CN108810811B - System and method for creating and updating WIFI fingerprint library of large garage - Google Patents
System and method for creating and updating WIFI fingerprint library of large garage Download PDFInfo
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- CN108810811B CN108810811B CN201810912526.5A CN201810912526A CN108810811B CN 108810811 B CN108810811 B CN 108810811B CN 201810912526 A CN201810912526 A CN 201810912526A CN 108810811 B CN108810811 B CN 108810811B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The utility model relates to a system for creating a WIFI fingerprint library of a large garage, which comprises a cruising vehicle, a two-dimensional code spraying device, a WIFI signal acquisition module, a data transmission interaction module, a central processing server and a floor plan of the large garage, wherein the two-dimensional code spraying device, the WIFI signal acquisition module, the data transmission interaction module, the central processing server and the floor plan of the large garage are arranged on the cruising vehicle, the cruising vehicle sprays at least one two-dimensional code mark on the ground near each parking space according to the floor plan to serve as a coordinate point, the WIFI position signal of the coordinate point is transmitted to the central processing server through the WIFI signal acquisition module and the data transmission interaction module, and the central processing server creates the WIFI fingerprint library of the large garage according to the received corresponding relation between the WIFI position signal of the coordinate point of each parking space and the two-dimensional code mark of the parking space. The utility model also discloses an updating system and method of the creation system. The method and the device realize automatic establishment and rapid update of the WIFI fingerprint library, realize high cost performance and high maneuverability, and provide powerful data source support for the quasi-determination position.
Description
Technical Field
The utility model belongs to the technical field of positioning and guiding, in particular relates to a system and a method for creating and updating a WIFI fingerprint database of a large garage, and provides a scheme for quickly and automatically creating a characteristic database, namely the fingerprint database, and a corresponding positioning navigation technology.
Background
Positioning technology based on WIFI fingerprint library (namely WIFI signal characteristic database) mainly adopts fingerprint library matching technology: and (3) placing a plurality of routers in the garage to serve as signal sources, collecting WIFI signal characteristics of all coordinate point positions in advance, establishing a database (fingerprint database) of a characteristic data-coordinate point relation, storing the database in the server, and matching the WIFI signal characteristics of the user side with data in the fingerprint database of the server when positioning is needed, so that the current position of the user is determined.
In the Chinese patent with publication number of CN106131767A, a mobile phone positioning method combining WIFI and Bluetooth is disclosed, the positioning method combining WIFI and Bluetooth is provided, the strength of a received WIFI signal is used for determining a fuzzy position, and next, at least three Bluetooth signals are received, and the positioning of an analysis target is calculated according to the strength of the Bluetooth signals. In this scheme bluetooth spreads the distance too little in the room, if need lay a large amount of bluetooth emitter in the room in large-scale indoor garage, cause system cost too high.
Disclosure of Invention
The technical problem to be solved by the utility model is to provide a system and a method for creating and updating a WIFI fingerprint library of a large garage, which realize automatic creation and quick updating of the WIFI fingerprint library, realize high cost performance and high maneuverability and provide powerful data source support for accurate position determination.
The utility model provides a system for creating a WIFI fingerprint library of a large garage, which comprises a cruising vehicle, a two-dimensional code spraying device, a WIFI signal acquisition module and a data transmission interaction module which are arranged on the cruising vehicle, and further comprises a central processing server which is arranged in a control center, a parking space and a floor plan of a channel of the large garage, wherein the cruising vehicle uses the two-dimensional code spraying device to spray at least one two-dimensional code mark as a coordinate point on the ground of a set area near each parking space according to the floor plan, and the WIFI signal acquisition module and the data transmission interaction module are used for transmitting a WIFI position signal of the coordinate point to the central processing server, and the central processing server establishes a one-to-one correspondence between the received WIFI position signal of the coordinate point of each parking space and two-dimensional code identification information and time information of the parking space, so as to create and store the WIFI fingerprint library of the large garage.
