CN106530819A - Vehicle detection device and detection method - Google Patents
Vehicle detection device and detection method Download PDFInfo
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- CN106530819A CN106530819A CN201710002708.4A CN201710002708A CN106530819A CN 106530819 A CN106530819 A CN 106530819A CN 201710002708 A CN201710002708 A CN 201710002708A CN 106530819 A CN106530819 A CN 106530819A
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- vehicle
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- parking stall
- geomagnetic sensor
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- General Physics & Mathematics (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention provides a vehicle detection device. The vehicle detection device comprises a geomagnetic sensor and a data processing apparatus, wherein the geomagnetic sensor is used for collecting magnetic field signals surrounding a parking space and transmitting to the data processing apparatus; and the data processing apparatus receives the magnetic field signals detected by the geomagnetic sensor and determines whether the vehicle enters into or leaves the parking space according to changes of the magnetic field signals. Cost of the vehicle detection device is low and the vehicle detection device is suitable for an outdoor parking lot. The invention also provides a state detection method of the vehicle detection device.
Description
Technical field
The present invention relates to detection field, more particularly to a kind of vehicle checker and detection method.
Background technology
With continuous quickening and the fast development of auto industry, vehicle guaranteeding organic quantity and the motor vehicle of process of modernization
The volume of traffic is continuously increased, and driving hardly possible, parking difficulty have become two big persistent ailments of urban transportation.It is solution to greatly develop park construction
A certainly important means of parking difficulty, but as intelligent management level is not high, depend on the traditional mode of labor management to expose
The drawbacks of going out more and more obvious.Therefore, it is possible to facilitate car owner quickly to prepare to find parking stall, information-based parking resource is integrated, is improved
Parking lot service efficiency, at the same ensure parking lot industry entirety economic benefit intelligent parking management system obtain it is huge
Concern.
The core of intelligent parking system is the accurate detection to parking position state.Therefore, industry has developed some inspections
Survey method come solve the problems, such as detect parking position take, such as contactless card, ultrasonic wave, video, etc. detection method.But the inspection of the above
There is certain defect in survey method, for example, although contactless card is installed and easy to use, be only used for closed parking lot,
And the total idle berth number in parking lot can only be counted, it is impossible to detect the occupancy situation in concrete berth.Ultrasonic detection method
Parking garage is only applicable to, has the disadvantage that power consumption is higher, individually need to be powered, and ultrasonic probe short life, need Jing often to change.
Video detecting method needs to arrange a large amount of cameras, so cost is also higher.Therefore it provides a kind of be applied to motor pool,
Lower-cost parking position condition checkout gear is the technical problem of this area urgent need to resolve.
The content of the invention
The technical problem to be solved in the present invention is：A kind of vehicle checker and detection method are provided, which can apply to outdoor and stops
Parking lot, and cost is relatively low.
What the solution of the present invention was realized in：A kind of vehicle checker, which includes
Geomagnetic sensor, for gathering berth periphery field signal, and transmits to data processing equipment；
Data processing equipment, receives the field signal of the geomagnetic sensors detection, and is sentenced according to the change of field signal
It is disconnected whether to have car to enter or roll berth away from；
Micro- radar sensor, is connected with the data processing equipment, and the signal for gathering to geomagnetic sensor carries out school
Core.
Another technical scheme of the present invention is that, on above-mentioned basis, micro- radar sensor is water proof type integration
Ultrasonic sensor.
Another technical scheme of the present invention is on above-mentioned basis, also including signal transmitting module, with the data
Processing meanss be connected, for by the data is activation of vehicle checker to background server.
Another technical scheme of the present invention is that, on above-mentioned basis, the signal transmitting module is wireless network signal
Sending module or Bluetooth signal sending module.
Another technical scheme of the present invention is that the wireless network signal sending module includes day on above-mentioned basis
Line and wireless serial communication module.
Another technical scheme of the present invention is on above-mentioned basis, also including power module, for supplying to vehicle checker
Electricity, the power module are connected with geomagnetic sensor and data processing equipment.
Another technical scheme of the present invention is that, on above-mentioned basis, the data processing equipment is PCL or single-chip microcomputer.
