WO2020077873A1 - 室内停车场导航方法、装置、计算机设备及存储介质 - Google Patents

室内停车场导航方法、装置、计算机设备及存储介质 Download PDF

Info

Publication number
WO2020077873A1
WO2020077873A1 PCT/CN2018/125112 CN2018125112W WO2020077873A1 WO 2020077873 A1 WO2020077873 A1 WO 2020077873A1 CN 2018125112 W CN2018125112 W CN 2018125112W WO 2020077873 A1 WO2020077873 A1 WO 2020077873A1
Authority
WO
WIPO (PCT)
Prior art keywords
parking space
user
information
vehicle
indoor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/125112
Other languages
English (en)
French (fr)
Inventor
黄泽浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ping An Technology Shenzhen Co Ltd
Original Assignee
Ping An Technology Shenzhen Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ping An Technology Shenzhen Co Ltd filed Critical Ping An Technology Shenzhen Co Ltd
Publication of WO2020077873A1 publication Critical patent/WO2020077873A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation

Definitions

  • the embodiments of the present application relate to the technical field of indoor navigation, and in particular to an indoor parking lot navigation method, device, computer equipment, and storage medium.
  • parking lot self-service payment apps have become very common, but self-service payment apps are mostly used to record when vehicles enter and exit, and the parking costs of production.
  • Embodiments of the present application provide an indoor parking lot navigation method, device, computer equipment, and storage medium that automatically allocate materials according to the positions of employees.
  • a technical solution adopted by the embodiment created by the present application is: to provide an indoor parking lot navigation method, which includes the following steps: acquiring free parking space information of the indoor parking lot and collecting it through a preset indoor navigation system User vehicle positioning information, wherein the indoor navigation system is provided with a number of positioning sensors for collecting positioning information of the user vehicle in the indoor parking lot; a free space is selected according to a preset allocation rule and the free parking space information A parking space is allocated to the user vehicle; parking navigation information is generated according to the vacant parking space and the positioning information of the user vehicle to guide the user vehicle to travel to the vacant parking space.
  • an embodiment of the present application also provides an indoor parking lot navigation device, including: a first acquisition module, configured to acquire the free parking space information of the indoor parking lot and collect the location of the user's vehicle through a preset indoor navigation system Information, wherein the indoor navigation system is provided with a plurality of positioning sensors in the indoor parking lot for collecting positioning information of the user's vehicle; a first processing module is used for according to a preset allocation rule and the vacant parking space information Select a free parking space to be allocated to the user vehicle; a first execution module is used to generate parking navigation information based on the free parking space and the positioning information of the user vehicle to guide the user vehicle to the free parking space .
  • the embodiments of the present application further provide a computer device, including a memory and a processor, and the memory stores computer-readable instructions.
  • the processor executes the steps of the indoor parking lot navigation method.
  • embodiments of the present application also provide a storage medium storing computer-readable instructions, which when executed by one or more processors, cause the one or more processors to execute the indoor Steps of parking lot navigation method.
  • the positioning information of the vehicle can effectively provide the accuracy of indoor navigation.
  • FIG. 1 is a schematic flowchart of a basic parking navigation method in an embodiment of the present application
  • FIG. 2 is a schematic flowchart of obtaining free parking space information according to an embodiment of the present application
  • FIG. 3 is a schematic flowchart of determining whether a parking space is in an idle state according to an embodiment of the present application
  • FIG. 4 is a schematic flowchart of guiding a user to search for a car indoors according to an embodiment of the present application
  • FIG. 5 is a schematic flowchart of obtaining personal positioning information of a user according to an embodiment of the present application
  • FIG. 6 is a schematic diagram of a process of managing parking spaces in an indoor parking lot according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a basic structure of an indoor parking lot navigation device according to an embodiment of the present application.
  • FIG. 8 is a block diagram of a basic structure of a computer device according to an embodiment of this application.
  • FIG. 9 is a schematic diagram of the working principle of cross positioning according to an embodiment of the present application.
  • FIG. 1 is a schematic diagram of the basic flow of the indoor parking lot navigation method of this embodiment.
  • an indoor parking lot navigation method includes the following steps:
  • the indoor navigation system includes several positioning sensors installed in the indoor parking lot, wherein the positioning sensors are used to adopt the positioning information of the user's vehicle.
  • the positioning sensors may use any one of cameras, WiFi, infrared sensors and ultrasonic sensors Taking the camera as an example, the system sets the camera on the driving route and parking space of the indoor parking lot, collects the license plate image of the vehicle through the camera, and the system recognizes the license plate number according to the OCR (Optical Character Recognition) technology to determine Whether the vehicle is a user's vehicle, and then calculate the position of the user's vehicle based on the acquired images to obtain positioning information. Specifically, since the camera's position is fixed, you can emit a predetermined light to the vehicle according to the travel and flight time of the light The distance between the vehicle and the camera can be calculated to determine the positioning information of the vehicle.
  • OCR Optical Character Recognition
  • WiFi positioning by setting multiple WiFi hotspots in an indoor parking lot, the navigator or user terminal in the user's vehicle is connected to the WiFi hotspot, and the system can pass the WiFi hotspot.
  • the location of the user ’s vehicle can be determined.
  • WiFi positioning generally uses the "nearest neighbor" method to determine which WiFi hotspot or base station is closest, ie Where you think you are, if there are multiple sources nearby, including WIFIA, WIFIB, and WIFIC, for example, cross positioning (trilateral positioning) can be used to improve positioning accuracy.
  • the terminal can be positioned.
  • the positioning principle is: the server transmits the terminal information to the system to complete the front-end data collection.
  • the positioning of the terminal can be achieved by matching the positioning message transmitted by the wireless AP, where the terminal refers to the navigator or the user terminal in the user's vehicle.
  • the free parking space information in the indoor parking lot refers to the parking space information in the indoor parking lot where there are no parked cars and vehicles that have not been allocated. Please refer to FIG. 2 during implementation.
  • FIG. 2 is an embodiment of the present application to obtain free parking space information Schematic diagram of the basic process.
  • the method for acquiring free parking space information includes the following steps:
  • S1110 Collect parking space images of each parking space in the indoor parking lot
  • the basic unit of the target video is a frame by frame image.
  • the system selects the image of the parking space according to the target video.
  • the target video can be processed by video processing software (such as OpenCV) Perform processing to split the target video into several frame image images.
  • video processing software such as OpenCV
  • the image images extracted from the target video are acquired by means of timing acquisition.
  • the target picture is extracted once from the frame image of the target video at a speed of 0.5s, but it is not limited to this. According to different specific application scenarios, the speed of collecting the image can be adjusted adaptively.
  • the adjustment principle is: The stronger the processing capacity of the system and the higher the tracking accuracy requirements, the shorter the acquisition time, until it is synchronized with the frequency of the image acquisition by the camera device; otherwise, the longer the acquisition interval, but the maximum acquisition interval should not exceed 1s, then One frame image is randomly selected as the parking space image among the selected multiple screen images. Of course, it is also possible to directly select a frame image as the parking space image by randomly extracting all the screen images in the target video.
  • S1120 Determine whether the parking space is in an idle state according to the parking space image.
  • the system determines whether the parking space is a free parking space based on the parking space image.
  • the convolutional neural network model that has been trained to converge can be used to determine whether the parking space is free.
  • FIG. 3 which is an embodiment of the present application. Schematic diagram of the basic process for determining whether a parking space is idle.
  • the step of determining whether the parking space is in an idle state according to the parking space image includes the following steps:
  • S1121 Input the parking space image into a preset parking space judgment model, where the parking space judgment model is a convolutional neural network model trained to convergence;
  • the parking space judgment model is a tool for judging whether a parking space is parked with a vehicle.
  • a convolutional neural network model can be trained through a preset parking space image set to obtain a parking space judgment model.
  • the convolutional neural network The input layer of the model obtains training sample data (parking space image sets) marked with classification reference information.
  • the training sample data can be obtained through a web crawler or an existing image database. Taking a web crawler as an example, a web crawler is available on the Internet Crawl several parking space images (for example, 1 million). Before training a parking space image, you need to mark the classification reference information of the image.
  • the pre-judgment can be performed using the image recognition model that has been trained to convergence in the prior art. Judgment.
  • the training sample data of this embodiment is obtained through a web crawler or an existing image database, and the training sample data is used to train to a convergent neural network model, because the same parking space is under different environments during training (Parked vehicles or non-parked vehicles) have the same parking space image. Therefore, the classification judgment information corresponding to the parking space image of the same parking space output by the neural network model in different environments has higher convergence and lower data dispersion.
  • the parking space judgment model is trained according to the above method, so that the parking space judgment model extracts whether the parking space image of the parking space image is in the idle state is in line with people's expectations.
  • the training sample data is composed of data pairs and classification reference information, where the classification reference information of the training sample data is manually calibrated.