Further, the cruise vehicle is an unmanned vehicle, a color sensor array, an ultrasonic position sensor, an encoder and a geomagnetic sensor are further arranged on the cruise vehicle, the color sensor array is used for identifying the position of a parking space line of each parking space, and the ultrasonic position sensor is used for determining the distance between the ultrasonic position sensor and an obstacle so as to assist obstacle avoidance; the wheels of the cruising vehicle adopt Mecanum wheels, the vehicle can automatically run in any direction of front, back, left and right in the garage by controlling the differential speed and the rotation direction of the wheels, the encoder calculates the running distance of the cruising vehicle and the position of the cruising vehicle in the garage by utilizing the steering speed, the running speed and the running time of the wheels, and the geomagnetic sensor is used for acquiring the running direction of the cruising vehicle to assist the cruising vehicle to turn.
The utility model provides an updating system of a large garage WIFI fingerprint library, which comprises a large garage WIFI fingerprint library creation system and a two-dimensional code identification device, wherein the large garage WIFI fingerprint library is created and stored by the large garage WIFI fingerprint library creation system, the two-dimensional code identification device is arranged on a cruising vehicle, the cruising vehicle runs along a channel of a garage in a set time interval according to a set cruising path, the two-dimensional code identification device is used for scanning and identifying corresponding two-dimensional code identifications sprayed on the ground of each parking space, and a WIFI position signal of a coordinate point is uploaded to a central processing server again, and the central processing server dynamically updates the created and stored large garage WIFI fingerprint library according to a new WIFI position signal of the coordinate point.
Further, the cruiser supplements a two-dimensional code identifier of the spray painting instruction point in the garage and sends a WIFI instruction position signal of the instruction point to the central processing server according to the instruction requirement of the central processing server, and the central processing server dynamically updates the created and stored WIFI fingerprint library of the large garage according to the WIFI instruction position signal of the supplemented instruction point.
Further, the updating system further comprises a user mobile phone and an APP module installed, wherein the APP module is used for guiding a user to park a vehicle in a nearby parking space and reversely searching the vehicle parked in the parking space, the central processing server obtains a WIFI mobile phone position signal of the position of the user mobile phone in the parking space and dynamically updates the created and stored WIFI fingerprint library of the large garage, and the WIFI mobile phone position signal of the position of the user mobile phone is confirmed by the APP module of the user.
The utility model is realized in such a way, and provides a method for creating a WIFI fingerprint library of a large garage, which is created by adopting the system for creating the WIFI fingerprint library of the large garage, and comprises the following steps:
step one: establishing a floor plan of each parking space and channel of the large garage;
step two: spraying at least one two-dimensional code mark serving as a coordinate point on the ground of a set area near each parking space by using the cruise vehicle through a two-dimensional code spraying device, and sending a WIFI position signal of the coordinate point to a central processing server through the WIFI signal acquisition module and the data transmission interaction module;
step three: and the central processing server establishes a one-to-one correspondence with the two-dimensional code identification information and the time information of each parking stall according to the received WIFI position signal of the coordinate point of each parking stall, so as to establish and store the WIFI fingerprint library of the large garage.
Further, the creating method further comprises the steps that the cruiser is used for spraying two-dimension code identifications on the ground of the channel through the two-dimension code spraying device, the WIFI channel position signals of the two-dimension code identification points are sent to the central processing server through the WIFI signal acquisition module and the data transmission interaction module, and the central processing server creates and stores the large garage WIFI fingerprint library containing the WIFI position signals of the parking spaces and the WIFI channel position signals of the channel.
The utility model is realized in such a way, and provides a method for updating a WIFI fingerprint library of a large garage, which adopts the updating system of the WIFI fingerprint library of the large garage to update, and comprises the following updating modes:
the first updating mode is as follows: in a set time interval, the cruising vehicle cruises in a garage according to the instruction requirement of a central processing server, a two-dimensional code identification device scans and identifies a sprayed two-dimensional code mark on the ground of a set area near each parking space, and meanwhile, a WIFI position signal of a coordinate point is uploaded to the central processing server, and the central processing server dynamically updates a created and stored WIFI fingerprint library of the large garage according to the WIFI position signal of the coordinate point;
the second updating mode: the cruise vehicle supplements a two-dimensional code identifier of a spray painting instruction point in the garage at any time according to the instruction requirement of the central processing server and sends a WIFI instruction position signal of the spray painting instruction point to the central processing server, and the central processing server dynamically updates a created and stored WIFI fingerprint library of the large-scale garage according to the WIFI instruction position signal of the supplemented instruction point;
third update method: the method comprises the steps that a user mobile phone and an installed APP module are utilized for updating, the APP module is used for guiding a user to park a vehicle in a nearby parking space and reversely searching the vehicle parked in the parking space, a central processing server obtains a WIFI mobile phone position signal of the position of the user mobile phone in the parking space and dynamically updates a created and stored WIFI fingerprint library of a large garage, and the WIFI mobile phone position signal of the position of the user mobile phone is confirmed by the APP module of the user.