Another technical scheme of the present invention is that the power module, earth magnetism are passed on above-mentioned basis, also including shell
Sensor and data processing equipment are installed in the housing.
Another technical scheme of the present invention is that a kind of berth state inspection of vehicle checker is additionally provided on above-mentioned basis
Survey method, comprises the following steps：
S01, parking stall background magnetic field data acquisition carry out berth geomagnetic data with 100Hz by the geomagnetic sensor and adopt
Collection, gathers the sample of more than 30, averages and be designated as parking stall background magnetic field data value；
S02, vehicle stop judging that the geomagnetic sensor catches vehicle with the refresh rate of 40Hz and stops into car into the disturbance of parking stall
Disturbance during position, records the mean value of the data, present single sampled data and front 15 unitary sampling data of unitary sampling,
And the mean value of front 15 unitary sampling data is designated as the sliding average of geomagnetic data, for judging that vehicle stops into parking stall
Dither state；Specifically, if the difference between single sliding average and moving average sample is Y, set the first difference threshold
For T1, when difference Y is more than T1, that is, think that the earth's magnetic field of berth lock periphery generates disturbance, the dynamic of the geomagnetic sensor
Refresh rate is set to 40Hz, and the magnetic field data for catching transient state is shaken；
S03, vehicle stop the condition adjudgement into parking stall, after vehicle stops parking stall completely and stops shake, the earth magnetism sensing
The data of device collection gradually recover stable, if the difference of sliding average now and parking stall background magnetic field data value is X, are on duty
When value is more than threshold value Valve for setting, judge that vehicle has smoothly been parked on berth；
S04, vehicle sail out of parking stall disturbance judge, after judging that vehicle stops into parking stall, the geomagnetic sensor with
The refresh rate of 1.25Hz catch vehicle stop recording the data of unitary sampling, present single sampled data into disturbance during parking stall with
And the mean value of front 15 unitary sampling data, and the mean value of front 15 unitary sampling data is designated as the slip of geomagnetic data
Mean value, for judging that vehicle sails out of the shake of parking stall；
S05, vehicle sail out of the condition adjudgement of parking stall completely, when sliding average and the difference of parking stall background magnetic field data value
Less than threshold value Valve, judge that vehicle sails out of parking stall completely.
Vehicle checker of the present invention and detection method, during use, can be embedded in suitable position in berth, the car test
The surface of device is concordant with ground.Berth periphery field signal is gathered by the geomagnetic sensor, and is transmitted to data processing dress
Put, data processing equipment determines whether car entrance according to the change of field signal or rolls berth away from, realizes real-time detection berth
State, and current berth state is sent in real time to background server, while teleinstruction pair can be sent by background server
Its parameter is configured, calibration magnetic field etc..The vehicle checker cost is relatively low, and goes for motor pool.
Description of the drawings
The accompanying drawing for constituting the part of the present invention is used for providing a further understanding of the present invention, the schematic reality of the present invention
Apply example and its illustrate, for explaining the present invention, not constituting inappropriate limitation of the present invention.
Fig. 1 is the theory diagram of the vehicle checker that a kind of embodiment of this programme is related to；
Fig. 2 is the structure chart of the vehicle checker that a kind of embodiment of this programme is related to；
Fig. 3 is the flow chart of the berth condition detection method that a kind of embodiment of this programme is related to.
Wherein,
1 geomagnetic sensor, 2 data processing equipment, 3 micro- radar sensor
4 signal transmitting module, 5 power module
61 embedded body, 62 tank body, 63 closure
Specific embodiment
Describe the present invention below in conjunction with the accompanying drawings, the description of this part is only exemplary and explanatory, should not
There is any restriction effect to protection scope of the present invention.Additionally, description of the those skilled in the art according to presents, can be right
Feature in presents in embodiment and in different embodiments carries out respective combination.
