CN105825682B - Earth magnetism vehicle detection apparatus - Google Patents
Earth magnetism vehicle detection apparatus Download PDFInfo
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- CN105825682B CN105825682B CN201610248063.8A CN201610248063A CN105825682B CN 105825682 B CN105825682 B CN 105825682B CN 201610248063 A CN201610248063 A CN 201610248063A CN 105825682 B CN105825682 B CN 105825682B
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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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Abstract
The invention discloses a kind of earth magnetism vehicle detection apparatus, including MCU devices, wireless transport module and geomagnetism detecting module；The MCU devices are used for the working status and working frequency for controlling wireless transport module and geomagnetism detecting module, and can control the data transfer between wireless transport module and geomagnetism detecting module；The wireless transport module is used to receive the Geomagnetic signal that geomagnetism detecting module detects, and Geomagnetic signal is uploaded to data terminal by RF transceiver；The geomagnetism detecting module includes at least two geomagnetic sensors, for detecting Geomagnetic signal；The geomagnetic sensor is the sensor that can detect at least three directions, and the Geomagnetic signal that detection obtains can be transferred to wireless transport module.It is an advantage of the current invention that simple in structure, easy to process, install convenient, has preferable application value.
Description
It is on April 30th, 2014 applying date that the application, which is, Application No. 201410183886.8, entitled " earth magnetism
The divisional application of vehicle detection apparatus ".
Technical field
The present invention relates to vehicle detection apparatus, more particularly to a kind of earth magnetism vehicle detection apparatus.
Background technology
With the rapid development in city and the raising of living standards of the people, the quantity of various vehicles constantly increases, therewith
What is come is then that the demand of parking position of the main business area in city and residential block accordingly increases.Large parking lot solves
The problem of city parking is difficult, but also bring at the same time large parking lot parking stall management it is difficult a series of problems, such as.In order to reality
Now to the real-time detection on large parking lot parking stall, that is, detect whether vehicle is parked on certain parking stall, meet the tendency of and developed a variety of cars
Position detection technique.
It is to the principle that vehicle is detected using Geomagnetic signal, the ferromagnetic material that vehicle contains in itself can have vehicle
The Geomagnetic signal in region has an impact, and the geomagnetic chart linesofforce of vehicle domain of the existence is bent.When vehicle is attached by sensor
Closely, sensor sensitive can perceive the change of signal, and the relevant information of detection target is can be obtained by through signal analysis.Mesh
Before, vehicle detection is carried out by Geomagnetic signal and is commonly used in vehicle early warning, it is less to be used for vehicle parking place, it is main the problem of
Existing geomagnetic sensor is applied in the environment of parking lot, and there are the shortcomings that of high cost, efficiency is low, accuracy rate is low.Therefore,
It is necessary to develop a kind of suitable for parking lot, can effectively detects the new magnetic survey detection of the situation to park cars
Device.
The content of the invention
The present invention is for the shortcomings that shortage is specifically applied to the earth magnetism vehicle detection apparatus in parking lot in the prior art, there is provided
A kind of new earth magnetism vehicle detection apparatus, effectively can be monitored the contact vehicle in parking lot, improve car
The efficiency of management.
To achieve the above object, the present invention can take following technical proposals：
Earth magnetism vehicle detection apparatus, including MCU devices, wireless transport module and geomagnetism detecting module；
The MCU devices are used for the working status for controlling wireless transport module and geomagnetism detecting module and work frequency
Rate, and the data transfer between wireless transport module and geomagnetism detecting module can be controlled；
The wireless transport module is used to receive the Geomagnetic signal that geomagnetism detecting module detects, and passes through RF transceiver
Geomagnetic signal is uploaded to data terminal；
The geomagnetism detecting module includes at least two geomagnetic sensors, for detecting Geomagnetic signal；
The geomagnetic sensor is the sensor that can detect at least three directions, and can will detect obtained earth magnetism letter
Number it is transferred to wireless transport module；
After Geomagnetic signal is transmitted to data terminal by the wireless transport module, data terminal is walked by following signal detection
Suddenly changes of magnetic field is analyzed and draws the vehicles while passing situation near the earth magnetism vehicle detection apparatus：By contrasting by not
With the Geomagnetic signal that arrives of geomagnetic sensors detection between differential signal, extract different differential signals, to differential signal into
Row is sorted out, and different classes of differential signal is acted from different vehicles while passing to be associated, and obtains differential signal and is acted with vehicle
Between association, realize the judgement to the vehicles while passing situation near the earth magnetism vehicle detection apparatus, the differential signal is
The difference of the opposite Geomagnetic signal in the read detection direction of different geomagnetic sensors, the classification refer to according to differential signal
The classification that excursion carries out, the association refer to the differentiation that is acted according to the amplitude of variation of differential signal to vehicle, and by area
Particular vehicle action after point is corresponding with the specific change amplitude of the differential signal, and the vehicles while passing situation includes vehicle
Size and travel direction.
