CN106169247B - Indoor positioning and micro-navigation system and method of parking garage based on vision and map - Google Patents

Abstract

The invention provides a visual and map-based parking garage indoor positioning and micro-navigation system and method, which comprises the following steps: a mobile device, a server; the mobile equipment is provided with an IMU sensor and is used for sensing the position of a user, downloading or calling a garage map and positioning the parking position of the user and the initial position of the user during vehicle taking; the server is a remote server, maps of a plurality of indoor garages are stored in the server, garage map downloading service can be provided according to the request of a user, and at least one path is generated according to the user position and the destination position positioned by the mobile equipment. The invention can position the parking position of the user without depending on GPS signals, and can be used for navigation by combining with the sensor carried by the mobile equipment, thereby helping the user quickly, conveniently and accurately find the parked vehicle in a complicated parking garage environment.

Description

Indoor positioning and micro-navigation system and method of parking garage based on vision and map

technical field

The invention relates to the field of positioning and navigation, in particular, to an indoor positioning and micro-navigation system and method for parking garages based on vision and maps.

Background technique

Due to the lack of landmark references in urban parking garages, users are easy to get lost in such an environment. However, since most of the parking garages are underground (or indoors on the ground) and not within the coverage of GPS signals, it is also difficult for users to use GPS navigation tools to navigate and locate.

At present, most parking garages have signs to guide users to leave the parking garage after parking, and users need to remember the specific information of the parking location of the vehicle (such as area, parking space number, etc.), and can pass the parking garage when picking up the car. to find your parked vehicle. Once the user forgets the information of the parking location of the vehicle, the complexity of fetching the vehicle will be greatly increased.

Searched:

The application number is: 201410730947.8, and the name of the invention is: "An indoor navigation system and a method for precise positioning thereof". The proposed system realizes precise navigation in complex indoor scenes, and claims that the error is smaller than the existing indoor positioning technology. The system involved in the patent application needs to assume a server center and several wireless APs, which is expensive and not suitable for the application environment of parking garage.

The two patent documents of US Patent Nos.: US20140232569 and US20140232570 propose that by establishing a data connection between a device in which the system is installed and a compatible vehicle, the connection and interaction between the two can be realized by means such as Bluetooth. The device can recognize when and where the user parks the vehicle, record the location with a door open signal or an engine off signal, and continue to track the user's movement. At the same time, these two patents can also use the IMU and other sensors that come with the device to track the location. When the user wants to find his parked vehicle, he can ask the system to "find the vehicle", and the system will realize the navigation. This solution can perform positioning and navigation without GPS signals, but requires car manufacturers to support the system covered by the patent, which is not compatible with all vehicles. In addition, since the system is bundled with the vehicle, once the user loses the device on which the system is installed, the user's vehicle also has potential safety hazards.

SUMMARY OF THE INVENTION

In view of the defects in the prior art, the purpose of the present invention is to provide an indoor positioning and micro-navigation system and method for parking garages based on vision and maps.

The vision and map-based parking garage indoor positioning and micro-navigation system provided according to the present invention includes: a mobile device and a server;

The mobile device is equipped with an IMU sensor, which is used to sense the user's position, download or call the garage map, locate the user's parking position and the user's starting position when picking up the car, and generate at least one according to the user's position and the destination position. a path;

The server is a remote server, and internally stores a plurality of indoor garage maps, and can provide a garage map download service according to a user's request.

Preferably, the mobile device includes: a smart phone and a tablet computer capable of installing system App.

According to the vision and map-based indoor positioning and micro-navigation method for parking garages provided by the present invention, the method includes the following steps:

Parking steps: When the user's vehicle enters the indoor garage, the user requests the server to download the garage map, or calls the downloaded garage map, finds the parking space for parking, and records the parking space logo and saves it in the mobile device;

Steps for picking up the car: When the user enters the garage to pick up the car, the parking space or garage sign at the location is photographed. The mobile device determines the starting point according to the user's photographed sign, and determines the parking space position according to the parking space sign photographed when parking, and generates at least one parking space. A pick-up route to provide users with real-time navigation services.

Preferably, the parking step includes:

Vehicle state detection step: determine the location of the parking garage where the vehicle enters by using the GPS signal of the mobile device and the signal of the communication base station, that is, to identify the parking garage;

Garage map download steps: send a garage map download request to the server, download the identified garage map through mobile data traffic or WiFi, and save it in the mobile device;

Vehicle parking positioning steps: After the user finishes parking, the mobile device takes pictures of the sign corresponding to the parking space, automatically identifies the user's parking position information, and saves it.