  • Classification reference information refers to the artificial judgments made by people on the training sample data according to the training direction of the input convolutional neural network model through universal judgment standards and factual states, that is, people ’s output data on the convolutional neural network model. Expect.
  • the convolutional neural network model is a variety of image recognition models that already exist in the prior art.
  • the disease diagnosis images in the training sample data are sequentially input into the convolutional neural network model.
  • the convolutional neural network model performs feature extraction and Classification, and then calculate the classification result of the parking space image according to the weight, that is, output the classification judgment information of the parking space image.
  • the classification judgment information is the excitation data output by the convolutional neural network model according to the input parking space image. Before the neural network model is trained to converge, the classification judgment information is a numerical value with a larger dispersion. When the neural network model is trained to convergence After that, the classification judgment information is relatively stable data.
  • the loss function is used to calculate whether the expected output is consistent with the incentive output, that is, to compare whether the classification reference information and classification judgment information of the same parking space image are consistent.
  • the loss function is used to detect the model classification in the convolutional neural network model A detection function to determine whether the information and the desired classification reference information are consistent.
  • the weights in the convolutional neural network model need to be corrected so that the output result of the convolutional neural network model is the same as the expected result of the classification reference information.
  • L represents the Euclidean distance between the desired output and the excitation output
  • Y represents the expected output
  • f (X) represents the excitation output
  • the weights in the convolutional neural network model need to be adjusted according to the back propagation algorithm, so that the output result of the convolutional neural network model and the classification reference The expected result of the information is the same.
  • the loss function determines whether the excitation classification value is consistent with the set expected classification value by calculating the distance between the excitation classification value and the set expected classification value (Euclidean distance or spatial distance).
  • the first threshold for example, 0.05
  • the distance between the incentive classification value and the set desired classification value is less than or equal to the first threshold, it is determined that the incentive classification value is consistent with the set expected classification value, otherwise, the incentive The classification value does not match the set expected classification value.
  • the stochastic gradient descent algorithm needs to be used to correct the weights in the neural network model, so that the output result of the convolutional neural network model and the expectations of the classification reference information The result is the same.
  • the comparison between the classification judgment information output by the neural network model and the classification reference information of each training sample image reaches (not limited to) 99.9%, the training ends.
  • S1122 Acquire parking space status information output by the parking space judgment module for determining whether the parking space is in an idle state.
  • the parking space status information output by the parking space judgment module can be obtained.
  • whether the parking space is in an idle state can be automatically judged, without human participation, and the degree of automation is improved.
  • the preset allocation rule is a preset allocation method used by the system to manage and allocate free parking spaces to user vehicles.
  • the preset allocation rule is to preferentially allocate parking spaces near the parking lot entrance to user vehicles, and the system automatically collects user vehicles to enter indoor parking.
  • Zhang San drove into the indoor parking lot from the A3 port, where the indoor parking lot includes the underground parking lot, with three entrances and three exits, the three exits corresponding to the A1, A2 and A3 ports, respectively There are three exits corresponding to B1, B2 and B3 respectively.
  • the system obtains all the free parking spaces in the indoor parking lot and selects the closest free parking space to A3 to be allocated to Zhang San's vehicle.
  • S1300 Generate parking navigation information according to the vacant parking space and the positioning information of the user vehicle to guide the user vehicle to travel to the vacant parking space.
  • the navigation route that guides the user's vehicle to the vacant parking space can be planned according to the vacant parking space and the location information.
  • the parking navigation information includes navigation route map information and Navigation voice messages, taking Zhang San driving to work as an example, the office building where Zhang San ’s company is located has three floors of underground parking, which are the negative first floor, negative second floor and negative third floor.
  • Zhang San drives to the company office building, he wants to When parking is needed, the system collects that Zhang San enters the parking lot through the C1 port on the negative first floor. The parking lot on the negative first floor no longer has free parking spaces. The system assigns a free parking space on the negative second floor to Zhang San.
  • the vacant parking spaces on the negative second floor and the location information of Zhang San ’s vehicles are planned to generate parking navigation information and send it to the user ’s vehicle ’s navigator, so that the user can display navigation route map information and play navigation voice information through the navigator.
  • the navigation route is: first guide Zhang 3WD to go through the negative first floor directly to the free parking space on the negative second floor, avoiding Three in the negative layer find free parking spaces and time-wasting conditions.
  • the user can also set the allocation rules for allocating free parking spaces.
  • the user sets the preset allocation rules as: Priority allocation of free parking spaces near the parking lot exit, the system will preferentially select a parking lot exit according to the user ’s choice.
  • Free parking spaces are available to users to meet their needs. Take Zhang San's driving into the indoor parking lot from the A3 exit as an example. The indoor parking lot is divided into three floors: negative first floor, negative second floor and negative third floor, and there are 3 elevators in the indoor parking lot, respectively. Corresponding to Building A, Building B, and Building C, where Zhang San ’s home is in Building A, so Zhang San sets the preset allocation rule to “preferably allocate free parking spaces closer to the elevator in Building A”.
  • the system selects a free parking space on the negative third floor closest to the elevator in Building A to be allocated to Zhang San.
  • the system generates navigation information according to the plan between the free parking space and A3 port.
  • the location information of Zhang San's vehicle is collected in real time and Zhang San is guided in real time to directly drive to the free parking space on the negative third floor ignoring the negative first floor and the negative second floor to realize the indoor navigation function.
  • the vacant parking space information of the indoor parking lot is obtained and the positioning information of the user's vehicle is obtained through a plurality of positioning sensors provided in the indoor parking lot, and then a vacant parking space is selected and assigned to the user in the indoor parking lot according to a preset allocation rule Vehicles, and then plan to generate parking navigation information based on the vacant parking spaces allocated to the user's vehicle and the location information of the user's vehicle, so as to guide the user's vehicle to the vacant parking space for parking, to achieve indoor parking navigation function, through multiple indoor positioning sensors Collecting the location information of users' vehicles in real time can effectively provide the accuracy of indoor navigation.
  • FIG. 4 is a schematic diagram of a basic process for guiding the user to find a car indoors according to an embodiment of the present application.
  • the step of generating navigation information according to the vacant parking space and the positioning information of the user vehicle to guide the user vehicle to the vacant parking space further includes the following steps:
  • S1400 Acquire location information of the parking space of the user's vehicle and personal positioning information of the user;
  • the camera installed above the parking space can collect the location information of the parking space of the user's vehicle, and the license plate image of the user's vehicle can be collected by the camera. Parking space information.
  • FIG. 5 is a schematic diagram of a basic process for obtaining personal positioning information of a user according to an embodiment of the present application.
  • the method for acquiring personal positioning information of the user includes the following steps:
  • S1410 Acquire device location information of several wirelessly connected devices wirelessly connected to the user terminal of the user;
  • the wireless connection device is a device that is installed in the indoor parking lot and can be wirelessly connected with the user terminal.
  • the wireless connection device includes but is not limited to a WiFi hotspot and a Bluetooth connection device, because the wireless connection device is fixedly installed in the indoor parking lot Is located at the preset position, so the device location information of the wireless connection device is fixed.
  • the device ID of the user terminal can be used to determine the wireless connection device connected to the user terminal.
  • the system traverses all wireless connections in the indoor parking lot.
  • the device can filter out at least two wirelessly connected devices connected to the user terminal according to the device ID.
  • S1420 Calculate the personal positioning information of the user according to the preset cross positioning rule and the device location information.
  • the cross-location rule calculates the distance from the user terminal to the wireless connection device by measuring time, the distance to the user terminal through multiple wireless connection devices, and the actual physical coordinates of the wireless connection device (device location information),
  • the three-dimensional coordinates where the user terminal is located can be calculated.
  • the user's personal positioning information can be obtained by positioning the user terminal. Taking WiFi positioning as an example, the user's user terminal is connected to a WiFi hotspot installed in an indoor parking lot, and the system can access the WiFi hotspot through the user terminal. Together with the proximity of three or more WiFi hotspots, the location of the user terminal can be determined, and then the user's personal positioning information can be obtained.
  • S1500 Generate car-seeking navigation information according to the location information and personal positioning information planning to guide the user to find the user's vehicle.
  • planning can be performed based on the location information and the personal positioning information, thereby generating car-finding navigation information that guides the user to find the user's vehicle.
