicle information; reading the radio frequency identification tag information of a vehicle entering the identification range of a radio frequency identification reader based on the radio frequency identification reader installed at the entrance of the park; generating a traveling route from the corresponding vehicle to the destination based on the destination information of the corresponding vehicle, the position information of the radio frequency identification reader installed at the entrance of the campus and the layout of the campus; based on the advancing route and the external equipment pre-installed in the garden, the corresponding vehicles are advanced and guided, the navigation of the advancing route of the external vehicles in the garden is realized without depending on the GPS information or the Beidou positioning information of the roads in the garden, and the navigation accuracy is high.
In some embodiments, generating the travel route of the corresponding vehicle to the destination based on the destination information of the corresponding vehicle, the location information of the radio frequency identification reader installed at the entrance of the campus, and the campus layout, includes:
in the campus layout, determining the current position of the corresponding vehicle based on the position information of the radio frequency identification reader installed at the entrance of the campus, and acquiring the current road where the corresponding vehicle is located based on the current position of the corresponding vehicle;
judging whether the current road leads to a destination or not based on the destination information of the corresponding vehicle;
and if the current road leads to the destination, obtaining a travel route of the corresponding vehicle from the current position to the destination.
Determining the coordinates of the current position of the current vehicle, the coordinates and the driving direction of the current road and the destination coordinates of the current vehicle in the garden layout map; judging whether the current road directly leads to the destination or not through coordinate comparison;
and if the current road directly leads to the destination, determining a travel route of the current vehicle from the current position to the destination by combining the driving direction of the current road.
If the current road does not directly lead to the destination, acquiring all roads connected with the current road;
judging whether each road connected with the current road leads to the destination or not;
if a road leading to a destination is found in the roads connected with the current road, acquiring all selectable paths from the current position to the destination;
and calculating all the acquired optional paths based on the Daxter algorithm to obtain the traveling route of the current vehicle to the destination at the current position.
And if all the roads connected with the current road do not lead to the destination, returning to judge whether each road connected with the current road leads to the destination or not until all the optional paths from the current position to the destination of the current vehicle are obtained, and obtaining the corresponding travel route based on the DaxRatt algorithm.
In some embodiments, the method further comprises:
if the current road does not lead to the destination, acquiring all roads connected with the current road;
judging whether each road connected with the current road leads to a destination or not;
if any road connected with the current road leads to the destination, all paths from the current position to the destination of the corresponding vehicle are obtained;
calculating all acquired paths based on a Daxter algorithm to obtain a traveling route from the current position to the destination of the corresponding vehicle;
and if the road connected with the current road does not lead to the destination, acquiring each road connected with the current road, and returning to the step of judging whether each road connected with the current road leads to the destination or not until the traveling route of the corresponding vehicle from the current position to the destination is obtained.
To describe embodiments of the present invention more specifically, as shown in fig. 3, the present invention is a schematic view of a campus layout, where fig. 3 includes a campus entrance, a campus entrance registry, roads 1 to 8, and warehouses 1 and 2, where warehouse 1 is a destination of vehicle 1 and warehouse 2 is a destination of vehicle 2.
Generating a traveling route from the vehicle 1 to the warehouse 1, wherein the specific process is as follows:
judging whether the road 1 leads to a destination warehouse 1 of the vehicle 1 or not according to the current road 1 of the vehicle 1;
according to the analysis of fig. 3, if the road 1 is not connected with the warehouse 1, the roads connected with the road 1 are searched, namely, the roads 2, 3 and 4;
respectively judging whether the roads 2, 3 and 4 lead to the warehouse 1;
the analysis according to fig. 3 shows that the road 2 leads to the warehouse 1;
all the paths from the vehicle 1 to the warehouse 1 are acquired, respectively:
route 1: 1 → 2, route 2: 1 → 3 → 6 → 5 → 2, path 3: 1 → 4 → 7 → 8 → 3 → 2, path 4: 1 → 4 → 7 → 8 → 6 → 5 → 2;
and calculating all the acquired optional paths by using a Daxter algorithm to obtain the shortest path 1 of the current vehicle to the destination at the current position, which is the traveling route from the vehicle 1 to the warehouse 1.