The embodiment of the present invention is as follows, refers to Fig. 1 and Fig. 2, a kind of vehicle checker, including geomagnetic sensor 1, for gathering pool
Position periphery field signal, and transmit to data processing equipment 2；Data processing equipment 2, receives the detection of geomagnetic sensor 1
Field signal, and car entrance is determined whether according to the change of field signal or berth is rolled away from.Wherein, the geomagnetic sensor 1
Can be using 1 module of geomagnetic sensor designed based on AMR magnetoresistive transducers, using three axle geomagnetic sensors, 1 Real-time Collection car
On position, the disturbance in earth's magnetic field and change are judging whether vehicle is parked on parking stall.Due to there is substantial amounts of ferromagnetic deposit in automobile
There iing substantial amounts of ferromagnet in engine, chassis so that earth's magnetic field is distributed in appearance distortion on car body, therefore sending out in vehicle
The region of the ferromagnet integrated distribution such as motivation, chassis, wheel shaft, the Z axis ground magnetic component perpendicular to ground detected immediately below vehicle
Significant change can occur, which is the theoretical foundation that geomagnetic sensor 1 is used for vehicle detection.In the present embodiment, select to use
The MAG3110 of Freescale gathers parking stall directly over Z axis earth magnetism point using the mode of dynamic refresh rate as geomagnetic sensor 1
The numerical value of amount.1 algorithm of geomagnetic sensor includes that the collection of parking stall background magnetic field data recognizes what vehicle was produced when stopping into parking stall
Disturbance, detection vehicle stop the plateau behind parking stall, and recognize that vehicle sails out of the disturbance produced during parking stall, and detection vehicle is complete
The plateau sailed out of behind parking stall.Stop into, the record that rolls away from and detection as vehicle is once complete.Data processing equipment 2 can
To select the processor such as PLC or single-chip microcomputer, which determines whether car entrance according to the change of field signal or rolls berth away from.Such as
Shown in Fig. 1, the data processing equipment 2 can also be included at parameter memory module, parameter setting module or serial communication protocol
Reason module, wherein parameter memory module can select FLASH memory, and the serial communication protocol processing module can be from existing
Some chips.It is preferred that micro- radar sensor 3 can adopt water proof type integrative ultrasonic wave sensor.The ultrasound
The operation principle of wave sensor is as follows：Single-chip microcomputer I/O pin sends the signal of the certain pulsewidth of certain frequency, Jing power amplifications and
With booster circuit by receiving and dispatching change-over circuit to ultrasonic sensor output ultrasonic wave signal.Ultrasonic sensor receives target and returns
Amplification demodulator is relatively exported to single-chip microcomputer ripple afterwards after filtering.Single-chip microcomputer is according to transmitting sound wave to the delay inequality for receiving sound wave
Calculate target range.It should be noted that the change of the field signal according to the detection of geomagnetic sensor 1, then by experience or reality
The threshold value of setting changes of magnetic field is tested, when changes of magnetic field exceedes threshold value, then judges have vehicle enter/to roll berth, this judgement away from
Method is disclosed in the prior art, as disclosed in Chinese patent literature CN102682600A (patent name is a kind of
Transport information detecting system) in, a kind of utilization magnetic susceptible material is disclosed come the change in its disturbance earth's magnetic field when detecting that vehicle passes through,
The problem of real-time detection traffic flow (including the presence or absence of vehicle, magnitude of traffic flow etc.).Therefore, the innovative point of this patent is not above-mentioned
In determination methods.
On the basis of above-described embodiment, in another embodiment of the present invention, also including signal transmitting module 4, with the number
According to processing meanss 2 be connected, for by the data is activation of vehicle checker to background server.
On the basis of above-described embodiment, in another embodiment of the present invention, the signal transmitting module 4 is believed for wireless network
Number sending module 4 or Bluetooth signal sending module 4.Wherein the wireless network signal sending module 4 can include antenna and nothing
Line serial communication module, wherein the wireless serial communication module can adopt LORA spread spectrum technics, the counting to have work(
Consumption is low, and power is little, long transmission distance, it is not easy to the characteristics of being disturbed.
On the basis of above-described embodiment, in another embodiment of the present invention, the data at least include vehicle checker ID, letter
Road, magnetic state and ultrasonic status signal.
On the basis of above-described embodiment, in another embodiment of the present invention, also including power module 5, for vehicle checker
Power supply, the power module 5 are connected with geomagnetic sensor 1 and data processing equipment 2.