The signal detection step further includes differential signal calculation procedure；
The differential signal calculation procedure includes, by different geomagnetic sensors to after placement, different earth magnetism are sensed
The signal subtraction on same direction axis that device detects obtains differential signal, described to referring to placement by different ground
Magnetic Sensor is placed in the opposite direction, and the signal on the same direction axis refers to detect to obtain in different geomagnetic sensors
The opposite Geomagnetic signal in direction.
The signal detection step further includes reference axis and determines step and adjustment in direction step；
The reference axis determines that step includes：Determine master reference and from sensor, the master reference is any
Geomagnetic sensor, it is described from sensor be any geomagnetic sensor in addition to master reference；It is that can be detected with master reference
Orthogonal coordinate system is established in direction for reference axis；The direction O1 on the basis of master reference either direction that can be detected；Read from biography
Geomagnetic signal on all directions of sensor, with orthogonal coordinate system origin to Geomagnetic signal point corresponding in orthogonal coordinate system
Vector on the basis of direction O2；The angle between inverse direction using reference direction O2 to reference direction O1 is deviation angle a；
The adjustment in direction step includes：Read from the Geomagnetic signal on all directions of sensor；In orthogonal coordinate system
In, using the vector of orthogonal coordinate system origin to Geomagnetic signal point corresponding in orthogonal coordinate system as detection direction O3；Will inspection
Survey direction O3 and turn over deviation angle a formation amendments direction O4；To correct orthographic projections of the direction O4 respectively in all reference axis
Length is the revised Geomagnetic signal from sensor.
The signal detection step further includes classification associated steps, for sorting out to differential signal, and difference is believed
Number vehicle act between be associated, specifically include：The point corresponding to differential signal is recorded in orthogonal coordinate system, according to point
Density classify to differential signal, and the collection cooperation for belonging to of a sort differential signal after classification is considered as same car
Action.
In the embodiment of the present invention, the geomagnetism detecting module includes two geomagnetic sensors.
In the embodiment of the present invention, described two geomagnetic sensors are arranged oppositely.
In the embodiment of the present invention, the data terminal is installed on the earth magnetism vehicle detection apparatus or pacifies
Loaded on the device with earth magnetism vehicle detection apparatus phase separation away from the earth magnetism vehicle detection apparatus.
The present invention has following notable technique effect：
Effectively the vehicle in parking lot can be detected, accuracy of detection is high, and sensitivity is good, normal service life
It is long, various environment are adapted to, accuracy of detection is high, and strong interference immunity is convenient for installation and maintenance.
For above and other objects of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly,
And coordinate attached drawing, it is described in detail below.
Brief description of the drawings
Fig. 1 is the structure diagram of earth magnetism vehicle detection apparatus.
Fig. 2 is the flow diagram of the signal detection step of earth magnetism vehicle detection apparatus.
Embodiment
With reference to embodiment, the present invention is described in further detail.
Embodiment 1
A kind of earth magnetism vehicle detection apparatus, as shown in Figs. 1-2, including MCU devices 100, wireless transport module 200 and ground
Magnetic testi module 300；
The MCU devices 100 be used for control the working status of wireless transport module 200 and geomagnetism detecting module 300 with
And working frequency, and the data transfer between wireless transport module 200 and geomagnetism detecting module 300 can be controlled；MCU parts
Mainly include low-power scm and its peripheral circuit.The IC chip of MCU models Texas Instruments production, MCU are used
Chip need the condition for meeting 16 super low-power consumption chips because detector needs to be embedded in underground, with battery powered, and
The chip standby current is minimum, so as to ensure geomagnetism detecting device work steady in a long-term.
The wireless transport module 200 is used to receive the Geomagnetic signal that geomagnetism detecting module 300 detects, and passes through radio frequency
Geomagnetic signal is uploaded to data terminal 400 by transceiver；Earth magnetism vehicle detection apparatus can use wired or wireless and repeater
Communicate, it is contemplated that installation and maintenance cost, here using wireless solution, it is low using working frequency to be wirelessly transferred part
In the high-performance radio-frequency transceiver of 1GHz.It is mainly for industry, scientific research and medical treatment (ISM) and short-range wireless communication apparatus
(SRD).High-performance radio-frequency transceiver needs to meet the reachable+20dBm of output power, and receiving sensitivity reaches -121dBm, it is possible to provide
To processing data packets, data buffering FIFO, received signal strength indicator (RSSI), clear channel assessment (CCA) (CCA), wake-up timing
The hardware supported of the functions such as device, low voltage test, temperature sensor, 8 bit A/D converters and general I/O port.
