CN103824460A - Fully-buried type vehicle parking space detector and detection method - Google Patents
Fully-buried type vehicle parking space detector and detection method Download PDFInfo
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- CN103824460A CN103824460A CN201410093152.0A CN201410093152A CN103824460A CN 103824460 A CN103824460 A CN 103824460A CN 201410093152 A CN201410093152 A CN 201410093152A CN 103824460 A CN103824460 A CN 103824460A
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Abstract
The invention provides a fully-buried type vehicle parking space detector and a detection method. The detector comprises a geomagnetic field sensor unit, a data transmission unit and a microcontroller unit, wherein the geomagnetic field sensor unit comprises a geomagnetic field sensor and a corresponding communication interface unit; the geomagnetic field sensor is connected with a communication interface input end of a microcontroller by the communication interface unit; a communication interface output end of the microcontroller is connected with an input end of a wireless data transmission module; a wireless data transmission unit is wirelessly connected with a far end; a geomagnetic value in the corresponding direction is corrected according to a pre-set weight in each direction and the judgment of a parking space detection state is carried out according to the corrected geomagnetic value. The fully-buried type vehicle parking space detector adopts a three-shaft smoothing technology so that the detection precision is high and the misinformation can be prevented, and the fully-buried type vehicle parking space detector can be applied to a plurality of related control systems.
Description
Technical field
The invention belongs to vehicle detection technical field, relate in particular to a kind of fully buried vehicle parking lot detector and detection method.
Background technology
Along with the raising of expanding economy and living standards of the people, automobile more and more near-earth is walked close to people's life, urban transportation and highway communication jam happen occasionally, particularly the traffic of large-and-medium size cities has been one of focal issue of government, common people's concern, make a large amount of manpower and materials and fund input to road reformation and construction aspect, nonetheless, also cannot catch up with the rapid growth of traffic pressure, this situation is very general, the area that particularly economy reaches all the more, traffic congestion phenomenon is more serious; Some area, through want of funds, road reformation and road construction are objectively also difficult, in the face of the unfavorable situation of traffic pressure will the long period existence; On the other hand, path resource does not utilize fully and excavates, and causes path resource waste also quite serious.Therefore, the path resource that how to make full use of and tap the latent power.Effectively improve at low cost, utilization rate, vehicle flow and the car speed of road, it is the target that is worthy of consideration and pursues, break off relations this problem need Erecting and improving, efficiently and cheaply traffic information system and traffic control system, and vehicle and vehicle flowrate detector are important rings wherein.
At present, about adopting passive infrared mostly, the detector of vehicle carrys out detection vehicle signal, or take large-scale inductive coil as sniffer, these sniffers exist single to vehicle detection mode, detection information is not comprehensive, yield poor results, and volume is large, inconvenience is installed, and installation road pavement is destroyed seriously, road surface be full of cracks causes the shortcomings such as fragile.
Summary of the invention
The object of this invention is to provide a kind of information of vehicles with comprehensive survey ability, detection more comprehensively, motor vehicle detector that volume is little, solved the deficiency of existing motor vehicle detector.
Technical scheme of the present invention provides a kind of complete buried vehicle parking space detector, comprise geomagnetic field sensors unit, data transmission unit and micro controller unit, described geomagnetic field sensors unit comprises earth magnetic sensor and corresponding communications interface unit, earth magnetic sensor connects the communication interface input end of microcontroller through communications interface unit, the communication interface output terminal of microcontroller connects the input end of wireless data transfer module, and wireless data transmission unit and far-end are set up wireless connections.
And geomagnetic field sensors is caught near magnetic field of the earth, and carries out digital quantization, the data obtained is inputted micro controller unit through communications interface unit.
And, near the data judgement that micro controller unit produces according to earth magnetic sensor, whether have vehicle near or leave and cause terrestrial magnetic field to raise or reduce, and gained parking stall measure state is reported to far-end through wireless data transmission unit.