On the basis of above-described embodiment, in another embodiment of the present invention, the power module 5 includes that two or more is in parallel
Lithium battery.In view of stand-by time demand, power module 5 can select the disposable lithium-battery of energy density high life length, but
It is that disposable lithium-battery discharge current is low, therefore in the present embodiment, from two or more lithium battery in parallel, to improve electric discharge electricity
Stream.The lithium thionyl battery (19000 MAH) and EVE board models of EVE board models ER34615 can specifically be selected
The Li-Ion rechargeable battery of SPC1520 is used in parallel, or is used with lithium thionyl battery parallel connection storage capacitor, sub- to make up lithium
The limited deficiency of sulfonyl battery discharge current.
On the basis of above-described embodiment, in another embodiment of the present invention, as shown in Fig. 2 the vehicle checker is also including outer
Shell, the power module 5, geomagnetic sensor 1 and data processing equipment 2 are installed in the housing.The shell can be adopted
ABS injection moldings are molded.Further, the shell can include embedded body 61,63 3 part of tank body 62 and closure.It is described
The screw thread for being provided with 61 inwall of embedded body and matching on 63 outer wall of the closure, can so realize that rotation is installed, end
Face seals, and in tank body 62 forms confined space, prevents dust and rainwater from entering in tank body 62, installs very convenient, using the longevity
Life is longer.The power module 5, geomagnetic sensor 1 and data processing equipment 2 are may be mounted in the tank body 62 of the shell.
On the basis of above-described embodiment, in another embodiment of the present invention, as shown in figure 3, a kind of berth shape of vehicle checker
State detection method, comprises the following steps：
S01, parking stall background magnetic field data acquisition carry out berth geomagnetic data with 100Hz by MAG3110 sensors and adopt
Collection, it is therefore intended that complete the collection of corresponding magnetic field data sample in drop lock each time with the most fast time.20 samples of collection
And average and be designated as parking stall background magnetic field data value；
S02, vehicle stop into parking stall disturbance judge, after circulating into parking stall measure, the geomagnetic sensor with
The refresh rate of 40Hz catch vehicle stop recording into the disturbance during parking stall data of unitary sampling, present single sampled data and
The mean value of front 15 unitary sampling data, and the slip that the mean value of front 15 unitary sampling data is designated as geomagnetic data is put down
Average, for judging that vehicle stops the dither state into parking stall；Vehicle stops the dither state point two parts into parking stall：
S021, shake judge, if the difference between single sliding average and moving average sample is Y, setting first is poor
Value threshold value is T1, when difference Y is more than T1, that is, thinks that the earth's magnetic field of berth lock periphery generates disturbance, and judgement is made by parking
Into shake, return value 1.The dynamic refresh rate of the geomagnetic sensor is set to 40Hz, for catching the magnetic field data of transient state
Shake；
S022, significantly shake judge, if the difference between single sliding average and moving average sample is Y, setting the
Two difference thresholds are T2, and T2 is more than T1, when difference Y is more than T2, then judge have vehicle to cross just going up for the geomagnetic sensor
The space of side.This be because stopping and sailing out of in vehicle during, the part concentrated due to ferromagnet is by directly over sensor
When, the violent magnetic field data skew more than the second difference threshold T2 can be produced, therefore is used for judging whether vehicle crosses sensing
Space directly over device, the judgement shaken in having strengthened step S021.
S03, vehicle stop the condition adjudgement into parking stall, after vehicle stops parking stall completely and stops shake, by step S021
Middle shake judgement may determine that parking shake is over, and the data of the geomagnetic sensor collection gradually recover stable, if this
When sliding average and parking stall background magnetic field data value difference be X, when difference more than setting threshold value Valve when, judge
Vehicle has smoothly been parked on berth, and parking space state is berth to there is car.Now in order to save battery electric quantity, will
The dynamic refresh rate of MAG3110 sensors is adjusted to 1.25Hz.The basis for estimation of parking space state is while judging sensor record
Vehicle stops parking stall disturbance and the plateau behind parking stall Ting Ru parking stalls.
