CN102930741B - Method for detecting high high-precision parking space detection system - Google Patents
Method for detecting high high-precision parking space detection system Download PDFInfo
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- CN102930741B CN102930741B CN201210410977.1A CN201210410977A CN102930741B CN 102930741 B CN102930741 B CN 102930741B CN 201210410977 A CN201210410977 A CN 201210410977A CN 102930741 B CN102930741 B CN 102930741B
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Abstract
The invention relates to a high-precision stall detection system and method. The high-precision stall detection system by comprising a stall detection server, a wireless stall detection network and stall detectors, wherein the stall server is connected with the stall detectors through the wireless stall detection network, at least two stall detectors are arranged on each stall, and a certain distance is maintained between the stall detectors. The method comprises the steps that: 1, at least two stall detectors on the same stall simultaneously acquire data through respective geomagnetic sensors and send data to the stall detection server through an AP in the stall detection network; and 2, the stall detection server receives the data of the at least two stall detectors on the same stall and then carries out judgment by using comprehensive information of the at least two stall detectors. The high-precision stall detection system is reasonable in design, solves the problem of detection blind region when a vehicle is remained on a zero counteracting point of the stall detectors, is increased in accuracy rate of stall detection, and fills up the blank of a stall detection technology.
Description
Technical field
The invention belongs to parking stall measure technical field, especially a kind of High-precision vehicle position detecting system and detection method thereof.
Background technology
Utilizing geomagnetic sensor to carry out parking stall measure is a kind of parking stall measure mode emerging in recent years, is widely used in parking lot management.When the parking space detector being provided with geomagnetic sensor utilizes Geomagnetic signal to carry out parking stall measure, under being installed on surface, parking stall, when sailing into whenever there being vehicle and leave parking stall, the change of parking space detector base area sense surrounding magnetic field signal detects the arrival of vehicle and leaves, and after signal stabilization, this signal is sent to receiving trap.Along with deepening continuously of application, it is found that the interference of external environment usually causes the reduction of accuracy of detection, such as, when parking space detector reference value along with temperature drift about, Geomagnetic signal self constantly change and high-intensity magnetic field interference around time, the precision that geomagnetic sensor detects parking stall will reduce.The precision of parking stall is detected in order to improve geomagnetic sensor, there has been proposed the means of various raising accuracy of detection, such as: 1, Z axis mean value method, when gathered one group of Geomagnetic signal is when three axles are unstable, by obtaining peak value twice in Z week, then get its mean value and reach the effect accurately detected; 2, the orientable detection algorithm of Kernel-based methods: the magnetic field reference value of this algorithm and parking space detector position has nothing to do, it is by dividing quantitative analysis and feature extraction to come to detect the correlation parameter of vehicle to magnetic resistance parking space detector both direction simultaneously, break away from the dependence to predetermined threshold value, having higher accuracy and better adaptability, there is drift along with temperature and affects the problem of accuracy of detection in the reference value solved when parking space detector.
But, the sight improving vehicle detection precision all concentrates in the problem of solution external environmental interference by above-mentioned geomagnetic parking stall detection method, and have ignored the problem that also can have a strong impact on accuracy of detection in the noiseless situation of normality: namely do not having in the negligible situation of external interference, in other words external environmental interference, when on zero compensation point that vehicle is by chance parked in parking space detector, although there is car parking stall, but can't detect all the time, define the blind area in parking stall measure.This phenomenon long-standing problem technician, do not recognize all the time and cause for above-mentioned reasons, therefore, parking stall measure precision is difficult to be improved.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of High-precision vehicle position detecting system and detection method thereof are provided, solve the problem that stoppage of vehicle causes check frequency on zero compensation point of parking space detector.