  • the user drove and parked in a parking space on the negative second floor of the underground parking lot of the mall.
  • the user forgot his vehicle because he was not familiar with the parking lot of the mall.
  • the user opens the indoor navigation application on the mobile phone, the system establishes a connection with the user's mobile phone to obtain the user's personal positioning information, and at the same time, the system obtains the license plate number of the user's vehicle based on the user's mobile phone record, and then According to the license plate number, locate the location information of the user's vehicle parking space in the indoor parking lot, and then plan the car search navigation information according to the user's personal positioning information and the vehicle parking space position information, and the user's mobile phone displays the car search navigation information to the user In order to guide the user to the position where the vehicle parks in the parking space, it is convenient for the user to quickly find the vehicle.
  • FIG. 6 is a schematic diagram of a basic process for managing a parking space in an indoor parking lot according to an embodiment of the invention.
  • the step of generating parking navigation information according to the vacant parking space and the positioning information of the user vehicle to guide the user vehicle to the vacant parking space further includes the following steps:
  • S1600 Acquire image information of the free parking space allocated to the user vehicle
  • the image information of the parking space can be obtained by installing a camera above the parking space. After the system assigns the user to the free parking space of the user's vehicle, the user needs to drive to the free parking space. Therefore, the image of the free parking space can be collected in the system. It is performed after a preset period of time after being allocated to the user's vehicle, for example: 2 minutes, 5 minutes, or 10 minutes, to reduce the waste of resources caused by continuously collecting images of the free parking spaces.
  • S1700 Determine whether the user's vehicle is parked in the vacant parking space according to the image information
  • the image collection of the parking space allocated to the user's vehicle it is further determined whether the user's vehicle is parked in the free parking space.
  • the system When a user's vehicle is parked in a vacant parking space allocated to the user's vehicle by the system, the system marks the vacant parking space as an allocated state and stores it, thereby avoiding the situation of repeatedly allocating the vacant parking space to different user vehicles.
  • Zhang San drives to the T007 parking space and stops in the parking space.
  • the system collects through the camera on the parking space that Zhang San ’s vehicle has been parked in the parking space.
  • the T007 parking space is marked as assigned and stored in the parking space management database.
  • the system when the system assigns the T007 parking space to the Zhang San's vehicle, the system marks the T007 parking space as suspended and is in suspension The parking spaces in the state can no longer be allocated to other user vehicles.
  • Zhang San entered the indoor parking lot and drove to the T007 parking space, he found that a car had just left the parking lot and vacated the parking space with the number T008.
  • the system collected Zhang San through the camera above the T008 parking space and parked the vehicle in the T008 parking space.
  • the system automatically marked the T008 parking space as assigned and associated with Zhang San's vehicle and stored it in the parking space management At the same time, the system changes the T007 parking space from the suspended state to the idle state, and the T007 parking space can continue to be allocated to other user vehicles. Therefore, the situation that the same parking space is allocated to multiple user vehicles at the same time is avoided, and the reliability of parking space management is improved.
  • the embodiments of the present application also provide an indoor parking lot navigation device.
  • FIG. 7 is a schematic diagram of the basic structure of the indoor parking lot navigation device of this embodiment.
  • an indoor parking lot navigation device includes: a first acquisition module 2100, a first processing module 2200, and a first execution module 2300, where the first acquisition module 2100 is used to acquire free parking spaces in the indoor parking lot Information and collect the positioning information of the user's vehicle through a preset indoor navigation system, wherein the indoor navigation system is provided with a plurality of positioning sensors in the indoor parking lot for collecting the positioning information of the user's vehicle; a first processing module 2200 is used to select a free parking space to be allocated to the user vehicle according to the preset allocation rule and the free parking space information; the first execution module 2300 is used to plan and generate parking navigation information according to the positioning information of the free parking space and the user vehicle To guide the user vehicle to the free parking space.
  • the first acquisition module 2100 is used to acquire free parking spaces in the indoor parking lot Information and collect the positioning information of the user's vehicle through a preset indoor navigation system, wherein the indoor navigation system is provided with a plurality of positioning sensors in the indoor parking lot for collecting the positioning information of the user'
  • the vacant parking space information of the indoor parking lot is obtained and the positioning information of the user's vehicle is obtained through a plurality of positioning sensors provided in the indoor parking lot, and then a vacant parking space is selected and assigned to the user in the indoor parking lot according to a preset allocation rule Vehicles, and then plan to generate parking navigation information based on the vacant parking spaces allocated to the user's vehicle and the location information of the user's vehicle, so as to guide the user's vehicle to the vacant parking space for parking, and realize the indoor parking navigation function.
  • Collecting the location information of users' vehicles in real time can effectively provide the accuracy of indoor navigation.
  • the indoor parking lot navigation device further includes: a second acquisition module and a second execution module, wherein the second acquisition module is used to acquire the location information of the user's vehicle parking space and the user's personal positioning information The second execution module is used to plan and generate car-seeking navigation information based on the location information and personal positioning information to guide the user to find the user's vehicle.
  • the indoor parking lot navigation device further includes: a third acquisition module and a third execution module, wherein the third acquisition module is used to acquire device locations of several wireless connection devices wirelessly connected to the user terminal of the user Information; the third execution module is used to calculate the personal positioning information of the user according to the preset cross positioning rule and the device location information.
  • the indoor parking lot navigation device further includes: a collection sub-module and a judgment sub-module, wherein the collection sub-module is used to collect parking space images of each parking space in the indoor parking lot; the judgment sub-module is used to The parking space image determines whether the parking space is idle.
  • the indoor parking lot navigation device further includes: an execution submodule and / or a submodule, wherein the execution submodule is used to input the parking space image into a preset parking space judgment model, wherein the parking space judgment The model is a convolutional neural network model trained to convergence; the obtaining submodule is used to obtain the parking space state information output by the parking space judgment module and used to judge whether the parking space is in an idle state.
  • the indoor parking lot navigation device further includes: a fourth acquisition module, a judgment module, and a fourth execution module, wherein the fourth acquisition module is used to acquire the image information of the free parking space allocated to the user vehicle
  • the judgment module is used to judge whether the user's vehicle is parked in the vacant parking space according to the image information; the fourth execution module is used to mark the vacant parking space as assigned when the judgment module judges yes. Stored in the preset parking space management database.
  • the indoor parking lot navigation device further includes: the parking navigation information includes navigation route map information and navigation voice information.
  • FIG. 8 is a block diagram of the basic structure of the computer device of this embodiment.
  • the computer device includes a processor, a non-volatile storage medium, a memory, and a network interface connected through a system bus.
  • the non-volatile storage medium of the computer device stores an operating system, a database, and computer-readable instructions.
  • the database may store a sequence of control information.
  • the processor may implement a A navigation method for indoor parking.
  • the processor of the computer device is used to provide computing and control capabilities, and support the operation of the entire computer device.
  • the memory of the computer device may store computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor may cause the processor to execute an indoor parking lot navigation method.
  • the network interface of the computer device is used to connect and communicate with the terminal.
  • the network interface of the computer device is used to connect and communicate with the terminal.
  • the processor is used to perform specific functions of the first acquisition module 2100, the first processing module 2200, and the first execution module 2300 in FIG. 7.
  • the memory stores program codes and various types of data required to execute the above modules.
  • the network interface is used for data transmission to user terminals or servers.
  • the memory in this embodiment stores the program codes and data required to execute all submodules in the indoor parking lot navigation device, and the server can call the server program codes and data to execute the functions of all submodules.
  • the computer obtains the vacant parking space information of the indoor parking lot and obtains the positioning information of the user vehicle through a plurality of positioning sensors installed in the indoor parking lot, and then selects a vacant parking space in the indoor parking lot to allocate to the user vehicle according to a preset allocation rule. Then plan and generate parking navigation information according to the vacant parking space allocated to the user's vehicle and the location information of the user's vehicle, so as to guide the user's vehicle to the vacant parking space for parking, and realize the indoor parking navigation function, which is collected in real time by multiple indoor positioning sensors
  • the positioning information of the user's vehicle can effectively provide the accuracy of indoor navigation.
  • the present application also provides a storage medium storing computer-readable instructions, which when executed by one or more processors, cause the one or more processors to execute the indoor parking lot according to any of the foregoing embodiments Steps of navigation method.
  • the computer program may be stored in a computer-readable storage medium, and the program is being executed At this time, the process of the embodiments of the above methods may be included.
  • the aforementioned storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