Compared with the prior art, the system and the method for creating and updating the WIFI fingerprint library of the large garage have the following characteristics:
1) Real-time positioning and guiding of a large garage, particularly an underground garage, can be realized with low cost, high automation and high performance, and a channel coordinate two-dimension code spraying and signal acquisition scheme is adopted in consideration of practicability and automation. The relative position of the trolley and the parking space line is determined through the sensor, and the accuracy is high. The positioning accuracy depends on the number of sensors, and when the sensors are densely arranged, the accuracy is higher.
2) The cruiser uses the two-dimensional code spraying device to spray the code and marks the position, and then the WIFI signal acquisition module determines the position through the two-dimensional code when establishing WIFI information data and when guiding in real time. Compared with manual collection, the position is accurate, and the collection is convenient and automatic. The multiple cruising vehicles are adopted for simultaneous collection, the cruising vehicles can be automatically collected in the whole process, the efficiency is high, and the required time is short.
3) The cruising vehicles are queued to walk in the garage, the driving rules are followed, and the cruising vehicles actively avoid when necessary, so that the vehicles are not hindered from entering and exiting the garage.
4) The constructed WIFI fingerprint library can be dynamically corrected according to user feedback in the matching process.
Drawings
FIG. 1 is a schematic plan view (partial) of a preferred embodiment of the present utility model;
FIG. 2 is a schematic plan view of the cruise vehicle of FIG. 1;
FIG. 3 is a schematic illustration of two cruise vehicles of FIG. 1 cruising simultaneously;
fig. 4 is a schematic view of the obstacle avoidance process of the cruise vehicle.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
Referring to fig. 1 and fig. 2, a preferred embodiment of the system for creating a WIFI fingerprint library of a large garage according to the present utility model includes a cruise vehicle 1, a two-dimensional code spraying device 11 disposed on the cruise vehicle 1, a WIFI signal acquisition module, a data transmission interaction module, and a central processing server disposed in a control center, and a parking space and a floor plan of a channel of the large garage (as shown in fig. 1).
The cruiser 1 uses a two-dimensional code spraying device 11 to spray at least one two-dimensional code mark 3 as a coordinate point on the ground of a set area near each parking space 2 according to a floor plan, and sends a WIFI position signal of the coordinate point to a central processing server (not shown in the figure) through the WIFI signal acquisition module and the data transmission interaction module. And the central processing server establishes a one-to-one correspondence with the two-dimensional code identification information and the time information of each parking stall according to the received WIFI position signal of the coordinate point of each parking stall 2, so as to establish and store the WIFI fingerprint library of the large garage.
In the utility model, the spray-painted two-dimensional code is mainly not used for identifying the scanning code of a user, but is used for calibrating the position of the cruising vehicle in the process of establishing the WIFI fingerprint database, and the user can position and navigate in real time without scanning the two-dimensional code when using the spray-painted two-dimensional code. And can also be used to identify location if the user is willing to swipe the code.
As an embodiment of the present utility model, the cruise vehicle 1 is an unmanned vehicle. The cruiser 1 is close in size to the in-and-out vehicle. The cruise vehicle 1 is further provided with a color sensor array 12, an ultrasonic position sensor 13, an encoder 14, and a geomagnetic sensor 15. The two-dimensional code spraying device 11 is arranged at the bottom of the cruiser 1. The WIFI signal acquisition module, the data transmission interaction module, the encoder 14 and the geomagnetic sensor 15 are arranged in the cab. The color sensor array 12 is on a carriage 18 of the cruise vehicle 1. The ultrasonic position sensor 13 is arranged on the periphery of the cruise vehicle 1 and on the periphery of the bracket 18.