The present invention solves its technical matters and takes following technical scheme to realize:
A kind of detection method of High-precision vehicle position detecting system, described system comprises parking stall measure server, wireless parking stall Sampling network and parking space detector, parking stall measure server is connected with parking space detector by wireless parking stall Sampling network, parking space detector is arranged on parking stall, the parking space detector that each parking stall is installed is at least two, maintains a certain distance between parking space detector; The distance that parking space detector on each parking stall is arranged on around the central point of parking stall and parking space detector distance parking stall central point is 0.5 meter to 1.5 meters; Described parking space detector comprises CPU module, wireless communication module, geomagnetic sensor module and power management module, CPU module is connected with wireless communication module and geomagnetic sensor module respectively by I/O interface, and power management module is connected for modules provides power supply with CPU module, wireless communication module, geomagnetic sensor module; It is characterized in that: said method comprising the steps of:
(1) the AP of at least two parking space detectors on same parking stall simultaneously by respective geomagnetic sensor modules acquiring data and in parking stall measure network sends data to parking stall measure server;
(2), after parking stall measure server receives the data of at least two parking space detectors on same parking stall, judge by the integrated information of at least two parking space detectors; When parking stall measure server carries out judging with or without car, the decision method of employing comprises: when when at least two parking space detectors, one of them is zero compensation point, and other parking space detectors must be non-zero compensation point; And adopt at least two parking space detectors to correct a mistake mutually: when zero compensation point mistake occurs a parking space detector, correct the mistake of previous parking space detector by the output valve of other parking space detectors; Described integrated information is carried out determination methods and is comprised: if when the data of all parking space detector collections are without car data, then this parking stall is without car state, otherwise this parking stall is for there being car state;
Described zero compensation point refers to when vehicle is just in time into a line with parking space detector, magnetic line of force front, rear, left and right uniform force now in parking space detector sensing range, obtained by resolution of force principle: when certain put all around uniform force time, make a concerted effort to be zero, be zero because make a concerted effort, so the magnetic line of force on this aspect can not be partial to any direction and be bent and keep original state constant, and this is referred to as zero compensation point of parking space detector.
Advantage of the present invention and good effect are:
1, the present invention installs at least two parking space detectors on each parking stall, when vehicle be parked in magnetic field upper for the central point (zero compensation point) of a parking space detector front, rear, left and right symmetry time, by the mistake of the previous parking space detector of the output calibration of other parking space detectors, thus solve the problem that stoppage of vehicle causes check frequency on zero compensation point of parking space detector, improve the accuracy rate of parking stall measure.
2, the present invention jumps out the category (sight improving vehicle detection precision being concentrated in the problem solving external environmental interference) of traditional concept, solve the technical barrier that people in parking stall measure technology are difficult to capture for a long time, for parking stall measure technical field has filled up blank.
Accompanying drawing explanation
Fig. 1 is system connection diagram of the present invention;
Fig. 2 is the installation site schematic diagram of parking space detector of the present invention;
Fig. 3 is the circuit block diagram of parking space detector of the present invention;
Fig. 4 be vehicle magnetic field of the earth is produced when entering parking stall affect schematic diagram;
Fig. 5 is the schematic diagram that vehicle is parked in parking space detector zero compensation point;
Fig. 6 be vehicle magnetic field of the earth is produced when leaving parking stall affect schematic diagram;
Fig. 7 is the mutual error correction schematic diagram of use two parking space detectors (zero compensation point is symmetrical before and after showing);
Fig. 8 is use two parking space detector mutual error correction schematic diagram (zero compensation point shows symmetrical).
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described:
A kind of High-precision vehicle position detecting system, as shown in Figure 1, comprise parking stall measure server, wireless parking stall Sampling network and each parking stall are installed be at least two parking space detectors, parking stall measure server is connected with each parking space detector by wireless parking stall Sampling network, parking space detector is arranged on around the central point of parking stall, and parking stall measure server detects to judge whether parking stall parks a car to the multiple parking stall measure on each parking stall simultaneously.The quantity of the parking space detector that each parking stall is installed is preferably 2, for each parking stall, two parking space detectors are installed below to be described, as shown in Figure 2, two parking space detectors on each parking stall are arranged on the both sides of parking stall central point, suppose that the size of rectangle parking stall is similar to the size of dolly, rectangle parking stall center line along its length installs two parking space detectors, the installation site of two parking space detectors is generally best with the suitable part at the two ends near rectangle parking stall, one, two wheels of car are the places of magnetic field concentration, parking space detector is installed and is thereunder convenient to detect immediately, they are two years old, the barnyard at parking space detector distance vehicle body two is closer, be convenient to the wireless telecommunications between parking space detector and parking stall measure server, therefore the edge at parking space detector distance two ends should be not less than 0.5 meter, 0.5 meter is similar to the size of wheel to the tailstock, the installation site of two parking space detectors distance square central point is separately between 0.5 meter to 1.5 meters, to be not less than 0.5 meter for best, two distances be added are to be not less than 1 meter for best, if two parking space detectors are close to the central point of car, not only weaken communication effect, also can cause zero compensation point state of parking space detector, parking space detector is not more than 20 centimeters of parts under being installed on shallow surface be best.