一种室内停车场导航方法、装置、计算机设备及存储介质，包括下述步骤：获取室内停车场的空闲车位信息并通过预设的室内导航系统采集用户车辆的定位信息，其中，室内导航系统在室内停车场设置有若干用于采集用户车辆的定位信息的定位传感器（S1100）；根据预设分配规则和空闲车位信息选取一个空闲车位分配给用户车辆（S1200）；根据空闲车位和用户车辆的定位信息规划生成停车导航信息，以导引用户车辆行驶至空闲车位（S1300）。通过获取空闲车位信息和用户车辆的定位信息，然后根据分配给用户车辆的空闲车位和用户车辆的定位信息进行规划生成停车导航信息，从而引导用户车辆行驶至空闲车位进行停靠，能有效提供室内导航的准确度。

Description

室内停车场导航方法、装置、计算机设备及存储介质
本申请要求于2018年10月15日提交中国专利局、申请号为201811198450.0，发明名称为“室内停车场导航方法、装置、计算机设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及室内导航技术领域，尤其是一种室内停车场导航方法、装置、计算机设备及存储介质。
背景技术
随着生活水平的提高，越来越多的家庭购置了私家车，对于汽车来说，当不使用时，需要停靠在停车场内以避免对道路造成拥堵，用户在驾驶汽车进入停车场时，需要寻找停车场内空闲的停车位，而对于室内停车场来说，由于室内视野不是很好，例如被柱子挡住或者光线较暗，用户很难快速寻找到空闲的停车位。
在现有技术中，停车场自助缴费APP已经很普遍了，但自助缴费APP大多用于记录车辆何时入场、何时出场以及生产的停车费用，发明人意识到现有的停车场自助缴费APP不能快速提示哪里有空闲的停车位，并进行室内导航指引车主驱车前往空闲的停车位。
发明内容
本申请实施例提供一种自动根据员工的职位来进行物资配给的室内停车场导航方法、装置、计算机设备及存储介质。
为解决上述技术问题，本申请创造的实施例采用的一个技术方案是：提供一种室内停车场导航方法，包括下述步骤：获取室内停车场的空闲车位信息并通过预设的室内导航系统采集用户车辆的定位信息，其中，所述室内导航系统在所述室内停车场设置有若干用于采集所述用户车辆的定位信息的定位传感器；根据预设分配规则和所述空闲车位信息选取一个空闲车位分配给所述用户车辆；根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位。
为解决上述技术问题，本申请实施例还提供一种室内停车场导航装置，包括：第一获取模块，用于获取室内停车场的空闲车位信息并通过预设的室内导航系统采集用户车辆的定位信息，其中，所述室内导航系统在所述室内停车场设置有若干用于采集所述用户车辆的定位信息的定位传感器；第一处理模块，用于根据预设分配规则和所 述空闲车位信息选取一个空闲车位分配给所述用户车辆；第一执行模块，用于根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位。
为解决上述技术问题，本申请实施例还提供一种计算机设备，包括存储器和处理器，所述存储器中存储有计算机可读指令，所述计算机可读指令被所述处理器执行时，使得所述处理器执行上述室内停车场导航方法的步骤。
为解决上述技术问题，本申请实施例还提供一种存储有计算机可读指令的存储介质，所述计算机可读指令被一个或多个处理器执行时，使得一个或多个处理器执行上述室内停车场导航方法的步骤。
通过获取室内停车场的空闲车位信息并通过设置于室内停车场中的多个定位传感器获取用户车辆的定位信息，然后根据预设分配规则在室内停车场中选取一个空闲车位分配给用户车辆，再根据分配给该用户车辆的空闲车位和用户车辆的定位信息进行规划生成停车导航信息，从而引导用户车辆行驶至该空闲车位进行停靠，实现室内停车导航功能，通过室内的多个定位传感器实时采集用户车辆的定位信息，能有效提供室内导航的准确度。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例室内停车场导航方法的基本流程示意图；
图2为本申请实施例获取空闲车位信息的流程示意图；
图3为本申请实施例判断车位是否为空闲状态的流程示意图；
图4为本申请实施例引导用户室内寻车的流程示意图；
图5为本申请实施例获取用户的个人定位信息的流程示意图；
图6为本申请实施例管理室内停车场中的车位的流程示意图；
图7为本申请实施例室内停车场导航装置基本结构示意图；
图8为本申请实施例计算机设备基本结构框图；
图9为本申请实施例交叉定位的工作原理示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的 附图，对本申请实施例中的技术方案进行清楚、完整地描述。
在本申请的说明书和权利要求书及上述附图中的描述的一些流程中，包含了按照特定顺序出现的多个操作，但是应该清楚了解，这些操作可以不按照其在本文中出现的顺序来执行或并行执行，操作的序号如101、102等，仅仅是用于区分开各个不同的操作，序号本身不代表任何的执行顺序。另外，这些流程可以包括更多或更少的操作，并且这些操作可以按顺序执行或并行执行。需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的消息、设备、模块等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。
实施例1
具体请参阅图1，图1为本实施例室内停车场导航方法的基本流程示意图。
如图1所示，一种室内停车场导航方法，包括下述步骤：
S1100、获取室内停车场的空闲车位信息并通过预设的室内导航系统采集用户车辆的定位信息，其中，所述室内导航系统在所述室内停车场设置有若干用于采集所述用户车辆的定位信息的定位传感器；
室内导航系统包括设置于室内停车场中的若干定位传感器，其中，定位传感器用于采用用户车辆的定位信息，在实施时，定位传感器可以采用摄像头、WiFi、红外传感器以及超声波传感器中的任意一种，以摄像头为例，系统通过在室内停车场的汽车行驶路线以及停车位处设置摄像头，通过摄像头采集车辆的车牌图像，系统根据OCR(Optical Character Recognition，光学字符识别)技术识别车牌号码，从而判断该车辆是否为用户车辆，然后根据采集获取的图像计算用户车辆的位置得到定位信息，具体地，由于摄像头的位置是固定的，所以可以通过向车辆发射预订的光线，根据光线的行程以及飞行时间即可计算出该车辆与摄像头的距离，进而确定该车辆的定位信息。
在一个可选实施例中，以WiFi定位为例，通过在室内停车场设置有多个WiFi热点，用户车辆内的导航仪或者用户终端与WiFi热点连接，系统可以透过接入的那个WiFi热点，再配合上临近三个或以上的WiFi热点，就可以确定用户车辆的位置，具体地，如图9所示，WiFi定位一般采用“近邻法”判断，即最靠近哪个WiFi热点或基站，即认为处在什么位置，如附近有多个信源，例如包括WIFIA、WIFIB和WIFIC，则可以通过交叉定位(三边定位)，提高定位精度。系统只要能获取终端通过Wi-Fi发回的报文，就能实现终端的定位，定位原理是为：服务器将终端的信息传递给系统，完成前端的数据收集，当某一个终端需要定位时，再匹配无线AP传送的定位报文即可实现终端的定位，其中，终端指的是用户车辆内的导航仪或者用户终端。
室内停车场的空闲车位信息是指室内停车场中的还没有停靠车，辆且没有被分配出去的车位信息，在实施时，请参阅图2，图2是本申请一个实施例获取空闲车位信息的基本流程示意图。
如图2所示，所述空闲车位信息的获取方法，包括如下述步骤：
S1110、采集所述室内停车场内各车位的车位图像；
可以通过在车位上方安装摄像头，对该车位进行拍摄采集车位图像。以摄像头对车位进行拍摄采集目标视频为例，组成目标视频的基本单位是一帧一帧的图像，系统根据该目标视频选取车位图像，具体地，可以通过视频处理软件(例如OpenCV)对目标视频进行处理，将目标视频拆分为若干帧画面图像，在进行目标视频中画面图像的获取时，通过定时采集的方式获取从目标视频中抽取画面图像。例如以0.5s一张的速度在目标视频的帧画面图像中抽取一次目标图片，但不局限于此，根据具体应用场景的不同，采集画面图像的速度能够进行适应性的调整，调整原则在于，系统处理能力越强且跟踪准确性要求越高则采集时间越短，达到与摄像设备采集图像的频率同步时为止；否则，则采集时间间隔越长，但最长采集时间间隔不得超过1s，然后在选出来的多张画面图像中随机选出一帧画面图像作为车位图像。当然，也可以直接在目标视频中所有的画面图像中通过随机抽取的方式选出一帧画面图像作为车位图像。
S1120、根据所述车位图像判断车位是否处于空闲状态。
系统根据车位图像判断该车位是否为空闲车位，具体地，可以通过已经训练至收敛的卷积神经网络模型来实现判断车位是否空闲的功能，请参阅图3，图3是本申请一个实施例中判断车位是否为空闲状态的基本流程示意图。
如图3所示，所述根据所述车位图像判断车位是否处于空闲状态的步骤，包括如下述步骤：
S1121、将所述车位图像输入至预设的车位判断模型中，其中，所述车位判断模型为训练至收敛的卷积神经网络模型；