The color sensor array 12 is used to identify the location of the stall line for each stall. The ultrasonic position sensor 13 is used for determining the distance between the ultrasonic position sensor and an obstacle so as to assist obstacle avoidance, and is also used for ensuring reasonable positions of two-dimensional code spraying and code reading in the alignment process of the cruise vehicle 1 and the target parking space 2. The wheels 16 of the cruise vehicle 1 adopt Mecanum wheels, and the vehicle can automatically run in any direction of front and back, left and right in a garage through controlling the differential speed and the rotation direction of the wheels. The encoder 14 uses the wheel steering, travel speed and travel time to calculate the distance traveled by the cruise vehicle and the position in the garage. The geomagnetic sensor 15 is used for acquiring the traveling direction of the cruise vehicle 1 to assist the cruise vehicle in turning. The cruise vehicle 1 can automatically take avoidance measures for the warehouse-in vehicle R by sensing the warehouse-in vehicle R through the ultrasonic position sensor 13.
The distance between the two-dimensional code mark 3 and the parking space line of the parking space 2 is 5 cm-80 cm. The ultrasonic position sensor 13 is installed at a higher level than the lower part of the chassis of the warehouse-in vehicle (except for the wheels). The distance between the adjacent ultrasonic position sensors 13 is smaller than the wheel track of the warehouse-in vehicle and the cross-sectional width of the building pillars in the garage.
Referring to fig. 2, assume that a gap is provided at the entrance of the parking space 2, and the length is 1 meter, and the position of the parking space is determined by detecting the gap through the color sensor array 12. In this embodiment, the color sensor array 12 includes a plurality of color sensors, the plurality of color sensors are mounted on the bracket 18 of the cruise vehicle 1, the parking line of the parking space 2 is yellow, and the plurality of color sensors on the bracket 18 completely cover the entire gap. According to the distribution of the sensors of the yellow line and the notch, the specific position of the cruise vehicle 1 can be judged. If the color sensors in a certain area can not detect the yellow line, the gap is judged. In fig. 2, a total of 5 color sensors A1, B1, C1, G1, and H1 will detect yellow lines, and at the same time, the color sensors in the areas D, E, F, D1, E1, F1, D2, E2, F2, etc. return to the ground, none of the color sensors detect yellow lines, and the range is determined to be a gap. A breach corresponds a parking stall, can discern the parking stall through the breach, and a two-dimensional code of air brushing before every parking stall. The relative positions of the trolley and the parking space can be judged through the detection conditions of the color sensors, so that the code is sprayed in the middle of the parking space.
The two-dimensional code is sprayed and painted at the middle position right in front of the parking space 2, and the position can be judged by detecting the middle point of the yellow line notch and the return value of each color sensor. The cruiser 1 automatically walks according to a floor plan, targets parking spaces 2 are calibrated through a vehicle-mounted color sensor array 12, and at least one two-dimensional code mark 3 serving as a coordinate point is sprayed on the ground of a channel area opposite to the center of an inlet of each parking space 2 by using a two-dimensional code spraying device 11.
When the cruiser 1 can not detect the yellow line notch when walking in the left aisle and the right aisle, the cruiser 1 automatically sprays codes when driving at a proper distance according to the speed detected by the driving encoder 14 and the time of the timer, so that the situation that the ground does not spray codes when part of the channels 4 do not have the yellow line notch is avoided.
Twenty ultrasonic position sensors 13 are provided on the outer periphery of the cruise vehicle 1, each ultrasonic position sensor 13 emitting ultrasonic waves outwardly, as indicated by the broken-line arrows in the figure, to sense whether there is an obstacle around the ultrasonic waves.
The cruising vehicle 1 runs along the direction parallel to the yellow line of the parking space, a constant distance is kept from the parking space 2, the distance is set to be 50cm, the running direction of the cruising vehicle 1 is controlled by detecting the return value of each color sensor in the middle, and when the cruising vehicle 1 deviates in direction, the direction is adjusted by the vertical horse, so that the yellow line is controlled within the range of the color sensor in the figure. When the spraying of the parking space of the channel 4 is finished, the cruiser 1 automatically turns to a direction, turns to a right angle bend through the auxiliary control of the geomagnetic sensor, and enters another channel 4 to continue spraying codes.
Referring to fig. 3, a plurality of cruising vehicles 1 can be used to spray codes simultaneously in the channel 4, and two cruising vehicles 1 are used to spray codes simultaneously in front of the parking space 2 in the area. The A car is responsible for peripheral parking spaces, and the B car is responsible for the parking spaces in the central part. After the current channel 4 is sprayed, the left turn of the vehicle A enters the left channel 4, the code spraying is continued, and the right turn of the vehicle B enters the right channel 4, and the code spraying is continued.