Generating a traveling route from the vehicle 2 to the warehouse 2, which comprises the following specific processes:
judging whether the road 1 leads to a destination warehouse 2 of the vehicle 2 or not according to the current road 1 of the vehicle 2;
according to the analysis of fig. 3, if the road 1 is not led to the warehouse 2, the roads connected with the road 1 are searched, namely the roads 2, 3 and 4;
respectively judging whether the roads 2, 3 and 4 lead to the warehouse 2;
according to the analysis of FIG. 3, the roads 2, 3 and 4 are not communicated with the warehouse 2;
continuing to judge whether the roads respectively connected with the roads 2, 3 and 4 lead to the warehouse 2, specifically, in fig. 3, the road connected with the road 2 is road 5, the road connected with the road 3 is roads 6, 8 and 9, the road connected with the road 4 is road 7, and respectively judging whether the roads 5, 6, 8, 9 and 7 lead to the warehouse 2;
the road 6 leading to the warehouse 2 is analyzed according to fig. 3;
all the paths from the vehicle 2 to the warehouse 2 are acquired, respectively:
path a: 1 → 2 → 5 → 6, route b: 1 → 3 → 6, path c: 1 → 4 → 7 → 8 → 6;
and calculating all the acquired optional paths by using a Daxter algorithm to obtain the shortest path b from the current position of the vehicle to the destination, which is the traveling route from the vehicle 2 to the warehouse 2.
In some embodiments, the method further comprises:
generating a running track of the corresponding vehicle based on radio frequency identification readers which are sequentially passed by the corresponding vehicle in the running process of the corresponding vehicle, wherein the radio frequency identification readers are all radio frequency identification readers arranged in a park;
determining whether the corresponding vehicle is yawing based on a travel track of the corresponding vehicle and a travel route of the corresponding vehicle;
and if the corresponding vehicle drifts, regenerating the traveling route of the corresponding vehicle based on a Daxort algorithm, and guiding the advancing direction of the corresponding vehicle based on the regenerated traveling route and the playing device.
In the advancing process of the current vehicle, generating a running track and a running direction of the current vehicle based on the position coordinates and the road coordinates of the RFID readers sequentially passed by the current vehicle; and judging whether the current vehicle runs according to the specified running route or not by combining the running track of the current vehicle and the running route of the current vehicle, if not, based on the latest position and running direction of the current vehicle, regenerating the running route based on the Daxort algorithm and calling the external equipment to guide the current vehicle to carry out new running direction.
Furthermore, the running direction of the current vehicle on the current road and the running track and running direction of the current vehicle are combined, whether the running of the current vehicle meets the road regulation or not is judged, if the current vehicle is found to be running in the reverse direction, the loudspeaker box closest to the vehicle is found to carry out voice broadcast reminding for the vehicle that the running direction of the vehicle is wrong through the actual position of the current vehicle, the running route of the current vehicle is regenerated on the basis of the Daxort algorithm, and new advancing direction guiding is carried out on the current vehicle on the basis of the regenerated running route and the loudspeaker device.
In some embodiments, the method further comprises: and if the corresponding vehicle does not yaw, continuing to advance and guide the vehicle through external equipment pre-installed in the garden based on the advancing route.
In some embodiments, generating the travel track of the corresponding vehicle based on the radio frequency identification readers that the corresponding vehicle sequentially passes by includes:
reading the tag information of the corresponding vehicle based on the radio frequency identification reader which the corresponding vehicle passes through;
and generating a driving track of the vehicle based on the time when the tag information of the corresponding vehicle is read by each radio frequency identification reader and the corresponding position information of each radio frequency identification reader.
Each RFID reader installed in the park reads the RFID label information of the vehicle in the identification range of the RFID reader in real time, the system analyzes the RFID label information read by the RFID reader to obtain the unique code of the RFID label, corresponding vehicle information is inquired from the database according to the unique code, and the license plate number and the destination information of the vehicle are mainly inquired.
And generating the running track of the vehicle with the current license plate number according to the vehicle number of the vehicle, the time for reading the RFID tag information by the RFID reader and the time for the vehicle to pass through each RFID reader.
In some embodiments, reading tag information of the corresponding vehicle based on a radio frequency identification reader through which the corresponding vehicle passes includes:
judging whether the label information format of the corresponding vehicle conforms to a preset format or not;
and if the tag information format of the corresponding vehicle conforms to the preset format, recording the time for reading the tag information of the corresponding vehicle by the radio frequency identification reader into the tag information of the corresponding vehicle.
And setting a real-time monitoring program, monitoring the information read by the RFID reader, and analyzing whether the information format of the read return value conforms to a preset communication protocol format or not, wherein if the information format of the read return value does not conform to the preset communication protocol format, the information format is not processed. And analyzing the return value which accords with the preset communication protocol format according to a preset format, mainly analyzing the read unique code information of the label, and inquiring the corresponding license plate number information and the destination information to which the current license plate number vehicle is going from the database according to the unique code information.
In some embodiments, calculating all the acquired paths based on the dyxored algorithm to obtain the travel route of the corresponding vehicle from the current position to the destination includes:
adding a constraint condition to the Darlait algorithm based on the campus layout;
and calculating all the acquired paths based on the Daxter algorithm added with the constraint conditions to obtain the traveling route from the corresponding vehicle to the destination of the corresponding vehicle.