S04, vehicle sail out of parking stall disturbance judge, after judging that vehicle stops into parking stall, the geomagnetic sensor with
The refresh rate of 1.25Hz catch vehicle stop recording the data of unitary sampling, present single sampled data into disturbance during parking stall with
And the mean value of front 15 unitary sampling data, and the mean value of front 15 unitary sampling data is designated as the slip of geomagnetic data
Mean value, for judging that vehicle sails out of the shake of parking stall；After the shake that geomagnetic sensor is captured in step S021 judges, ground
The dynamic refresh rate of Magnetic Sensor lifts 40Hz and catches shake when vehicle is sailed out of.
S05, vehicle sail out of the condition adjudgement of parking stall completely, and after vehicle sails out of parking stall completely, shake judges to return 0 i.e. nothing
The difference of shake, sliding average and parking stall background magnetic field data value is less than threshold value Valve, judges that vehicle sails out of parking stall completely
's.It is while judging that sensor record vehicle sails out of parking stall disturbance and vehicle is complete that parking stall set resets and returns the criterion without car
The plateau sailed out of behind parking stall.
In this patent, using the MAG3110 of Freescale as geomagnetic sensor, gathered using the mode of dynamic refresh rate
The numerical value of Z axis ground magnetic component directly over parking stall.Geomagnetic sensor algorithm includes that the collection of parking stall background magnetic field data recognizes car
The disturbance produced when stopping into parking stall, detection vehicle stop the plateau behind parking stall, and recognize that vehicle is produced when sailing out of parking stall
Disturbance, detect the plateau sailed out of behind parking stall completely of vehicle.Stop into, the record that rolls away from and inspection as vehicle is once complete
Survey.
The operation principle of the vehicle checker is：During work, geomagnetic sensor 1 was carried out to periphery magnetic field with the cycle of 200mS
Judge, when finding that magnetic field occurs the rate of change more than threshold value, 10mS quick samplings are opened until magnetic field is relatively stable again,
Determine whether that car enter/rolls berth away from by analyzing magnetic field Changing Pattern.Meanwhile, the superthreshold value changes in each magnetic field will all be touched
Sending out radar sensor 3 micro- works, to auxiliary judgment.After completing once the operation, vehicle checker sends out data, number to background server
According to including vehicle checker ID, channel, the information such as magnetic state, ultrasonic state.Meanwhile, vehicle checker is per 5 minutes to background server
Send a heartbeat bag data.
Vehicle checker of the present invention, during use, can be embedded in berth suitable position, the surface of the vehicle checker with
Ground is concordant.Berth periphery field signal is gathered by the geomagnetic sensor 1, and is transmitted to data processing equipment 2, at data
According to the change of field signal, reason device 2 determines whether that car is entered or rolls berth away from, realizes real-time detection berth state, and to
Background server sends current berth state in real time, while can send teleinstruction by background server carrying out to its parameter
Configuration, calibration magnetic field etc..The vehicle checker cost is relatively low, and goes for motor pool.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of vehicle checker, it is characterised in that：Including
Geomagnetic sensor, for gathering berth periphery field signal, and transmits to data processing equipment；
Data processing equipment, receives the field signal of the geomagnetic sensors detection, and according to the change of field signal judgement is
It is no to have car to enter or roll berth away from；
Micro- radar sensor, is connected with the data processing equipment, for checking to the signal that geomagnetic sensor is gathered.
2. vehicle checker according to claim 1, it is characterised in that micro- radar sensor is water proof type integrative ultrasonic
Wave sensor.
3. vehicle checker according to claim 1, it is characterised in that also including signal transmitting module, with the data processing
Device be connected, for by the data is activation of vehicle checker to background server.
4. vehicle checker according to claim 3, it is characterised in that the signal transmitting module is that wireless network signal sends
Module or Bluetooth signal sending module.
5. vehicle checker according to claim 4, it is characterised in that the wireless network signal sending module include antenna and
Wireless serial communication module.
6. vehicle checker according to any one of claim 1 to 5, it is characterised in that also including power module, for car
Inspection device is powered, and the power module is connected with geomagnetic sensor and data processing equipment.
7. vehicle checker according to claim 6, it is characterised in that the data processing equipment is PCL or single-chip microcomputer.
