CN105654766A - Underground parking car finding system based on ZigBee fingerprint positioning technology and control method thereof - Google Patents
Underground parking car finding system based on ZigBee fingerprint positioning technology and control method thereof Download PDFInfo
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- CN105654766A CN105654766A CN201610164042.8A CN201610164042A CN105654766A CN 105654766 A CN105654766 A CN 105654766A CN 201610164042 A CN201610164042 A CN 201610164042A CN 105654766 A CN105654766 A CN 105654766A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
Abstract
The invention discloses a large underground parking car finding system based on the ZigBee fingerprint positioning technology. The system helps car owners find their parking spaces quickly when the car owners go back to a parking place long after parking, the use efficiency of the parking place is increased, and time and energy of the car owners are saved. The system can help the car owners find their parking spaces as soon as possible, the time and energy of the car owners are saved, and the use efficiency of the parking place is increased; the automation degree of car finding is increased, and the process of inplace registration (binding), positioning and leaving logout (unbinding) is automatically achieved. The manual operation by the car owners during the car finding process is reduced to the maximum extent; the situation that many people park and many people look for cars at the same time is taken into consideration; handheld parking cards are positioned and the parking spaces and the parking cards are bound through a ZigBee wireless network node while an ultrasonic ranging sensor accurately detects the parking spaces, and the situation that the car spaces and the parking cards are bound chaotically when many people park at the same time is avoided.
Description
Technical field
The present invention relates to one and utilize ZigBee wireless sensor network and fingerprint location system thereof, help user after underground large parking lot is parked, when returning, accurately seek guiding system and the control method of car.
Background technology
In recent years, along with socioeconomic fast development, car owning amount doubles, and in the process of people's in-use automotive, not only has the inconvenience of driving, parking, also there is the difficulty seeking car, namely park car owner, walk out parking lot, after the long duration, not remembering where the car of oneself is parked on earth clearly, the parking stall of oneself is found on time-consuming, effort ground in parking lot.
In large-scale underground parking, seek car difficulty particularly evident, existing large-scale underground parking area is increasing, again owing to parking lot is in underground, building structure is more similar, and the available reference point of memory parking stall is few, after car owner parks, stay after for a long time to market on the ground or office, according to have forgotten oneself original parking stall where.
Summary of the invention
Technical problem to be solved by this invention is: design and develop a kind of large-scale underground parking lot vehicle-searching system based on ZigBee fingerprint location technology, help car owner to park to leave, after returning to parking lot for a long time, the parking stall of oneself can be found fast, promote the service efficiency in parking lot, save time and the energy of car owner.
In order to solve the problems of the technologies described above, the present invention adopts following scheme:
A kind of large-scale underground parking lot vehicle-searching system based on ZigBee fingerprint location technology, it is characterised in that it comprises a wireless sensor network platform, hand-held parking card, liquid crystal display, background service center;
1) by being arranged in, the ZigBee sensor node on top, parking lot or between layer forms wireless sensor network platform with the ultrasonic ranging node being arranged on each parking stall; radio sensing network platform is built by procotol and communication protocol between node; radio sensing network passes the wireless signal strength indicator signal RSSI on hand-held parking card back background service center, calculates the physical location of car owner and hand-held parking card by background service center;
2) hand-held parking card: hand-held parking card is in fact also a ZigBee sensor node; when user is when a certain position; parking card measures the wireless signal strength RSSI value of the ZigBee sensor node arranged above parking lot; and pass the ZigBee sensor node of these RSSI value above parking lot back background service center, then obtain parking card and the position at car owner self place by background service center according to fingerprinting localization algorithm;
3) background service center is integrated by computer, programming plate and ZigBee sensor network root node, the parking space information of other nodal test is received by CTP agreement, it is sent to computer again by serial ports, form the overall parking space information figure in parking lot, ZigBee sensor network root node is connected with computer by programming plate, background service center is responsible for the parking stall situation in real-time collecting parking lot, and it is displayed on liquid-crystal display screen, the position that background service center is also current according to car owner, selecting paths guides car owner to oneself parking stall.
4) liquid crystal display: the crucial crossing being arranged on parking lot, carries out data interaction by wired mode and background server, and the direction receiving background service center guides data, and car owner is to parking stall in instruction.
Further, a ZigBee sensor node and ultrasonic distance-measuring sensor is arranged above each parking stall, and being undertaken integrated by ZigBee sensor node by interface and ultrasonic distance-measuring sensor, ultrasonic transducer signal transfers back to background service center by ZigBee wireless network.