Preferably, the step of taking the car includes:

Navigation starting point positioning steps: when the user picks up the car, the mobile device is used to shoot the mobile device to locate the user's position in the garage, and determine the starting point position;

Path planning step: automatically generate at least one pick-up path according to the user's starting point position and the saved parking position information;

Navigation step: The user selects any car pick-up path, and the IMU sensor of the mobile device updates the user's current position in real time, and provides the user with the next travel direction and the distance to the parking position.

Preferably, it also includes a garage environment identification step: pasting the parking space numbers at all parking spaces in the garage, and pasting a prompt mark on the ground or wall at the user's entrance;

Specifically, the area is divided according to the layout of the garage, and the parking spaces in each area are regularly numbered. If there are multiple entrances and exits in the garage, each entrance and exit is numbered.

Preferably, the method further includes: a step of navigating out of the garage: when the user finds his vehicle, an exit path is automatically generated according to the exit selected by the user, the IMU sensor of the mobile device updates the user's current position in real time, and provides the next travel direction and the distance to the exit.

Compared with the prior art, the present invention has the following beneficial effects:

The vision and map-based parking garage indoor positioning and micro-navigation system provided by the present invention can locate the user's parking position without relying on GPS signals, and combine the sensors carried by the mobile device for navigation, helping the user to quickly navigate in the complex parking garage environment. Find your parked vehicle easily and accurately.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

1 is a timing diagram of a positioning and navigation system of the present invention;

Fig. 2 is the flow chart of detecting vehicle state and map downloading;

Figure 3 is a flowchart of indoor positioning and navigation.

Detailed ways

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the inventive concept. These all belong to the protection scope of the present invention.

The vision and map-based parking garage indoor positioning and micro-navigation system provided by the present invention is used to help users find their own parked vehicles in the parking garage (without GPS environment), including mobile devices and servers;

The mobile device is equipped with an IMU sensor, which is used to sense the user's position, download or call the garage map, locate the user's parking position and the user's starting position when picking up the car, and locate the user's position and purpose according to the mobile device. generate at least one path at the location;

The server is a remote server, and internally stores a plurality of indoor garage maps, and can provide a garage map download service according to a user's request.

The mobile device includes: a smart phone and a tablet computer capable of installing system App.

The vision and map-based indoor positioning and micro-navigation method for parking garages provided according to the present invention includes the following steps: a parking step and a car fetching step;

The parking step includes:

Vehicle state detection step: determine the location of the parking garage where the vehicle enters through the GPS signal of the mobile device and the signal of the communication base station, that is, to identify the parking garage to obtain a garage map corresponding to the parking garage;

Garage map download steps: send a garage map download request to the server, download the corresponding garage map through mobile data traffic or WiFi, and save it in the mobile device; if the user has downloaded the corresponding garage map in advance, it can be called from the mobile device. No need for repeated downloads;

Vehicle parking positioning steps: After the user finishes parking, the mobile device is used to photograph the sign corresponding to the parking space, and the user's parking position information is automatically identified and saved;

The step of taking the car includes:

Navigation starting point positioning steps: the user shoots the garage logo through the mobile device, the mobile device recognizes the location information, and determines the starting point position;

Path planning steps: According to the user's starting point position and the saved parking position information, multiple car pickup paths are automatically generated;

Navigation step: The user selects any car pick-up path, and the IMU sensor of the mobile device updates the user's current position in real time, and provides the user with the next travel direction and the distance to the parking position.

The parking garage indoor positioning and micro-navigation method based on vision and map also includes the step of leaving the garage: when the user finds his vehicle, the exit path is automatically generated according to the exit selected by the user, and the IMU sensor of the mobile device updates the user's information in real time. The current position, and provide the next travel direction and the distance to the exit.

The method for indoor positioning and micro-navigation of parking garages based on vision and maps further includes the steps of identifying the garage environment: pasting the parking space numbers on all parking spaces in the garage, and pasting prompt signs on the ground or wall at the user's entrance, Specifically, the area is divided according to the layout of the garage, and the parking spaces in each area are regularly numbered. If there are multiple entrances and exits in the garage, each entrance and exit is numbered.

Specifically, the purpose of the present invention is to make the user, when returning to the parking garage to pick up the car, only rely on the markers on the floor or wall of the parking garage, the mobile device in his hand and its accompanying camera function and the image processing algorithm of the present invention to determine the vehicle According to the specific location of the mobile device, and navigate according to the sensors such as the IMU that comes with the mobile device, so that the user can accurately and quickly retrieve the parked vehicle.

In order to achieve the above objects, the system adopted by the present invention includes six parts: vehicle status detection, map download, vehicle parking positioning, navigation starting point positioning, path planning and navigation.

The vehicle status detection part can be combined with the GPS positioning function of the mobile device to determine whether the vehicle is approaching the parking garage, and then judge whether the vehicle enters the garage by the strength of the GPS signal. If the vehicle is found to be in the garage, the system will prepare to start the map download.