车位判断模型是用于判断车位是否停靠有车辆的工具，在实施时，可以通过预设的车位图像集来训练卷积神经网络模型，以得到车位判断模型，在进行训练时，卷积神经网络模型的输入层获取标记有分类参照信息的训练样本数据(车位图像集)，具体地，训练样本数据可以通过网络爬虫或者现有的图像数据库获取得到，以网络爬虫为例，通过网络爬虫在互联网中爬取若干车位图像(例如100万张)，在对一张车位图像进行训练之前，需要对图像的分类参照信息进行标记，预判能够采用现有技术中已经训练至收敛的图像识别模型进行判断。
在一个可选实施例中，通过网络爬虫或者现有的图像数据库获取本实施例的训练 样本数据，通过上述训练样本数据训练至收敛的神经网络模型，由于在训练时同一个车位在不同环境下(停靠车辆或者不停靠车辆)的车位图像相同，因此，神经网络模型输出的同一个车位在不同环境下的与车位图像对应的分类判断信息具有更高的收敛性，数据的离散度较低。同理，根据上述方法对车位判断模型进行训练，使得车位判断模型提取车位图像的是否处于空闲状态的车位状态信息符合人们的预期。
训练样本数据是由数据对和分类参照信息组成的，其中，训练样本数据的分类参照信息是由人工进行标定。分类参照信息是指人们根据输入卷积神经网络模型的训练方向，通过普适性的判断标准和事实状态对训练样本数据做出的人为的判断，也就是人们对卷积神经网络模型输出数据的期望。
卷积神经网络模型为现有技术中已经存在的各类图像识别模型，将训练样本数据中的病症诊断图像依次输入到卷积神经网络模型中，卷积神经网络模型对车位图像进行特征提取和分类，然后根据权重计算该车位图像的分类结果，即输出该车位图像的分类判断信息。
分类判断信息是卷积神经网络模型根据输入的车位图像而输出的激励数据，在神经网络模型未被训练至收敛之前，分类判断信息为离散性较大的数值，当神经网络模型被训练至收敛之后，分类判断信息为相对稳定的数据。
在训练过程中，通过损失函数计算期望输出与激励输出是否一致，也就是比对同一个车位图像的分类参照信息和分类判断信息是否一致，损失函数是用于检测卷积神经网络模型中模型分类判断信息与期望的分类参照信息是否具有一致性的检测函数。当卷积神经网络模型的输出结果与分类参照信息不一致时，需要对卷积神经网络模型中的权重进行校正，以使卷积神经网络模型的输出结果与分类参照信息的期望结果相同。
L(Y，f(x))＝丨Y-f(X)丨
L表示期望输出的与激励输出之间的欧式距离，Y表示期望输出，f(X)表示激励输出。
当L大于预设的距离阈值时，表明期望输出与激励输出之间具有较大的差异，输出结果不一致。
当卷积神经网络模型的输出的分类判断信息和分类参照信息不一致时，需要根据反向传播算法对卷积神经网络模型中的权重进行调整，以使卷积神经网络模型的输出结果与分类参照信息的期望结果相同。
在一些实施方式中，损失函数通过计算激励分类值与设定的期望分类值之间的距离(欧氏距离或者空间距离)，来确定激励分类值与设定的期望分类值是否一致，设定 第一阈值(例如，0.05)，当激励分类值与设定的期望分类值之间的距离小于或等于第一阈值时，则确定激励分类值与设定的期望分类值一致，否则，则激励分类值与设定的期望分类值不一致。
当神经网络模型的分类判断信息与设定的分类参照信息不一致时，需要采用随机梯度下降算法对神经网络模型中的权重进行校正，以使卷积神经网络模型的输出结果与分类参照信息的期望结果相同。通过众多训练样本图像的反复的训练与校正，当神经网络模型输出分类判断信息与各训练样本图像的分类参照信息比对达到(不限于)99.9％时，训练结束。
S1122、获取所述车位判断模块输出的用于判断车位是否处于空闲状态的车位状态信息。
在将车位图像输入车位判断模型中后，即可获取车位判断模块输出的车位状态信息，本实施例能够自动对车位是否处于空闲状态进行判断，不需要人为参与，提高自动化程度。
S1200、根据预设分配规则和所述空闲车位信息选取一个空闲车位分配给所述用户车辆；
预设分配规则是系统预先设置的用于管理和分配空闲车位给用户车辆的分配方法，例如预设分配规则为优先分配靠近停车场入口的车位给用户车辆，则系统自动采集用户车辆进入室内停车场的入口信息，并根据该入口信息分配一个与该入口信息距离最近的空闲车位给用户车辆。
在实施时，例如张三开车从A3口进入室内停车场，其中，室内停车场包括地下一层停车场，设置有三个入口和三个出口，三个出口分别对应A1口、A2口和A3口，三个出口分别对应B1口、B2口和B3口，系统获取室内停车场中所有空闲的车位，并选取与A3口距离最近的一个空闲车位分配给张三的车辆。
S1300、根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位。
在确定了空闲车位和用户车辆的定位信息后，即可根据该空闲车位和定位信息规划引导用户车辆行驶至该空闲车位的导航路线，在实施时，所述停车导航信息包括导航路线地图信息和导航语音信息，以张三开车去上班为例，张三公司所在的办公大楼设置有三层地下停车场，分别为负一层、负二层和负三层，当张三驱车到公司办公大楼想要停车时，系统采集到张三由负一层的C1口进入停车场，其中负一层的停车场已经没有空闲车位了，系统分配了位于负二层的一个空闲车位给张三，系统根据该位于负二层的空闲车位和张三的车辆的定位信息规划生成停车导航信息并发送至用户车辆 的导航仪上，从而通过该导航仪向用户展示导航路线地图信息并播放导航语音信息，具体地，该导航路线为：先引导张三驱车经过负一层直接到负二层的空闲车位处，避免了张三在负一层寻找空闲车位而浪费时间的情况。
在实施时，用户还可以自己设置分配空闲车位的分配规则，例如用户将预设分配规则设置为：优先分配靠近停车场出口的空闲车位，则系统会根据用户的选择优先选择一个停车场出口的空闲车位给用户使用以满足用户的需求。以张三开车从A3口进入室内停车场为例，室内停车场分为负一层、负二层和负三层这三层地下停车场，且该室内停车场中设置有3台电梯，分别对应A栋、B栋和C栋，其中，张三的家在A栋，所以张三设置预设分配规则为“优选分配离A栋的电梯较近的空闲车位”，由于负一层和负二层均没有空闲车位，系统选取了负三层的一个与A栋的电梯最近的空闲车位分配给张三使用，系统根据该空闲车位和A3口之间规划生成导航信息，在张三驱车至该空闲车位的过程中，实时采集张三的车辆的定位信息并实时引导张三忽略负一层和负二层直接驱车行驶到负三层的该空闲车位处，实现室内导航功能。
本实施例通过获取室内停车场的空闲车位信息并通过设置于室内停车场中的多个定位传感器获取用户车辆的定位信息，然后根据预设分配规则在室内停车场中选取一个空闲车位分配给用户车辆，再根据分配给该用户车辆的空闲车位和用户车辆的定位信息进行规划生成停车导航信息，从而引导用户车辆行驶至该空闲车位进行停靠，实现室内停车导航功能，通过室内的多个定位传感器实时采集用户车辆的定位信息，能有效提供室内导航的准确度。
在一个可选实施例中，由于室内停车场停靠的车辆较多或者由于用户不熟悉该室内停车场，容易导致用户花很长的时间在室内停车场中寻找车辆的情况，此时，系统可以为用户提供引导用户行至停靠车辆的位置处的导航路线，请参阅图4，图4是本申请一个实施例引导用户室内寻车的基本流程示意图。
如图4所示，所述根据所述空闲车位和所述用户车辆的定位信息规划生成导航信息，以导引所述用户车辆行驶至所述空闲车位的步骤之后，还包括如下述步骤：
S1400、获取所述用户车辆停靠车位的位置信息以及所述用户的个人定位信息；
在实施时，可以通过设置于车位上方的摄像头来采集用户车辆停靠车位的位置信息，通过摄像头采集用户车辆的车牌图像，系统根据OCR技术识别到用户车辆的车牌号码，从而判断用户车辆停靠车位的车位信息。
在一个可选实施例中，请参阅图5，图5是本申请一个实施例获取用户的个人定位信息的基本流程示意图。
如图5所示，所述用户的个人定位信息的获取方法，包括如下述步骤：
S1410、获取与所述用户的用户终端无线连接的若干无线连接设备的设备位置信息；
无线连接设备是设置于室内停车场内且能与用户终端进行无线连接的装置，在实施时，无线连接设备包括但不限于WiFi热点以及蓝牙连接装置，由于无线连接设备是固定安装于室内停车场的预设位置处的，所以无线连接设备的设备位置信息是固定的，具体地，可以通过用户终端的设备ID以确定与用户终端连接的无线连接设备，系统遍历室内停车场中所有的无线连接设备，根据设备ID即可筛选出与用户终端连接的至少2个无线连接设备。
S1420、根据预设的交叉定位规则和所述设备位置信息计算得到所述用户的个人定位信息。
交叉定位规则即三边定位算法，是通过测量时间来计算用户终端到无线连接设备的距离，通过多个无线连接设备到用户终端的距离，以及无线连接设备的实际物理坐标(设备位置信息)，就可以计算出用户终端所在的三维坐标。用户的个人定位信息可以通过对用户终端进行定位采集得到，以WiFi定位为例，用户的用户终端与设置于室内停车场内的WiFi热点连接，系统可以透过用户终端接入的那个WiFi热点，再配合上临近三个或以上的WiFi热点，就可以确定用户终端的位置，进而得到用户的个人定位信息。
S1500、根据所述位置信息和个人定位信息规划生成寻车导航信息，以导引所述用户寻找到所述用户车辆。