A kind of large-scale underground parking lot vehicle-searching system control method based on ZigBee fingerprint location technology, it is characterized in that utilizing ZigBee fingerprint algorithm to position, a large amount of ZigBee sensor node above parking lot forms anchor node, parking card in car owner's hand is node to be positioned, obtains parking card and the position at car owner place according to fingerprinting localization algorithm.
Further, car owner, when parking, registers parking stall automatically, hand-held parking card and parking stall binding, when car owner leaves parking stall, and the automatic logging off users of system, the releasing binding of hand-held parking card and parking stall.
Further, when car owner parks, ultrasonic distance-measuring sensor detects parking stall stop sign, passes backstage back by radio sensing network, obtains parking stall number; And ZigBee node utilizes fingerprint location method in the hand-held card position of hind computation; On backstage by parking stall number and the numbering binding of hand-held parking card.
Further, when car owner seeks car, wireless network detects that new parking card appears at Entrance, start to locate this parking card, and on backstage, according to parking card present position, parking stall, calculate path of navigation, it is displayed on the display screen of parking lot key crossing.
The advantage that the present invention has and effect are: 1) the present invention can help car owner to find the parking stall of oneself as early as possible, saves the time and efforts of car owner, also improves the service efficiency carrying parking lot; 2) invention increases the level of automation seeking car, automatically realize registration in place (binding), locate and leave cancellation (going binding) process. Decrease to maximum degree the During manual operation that car owner seeks car process; 3) contemplated by the invention many people to park and the situation of many people when simultaneously seeking car simultaneously, while ultrasonic distance-measuring sensor accurately detects out parking stall, ZigBee wireless network node locates hand-held parking card, and both is bound, when avoiding many people to stop, parking stall and parking card binding are chaotic simultaneously.
Accompanying drawing explanation
Fig. 1 is that the present invention seeks truck system overall structure;
Fig. 2 is parking lot car searching system network architecture;
Fig. 3 is two stage schematic diagram of fingerprint location;
Fig. 4 is the binding procedure of hand-held parking card and parking stall;
Fig. 5 is the releasing binding procedure that hand-held parking is stuck in parking stall.
Embodiment
Fig. 1 is parking lot car searching system global structure figure. Mainly comprise wireless sensor network platform, hand-held parking card, liquid crystal display, background service center four parts.
By being arranged in, the ZigBee sensor node on top, parking lot or between layer forms wireless sensor network platform with the ultrasonic ranging node being arranged on each parking stall, ZigBee sensor node internal operation TinyOS operating system, radio sensing network platform is built by procotol and communication protocol between node, radio sensing network passes the wireless signal strength indicator signal RSSI on hand-held parking card back background service center, calculates the physical location of car owner and hand-held parking card by background service center.
A ZigBee sensor node and ultrasonic distance-measuring sensor is arranged above each parking stall, and being undertaken integrated by ZigBee sensor node by 51 needle interfaces and ultrasonic distance measuring module, ultrasonic transducer signal transfers back to background service center by ZigBee wireless network.
When car owner parks, ultrasonic transducer detects parking stall stop sign, passes backstage back by radio sensing network, obtains parking stall number; And ZigBee sensor node utilizes fingerprint location method in the hand-held card position of hind computation; On backstage by parking stall number and the numbering binding of hand-held parking card.
When car owner seeks car, wireless network detects that new parking card appears at Entrance, starts to locate this parking card, and on backstage, according to parking card present position, parking stall, calculates path of navigation, be displayed on the display screen of parking lot key crossing.
Parking lot service system is when user picks up the car for user provides navigation Service, and navigation Service forms primarily of the electronic display of the important crossing in parking lot.
Whether wireless sensor network platform utilizes sensor (adopting ultrasonic distance-measuring sensor here) to experience parking stall and has been taken or vacant, integrated ultrasonic range finder module and wireless sensor node, it is deployed in top, parking stall, is judged the vacant state of parking stall by range finding. And utilize the parking stall system of distribution that position is taken situation and delivers in background server by wireless sensor network platform. Wireless sensor network platform also interacts with hand-held parking card, utilizes RSSI fingerprint location technology to determine the position of user in parking lot, and guides user correctly to go to the parking stall of oneself.
Hand-held parking card: hand-held parking card is in fact also a ZigBee node of network, when user is when a certain position, hand-held parking card measures the wireless signal strength RSSI value of the ZigBee sensor node arranged above parking lot, and pass the ZigBee sensor node of these RSSI value above parking lot back background service center, then obtain parking card and the position at car owner self place by background service center according to fingerprinting localization algorithm.
Hand-held parking card is when automobile enters parking lot, and user gets in ingress and carries with, and user returns when picking up the car, and carries out information interaction with the wireless sensor node of surrounding, utilizes fingerprinting localization algorithm to be positioned by hand-held parking card.