8. vehicle checker according to claim 6, it is characterised in that also including shell, the power module, geomagnetic sensor
Install in the housing with data processing equipment.
9. the berth condition detection method of a kind of vehicle checker, it is characterised in that comprise the following steps：
S01, parking stall background magnetic field data acquisition carry out berth geomagnetic data collection, collection 30 with 100Hz by geomagnetic sensor
Sample more than individual, averages and is designated as parking stall background magnetic field data value；
S02, vehicle stop judging into the disturbance of parking stall, when the geomagnetic sensor is stopped into parking stall with the refresh rate seizure vehicle of 40Hz
Disturbance, record unitary sampling data, present single sampled data and front 15 unitary sampling data mean value, and will
The mean value of front 15 unitary sampling data is designated as the sliding average of geomagnetic data, for judging that vehicle stops the shake into parking stall
State；Specifically, if the difference between single sliding average and moving average sample is Y, the first difference threshold is set as T1,
When difference Y is more than T1, that is, think that the earth's magnetic field of berth lock periphery generates disturbance, the dynamic refresh rate of the geomagnetic sensor
40Hz is set to, the magnetic field data for catching transient state is shaken；
S03, vehicle stop the condition adjudgement into parking stall, and after vehicle stops parking stall completely and stops shake, the geomagnetic sensor is adopted
The data of collection gradually recover stable, if the difference of sliding average now and parking stall background magnetic field data value is X, when difference it is big
When threshold value Valve of setting, judge that vehicle has smoothly been parked on berth；
S04, vehicle sail out of the disturbance of parking stall and judge that, after judging that vehicle stops into parking stall, the geomagnetic sensor is with 1.25Hz's
Refresh rate catches vehicle and stops into disturbance during parking stall, records the data of unitary sampling, present single sampled data and first 15
The mean value of unitary sampling data, and the mean value of front 15 unitary sampling data is designated as the sliding average of geomagnetic data,
For judging that vehicle sails out of the shake of parking stall；
S05, vehicle sail out of the condition adjudgement of parking stall completely, when the difference of sliding average and parking stall background magnetic field data value is less than
Threshold value Valve, judges that vehicle sails out of parking stall completely.
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Cited By (11)
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| CN107067747A (en) * | 2017-05-27 | 2017-08-18 | 苏州思卡信息系统有限公司 | A kind of composite automotive detector and its detection method |
| CN108510789A (en) * | 2018-05-08 | 2018-09-07 | 深圳市恒诺物联科技有限公司 | A kind of wisdom managing system of car parking |
| CN109472980A (en) * | 2018-10-18 | 2019-03-15 | 成都亚讯星科科技股份有限公司 | Earth magnetism wagon detector and its detection method based on NB-IoT technology |
| CN109615876A (en) * | 2018-12-28 | 2019-04-12 | 张明荣 | A kind of vehicle is in position detecting method and system |
| CN109935105A (en) * | 2019-04-04 | 2019-06-25 | 石家庄学院 | Geomagnetic parking stall detection system and method based on NB-iot |
| CN110364017A (en) * | 2019-07-11 | 2019-10-22 | 武汉拓宝科技股份有限公司 | A kind of parking space state detection method for combining magnetic field and microwave |
| CN113066293A (en) * | 2021-03-15 | 2021-07-02 | 四川长虹网络科技有限责任公司 | Detection optimization method of geomagnetic vehicle detector and geomagnetic vehicle detector |
| CN113689711A (en) * | 2021-08-31 | 2021-11-23 | 武汉拓宝科技股份有限公司 | Geomagnetic parking detection method and system |
| CN114255600A (en) * | 2022-01-26 | 2022-03-29 | 杭州海康威视数字技术股份有限公司 | Parking detection method, parking detection equipment and storage medium |
| CN114333329A (en) * | 2022-01-26 | 2022-04-12 | 杭州海康威视数字技术股份有限公司 | Parking detection method, parking detection equipment and storage medium |
| CN115497305A (en) * | 2022-09-13 | 2022-12-20 | 成都蕊感微电子有限公司 | Parking vehicle detection method, device and system and computer readable storage medium |
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