在得到用户的个人定位信息和用户车辆停靠车位的位置信息后，即可根据该位置信息和个人定位信息进行规划，从而生成导引用户找到用户车辆的寻车导航信息。在实施时，用户驱车停靠在商场的地下停车场的负二层的一个车位内，当用户在商场消费后想要开车离开时，由于用户对该商场的停车场不熟悉，用户忘记自己的车辆停靠的位置，此时，用户打开手机上的室内导航应用程序，系统与用户的手机建立连接从而获取得到用户的个人定位信息，同时，系统根据用户手机的记录获取到用户车辆的车牌号码，然后根据该车牌号码在室内停车场中定位用户的车辆停靠车位的位置信息，进而根据用户的个人定位信息和车辆停靠车位的位置信息规划寻车导航信息，用户的手机向用户展示该寻车导航信息，从而引导用户行至该车辆停靠车位的的位置处，方便用户快速寻找到车辆。
在一个可选实施例中，请参阅图6，图6是发明一个实施例管理室内停车场中的车位的基本流程示意图。
如图3所示，所述根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位的步骤之后，还包括如下述步骤：
S1600、获取分配给所述用户车辆的所述空闲车位的图像信息；
车位的图像信息可以通过在车位上方安装摄像头来采集获取得到，由于系统分配给用户车辆空闲车位后，用户驱车至该空闲车位需要时间，所以对空闲车位的图像的采集可以在系统将该空闲车位分配给用户车辆之后的一段预设时间后进行，例如：2分钟、5分钟或者10分钟，以减少持续对该空闲车位采集图像而造成的资源浪费。
S1700、根据所述图像信息判断所述用户车辆是否停靠在所述空闲车位内；
根据对分配给用户车辆的车位的图像采集，进而判断用户车辆是否停靠在该空闲车位内。
S1800、若是，则将所述空闲车位标记为分配状态并存储至预设的车位管理数据库中。
当用户车辆停靠在系统分配给该用户车辆的空闲车位内时，系统将该空闲车位标记为分配状态并存储，从而避免对该空闲车位重复分配给不同的用户车辆的情况。以系统分配编号为T007的空闲车位给张三的车辆使用为例，张三驱车行驶至该T007车位并停靠在该车位内，系统通过该车位上的摄像头采集到张三的车辆已经停靠在该T007车位内，将该T007车位标记为分配状态并存储至车位管理数据库中。
另一方面，还是以系统分配编号为T007的空闲车位给张三的车辆使用为例，系统在将该T007车位分配该张三的车辆时，将该T007车位标记为挂起状态，处于挂起状态的车位不能再分配给其它的用户车辆，张三在进入室内停车场在行驶至该T007车位时，发现有一辆车刚好从停车场离去而空出编号为T008的车位，张三即将车辆停靠在T008车位内，系统通过设置于T008车位上方的摄像头采集到张三将车辆停靠在该T008车位内，系统自动将该T008车位标记为分配状态且与张三的车辆关联后存储至车位管理数据库，同时，系统将T007车位由挂起状态转换为空闲状态，该T007车位可以继续分配给其它用户车辆。从而避免同一个车位同时分配给多个用户车辆的情况，提高车位管理的可靠性。
为解决上述技术问题，本申请实施例还提供室内停车场导航装置。
具体请参阅图7，图7为本实施例室内停车场导航装置基本结构示意图。
如图7所示，一种室内停车场导航装置，包括：第一获取模块2100、第一处理模块2200和第一执行模块2300，其中，第一获取模块2100用于获取室内停车场的空闲车位信息并通过预设的室内导航系统采集用户车辆的定位信息，其中，所述室内导航系统在所述室内停车场设置有若干用于采集所述用户车辆的定位信息的定位传感器；第一处理模块2200用于根据预设分配规则和所述空闲车位信息选取一个空闲车位分配给所述用户车辆；第一执行模块2300用于根据所述空闲车位和所述用户车辆的定位信 息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位。
本实施例通过获取室内停车场的空闲车位信息并通过设置于室内停车场中的多个定位传感器获取用户车辆的定位信息，然后根据预设分配规则在室内停车场中选取一个空闲车位分配给用户车辆，再根据分配给该用户车辆的空闲车位和用户车辆的定位信息进行规划生成停车导航信息，从而引导用户车辆行驶至该空闲车位进行停靠，实现室内停车导航功能，通过室内的多个定位传感器实时采集用户车辆的定位信息，能有效提供室内导航的准确度。
在一些实施方式中，室内停车场导航装置还包括：第二获取模块和第二执行模块，其中，第二获取模块用于获取所述用户车辆停靠车位的位置信息以及所述用户的个人定位信息；第二执行模块用于根据所述位置信息和个人定位信息规划生成寻车导航信息，以导引所述用户寻找到所述用户车辆。
在一些实施方式中，室内停车场导航装置还包括：第三获取模块和第三执行模块，其中，第三获取模块用于获取与所述用户的用户终端无线连接的若干无线连接设备的设备位置信息；第三执行模块用于根据预设的交叉定位规则和所述设备位置信息计算得到所述用户的个人定位信息。
在一些实施方式中，室内停车场导航装置还包括：采集子模块和判断子模块，其中，采集子模块用于采集所述室内停车场内各车位的车位图像；判断子模块用于根据所述车位图像判断车位是否处于空闲状态。
在一些实施方式中，室内停车场导航装置还包括：执行子模块和或者子模块，其中，执行子模块用于将所述车位图像输入至预设的车位判断模型中，其中，所述车位判断模型为训练至收敛的卷积神经网络模型；获取子模块用于获取所述车位判断模块输出的用于判断车位是否处于空闲状态的车位状态信息。
在一些实施方式中，室内停车场导航装置还包括：第四获取模块、判断模块和第四执行模块，其中，第四获取模块用于获取分配给所述用户车辆的所述空闲车位的图像信息；判断模块用于根据所述图像信息判断所述用户车辆是否停靠在所述空闲车位内；第四执行模块用于当所述判断模块判断为是时，将所述空闲车位标记为分配状态并存储至预设的车位管理数据库中。
在一些实施方式中，室内停车场导航装置还包括：所述停车导航信息包括导航路线地图信息和导航语音信息。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
为解决上述技术问题，本申请实施例还提供计算机设备。具体请参阅图8，图8为 本实施例计算机设备基本结构框图。
如图8所示，计算机设备的内部结构示意图。如图8所示，该计算机设备包括通过系统总线连接的处理器、非易失性存储介质、存储器和网络接口。其中，该计算机设备的非易失性存储介质存储有操作系统、数据库和计算机可读指令，数据库中可存储有控件信息序列，该计算机可读指令被处理器执行时，可使得处理器实现一种室内停车场导航方法。该计算机设备的处理器用于提供计算和控制能力，支撑整个计算机设备的运行。该计算机设备的存储器中可存储有计算机可读指令，该计算机可读指令被处理器执行时，可使得处理器执行一种室内停车场导航方法。该计算机设备的网络接口用于与终端连接通信。本领域技术人员可以理解，图中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
本实施方式中处理器用于执行图7中第一获取模块2100、第一处理模块2200和第一执行模块2300的具体功能，存储器存储有执行上述模块所需的程序代码和各类数据。网络接口用于向用户终端或服务器之间的数据传输。本实施方式中的存储器存储有室内停车场导航装置中执行所有子模块所需的程序代码及数据，服务器能够调用服务器的程序代码及数据执行所有子模块的功能。
计算机通过获取室内停车场的空闲车位信息并通过设置于室内停车场中的多个定位传感器获取用户车辆的定位信息，然后根据预设分配规则在室内停车场中选取一个空闲车位分配给用户车辆，再根据分配给该用户车辆的空闲车位和用户车辆的定位信息进行规划生成停车导航信息，从而引导用户车辆行驶至该空闲车位进行停靠，实现室内停车导航功能，通过室内的多个定位传感器实时采集用户车辆的定位信息，能有效提供室内导航的准确度。
本申请还提供一种存储有计算机可读指令的存储介质，所述计算机可读指令被一个或多个处理器执行时，使得一个或多个处理器执行上述任一实施例所述室内停车场导航方法的步骤。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，该计算机程序可存储于计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，前述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)等非易失性存储介质，或随机存储记忆体(Random Access Memory，RAM)等。
应该理解的是，虽然附图的流程图中的各个步骤按照箭头的指示依次显示，但是 这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，其可以以其他的顺序执行。而且，附图的流程图中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，其执行顺序也不必然是依次进行，而是可以与其他步骤或者其他步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。