Background service center, the parking stall occupied information that real-time reception sensor node sends, after data parsing, stores in a database and real-time update; Background service center also guides the stage in intelligence, calculates the optimal path of user to the car of oneself, and guides user to find the parking stall of oneself. Background service center is integrated by computer, programming plate and ZigBee sensor node, ZigBee sensor node is as wireless sensor network root node, the parking space information of other nodal test is received by CTP agreement, it is sent to computer by serial ports again, forms the overall parking space information figure in parking lot. ZigBee sensor node is connected with computer by programming plate. Background service center is responsible for the parking stall situation in real-time collecting parking lot, and is displayed on liquid-crystal display screen, the position that background service center is also current according to car owner, and selecting paths guides car owner to oneself parking stall.
Liquid crystal display: the crucial crossing being arranged on parking lot, carries out data interaction by wired mode and background service center, and the direction receiving background service center guides data, and car owner is to parking stall in instruction.
Fig. 2 is the network structure seeking truck system employing in the present invention, mainly it is divided into three parts: wireless sensor network platform adopts the TinyOS operating system increased income, and adopts data convergence protocol CTP(CollectionTreeProtocol between wireless sensing node) carry out routing forwarding; CTP agreement is a kind of data convergence protocol being applied to wireless sensor network based on TinyOS. Seek truck system and hand-held parking card carries out point-to-point communication; Wired connection is adopted between parking lot service system electronic display and backstage.
Fig. 3 is the schema of the ZigBee fingerprint location technology in the present invention, generally can be divided into two stages: the first stage is off-line training step. , it is necessary to evenly choose reference point in object location region, first and gather the wireless signal strength RSSI sample vector from each access point of reference point locations. The position coordinate of each reference point forms a location fingerprint with corresponding wireless signal strength RSSI sample vector set. Then, all finger print informations are stored in a database, namely forms RadioMap. Subordinate phase is the tuning on-line stage. First, measure wireless signal strength RSSI vector sample in real time by user terminal. Then, real-time RSSI vector sample is mated with the location fingerprint in RadioMap, or the location function that directly input has built, draw positioning result. Utilizing ZigBee fingerprint algorithm to position, a large amount of ZigBee sensor node above parking lot forms anchor node, and the parking card in car owner's hand is node to be positioned, obtains parking card and the position at car owner place according to fingerprinting localization algorithm.
Fig. 4 is the binding procedure (automatically registering parking stall) of car owner hand-held parking card and parking stall when parking, and concrete coupling binding step is as follows:
A) when car owner is when parking, be positioned at the ultrasonic distance-measuring sensor node above parking stall detection find that there is vehicle stop into, send locating request message to the hand-held parking card (vehicle stopped in parking lot) of surrounding simultaneously; Meanwhile, above parking stall, ultrasonic distance-measuring sensor node sends parking stall Status Change information to background service center.
B), after hand-held parking card receives locating request message, the anchor node ID being triggered is recorded. And send locating request message to the anchor node of surrounding.
C), after around anchor node receives the locating request message of parking card, calculate the signal receiving strength RSSI of parking card, then<anchor node ID, RSSI>is sent to this parking card.
D) after hand-held parking card receives the RSSI information that anchor node is beamed back, the value information received is utilized to form finger print information, and according to descending sort, valve value d or time are set more than t, the RSSI being greater than d is retained as fingerprint, and the finger print information of each anchor point is issued corresponding anchor node by parking card successively.
E) anchor node receives the finger print information of hand-held parking card, beams back backstage, carries out Model Matching on backstage, and calculating is the distance r of ID anchor node with coded number, i.e.<anchor node ID, r>. According to<anchor node ID, the r>that obtain, carry out parking card location Calculation by methods such as centroid method or k-neighbour's methods.
F) finding from the nearest parking stall of positioning result, this parking stall is one triggered in the above-mentioned some parking stalls of binding flow process, is bound in this parking stall number and parking card numbering.
G) backstage sends binding message to nearest parking card, and the ID of last parking card record binding parking stall, juxtaposition binding zone bit is 1.
Fig. 5 is the releasing binding procedure (automatic logging off users) of car owner hand-held parking card and parking stall when sailing out of parking stall after picking up the car, and concrete coupling binding step is as follows:
A) after vehicle leaves parking stall, triggering the ultrasonic transducer node state being positioned at above parking stall, it sends to the hand-held parking card of surrounding and releases bind-request message. Meanwhile, ultrasonic transducer node sends parking stall Status Change information to background service center; Delete navigation information corresponding in background service center.