As shown in Figure 3, parking space detector comprises CPU module, wireless communication module, geomagnetic sensor module and power management module, CPU module is connected with wireless communication module and geomagnetic sensor module respectively by I/O interface, and power management module is connected for modules provides power supply with CPU module, wireless communication module, geomagnetic sensor module.Parking space detector, as the node in the Sampling network of wireless parking stall, is connected with parking stall server by wireless communication mode, realizes the data communication facility of parking space detector data and parking stall measure server.
Below the principle of work of parking stall measure system is described:
1, scientific experimental data shows, zero compensation point of geomagnetic parking stall detector really exists.As shown in Figure 4, when a car drives towards geomagnetic parking stall detector from left to right, the sinusoidal curve that parking space detector exports: that point of the centre that sinusoidal curve and time shaft intersect just is referred to as zero compensation point of parking space detector.The generation of zero compensation point as shown in Figure 5, refer to when vehicle is just in time into a line with sensor, magnetic line of force front, rear, left and right uniform force now in parking space detector sensing range, obtained by resolution of force principle: when certain put all around uniform force time, make a concerted effort to be zero, be zero because make a concerted effort, so the magnetic line of force on this aspect can not be partial to any direction and be bent and keep original state constant.This is referred to as zero compensation point of parking space detector, and when vehicle is parked on zero compensation point, by the changes of magnetic field amount of vehicle with similar when starting, sensor output curve turns back to initial value.When vehicle leaves zero compensation point of parking space detector, and when being partial to left or the deflection parking space detector right of parking space detector, because the magnetic line of force in now parking space detector sensing range is stressed non-vanishing with joint efforts, therefore, the magnetic line of force or bending or bend to the right left.As shown in Figure 4, on the impact that magnetic field of the earth produces when vehicle enters.When not having vehicle, sensor exports the magnetic field of background, as its initial value.When have vehicle close to time, the magnetic line of force of terrestrial magnetic field will be partial to ferromagnetic vehicle.If the sensitive axes of Magnetic Sensor points to right side, and vehicle travels from left to right, what so first magnetometer " was seen " is the magnetic field of weakening, because the more magnetic line of force bends towards the vehicle head-on come.So from the initial value of sensor, the thing followed first distortion is curve deflection negative direction.The magnetic line of force is partial to ferromagnetic vehicle principle: produce magnetic field to interference iron block (car) cutting magnetic line in magnetic field of the earth when vehicle enters, this magnetic field and magnetic field of the earth attract each other, non-vanishing with joint efforts left, so the magnetic line of force bends left.As Fig. 6 shows, vehicle crosses parking space detector zero compensation point when continuing to the right, and the magnetic line of force is by the pros' deflection vehicle along sensitive axes.So the output of sensor will increase on the basis of initial value.When vehicle is away from sensor, sensor exports and returns to initial value.
2, the present invention gathers the testing result of at least two parking space detectors simultaneously by parking stall measure server, reaches the object of mutually correcting.As shown in Figure 7, Figure 8, when a car be by chance parked in magnetic field on the central point of parking space detector front, rear, left and right symmetry time, this parking space detector will can't detect vehicle, and output error judges, but zero compensation point of parking space detector only has one, if one is, another must not be therefore correct the improper value of zero compensation point parking space detector by the output valve of another one parking space detector.
Based on above-mentioned principle, a kind of High-precision vehicle position detecting method, comprises the following steps:
(1) the AP of at least two parking space detectors on same parking stall simultaneously by respective geomagnetic sensor modules acquiring data and in parking stall measure network sends data to parking stall measure server;
(2), after parking stall measure server receives the data of at least two parking space detectors on same parking stall, judge by the integrated information of at least two parking space detectors.
When parking stall measure server carries out judging with or without car, the decision method of employing comprises: when when at least two parking space detectors, one of them is zero compensation point, and other parking space detectors must be non-zero compensation point; And adopt at least two parking space detectors to correct a mistake mutually: when zero compensation point mistake occurs a parking space detector, correct the mistake of previous parking space detector by the output valve of other parking space detectors; Simultaneously, parking stall measure server integrated information carries out determination methods: when any one in the parking space detector on a parking stall exports as there being a car, then parking stall measure server judges that current parking stall is as there being car state, when only having the output when all parking space detectors to be without car, parking stall measure server just judges that current parking stall is as without car state.