Claims (20)

  1. 一种室内停车场导航方法，包括下述步骤：
    获取室内停车场的空闲车位信息并通过预设的室内导航系统采集用户车辆的定位信息，其中，所述室内导航系统在所述室内停车场设置有若干用于采集所述用户车辆的定位信息的定位传感器；
    根据预设分配规则和所述空闲车位信息选取一个空闲车位分配给所述用户车辆；
    根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位。
  2. 根据权利要求1所述的室内停车场导航方法，所述根据所述空闲车位和所述用户车辆的定位信息规划生成导航信息，以导引所述用户车辆行驶至所述空闲车位的步骤之后，还包括如下述步骤：
    获取所述用户车辆停靠车位的位置信息以及所述用户的个人定位信息；
    根据所述位置信息和个人定位信息规划生成寻车导航信息，以导引所述用户寻找到所述用户车辆。
  3. 根据权利要求2所述的室内停车场导航方法，所述用户的个人定位信息的获取方法，包括如下述步骤：
    获取与所述用户的用户终端无线连接的若干无线连接设备的设备位置信息；
    根据预设的交叉定位规则和所述设备位置信息计算得到所述用户的个人定位信息。
  4. 根据权利要求1所述的室内停车场导航方法，所述空闲车位信息的获取方法，包括如下述步骤：
    采集所述室内停车场内各车位的车位图像；
    根据所述车位图像判断车位是否处于空闲状态。
  5. 根据权利要求4所述的室内停车场导航方法，所述根据所述车位图像判断车位是否处于空闲状态的步骤，包括如下述步骤：
    将所述车位图像输入至预设的车位判断模型中，其中，所述车位判断模型为训练至收敛的卷积神经网络模型；
    获取所述车位判断模块输出的用于判断车位是否处于空闲状态的车位状态信息。
  6. 根据权利要求1所述的室内停车场导航方法，所述根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位的步骤之后，还包括如下述步骤：
    获取分配给所述用户车辆的所述空闲车位的图像信息；
    根据所述图像信息判断所述用户车辆是否停靠在所述空闲车位内；
    若是，则将所述空闲车位标记为分配状态并存储至预设的车位管理数据库中。
  7. 根据权利要求1至6任意一项所述的室内停车场导航方法，所述停车导航信息包括导航路线地图信息和导航语音信息。
  8. 一种室内停车场导航装置，包括：
    第一获取模块，用于获取室内停车场的空闲车位信息并通过预设的室内导航系统采集用户车辆的定位信息，其中，所述室内导航系统在所述室内停车场设置有若干用于采集所述用户车辆的定位信息的定位传感器；
    第一处理模块，用于根据预设分配规则和所述空闲车位信息选取一个空闲车位分配给所述用户车辆；
    第一执行模块，用于根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位。
  9. 一种计算机设备，包括存储器和处理器，所述存储器中存储有计算机可读指令，所述计算机可读指令被所述处理器执行时，使得所述处理器执行一种室内停车场导航方法，所述方法包括如下步骤：
    获取室内停车场的空闲车位信息并通过预设的室内导航系统采集用户车辆的定位信息，其中，所述室内导航系统在所述室内停车场设置有若干用于采集所述用户车辆的定位信息的定位传感器；
    根据预设分配规则和所述空闲车位信息选取一个空闲车位分配给所述用户车辆；
    根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位。
  10. 根据权利要求9所述的计算机设备，所述根据所述空闲车位和所述用户车辆的定位信息规划生成导航信息，以导引所述用户车辆行驶至所述空闲车位的步骤之后，还包括如下述步骤：
    获取所述用户车辆停靠车位的位置信息以及所述用户的个人定位信息；
    根据所述位置信息和个人定位信息规划生成寻车导航信息，以导引所述用户寻找到所述用户车辆。
  11. 根据权利要求10所述的计算机设备，所述用户的个人定位信息的获取方法，包括如下述步骤：
    获取与所述用户的用户终端无线连接的若干无线连接设备的设备位置信息；
    根据预设的交叉定位规则和所述设备位置信息计算得到所述用户的个人定位信息。
  12. 根据权利要求9所述的计算机设备，所述空闲车位信息的获取方法，包括如下述步骤：
    采集所述室内停车场内各车位的车位图像；
    根据所述车位图像判断车位是否处于空闲状态。
  13. 根据权利要求12所述的计算机设备，所述根据所述车位图像判断车位是否处于空闲状态的步骤，包括如下述步骤：
    将所述车位图像输入至预设的车位判断模型中，其中，所述车位判断模型为训练至收敛的卷积神经网络模型；
    获取所述车位判断模块输出的用于判断车位是否处于空闲状态的车位状态信息。
  14. 根据权利要求9所述的计算机设备，所述根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位的步骤之后，还包括如下述步骤：
    获取分配给所述用户车辆的所述空闲车位的图像信息；
    根据所述图像信息判断所述用户车辆是否停靠在所述空闲车位内；
    若是，则将所述空闲车位标记为分配状态并存储至预设的车位管理数据库中。
  15. 根据权利要求9至14任意一项所述的计算机设备，所述停车导航信息包括导航路线地图信息和导航语音信息。
  16. 一种存储有计算机可读指令的非易失性存储介质，所述计算机可读指令被一个或多个处理器执行时，使得一个或多个处理器执行一种室内停车场导航方法，所述方法包括如下步骤：
    获取室内停车场的空闲车位信息并通过预设的室内导航系统采集用户车辆的定位信息，其中，所述室内导航系统在所述室内停车场设置有若干用于采集所述用户车辆的定位信息的定位传感器；
    根据预设分配规则和所述空闲车位信息选取一个空闲车位分配给所述用户车辆；
    根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位。
  17. 根据权利要求16所述的存储有计算机可读指令的非易失性存储介质，所述根据所述空闲车位和所述用户车辆的定位信息规划生成导航信息，以导引所述用户车辆行驶至所述空闲车位的步骤之后，还包括如下述步骤：
    获取所述用户车辆停靠车位的位置信息以及所述用户的个人定位信息；
    根据所述位置信息和个人定位信息规划生成寻车导航信息，以导引所述用户寻找 到所述用户车辆。
  18. 根据权利要求17所述的存储有计算机可读指令的非易失性存储介质，所述用户的个人定位信息的获取方法，包括如下述步骤：
    获取与所述用户的用户终端无线连接的若干无线连接设备的设备位置信息；
    根据预设的交叉定位规则和所述设备位置信息计算得到所述用户的个人定位信息。
  19. 根据权利要求16所述的存储有计算机可读指令的非易失性存储介质，所述空闲车位信息的获取方法，包括如下述步骤：
    采集所述室内停车场内各车位的车位图像；
    根据所述车位图像判断车位是否处于空闲状态。
  20. 根据权利要求16所述的存储有计算机可读指令的非易失性存储介质，所述根据所述空闲车位和所述用户车辆的定位信息规划生成停车导航信息，以导引所述用户车辆行驶至所述空闲车位的步骤之后，还包括如下述步骤：
    获取分配给所述用户车辆的所述空闲车位的图像信息；
    根据所述图像信息判断所述用户车辆是否停靠在所述空闲车位内；
    若是，则将所述空闲车位标记为分配状态并存储至预设的车位管理数据库中。
PCT/CN2018/125112 2018-10-15 2018-12-28 室内停车场导航方法、装置、计算机设备及存储介质 Ceased WO2020077873A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811198450.0A CN109345860A (zh) 2018-10-15 2018-10-15 室内停车场导航方法、装置、计算机设备及存储介质
CN201811198450.0 2018-10-15

Publications (1)

Publication Number Publication Date
WO2020077873A1 true WO2020077873A1 (zh) 2020-04-23

Family

ID=65310308

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/125112 Ceased WO2020077873A1 (zh) 2018-10-15 2018-12-28 室内停车场导航方法、装置、计算机设备及存储介质

Country Status (2)