The geomagnetism detecting module 300 includes at least two geomagnetic sensors 301, for detecting Geomagnetic signal.Preferably,
The geomagnetism detecting module 300 includes two geomagnetic sensors 301.Described two geomagnetic sensors 301 are arranged oppositely.Two ground
On the contrary, each geomagnetic sensor can detect three directions, two can detect six direction in Magnetic Sensor direction, that is,
So-called six axis.Using the differential signal of two sensors, it is not only able to obtain accurate data, and by data
Analysis can be derived that vehicle size and vehicle traveling direction.
In addition, all hardware can be mounted in inside small cylinder, installation when, only needs to open one on the ground
A corresponding duck eye can be carried out installing, and not influence road traffic, and maintenance is also convenient for.
The geomagnetic sensor 301 is the sensor that can detect at least three directions, and can will detect obtained ground
Magnetic signal is transferred to wireless transport module 200；
After Geomagnetic signal is transmitted to data terminal 400 by the wireless transport module 200, data terminal 400 is positioned at high in the clouds
Or the data server of distal end, data terminal 400 are collected by wireless connection and record all Geomagnetic signals, data terminal 400
Changes of magnetic field is analyzed by following signal detection step and draws the vehicle near the earth magnetism vehicle detection apparatus
Into having troubles：By contrasting the differential signal between the Geomagnetic signal detected by different geomagnetic sensors 301, extraction is different
Differential signal, differential signal is sorted out, different classes of differential signal is acted from different vehicles while passing it is associated,
Associating between differential signal and vehicle action is obtained, is realized to the vehicles while passing situation near the earth magnetism vehicle detection apparatus
Judgement, compare include to it is different at the time of measured Geomagnetic signal between comparison and to measured on different directions
Comparison between Geomagnetic signal, the differential signal are the opposite ground in the different read detection directions of geomagnetic sensor 301
The difference of comparison between magnetic signal, i.e. Geomagnetic signal, the classification refer to the classification carried out according to the excursion of differential signal,
It is by rebuilding the point representated by differential signal in certain coordinate system, by between point in the embodiment of the present invention
Relativeness, such as density, the classification of progress, the association refer to vehicle is acted according to the amplitude of variation of differential signal
Distinguish, and the particular vehicle after differentiation is acted into, the vehicles while passing corresponding with the specific change amplitude of the differential signal
Situation includes the size and travel direction of vehicle.Further, the data terminal 400 can be mounted to away from the earth magnetism
On the device with earth magnetism vehicle detection apparatus phase separation of vehicle detection apparatus, it is contemplated that reduce wireless transport module 200
Volume of transmitted data, can also be directly mounted on the earth magnetism vehicle detection apparatus, at this time, Geomagnetic signal is by being wirelessly transferred mould
Block 200 is transmitted to data terminal 400 by wired mode (can also be wirelessly), reduces data transmission period, prevents from counting
According to leakage.
The signal detection step 500 further includes differential signal calculation procedure 501；
The differential signal calculation procedure 501 includes, will differently by different geomagnetic sensors 301 to after placement
Magnetic Sensor 301 detects the obtained signal subtraction on same direction axis and obtains differential signal, described to referring to placement
Different geomagnetic sensors 301 is placed in the opposite direction, the signal on the same direction axis refers in different earth magnetism biographies
The opposite Geomagnetic signal in the direction detected on sensor 301, typically, geomagnetic sensor 301 can detect three sides
To changes of magnetic field, the magnetic direction that geomagnetic sensor 301 is detected could be aware that, since geomagnetic sensor 301 is pair
To placement, therefore the identical magnetic direction detected by different geomagnetic sensors 301, then the necessarily opposite magnetic in direction
Field direction.