B) after hand-held parking card receives message, binding zone bit be 1 hand-held parking card resolve this type of message, and judge that whether the anchor node ID being triggered in message is the parking stall ID of binding, if then putting binding zone bit is 0, sends binding releasing and determine; As anchor node ID and parking stall ID does not meet, abandon the message received. If bound flag position has been 0, also abandon this message.
C) ultrasonic transducer node receives comformed information, completes to release binding procedure. Otherwise, time-out is retransmitted.
Claims (6)
1. the large-scale underground parking lot vehicle-searching system based on ZigBee fingerprint location technology, it is characterised in that it comprises a wireless sensor network platform, hand-held parking card, liquid crystal display, background service center;
1) by being arranged in, the ZigBee sensor node on top, parking lot or between layer forms wireless sensor network platform with the ultrasonic ranging node being arranged on each parking stall; radio sensing network platform is built by procotol and communication protocol between node; radio sensing network passes the wireless signal strength indicator signal RSSI on hand-held parking card back background service center, calculates the physical location of car owner and hand-held parking card by background service center;
2) hand-held parking card: hand-held parking card is in fact also a ZigBee sensor node; when user is when a certain position; parking card measures the wireless signal strength RSSI value of the ZigBee sensor node arranged above parking lot; and pass the ZigBee sensor node of these RSSI value above parking lot back background service center, then obtain parking card and the position at car owner self place by background service center according to fingerprinting localization algorithm;
3) background service center is integrated by computer, programming plate and ZigBee sensor network root node, the parking space information of other nodal test is received by CTP agreement, it is sent to computer again by serial ports, form the overall parking space information figure in parking lot, ZigBee sensor network root node is connected with computer by programming plate, background service center is responsible for the parking stall situation in real-time collecting parking lot, and it is displayed on liquid-crystal display screen, the position that background service center is also current according to car owner, selecting paths guides car owner to oneself parking stall;
4) liquid crystal display: the crucial crossing being arranged on parking lot, carries out data interaction by wired mode and background server, and the direction receiving background service center guides data, and car owner is to parking stall in instruction.
2. a kind of large-scale underground parking lot vehicle-searching system based on ZigBee fingerprint location technology as claimed in claim 1, it is characterized in that arranging above each parking stall a ZigBee sensor node and ultrasonic distance-measuring sensor, and being undertaken integrated by ZigBee sensor node by interface and ultrasonic distance-measuring sensor, ultrasonic transducer signal transfers back to background service center by ZigBee wireless network.
3. a kind of large-scale underground parking lot vehicle-searching system control method based on ZigBee fingerprint location technology as claimed in claim 1, it is characterized in that utilizing ZigBee fingerprint algorithm to position, a large amount of ZigBee sensor node above parking lot forms anchor node, parking card in car owner's hand is node to be positioned, obtains parking card and the position at car owner place according to fingerprinting localization algorithm.
4. a kind of large-scale underground parking lot vehicle-searching system control method based on ZigBee fingerprint location technology as claimed in claim 3, it is characterized in that car owner is when parking, automatically parking stall is registered, hand-held parking card and parking stall binding, when car owner leaves parking stall, the automatic logging off users of system, the releasing binding of hand-held parking card and parking stall.
5. a kind of large-scale underground parking lot vehicle-searching system control method based on ZigBee fingerprint location technology as claimed in claim 3, when it is characterized in that car owner parks, ultrasonic distance-measuring sensor detects parking stall stop sign, passes backstage back by radio sensing network, obtains parking stall number; And ZigBee node utilizes fingerprint location method in the hand-held card position of hind computation; On backstage by parking stall number and the numbering binding of hand-held parking card.
6. a kind of large-scale underground parking lot vehicle-searching system control method based on ZigBee fingerprint location technology as claimed in claim 3, when it is characterized in that car owner seeks car, wireless network detects that new parking card appears at Entrance, start to locate this parking card, and on backstage, according to parking card present position, parking stall, calculate path of navigation, it is displayed on the display screen of parking lot key crossing.
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| CN201610164042.8A CN105654766A (en) | 2016-03-22 | 2016-03-22 | Underground parking car finding system based on ZigBee fingerprint positioning technology and control method thereof |
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| CN201610164042.8A CN105654766A (en) | 2016-03-22 | 2016-03-22 | Underground parking car finding system based on ZigBee fingerprint positioning technology and control method thereof |
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| CN111192477A (en) * | 2020-01-16 | 2020-05-22 | 浙江科技学院 | ZigBee-based parking lot automatic guiding method and system |
| CN114333398A (en) * | 2021-12-15 | 2022-04-12 | 三江学院 | Vehicle searching method and system |
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