It is emphasized that; embodiment of the present invention is illustrative; instead of it is determinate; therefore the present invention is not limited to the embodiment described in embodiment; every other embodiments drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (1)
1. the detection method of a High-precision vehicle position detecting system, described system comprises parking stall measure server, wireless parking stall Sampling network and parking space detector, parking stall measure server is connected with parking space detector by wireless parking stall Sampling network, parking space detector is arranged on parking stall, the parking space detector that each parking stall is installed is at least two, maintains a certain distance between parking space detector; The distance that parking space detector on each parking stall is arranged on around the central point of parking stall and parking space detector distance parking stall central point is 0.5 meter to 1.5 meters; Described parking space detector comprises CPU module, wireless communication module, geomagnetic sensor module and power management module, CPU module is connected with wireless communication module and geomagnetic sensor module respectively by I/O interface, and power management module is connected for modules provides power supply with CPU module, wireless communication module, geomagnetic sensor module; It is characterized in that: said method comprising the steps of:
(1) the AP of at least two parking space detectors on same parking stall simultaneously by respective geomagnetic sensor modules acquiring data and in parking stall measure network sends data to parking stall measure server;
(2), after parking stall measure server receives the data of at least two parking space detectors on same parking stall, judge by the integrated information of at least two parking space detectors; When parking stall measure server carries out judging with or without car, the decision method of employing comprises: when when at least two parking space detectors, one of them is zero compensation point, and other parking space detectors must be non-zero compensation point; And adopt at least two parking space detectors to correct a mistake mutually: when zero compensation point mistake occurs a parking space detector, correct the mistake of previous parking space detector by the output valve of other parking space detectors; Described integrated information is carried out determination methods and is comprised: if when the data of all parking space detector collections are without car data, then this parking stall is without car state, otherwise this parking stall is for there being car state;
Described zero compensation point refers to when vehicle is just in time into a line with parking space detector, magnetic line of force front, rear, left and right uniform force now in parking space detector sensing range, obtained by resolution of force principle: when certain put all around uniform force time, make a concerted effort to be zero, be zero because make a concerted effort, so the magnetic line of force on this aspect can not be partial to any direction and be bent and keep original state constant, and this is referred to as zero compensation point of parking space detector.
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| CN104200701B (en) * | 2014-08-26 | 2016-03-02 | 刘征 | A kind of parking stall measure synthetic determination method |
| CN104916159B (en) * | 2015-03-25 | 2017-04-05 | 北京长城金点物联网科技股份有限公司 | A kind of vehicle checking method and detecting system |
| CN104867355B (en) * | 2015-05-08 | 2017-03-15 | 无锡普智联科高新技术有限公司 | A kind of devices and methods therefor for solving the problems, such as geomagnetic parking stall detector internal magnetization |
| CN105825705B (en) * | 2016-01-04 | 2019-07-19 | 深圳市启荣科技发展有限责任公司 | Parking stall measure and guidance system and method |
| CN106530812A (en) * | 2016-12-02 | 2017-03-22 | 杭州维昕科技有限公司 | AMR-based double-terrestrial magnetism vehicle detection method and device |
| CN107464449A (en) * | 2017-08-31 | 2017-12-12 | 孙嘉磷 | It is a kind of to utilize the unattended self-service parking system intelligently locked |
| CN107749173B (en) * | 2017-10-10 | 2019-12-31 | 深圳普智联科机器人技术有限公司 | Many earth magnetism chip parking stall detector |
| CN110400485A (en) * | 2018-04-24 | 2019-11-01 | 中兴通讯股份有限公司 | Method, apparatus, server and the storage medium of parking stall state-detection |
| CN113570874A (en) * | 2021-09-07 | 2021-10-29 | 深圳市捷顺科技实业股份有限公司 | Parking detection method, device and equipment and vehicle detector |
| 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 |
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Effective date of registration: 20180810 Address after: 523808 Yishili Science and Technology Office Building, No. 9 Headquarters, Songshan Lake High-tech Industrial Development Zone, Dongguan City, Guangdong Province - B3-09, 3rd floor, R&D building Patentee after: Dongguan Pama Intelligent Parking Service Co., Ltd. Address before: 214135 floor 4, block A, whale block, Wuxi (National) software park, 18, Zhen Ze Road, Wuxi New District, Jiangsu. Patentee before: Wuxi Puzhilianke High-tech Co., Ltd. |