Further, in order to avoiding the installation error when installing geomagnetic sensor 301, and the shake due to vehicle
Geomagnetic sensor 301 caused by dynamic deviates it to further including reference axis to position, the signal detection step 500 and determining step
502 and adjustment in direction step 503；
The reference axis determines that step 502 includes：Determine master reference and from sensor, the master reference is any
Geomagnetic sensor 301, it is described from sensor be any geomagnetic sensor 301 in addition to master reference；With master reference energy
Orthogonal coordinate system O is established in the direction enough detected for reference axis；The direction O1 on the basis of master reference either direction that can be detected；
Read from the Geomagnetic signal on all directions of sensor, with orthogonal coordinate system O origins to Geomagnetic signal in orthogonal coordinate system O
Direction O2 on the basis of the vector of corresponding point；The angle between inverse direction using reference direction O2 to reference direction O1 is inclined
Move angle a；
The adjustment in direction step 503 includes：Read from the Geomagnetic signal on all directions of sensor；In orthogonal coordinates
It is in O, using the vector of orthogonal coordinate system O origins to Geomagnetic signal point corresponding in orthogonal coordinate system O as detection direction O3；
Detection direction O3 is turned over into deviation angle a and forms amendment direction O4；To correct positive throwings of the direction O4 respectively in all reference axis
The length of shadow is the revised Geomagnetic signal from sensor.
The signal detection step 500, which further includes, sorts out associated steps 504, for sorting out to differential signal, and will
It is associated, specifically includes between differential signal and vehicle action：Recorded in orthogonal coordinate system O corresponding to differential signal
Point, classifies differential signal according to the density of point, and the collection cooperation for belonging to of a sort differential signal after classification is regarded
Acted for same vehicle.
Further, it is also possible to by following step to the vehicle size and row of the vehicle of disengaging earth magnetism vehicle detection apparatus
Sail direction to be judged, specifically, further include vehicle detecting step 505 and angle detecting step 506.
Wherein, in vehicle detecting step 505, the change in the earth magnetism magnetic field by detecting earth magnetism vehicle detection apparatus placement region
The size detection of rate passes through the vehicle size of earth magnetism vehicle detection apparatus, and specifically, the change rate in the earth magnetism magnetic field can be with
By judging the size of the difference twice or between multiple Geomagnetic signal detected before and after intervals.
The change rate score in all earth magnetism magnetic field is recorded, the maximum of change rate is recorded and reaches the time of maximum.Record
Different vehicles enters the maximum and arrival maximum that earth magnetism vehicle detection apparatus places the earth magnetism rate of change of magnetic in region
Time, establish using the maximum as abscissa, reach maximum time be ordinate orthogonal coordinate system P, will be above-mentioned
Different vehicles enters the maximum and arrival maximum that earth magnetism vehicle detection apparatus places the earth magnetism rate of change of magnetic in region
Time be labeled on the orthogonal coordinate system P, the density of point to be marked is used as the criteria for classifying, sets one first
Density threshold, i.e., by the quantity of a certain range of mark point, will be marked, the area marked beyond the region of density threshold
Domain is corresponding with certain vehicle size, is ranked up according to institute's marked region in the position of abscissa and ordinate, is sorted
Marked region afterwards is the type for representing vehicle size.Secondly, the vehicle in region is placed to entering earth magnetism vehicle detection apparatus
It is detected, and records the numerical value change of its change rate, extracts the maximum of change rate and reach the time of maximum, judge
The time of the maximum and arrival maximum falls into or the sequence number of close marked region both may determine that vehicle size.Most
Afterwards, the density according to the point in the orthogonal coordinate system P after new mark, is again marked the region in orthogonal area.
In addition, angle detecting step 506 is then used for the travel direction for judging vehicle, the different directions in Geomagnetic signal are read
Differential signal, differential signal is determined into step 502 and after adjustment in direction step 503 is modified according to said reference axis,
The vector representated by the differential signal of different directions is marked on orthogonal coordinate system O, the i.e. vehicle of opposite direction of the vector
Travel direction.
Although the present invention is disclosed above by preferred embodiment, but is not limited to the present invention, this any known skill
Skill person, without departing from the spirit and scope of the present invention, can make a little change and retouch, therefore protection scope of the present invention is worked as
Subject to claims scope claimed.