The dyxort algorithm is a shortest path algorithm for calculating the shortest path from one node to another node, i.e., in this embodiment, the shortest path among all paths from the current location of the vehicle to the destination location of the vehicle.
Constraint conditions are added to the Daxter algorithm based on the actual conditions of the roads of the park, such as the directions of the roads, narrow roads and the like, all the obtained paths are calculated based on the Daxter algorithm with the constraint conditions added, and the travelling route from the corresponding vehicle to the destination of the corresponding vehicle is obtained, so that the travelling route obtained by the method disclosed by the invention is more consistent with the actual operation management status of the park.
In conjunction with fig. 3, the arrows in fig. 3 represent the driving direction of the road, the traveling route of the vehicle 1 to the warehouse 1 generated based on the dykes algorithm is not added with the constraint condition, and if the constraint condition of the driving direction is added in the dykes algorithm, the resulting selectable route 2 of the vehicle 1 to the warehouse 1: 1 → 3 → 6 → 5 → 2, which is the advancing route.
The DaxLatt algorithm added with the constraint condition is more in line with the actual operation management current situation of the park, and the problems of vehicle blockage and the like caused by the fact that the vehicle runs in the park in the reverse direction are avoided.
Based on the same inventive concept, according to another aspect of the present invention, as shown in fig. 4, an embodiment of the present invention further provides a system for guiding a vehicle at a park, including:
a preset module 110, the preset module 110 configured to preset a campus layout drawing based on an actual physical layout of a campus;
the entry module 120 is configured to enter vehicle information entering the park, determine destination information of the vehicle according to service content in the vehicle information, and add the destination information of the vehicle to the vehicle information;
a binding module 130, the binding module 130 configured to bind tag information of a radio frequency identification tag mounted on a vehicle with corresponding vehicle information;
the reading module 140, the reading module 140 is configured to read the rfid tag information of a vehicle entering the rfid reader identification range based on the rfid reader installed at the entrance of the campus, and obtain the destination information of the corresponding vehicle according to the rfid tag information;
a generating module 150, wherein the generating module 150 is configured to generate a travel route of the corresponding vehicle to a destination based on the destination information of the corresponding vehicle, the location information of the radio frequency identification reader installed at the entrance of the campus, and the campus layout;
a guidance module 160, wherein the guidance module 160 is configured to forward the corresponding vehicle based on the travel route and a play-out device pre-installed on the campus.
The embodiment of the invention also can comprise corresponding computer equipment. The computer device comprises a memory, at least one processor and a computer program stored on the memory and executable on the processor, the processor performing any of the above methods when executing the program.
The memory, as a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the method for guiding a vehicle on a campus as described in the embodiments of the present application. The processor executes various functional applications and data processing of the device by executing the nonvolatile software programs, instructions and modules stored in the memory, namely, the method for guiding the vehicle in the park of the above method embodiment is realized.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the device, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the local module via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Finally, it should be noted that, as will be understood by those skilled in the art, all or part of the processes of the methods of the above embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium of the program may be a magnetic disk, an optical disk, a Read Only Memory (ROM), a Random Access Memory (RAM), or the like. The embodiments of the computer program may achieve the same or similar effects as any of the above-described method embodiments.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as software or hardware depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments of the present invention.
The foregoing is an exemplary embodiment of the present disclosure, but it should be noted that various changes and modifications could be made herein without departing from the scope of the present disclosure as defined by the appended claims. The functions, steps and/or actions of the method claims in accordance with the disclosed embodiments described herein need not be performed in any particular order. The numbers of the embodiments disclosed in the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments. Furthermore, although elements of the disclosed embodiments of the invention may be described or claimed in the singular, the plural is contemplated unless limitation to the singular is explicitly stated.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, of embodiments of the invention is limited to these examples; within the idea of an embodiment of the invention, also technical features in the above embodiment or in different embodiments may be combined and there are many other variations of the different aspects of the embodiments of the invention as described above, which are not provided in detail for the sake of brevity. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of the embodiments of the present invention are intended to be included within the scope of the embodiments of the present invention.
Claims (10)
1. A method of directing a vehicle at a campus comprising:
presetting a garden layout drawing based on the actual physical layout of the garden;
entering vehicle information entering the park, determining destination information of a vehicle according to service content in the vehicle information, and adding the destination information of the vehicle to the vehicle information;
binding tag information of a radio frequency identification tag installed on a vehicle with corresponding vehicle information;
reading the radio frequency identification tag information of a vehicle running into the identification range of a radio frequency identification reader based on the radio frequency identification reader installed at the entrance of the park, and acquiring the destination information of the corresponding vehicle according to the radio frequency identification tag information;
generating a traveling route from the corresponding vehicle to a destination based on the destination information of the corresponding vehicle, the location information of the radio frequency identification reader installed at the entrance of the campus and the campus layout;
and performing forward guidance on the corresponding vehicle based on the traveling route and a peripheral device pre-installed in the park.