In the map download part, when the system detects that the vehicle has entered the parking garage, it will determine which parking garage the vehicle is entering according to the GPS positioning information when the vehicle status is detected, and download the corresponding parking garage map from the database.

In the vehicle parking positioning part, after the user parks the vehicle in the parking garage, the system can determine the specific location of the vehicle parking according to the photos taken by the user.

The navigation starting point positioning part is similar to the vehicle parking positioning part. When the user returns to the parking garage to pick up the car, the system can determine the user's current location according to the photo taken by the user.

In the path planning part, a route is planned according to the positioning data and the parking garage map to prepare for navigation.

The navigation part, based on the route made by the path planning part, combined with the sensors attached to the mobile device, informs the user of the direction of travel in real time until the vehicle is finally retrieved.

Example 1

This embodiment provides an indoor positioning and micro-navigation system for parking garages based on vision and maps.

The system involves four parts: users, mobile devices, servers and parking garages. As shown in Figure 1, the parking garage needs to provide a map of the parking garage, and it needs to have obvious signs at the parking space and the entrance. For example, the parking space number should be indicated on the ground of the parking space, and the entrance serial number should be posted at the pedestrian entrance. ;The server is responsible for storing the maps of each parking garage for the mobile device to call; the user needs to take pictures of the identification of the parking garage when parking and picking up the car, and move his position according to the navigation route provided by the mobile device; the mobile device obtains the map from the server, Obtain the photographed signs from the user, calculate the parking space and the parking space and provide the user with a route, and update the current user's position in real time according to the user's movement.

Figure 1 also shows the specific implementation sequence of the above functions. The map provided by the parking garage is stored by the server, and the mobile device obtains the map from the server. The parking garage provides signs for the user to photograph. The mobile device obtains the sign and calculates the location and provides the user with a travel route. The user moves his position according to the route, and the mobile device updates the current position in real time and navigates according to the user's movement.

The system adopted by the present invention includes six parts: vehicle status detection, map download, vehicle parking positioning, navigation starting point positioning, path planning and navigation.

The vehicle status detection part can be combined with the GPS positioning function of the mobile device to determine whether the vehicle is approaching the parking garage, and then judge whether the vehicle enters the garage by the strength of the GPS signal. If the vehicle is found to be in the garage, the system will prepare to start the map download.

In the map download part, when the system detects that the vehicle has entered the parking garage, it will determine which parking garage the vehicle is entering according to the GPS positioning information when the vehicle status is detected, and download the corresponding parking garage map from the database. If it is found that a map of the parking garage already exists in the mobile device, it will not be downloaded.

In the vehicle parking positioning part, after the user parks the vehicle in the parking garage, the user needs to use the mobile device to take a picture of the parking garage ground or wall sign at the parking position of the vehicle, and the system matches and indoor positioning algorithms according to the image features. The position where the vehicle is parked is calculated and stored in the system.

The navigation starting point positioning part is similar to the vehicle parking positioning part. When the user returns to the parking garage to pick up the car, he needs to take a picture of the ground or wall sign of the parking garage at the current location, and the system calculates according to the algorithm of image feature matching and indoor positioning. The current location of the user is displayed and stored in the system to prepare for path planning.

The path planning part, according to the starting and ending point data and the parking garage map obtained by the vehicle parking positioning part and the navigation starting point positioning part, plans a route according to the path planning algorithm, displays it on the mobile device, and prepares for navigation.

The navigation part calculates the user's current position in real time according to the route made by the path planning part, combined with sensors such as the IMU attached to the mobile device, and informs the user of the direction of travel in real time through images and voice until the vehicle is finally retrieved and the navigation is over.

Figure 2 shows the flow chart of vehicle status detection and map download. As shown in Figure 2, when the vehicle is traveling, the system will continuously search for GPS signals and update the current position of the vehicle. Since the GPS signal can be received by the outdoor mobile device, and the GPS signal will be lost when the vehicle enters the underground, it is judged that if the GPS signal is lost for more than two minutes, it is considered to enter the underground. Search for a parking garage near the location. If there is no parking garage, the vehicle may enter a tunnel, etc., and the map download will not be performed. If there is a parking garage near the location where the GPS signal is lost, it can be determined that the vehicle has entered the parking garage, and the parking garage map is downloaded immediately.