And described micro controller unit comprises with lower module,
Ground magnetic value correcting module, for according to the ground magnetic value of the preset weights correction respective direction of each direction, X, the preset weights of Y-direction is lower than the preset weights of Z-direction;
Preliminary judge module, for carrying out the judgement of parking stall measure state according to revised ground magnetic value, comprise whether the ground magnetic value that first judges current time Z axis is greater than predetermined threshold value A, is to enter the process that judges whether that car sails into, otherwise enter the process that judges whether that car leaves;
Vehicle sails judge module into, and for the process that judges whether that car sails into, below meeting when two conditions, judged result is for there being car to sail into simultaneously,
Condition 1, when the ground of Z axis, magnetic value reaches before maximal value, X, the ground magnetic value of Y-axis sometime section in present the growth of single direction or reduce;
Condition 2, in the time that the ground of Z axis magnetic value reaches maximal value, the ground magnetic value of Z axis is greater than threshold value and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards 0;
Vehicle leaves judge module, and for having judged whether that car leaves, the ground magnetic value of Z axis is lower than predetermined threshold value A, and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards at 0 o'clock, and being judged as actually has car to leave.
The present invention is also corresponding provides a kind of complete buried vehicle method for detecting parking stalls, comprise the following steps,
Step 1, input earth magnetic sensor the data obtained, comprises X, Y, Z-direction is divided other earth magnetism value;
Step 2, according to the ground magnetic value of the preset weights correction respective direction of each direction, X, the preset weights of Y-direction is lower than the preset weights of Z-direction; Carry out the judgement of parking stall measure state according to revised ground magnetic value, comprise whether the ground magnetic value that first judges current time Z axis is greater than predetermined threshold value A, is to enter the process that judges whether that car sails into, otherwise enter the process that judges whether that car leaves,
Judge whether that the process implementation that car sails into is, in the time meeting following two conditions, judged result is for there being car to sail into simultaneously, condition 1, and when the ground of Z axis, magnetic value reaches before maximal value, X, the ground magnetic value of Y-axis presents the growth of single direction or reduces in sometime section;
Condition 2, in the time that the ground of Z axis magnetic value reaches maximal value, the ground magnetic value of Z axis is greater than threshold value and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards 0;
Judge whether that the process implementation that car leaves is, the ground magnetic value of Z axis is lower than predetermined threshold value A, and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards at 0 o'clock, and being judged as actually has car to leave;
Step 3, reports parking stall measure state, comprises whether step 2 gained has the judged result that vehicle is close or leave.
The fully buried vehicle parking lot detector of one provided by the invention, volume is small, can be for urban road public transport Command Management System and parking stall static management system, can be to the detection of the vehicle dynamic such as vehicle pass-through, the speed of a motor vehicle, flow, road occupying, traffic congestion, curb parking or static information, be applicable to controlling system of traffic light, electronic police camera system, vehicle toll station system, vehicle access control system, outdoor, underground or curb parking course management system, and road road network monitoring management system etc.The present invention also provides the detection method of original creation, adopts three axle smoothing techniques, detects degree of accuracy high, can prevent wrong report.
Accompanying drawing explanation
Fig. 1 is the structural drawing of the embodiment of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment provides a kind of complete buried vehicle parking space detector, it comprises geomagnetic field sensors unit, can carry out the wireless data transmission unit of remote wireless transmission, carries out the micro controller unit that ground magnetic value calculates and judges, Power Management Unit, battery and waterproof pressure-resistant housing.Battery is given the power supply of each unit, and while specifically enforcement, battery can directly be connected with the power pins of module in each unit or chip with filtering circuit by voltage stabilizing.Geomagnetic field sensors unit comprises earth magnetic sensor and is connected the communication interface coordinating with it, earth magnetic sensor is connected to the communication interface input end of microcontroller through communication interface, the communication interface output terminal of microcontroller is connected to the input end of wireless data transmission unit, wireless data transmission unit and far-end are set up wireless connections, generally by wireless data transmission unit, the signal of input are transmitted to the main frame receiving equipment of remote data processing enter.
Earth magnetic sensor is caught near magnetic field of the earth vehicle checker, and carries out digital quantization, produces concrete data, and sends micro controller unit to by IIC communication interface.When concrete enforcement, earth magnetic sensor can adopt existing chip.
The terrestrial magnetic field data that micro controller unit produces earth magnetic sensor are calculated and judge, comprise and judge that result of calculation raises or whether the variable quantity of reduction exceedes predetermined threshold value, thereby near learning, whether have vehicle near or leave and cause terrestrial magnetic field to raise or reduce, be that micro controller unit sends to parking stall measure state by wireless data transmission unit the main frame receiving equipment of far-end.