Referring to fig. 2 and 4, the cruise vehicle 1 of the present utility model has an automatic obstacle avoidance function. The cruise vehicle 1 is provided with twenty ultrasonic position sensors 13 for detecting four directions of front, rear, left and right. According to the prediction of the central processing server and when the ultrasonic position sensor 13 detects the obstacle P, the cruise vehicle 1 moves leftwards in a translation mode, then avoids and moves forwards, then the ultrasonic position sensor 13 at the right rear side judges the obstacle P, and when the ultrasonic position sensor 13 at the right rear side judges that the obstacle P does not exist, the cruise vehicle 1 is indicated to have driven over the obstacle P, the trolley moves forwards after moving rightwards, and then enters a parking line area again.
The utility model also discloses an updating system of the large-scale garage WIFI fingerprint library, which comprises the creating system of the large-scale garage WIFI fingerprint library, and a two-dimensional code recognition device 17 arranged on the cruise vehicle 1. The cruising vehicle 1 runs along the channel 4 of the garage at a set time interval according to a set cruising path, scans and identifies the corresponding two-dimensional code identifier sprayed on the ground of each parking space through the two-dimensional code identification device 17, and re-uploads the WIFI position signal of the coordinate point to the central processing server. And the central processing server dynamically updates the created and stored WIFI fingerprint library of the large garage according to the received new WIFI position signal of the coordinate point.
In general, the two-dimensional code position can be calculated by the speed and direction information of the cruise vehicle 1. When the position deviates, the color sensor array 12 on the bracket 18 of the cruiser 1 is adopted, and the corresponding two-dimensional code position is found by positioning the position of the parking space center in a similar code spraying step. By the aid of the method, the cruiser 1 can find the two-dimensional code more accurately.
In order to ensure the effectiveness of the WIFI fingerprint database, the dynamic refreshing interval of the WIFI fingerprint database is determined on the basis of analysis of the variation rule of the WIFI fingerprint database, the cruise vehicle 1 is regularly arranged to automatically cruise, the intensity value of the WIFI signal is automatically acquired, and the intensity value of the WIFI signal is transmitted to a central processing server to modify the WIFI fingerprint database, so that the quick dynamic refreshing is realized.
The cruiser 1 supplements a two-dimensional code identifier 3 of an inkjet instruction point in a garage and sends a WIFI instruction position signal of the instruction point to the central processing server according to the instruction requirement of the central processing server. And the central processing server dynamically updates the created and stored WIFI fingerprint library of the large garage according to the WIFI instruction position signal of the supplemented instruction point.
Besides the conventional cruise vehicle 1 automatically collects and establishes a WIFI fingerprint library, the WIFI fingerprint library can also check and correct the WIFI signal characteristic value of the library position 2 according to feedback of a user client.
The updating system further comprises a user mobile phone and an installed APP module. The APP module is used for guiding a user to park the vehicle in a nearby parking space and reversely searching the parked vehicle in the parking space. The central processing server acquires a WIFI mobile phone position signal of the position of the user mobile phone in the parking space and dynamically updates the created and stored WIFI fingerprint library of the large garage, and the WIFI mobile phone position signal of the position of the user mobile phone is confirmed through the APP module of the user.
The utility model also discloses a method for creating the WIFI fingerprint library of the large garage, which is created by adopting the system for creating the WIFI fingerprint library of the large garage, and comprises the following steps:
step one: establishing a plan layout diagram of each parking space 2 and channel 4 of the large garage;
step two: at least one two-dimensional code mark 3 is sprayed on the ground of a set area near each parking space 2 by using the cruise vehicle 1 as a coordinate point through the two-dimensional code spraying device 11, and a WIFI position signal of the coordinate point is sent to a central processing server through the WIFI signal acquisition module and the data transmission interaction module.
Step three: and the central processing server establishes a one-to-one correspondence with the two-dimensional code identification information and the time information of each parking stall according to the received WIFI position signal of the coordinate point of each parking stall 2, so as to establish and store the WIFI fingerprint library of the large garage.
The creating method further comprises the steps that the cruiser 1 is used for spraying two-dimensional code identifiers on the ground of the channel 4 through a two-dimensional code spraying device, and WIFI channel position signals of the two-dimensional code identifier points are sent to the central processing server through the WIFI signal acquisition module and the data sending interaction module. The central processing server creates and stores the large garage WIFI fingerprint library containing the WIFI position signals of the parking spaces and the WIFI channel position signals of the channels.