Figure 3 shows the flow chart of the indoor positioning and navigation part. First, the user photographs the signs near the parking space at the parking position, such as the numbers on the ground representing the parking spaces. The system compares and analyzes the downloaded parking garage map with the photos taken, and determines the location of the logo in the photo as the parking location. When the user returns to pick up the car, take a picture of the sign at the entrance of the parking garage (it is equivalent to photographing the parking space sign at any position inside the parking garage), and the system determines the current location of the user according to the map and the photographed photo as the starting position . The system calculates the best path to retrieve the vehicle according to the starting position, parking position, parking garage map and path planning algorithm, and marks it on the map for users to use. When the user travels according to the map, the system will collect data from sensors such as the IMU of the mobile device, calculate the user's current location in real time, and update it on the map until the navigation is completed.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essential content of the present invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily, provided that there is no conflict.

Claims (7)

1. The utility model provides a garage parking indoor location and little navigation based on vision and map which characterized in that includes: a mobile device, a server;

the mobile equipment is provided with an IMU sensor and is used for sensing the position of a user, downloading or calling a garage map, positioning the parking position of the user and the starting position of the user during car taking, and generating at least one path according to the position of the user and the destination position;

the server is a remote server, maps of a plurality of indoor garages are stored in the server, and a garage map downloading service can be provided according to a request of a user;

the system can continuously search GPS signals and update the current position of the vehicle in the process of vehicle advancing, because the outdoor mobile equipment can receive the GPS signals, and the GPS signals are lost after the vehicle enters the underground, the vehicle is judged to enter the underground if the GPS signals are lost for more than two minutes, the position where the GPS signals are received last time is recorded, a parking garage is searched near the position, and if the parking garage is not available, map downloading is not carried out; and if the parking garage exists near the position where the GPS signal is lost, judging that the vehicle drives into the parking garage, and immediately downloading a map of the parking garage.

2. The vision and map based parking garage indoor positioning and micro navigation system of claim 1, wherein said mobile device comprises: the smart phone and the tablet computer of the system App can be installed.

3. A visual and map-based parking garage indoor positioning and micro-navigation method is characterized by comprising the following steps:

a position judgment step: the system can continuously search GPS signals and update the current position of the vehicle in the process of vehicle advancing, because the outdoor mobile equipment can receive the GPS signals, and the GPS signals are lost after the vehicle enters the underground, the vehicle is judged to enter the underground if the GPS signals are lost for more than two minutes, the position where the GPS signals are received last time is recorded, a parking garage is searched near the position, and if the parking garage is not available, map downloading is not carried out; if the parking garage exists near the position where the GPS signal is lost, judging that the vehicle drives into the parking garage, and entering a parking step to continue execution;

parking: when a user vehicle enters an indoor garage, requesting a server to download a garage map, or calling the downloaded garage map, searching for a parking space to park, shooting a parking space identifier and storing the parking space identifier in mobile equipment;

a vehicle taking step: when a user enters the garage and prepares to take a car, the user shoots a parking space or a garage identifier at the position, the mobile device determines the starting point position according to the shot identifier of the user, determines the parking space position according to the shot parking space identifier during parking, generates at least one car taking path and provides real-time navigation service for the user.

4. The visual and map-based parking garage indoor positioning and micro-navigation method of claim 3, wherein said parking step comprises:

a vehicle state detection step: determining the position of a parking garage where a vehicle drives in through a GPS signal of the mobile equipment and a signal of a communication base station, namely identifying the parking garage;

a step of downloading a garage map: sending a garage map downloading request to a server, downloading the identified garage map through mobile data flow or WiFi, and storing the garage map in mobile equipment;

vehicle parking positioning: after the user finishes parking, the mobile equipment shoots the identification of the corresponding parking space, and the parking position information of the user is automatically identified and stored.

5. The visual and map-based parking garage indoor positioning and micro-navigation method of claim 3, wherein the vehicle pickup step comprises:

navigation starting point positioning step: when a user gets a car, the position of the user in the garage is positioned by shooting the mobile equipment through the mobile equipment, and the starting point position is determined;

path planning step: automatically generating at least one vehicle taking path according to the starting position of the user and the stored parking position information;

navigation: the user selects any vehicle taking path, the current position of the user is updated in real time by an IMU sensor of the mobile equipment, and the next traveling direction and the distance from the user to the parking position are provided for the user.

6. The visual and map-based parking garage indoor positioning and micro-navigation method of claim 3, further comprising the garage environment identification step of: pasting parking space numbers on all parking spaces of the garage, and pasting prompt marks on the ground or the wall surface at the entrance of a user;

specifically, the areas are divided according to the layout of the garage, parking spaces in each area are numbered regularly, and if the garage has a plurality of entrances and exits, each entrance and exit is numbered.

7. The visual and map-based parking garage indoor positioning and micro-navigation method of claim 3, further comprising: and (3) exiting the garage and navigating: and when the user finds the vehicle, automatically generating a delivery path according to the exit selected by the user, updating the current position of the user in real time by an IMU sensor of the mobile equipment, and providing the following path direction and the distance to the exit.

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