The data that wireless data transfer module transmits micro controller unit send to the receiving equipment of far-end.Wireless data transfer module comprises antenna, carrier modulation demodulator circuit and power amplification circuit.Antenna, carrier modulation demodulator circuit are connected successively with power amplification circuit, and carrier modulation demodulator circuit and power amplification circuit can adopt available circuit technology.
Power supply and Power Management Unit comprise battery or the electric battery with certain voltage stabilizing ability.Battery or electric battery adopt the sub-battery of the lithium of high power capacity high-output power, and discharge range is larger compared with dry cell and general charged lithium cells.When concrete enforcement, Power Management Unit can adopt prior art.When concrete enforcement, also can be read in real time battery electric quantity by micro controller unit, and send to the receiving equipment of far-end by wireless data transfer module.
When concrete enforcement, device housings suggestion adopts the engineering plastics of withstand voltage waterproof injection molded, and adopts adhesive waterproof tape and drying agent, guarantees that equipment is in stablizing humiture environment, reliable.Complete buried vehicle parking space detector volume is small, for example, can be made as area in 10x10mm left and right, thickness 2mm left and right.
The general technology that adopts ground magnetic principle to carry out detection vehicle information, multiselect single shaft geomagnetic data, mostly being Z axis is the axle of vertical ground, the one, can be cost-saving, the 2nd, simplify software control flow process.But the precision of so simultaneously yet bringing is not high, the shortcoming that rate of false alarm is high.The three axle geomagnetic data smothing filtering technology that the present invention adopts, to choose after three axle terrestrial magnetic field data, by software smothing filtering algorithm, according to X, Y, Z tri-axle situations of change, according to the weights of its phase place, comprehensively determine whether that vehicle sails into or leaves, thereby eliminated the suddenly change wrong report that brings and fail to report situation of terrestrial magnetic field.Can automatically perform level and smooth judgement by micro controller unit, concrete grammar process is divided several steps:
The first, input earth magnetic sensor the data obtained, comprises three direction of principal axis magnetic field raw data, i.e. X, and Y, Z axis divides other earth magnetism value.Magnetic field of the earth is a vector, has direction and size, and for a fixing place, this vector can be broken down into two components that the component parallel with local level is vertical with local level with.X, Y-axis is the magnetic field of the earth of horizontal direction, Z axis is the magnetic field of the earth of vertical direction.
The second, according to the ground magnetic value of the preset weights correction respective direction of each direction, X, the preset weights of Y-direction, lower than the preset weights of Z-direction, carries out judging according to revised ground magnetic value,
Whether the ground magnetic value that first judges current time Z axis is greater than predetermined threshold value A, is to enter the process that judges whether that car sails into, otherwise enters the process that judges whether that car leaves,
A. judge whether that the process implementation that car sails into is, below meeting, when two conditions, judged result is for there being car to sail into simultaneously:
Condition 1: magnetic value reaches before maximal value when the ground of Z axis, X, the ground magnetic value of Y-axis sometime section in present the growth of single direction or reduce.
Condition 2: in the time that the ground of Z axis magnetic value reaches maximal value, the ground magnetic value of Z axis is greater than threshold value and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards 0.
Earth magnetic sensor reads ground magnetic value according to the cycle, for ease of understanding for the purpose of two conditions, if the ground magnetic value that T is Z axis reaches the peaked moment, the T-1 moment is the moment before T moment one-period, before the T moment, has any two consecutive hourss to engrave as t moment, t-1 moment sometime in section (predeterminable time period length).Note X
t, Y
t, Z
tbe respectively the moment X at T, Y, the ground magnetic value of Z axis, X
t-1, Y
t-1, Z
t-1be respectively the X in T-1 moment, Y, the ground magnetic value of Z, MX
t, MY
tbe respectively t moment X, Y-axis ground magnetic value and initial time X, the variable quantity between Y-axis ground magnetic value (X while thering is no car, Y-axis ground magnetic value), △ X
t, △ Y
tbe respectively T moment X, the variable quantity MX of Y-axis ground magnetic value
tt-1 moment X relatively, the variable quantity MY of Y-axis ground magnetic value
t-1increment, i.e. △ X
t=MX
t– MX
t-1, △ Y
t=MY
t– MY
t-1.