Country Link
CN (1) CN109345860A (zh)
WO (1) WO2020077873A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111862672A (zh) * 2020-06-24 2020-10-30 北京易航远智科技有限公司 基于顶视图的停车场车辆自定位及地图构建方法
CN115223387A (zh) * 2022-06-08 2022-10-21 东风柳州汽车有限公司 泊车控制系统及方法
CN117095558A (zh) * 2023-08-02 2023-11-21 杭州时祺科技有限公司 一种室内停车引导方法、系统、设备及介质
CN119723939A (zh) * 2025-01-02 2025-03-28 霖久智慧(广东)科技有限公司 一种停车管理方法、设备及介质

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109754611B (zh) * 2019-03-28 2021-11-09 西安艾润物联网技术服务有限责任公司 智能车库管理方法、装置、系统及可读存储介质
CN110264777B (zh) * 2019-06-26 2020-12-15 广州小鹏汽车科技有限公司 室内车辆导航方法、装置、存储介质及车辆控制终端
CN110364022A (zh) * 2019-07-29 2019-10-22 恒大智慧科技有限公司 车位推送方法、计算机设备及可读存储介质
CN110779533B (zh) * 2019-09-16 2022-04-12 腾讯科技（深圳）有限公司 导航方法、系统和电子设备
CN110751854B (zh) * 2019-10-28 2021-08-31 芜湖雄狮汽车科技有限公司 汽车的停车指引方法、装置及存储介质
CN113096432A (zh) * 2020-01-08 2021-07-09 深圳市牛法信息科技有限公司 停车位的分配方法、装置、系统及计算机可读存储介质
KR102448460B1 (ko) * 2020-06-17 2022-09-29 현대자동차주식회사 주차안내시스템
CN111915926A (zh) * 2020-08-14 2020-11-10 中国工商银行股份有限公司 停车位智能指引系统及方法
CN111986510B (zh) * 2020-09-01 2022-02-22 绍兴创元电子科技有限公司 基于红外技术的红外信标地下车位导航系统及其方法
CN113160607B (zh) * 2021-02-04 2023-03-28 北京百度网讯科技有限公司 停车位导航方法、装置、电子设备、存储介质及产品
CN113140124A (zh) * 2021-03-26 2021-07-20 深圳市博西尼电子有限公司 单车道停车场车辆出场的导航方法、系统、终端及介质
CN113178093A (zh) * 2021-03-26 2021-07-27 深圳市博西尼电子有限公司 一种室内停车场导航方法、系统、终端及存储介质
CN113140122A (zh) * 2021-03-26 2021-07-20 深圳市博西尼电子有限公司 一种停车场精准导航方法、系统、终端及存储介质
CN113140123A (zh) * 2021-03-26 2021-07-20 深圳市博西尼电子有限公司 带车位判断的室内停车场导航方法、系统、终端及介质
CN113380069A (zh) * 2021-05-08 2021-09-10 深圳市大道至简信息技术有限公司 一种基于路灯的路边停车系统及其方法
CN113408358B (zh) * 2021-05-21 2024-08-16 湖南海龙国际智能科技股份有限公司 一种基于多目标优化的车位分配系统及方法
CN116266430A (zh) * 2021-12-17 2023-06-20 北京万集科技股份有限公司 停车路线推荐方法、装置、计算机设备和存储介质
CN117392873A (zh) * 2023-11-25 2024-01-12 深圳市中智车联科技有限责任公司 一种停车场车位的寻位方法、系统、设备及存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101635098A (zh) * 2009-08-03 2010-01-27 钟勇 基于室内精确实时定位的停车泊位可视导航系统
CN104809911A (zh) * 2015-04-14 2015-07-29 深圳市润安科技发展有限公司 基于超宽频无线定位技术的停车场引导系统及引导方法
CN106251696A (zh) * 2016-09-30 2016-12-21 深圳市金溢科技股份有限公司 一种停车场智能管理服务器、系统、方法及uwb定位标签
CN107967817A (zh) * 2017-11-17 2018-04-27 张慧 基于多路摄像头深度学习的停车场智能管理系统及方法
KR20180100842A (ko) * 2017-03-02 2018-09-12 (주)월드정보기술 주차 안내 시스템
CN108615396A (zh) * 2018-04-26 2018-10-02 中设设计集团股份有限公司 基于蓝牙定位的停车引导、反向寻车系统及方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8972175B2 (en) * 2013-03-14 2015-03-03 Qualcomm Incorporated Navigation using crowdsourcing data
CN104794934B (zh) * 2015-05-06 2017-05-24 北京我联科技有限公司 车位检测方法和系统以及服务器
CN106097765A (zh) * 2016-08-19 2016-11-09 济南东朔微电子有限公司 一种基于北斗导航定位的泊车与寻车系统及方法
CN108460983A (zh) * 2017-02-19 2018-08-28 泓图睿语（北京）科技有限公司 基于卷积神经网络的停车位状态检测方法
CN108091160A (zh) * 2017-11-16 2018-05-29 杭州好园科技有限公司 智慧园区停车场用的诱导和寻车系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101635098A (zh) * 2009-08-03 2010-01-27 钟勇 基于室内精确实时定位的停车泊位可视导航系统
CN104809911A (zh) * 2015-04-14 2015-07-29 深圳市润安科技发展有限公司 基于超宽频无线定位技术的停车场引导系统及引导方法
CN106251696A (zh) * 2016-09-30 2016-12-21 深圳市金溢科技股份有限公司 一种停车场智能管理服务器、系统、方法及uwb定位标签
KR20180100842A (ko) * 2017-03-02 2018-09-12 (주)월드정보기술 주차 안내 시스템
CN107967817A (zh) * 2017-11-17 2018-04-27 张慧 基于多路摄像头深度学习的停车场智能管理系统及方法
CN108615396A (zh) * 2018-04-26 2018-10-02 中设设计集团股份有限公司 基于蓝牙定位的停车引导、反向寻车系统及方法

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111862672A (zh) * 2020-06-24 2020-10-30 北京易航远智科技有限公司 基于顶视图的停车场车辆自定位及地图构建方法
CN115223387A (zh) * 2022-06-08 2022-10-21 东风柳州汽车有限公司 泊车控制系统及方法
CN115223387B (zh) * 2022-06-08 2024-01-30 东风柳州汽车有限公司 泊车控制系统及方法
CN117095558A (zh) * 2023-08-02 2023-11-21 杭州时祺科技有限公司 一种室内停车引导方法、系统、设备及介质
CN119723939A (zh) * 2025-01-02 2025-03-28 霖久智慧(广东)科技有限公司 一种停车管理方法、设备及介质

Also Published As

Publication number Publication date
CN109345860A (zh) 2019-02-15

Similar Documents

Publication Publication Date Title
WO2020077873A1 (zh) 室内停车场导航方法、装置、计算机设备及存储介质
CN108230725B (zh) 停车推荐方法和装置
CN207458352U (zh) 一种室内停车场自主泊车系统
WO2018113602A1 (zh) 停车管理机器人及停车管理方法和系统
CN107016877B (zh) 用于在停车场内进行车辆定位的方法及装置
US9462423B1 (en) Qualitative and quantitative sensor fusion for indoor navigation
CN106647745B (zh) 基于蓝牙定位的导诊机器人自主导航系统及方法
KR20190031143A (ko) 차량배정방법, 장치, 디바이스 및 저장매체
CN108597233A (zh) 停车位推荐方法、装置及计算机可读存储介质
WO2019184853A1 (zh) 停车位推荐方法、系统及计算机可读存储介质
CN110487262A (zh) 基于增强现实设备的室内定位方法及系统
WO2018232935A1 (zh) 一种洗车场管理服务端及数据处理方法
CN113808427B (zh) 停车引导系统及控制停车引导系统的方法
CN206672370U (zh) 一种室内停车场停取车的导航系统
CN111785067B (zh) 一种反向寻车方法、系统、智能终端及存储介质
CN115100900A (zh) 基于智慧园区的车辆管理方法、管理设备和存储介质
CN105528912A (zh) 一种室内车位推荐方法及其系统
CN115497331A (zh) 一种泊车方法、装置、设备及车辆
CN112908014A (zh) 停车场寻车方法及装置
CN114282734A (zh) 室内参观引导方法、装置、电子设备与存储介质
CN114999200A (zh) 一种应用于智能汽车的辅助停车方法及系统
CN109243194A (zh) 一种停车场车位分派引导方法与系统
CN108592915A (zh) 导航方法、购物车及导航系统
CN116403433A (zh) 一种地下停车场停车引导方法和系统
CN110942662A (zh) 一种停车场实时反向寻车系统及其方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18937017

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 09.06.2021)

122 Ep: pct application non-entry in european phase

Ref document number: 18937017

Country of ref document: EP

Kind code of ref document: A1