The two-dimensional code identifier is used as the position information of the channel 4 and the position identifier of the corresponding parking space 2, and provides coordinate information when the cruise vehicle 1 acquires the WIFI signal. When the two-dimensional code mark is used, two-dimensional code marks can be printed at any positions of the parking space 2 according to the needs, and coordinate point marks are set. The user does not need to scan the two-dimensional codes during use. The utility model adopts a plurality of cruiser vehicles 1 to spray codes in respective areas, realizes full-process automatic code spraying, utilizes the sensor to determine the position, and has the advantages that the relative positions of the two-dimensional codes and the parking spaces are obtained more accurately, and the codes can be sprayed at any position in front of the parking spaces. In this embodiment, the two-dimensional code is sprayed in the middle of the parking space, and is located 50cm away from the yellow line of the parking space.
The utility model also discloses a method for updating the WIFI fingerprint library of the large garage, which adopts the updating system of the WIFI fingerprint library of the large garage to update, and comprises the following updating modes:
the first updating mode is as follows: and in a set time interval, the cruising vehicle 1 cruises in a garage according to the instruction requirement of a central processing server, the two-dimensional code identification device 17 scans and identifies the sprayed two-dimensional code identifications 3 on the ground of a set area near each parking space 2, and meanwhile, the WIFI position signals of the coordinate points are uploaded to the central processing server, and the central processing server dynamically updates the created and stored WIFI fingerprint library of the large garage according to the WIFI position signals of the coordinate points.
The second updating mode: the cruiser 1 supplements a two-dimensional code identifier 3 of an inkjet instruction point in a garage at any time according to the instruction requirement of the central processing server and sends a WIFI instruction position signal of the point to the central processing server. And the central processing server dynamically updates the created and stored WIFI fingerprint library of the large garage according to the WIFI instruction position signal of the supplemented instruction point.
Third update method: and updating by using the user mobile phone and the installed APP module. The APP module is used for guiding a user to park the vehicle in the nearby parking space 2 and reversely searching the vehicle parked in the parking space 2. The central processing server acquires a WIFI mobile phone position signal of the position of the user mobile phone in the parking space 2 and dynamically updates the created and stored WIFI fingerprint library of the large garage, and the WIFI mobile phone position signal of the position of the user mobile phone is confirmed through an APP module of the user.
After the vehicle is parked in the parking space or before the vehicle is driven out of the parking space, the user checks the number of the parking space and the number of the guiding software to feed back the accuracy of the information, and if errors exist, the actual position fed back by the user can be used for replacing the original error signal by the actual WIFI signal characteristic value of the current user, so that correction is carried out.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.
Claims (8)
1. The system for creating the large-scale garage WIFI fingerprint library is characterized by comprising a cruising vehicle, a two-dimensional code spraying device, a WIFI signal acquisition module and a data transmission interaction module which are arranged on the cruising vehicle, and further comprising a central processing server arranged in a control center, a parking space of the large-scale garage and a floor plan of a channel, wherein the cruising vehicle uses at least one two-dimensional code mark as a coordinate point according to the floor plan of a setting area near each parking space by using the two-dimensional code spraying device, and the WIFI signal acquisition module and the data transmission interaction module transmit WIFI position signals of the coordinate point to the central processing server, and the central processing server establishes a one-to-one correspondence with two-dimensional code identification information and time information of the parking space according to received WIFI position signals of the coordinate point of each parking space, so that the large-scale garage WIFI fingerprint library is created and stored.
2. The system for creating the WIFI fingerprint library of the large garage according to claim 1, wherein the cruise vehicle is an unmanned vehicle, a color sensor array, an ultrasonic position sensor, an encoder and a geomagnetic sensor are further arranged on the cruise vehicle, the color sensor array is used for identifying the position of a parking space line of each parking space, and the ultrasonic position sensor is used for determining the distance between the vehicle and an obstacle so as to assist obstacle avoidance; the wheels of the cruising vehicle adopt Mecanum wheels, the vehicle can automatically run in any direction of front, back, left and right in the garage by controlling the differential speed and the rotation direction of the wheels, the encoder calculates the running distance of the cruising vehicle and the position of the cruising vehicle in the garage by utilizing the steering speed, the running speed and the running time of the wheels, and the geomagnetic sensor is used for acquiring the running direction of the cruising vehicle to assist the cruising vehicle to turn.