There is Z
t>Z
t-1, Z
t+1≤ Z
tand Z
t>A,
|MX
t|>|MX
t-1|
|MY
t|>|MY
t-1|
Lim|△X
T|→0
Lim|△Y
T|→0
Concrete judgement is, when increment is less than some default very little values, can think to level off to 0.
B. judge whether that the process implementation that car leaves is, the ground magnetic value of Z axis is lower than predetermined threshold value A, and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards at 0 o'clock, and being judged as actually has car to leave.Judge whether that the implementation Process that car leaves is simple, it will not go into details in the present invention.
When concrete enforcement, predetermined threshold value A can preset value by experiment.
The 3rd, report judged result, can report current magnetic field data simultaneously.
When concrete enforcement, can adopt software modularity mode, in micro controller unit setting with lower module,
Ground magnetic value correcting module, for according to the ground magnetic value of the preset weights correction respective direction of each direction, X, the preset weights of Y-direction is lower than the preset weights of Z-direction;
Preliminary judge module, for carrying out the judgement of parking stall measure state according to revised ground magnetic value, comprise whether the ground magnetic value that first judges current time Z axis is greater than predetermined threshold value A, is to enter the process that judges whether that car sails into, otherwise enter the process that judges whether that car leaves;
Vehicle sails judge module into, and for the process that judges whether that car sails into, below meeting when two conditions, judged result is for there being car to sail into simultaneously,
Condition 1, when the ground of Z axis, magnetic value reaches before maximal value, X, the ground magnetic value of Y-axis sometime section in present the growth of single direction or reduce;
Condition 2, in the time that the ground of Z axis magnetic value reaches maximal value, the ground magnetic value of Z axis is greater than threshold value and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards 0;
Vehicle leaves judge module, and for having judged whether that car leaves, the ground magnetic value of Z axis is lower than predetermined threshold value A, and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards at 0 o'clock, and being judged as actually has car to leave.
Above-mentioned example of the present invention is only for explanation the present invention realizes; any people who is familiar with this technology is in the disclosed technical scope of the present invention; all can expect easily its variation and replacement, within therefore protection domain of the present invention all should be encompassed in the protection domain being limited by claims.
Claims (5)
1. a complete buried vehicle parking space detector, it is characterized in that: comprise geomagnetic field sensors unit, data transmission unit and micro controller unit, described geomagnetic field sensors unit comprises earth magnetic sensor and corresponding communications interface unit, earth magnetic sensor connects the communication interface input end of microcontroller through communications interface unit, the communication interface output terminal of microcontroller connects the input end of wireless data transfer module, and wireless data transmission unit and far-end are set up wireless connections.
2. complete buried vehicle parking space detector as claimed in claim 1, is characterized in that: near the magnetic field of the earth of geomagnetic field sensors catching, and carry out digital quantization, the data obtained is inputted micro controller unit through communications interface unit.
3. complete buried vehicle parking space detector as claimed in claim 2, it is characterized in that: near the data judgement that micro controller unit produces according to earth magnetic sensor, whether have vehicle near or leave and cause terrestrial magnetic field to raise or reduce, and gained parking stall measure state is reported to far-end through wireless data transmission unit.
4. complete buried vehicle parking space detector as claimed in claim 3, is characterized in that: described micro controller unit comprises with lower module,
Ground magnetic value correcting module, for according to the ground magnetic value of the preset weights correction respective direction of each direction, X, the preset weights of Y-direction is lower than the preset weights of Z-direction;
Preliminary judge module, for carrying out the judgement of parking stall measure state according to revised ground magnetic value, comprise whether the ground magnetic value that first judges current time Z axis is greater than predetermined threshold value A, is to enter the process that judges whether that car sails into, otherwise enter the process that judges whether that car leaves;
Vehicle sails judge module into, and for the process that judges whether that car sails into, below meeting when two conditions, judged result is for there being car to sail into simultaneously,
Condition 1, when the ground of Z axis, magnetic value reaches before maximal value, X, the ground magnetic value of Y-axis sometime section in present the growth of single direction or reduce;
Condition 2, in the time that the ground of Z axis magnetic value reaches maximal value, the ground magnetic value of Z axis is greater than threshold value and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards 0;
Vehicle leaves judge module, and for having judged whether that car leaves, the ground magnetic value of Z axis is lower than predetermined threshold value A, and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards at 0 o'clock, and being judged as actually has car to leave.