2. The method of claim 1, wherein generating the travel route of the corresponding vehicle to the destination based on the destination information of the corresponding vehicle, the location information of the radio frequency identification reader installed at the entrance of the campus, and the campus layout drawing comprises:
in the campus layout, determining the current position of the corresponding vehicle based on the position information of the radio frequency identification reader installed at the entrance of the campus, and acquiring the current road where the corresponding vehicle is located based on the current position of the corresponding vehicle;
judging whether the current road leads to a destination or not based on the destination information of the corresponding vehicle;
and if the current road leads to the destination, obtaining a travel route of the corresponding vehicle from the current position to the destination.
3. The method of claim 2, further comprising:
if the current road does not lead to the destination, acquiring all roads connected with the current road;
judging whether each road connected with the current road leads to a destination or not;
if any road connected with the current road leads to the destination, all paths from the current position to the destination of the corresponding vehicle are obtained;
calculating all acquired paths based on a Daxter algorithm to obtain a traveling route from the current position to the destination of the corresponding vehicle;
and if the road connected with the current road does not lead to the destination, acquiring each road connected with the current road, and returning to the step of judging whether each road connected with the current road leads to the destination or not until the traveling route of the corresponding vehicle from the current position to the destination is obtained.
4. The method of claim 1, further comprising:
generating a running track of the corresponding vehicle based on radio frequency identification readers which are sequentially passed by the corresponding vehicle in the running process of the corresponding vehicle, wherein the radio frequency identification readers are all radio frequency identification readers arranged in a park;
determining whether the corresponding vehicle is yawing based on a travel track of the corresponding vehicle and a travel route of the corresponding vehicle;
and if the corresponding vehicle drifts, regenerating the traveling route of the corresponding vehicle based on a Daxort algorithm, and guiding the advancing direction of the corresponding vehicle based on the regenerated traveling route and the playing device.
5. The method of claim 4, further comprising: and if the corresponding vehicle does not yaw, continuing to advance and guide the vehicle through external equipment pre-installed in the garden based on the advancing route.
6. The method of any one of claims 4 or 5, wherein generating the travel trajectory of the corresponding vehicle based on the radio frequency identification readers that the corresponding vehicle sequentially passes by comprises:
reading the tag information of the corresponding vehicle based on the radio frequency identification reader which the corresponding vehicle passes through;
and generating a driving track of the vehicle based on the time when the tag information of the corresponding vehicle is read by each radio frequency identification reader and the corresponding position information of each radio frequency identification reader.
7. The method of claim 6, wherein reading the tag information of the corresponding vehicle based on a radio frequency identification reader that the corresponding vehicle passes by comprises:
judging whether the label information format of the corresponding vehicle conforms to a preset format or not;
and if the tag information format of the corresponding vehicle conforms to the preset format, recording the time for reading the tag information of the corresponding vehicle by the radio frequency identification reader into the tag information of the corresponding vehicle.
8. The method according to claim 3, wherein calculating all the acquired paths based on the Daxter algorithm to obtain the travel route of the corresponding vehicle from the current position to the destination comprises:
adding a constraint condition to the Darlait algorithm based on the campus layout;
and calculating all the acquired paths based on the Daxter algorithm added with the constraint conditions to obtain the traveling route from the corresponding vehicle to the destination of the corresponding vehicle.
9. A method for drawing a park layout, comprising:
determining the direction of the garden layout diagram based on a general orientation method, and drawing the garden layout diagram in a first quadrant of a coordinate axis;
abstracting each entity in a park into elements in a park layout diagram, and defining attributes of the elements, wherein the elements comprise roads, intersections, buildings, entrances and exits and radio frequency identification readers, and the attributes of the elements comprise IDs of the elements, types of the elements, names of the elements and coordinates of the elements.
10. A system for directing a vehicle at a campus comprising:
a preset module configured to preset a campus layout drawing drawn based on an actual physical layout of a campus;
the recording module is configured to record vehicle information entering the park, determine destination information of the vehicle according to service content in the vehicle information, and add the destination information of the vehicle to the vehicle information;
a binding module configured to bind tag information of a radio frequency identification tag mounted on a vehicle with corresponding vehicle information;
the reading module is configured to read the radio frequency identification tag information of a vehicle running into the identification range of a radio frequency identification reader based on the radio frequency identification reader installed at a campus entrance, and acquire the destination information of the corresponding vehicle according to the radio frequency identification tag information;
a generation module configured to generate a travel route of the corresponding vehicle to a destination based on destination information of the corresponding vehicle, location information of the radio frequency identification reader installed at a campus entrance, and the campus layout;
a guidance module configured to forward guide the corresponding vehicle based on the travel route and a play-out device pre-installed in a campus.
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