3. The system for updating the large-scale garage WIFI fingerprint library is characterized by comprising the system for creating and storing the large-scale garage WIFI fingerprint library according to claim 1 or 2, and a two-dimensional code recognition device arranged on a cruising vehicle, wherein the cruising vehicle runs along a channel of the garage according to a set cruising path within a set time interval, the two-dimensional code recognition device scans and recognizes corresponding two-dimensional code identifications sprayed on the ground of each parking space, and re-uploads a WIFI position signal of a coordinate point to a central processing server, and the central processing server dynamically updates the created and stored large-scale garage WIFI fingerprint library according to the new WIFI position signal of the coordinate point.
4. The system for updating the large-scale garage WIFI fingerprint library according to claim 3, wherein the cruise vehicle supplements a two-dimensional code identifier of a spray painting instruction point in the garage and sends a WIFI instruction position signal of the instruction point to the central processing server according to the instruction requirement of the central processing server, and the central processing server dynamically updates the created and stored large-scale garage WIFI fingerprint library according to the WIFI instruction position signal of the supplemented instruction point.
5. The system for updating the WIFI fingerprint library of the large garage according to claim 3, further comprising a user mobile phone and an APP module installed, wherein the APP module is configured to direct a user to park a vehicle in a nearby parking space and to reversely search for a vehicle parked in the parking space, the central processing server obtains a WIFI mobile phone position signal of the user mobile phone in the parking space, and dynamically updates the created and stored WIFI fingerprint library of the large garage, and the WIFI mobile phone position signal of the user mobile phone is confirmed by the APP module of the user.
6. A method for creating a large garage WIFI fingerprint library according to claim 1 or 2, comprising the steps of:
step one: establishing a floor plan of each parking space and channel of the large garage;
step two: spraying at least one two-dimensional code mark serving as a coordinate point on the ground of a set area near each parking space by using the cruise vehicle through a two-dimensional code spraying device, and sending a WIFI position signal of the coordinate point to a central processing server through the WIFI signal acquisition module and the data transmission interaction module;
step three: and the central processing server establishes a one-to-one correspondence with the two-dimensional code identification information and the time information of each parking stall according to the received WIFI position signal of the coordinate point of each parking stall, so as to establish and store the WIFI fingerprint library of the large garage.
7. The method for creating the large-scale garage WIFI fingerprint library according to claim 6, further comprising the steps of spraying two-dimensional code identifiers on the ground of the channel by using the cruise vehicle through a two-dimensional code spraying device, and sending WIFI channel position signals of the two-dimensional code identifier points to a central processing server through the WIFI signal acquisition module and the data transmission interaction module, wherein the central processing server creates and stores the WIFI position signals of the coordinate points of each parking space and the WIFI channel position signals of the channel.
8. A method for updating a large garage WIFI fingerprint library according to any one of claims 3 to 5, comprising the following updating modes:
the first updating mode is as follows: in a set time interval, the cruising vehicle cruises in a garage according to the instruction requirement of a central processing server, a two-dimensional code identification device scans and identifies a sprayed two-dimensional code mark on the ground of a set area near each parking space, and meanwhile, a WIFI position signal of a coordinate point is uploaded to the central processing server, and the central processing server dynamically updates a created and stored WIFI fingerprint library of the large garage according to the WIFI position signal of the coordinate point;
the second updating mode: the cruise vehicle supplements a two-dimensional code identifier of a spray painting instruction point in the garage at any time according to the instruction requirement of the central processing server and sends a WIFI instruction position signal of the spray painting instruction point to the central processing server, and the central processing server dynamically updates a created and stored WIFI fingerprint library of the large-scale garage according to the WIFI instruction position signal of the supplemented instruction point;
third update method: the method comprises the steps that a user mobile phone and an installed APP module are utilized for updating, the APP module is used for guiding a user to park a vehicle in a nearby parking space and reversely searching the vehicle parked in the parking space, a central processing server obtains a WIFI mobile phone position signal of the position of the user mobile phone in the parking space and dynamically updates a created and stored WIFI fingerprint library of a large garage, and the WIFI mobile phone position signal of the position of the user mobile phone is confirmed by the APP module of the user.
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