5. a complete buried vehicle method for detecting parking stalls, is characterized in that: comprises the following steps,
Step 1, input earth magnetic sensor the data obtained, comprises X, Y, Z-direction is divided other earth magnetism value;
Step 2, according to the ground magnetic value of the preset weights correction respective direction of each direction, X, the preset weights of Y-direction is lower than the preset weights of Z-direction; Carry out the judgement of parking stall measure state according to revised ground magnetic value, comprise whether the ground magnetic value that first judges current time Z axis is greater than predetermined threshold value A, is to enter the process that judges whether that car sails into, otherwise enter the process that judges whether that car leaves,
Judge whether that the process implementation that car sails into is, below meeting when two conditions, judged result is for there being car to sail into simultaneously,
Condition 1, when the ground of Z axis, magnetic value reaches before maximal value, X, the ground magnetic value of Y-axis sometime section in present the growth of single direction or reduce;
Condition 2, in the time that the ground of Z axis magnetic value reaches maximal value, the ground magnetic value of Z axis is greater than threshold value and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards 0;
Judge whether that the process implementation that car leaves is, the ground magnetic value of Z axis is lower than predetermined threshold value A, and X, and the increment of the variable quantity of the ground magnetic value of Y-axis is tending towards at 0 o'clock, and being judged as actually has car to leave;
Step 3, reports parking stall measure state, comprises whether step 2 gained has the judged result that vehicle is close or leave.
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Cited By (6)
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| CN104091449A (en) * | 2014-07-24 | 2014-10-08 | 感知技术无锡有限公司 | Shell of terrestrial magnetism vehicle detector |
| CN104408939A (en) * | 2014-11-04 | 2015-03-11 | 新疆华赛信息技术有限公司 | Wireless geomagnetic detector for vehicle detection, and vehicle detection method for wireless geomagnetic detector |
| CN105825708A (en) * | 2016-04-22 | 2016-08-03 | 江苏省交通规划设计院股份有限公司 | Parking space state judgment method of geomagnetic vehicle detector |
| CN106935038A (en) * | 2015-12-29 | 2017-07-07 | 中国科学院深圳先进技术研究院 | One kind parking detecting system and detection method |
| CN107016855A (en) * | 2017-05-10 | 2017-08-04 | 连云港杰瑞电子有限公司 | A kind of vehicle checking method based on earth magnetism |
| CN110288831A (en) * | 2019-07-08 | 2019-09-27 | 北京鑫贝诚科技有限公司 | A kind of geomagnetism detecting device detection algorithm based on Neural Network Self-learning |
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| JP2011013165A (en) * | 2009-07-06 | 2011-01-20 | Kyoritsu Denki Kk | Object detection device |
| CN102592471A (en) * | 2011-01-14 | 2012-07-18 | 无锡国科微纳传感网科技有限公司 | Method and device for carrying out parking spot detection by adopting geomagnetism signals |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104091449A (en) * | 2014-07-24 | 2014-10-08 | 感知技术无锡有限公司 | Shell of terrestrial magnetism vehicle detector |
| CN104408939A (en) * | 2014-11-04 | 2015-03-11 | 新疆华赛信息技术有限公司 | Wireless geomagnetic detector for vehicle detection, and vehicle detection method for wireless geomagnetic detector |
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| CN107016855A (en) * | 2017-05-10 | 2017-08-04 | 连云港杰瑞电子有限公司 | A kind of vehicle checking method based on earth magnetism |
| CN110288831A (en) * | 2019-07-08 | 2019-09-27 | 北京鑫贝诚科技有限公司 | A kind of geomagnetism detecting device detection algorithm based on Neural Network Self-learning |
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Address after: 430040 floor 11, Fortune Building, No. 18, Jinyinhu Road, Dongxihu District, Wuhan City, Hubei Province Patentee after: WUHAN HENGDA INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 430040 floor 11, Fortune Building, No. 18, Jinyinhu Road, Dongxihu District, Wuhan City, Hubei Province Patentee before: WUHAN HEADER ITS RESEARCH DEVELOPMENT Co.,Ltd. |