Claims (2)
- A kind of 1. earth magnetism vehicle detection apparatus, it is characterised in that including MCU devices (100), wireless transport module (200) and Geomagnetism detecting module (300)；The MCU devices (100) are used for the working status for controlling wireless transport module (200) and geomagnetism detecting module (300) And working frequency, and the data transfer between wireless transport module (200) and geomagnetism detecting module (300) can be controlled；The wireless transport module (200) is used to receive the Geomagnetic signal that geomagnetism detecting module (300) detects, and passes through radio frequency Geomagnetic signal is uploaded to data terminal (400) by transceiver；The geomagnetism detecting module (300) includes two geomagnetic sensors (301), for detecting Geomagnetic signal；The geomagnetic sensor (301) is the sensor that can detect at least three directions, and can will detect obtained earth magnetism Signal is transferred to wireless transport module (200)；After Geomagnetic signal is transmitted to data terminal (400) by the wireless transport module (200), data terminal (400) is by following Signal detection step (500) changes of magnetic field is analyzed and draws the vehicles while passing near the earth magnetism vehicle detection apparatus Situation：By contrasting the differential signal between the Geomagnetic signal detected by different geomagnetic sensors (301), extract different Differential signal, sorts out differential signal, and different classes of differential signal is acted from different vehicles while passing to be associated, and is obtained To associating between differential signal and vehicle action, realize to the vehicles while passing situation near the earth magnetism vehicle detection apparatus Judge, the differential signal is the difference of the opposite Geomagnetic signal in the read detection direction of different geomagnetic sensors (301), institute The classification sorted out and refer to carry out according to the excursion of differential signal is stated, the association refers to the amplitude of variation according to differential signal Differentiation to vehicle action, and the particular vehicle action after differentiation is corresponding with the specific change amplitude of the differential signal, The vehicles while passing situation includes the size and travel direction of vehicle；The signal detection step (500) further includes reference axis and determines step (502) and adjustment in direction step (503)；The reference axis determines that step (502) includes：Determine master reference and from sensor, the master reference is any Geomagnetic sensor (301), it is described from sensor be any geomagnetic sensor (301) in addition to master reference；With master reference Orthogonal coordinate system is established in direction that can be detected for reference axis；The direction on the basis of master reference either direction that can be detected O1；Read from the Geomagnetic signal on all directions of sensor, with orthogonal coordinate system origin to Geomagnetic signal in orthogonal coordinate system In corresponding point vector on the basis of direction O2；The angle between inverse direction using reference direction O2 to reference direction O1 as Deviation angle a；The adjustment in direction step (503) includes：Read from the Geomagnetic signal on all directions of sensor；In orthogonal coordinate system In, using the vector of orthogonal coordinate system origin to Geomagnetic signal point corresponding in orthogonal coordinate system as detection direction O3；Will inspection Survey direction O3 and turn over deviation angle a formation amendments direction O4；To correct orthographic projections of the direction O4 respectively in all reference axis Length is the revised Geomagnetic signal from sensor；The signal detection step (500) further includes differential signal calculation procedure (501)；The differential signal calculation procedure (501) includes, will differently by different geomagnetic sensors (301) to after placement The signal subtraction on same direction axis that Magnetic Sensor (301) detection obtains obtains differential signal, described to being to placement Finger places different geomagnetic sensors (301) in the opposite direction, and the signal on the same direction axis refers in different ground The opposite Geomagnetic signal in direction that Magnetic Sensor (301) detects；The signal detection step (500), which further includes, sorts out associated steps (504), for sorting out to differential signal, and will It is associated, specifically includes between differential signal and vehicle action：The point corresponding to differential signal is recorded in orthogonal coordinate system, Classified according to the density of point to differential signal, and the collection cooperation for belonging to of a sort differential signal after classification is considered as together One vehicle action.
- 2. earth magnetism vehicle detection apparatus according to claim 1, it is characterised in that the data terminal (400) is installed on institute State on earth magnetism vehicle detection apparatus or be installed on being examined with described ground magnetic vehicle away from the earth magnetism vehicle detection apparatus Survey on the device of device phase separation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610248063.8A CN105825682B (en) | 2014-04-30 | 2014-04-30 | Earth magnetism vehicle detection apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610248063.8A CN105825682B (en) | 2014-04-30 | 2014-04-30 | Earth magnetism vehicle detection apparatus |
| CN201410183886.8A CN103942965B (en) | 2014-04-30 | 2014-04-30 | geomagnetic vehicle detector |
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| CN201410183886.8A Division CN103942965B (en) | 2014-04-30 | 2014-04-30 | geomagnetic vehicle detector |
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| CN105825682B true CN105825682B (en) | 2018-04-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109841066B (en) * | 2017-11-27 | 2020-11-27 | 大唐移动通信设备有限公司 | Power saving processing method, geomagnetic detector, electronic device, and storage medium |
| CN111742356B (en) * | 2018-03-27 | 2022-09-20 | 株式会社京三制作所 | Detection system |
| CN114373306A (en) * | 2022-01-12 | 2022-04-19 | 中国公路工程咨询集团有限公司 | Vehicle passing detection method and system based on intelligent spike and storable medium |
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| CN101226690A (en) * | 2007-01-16 | 2008-07-23 | 同济大学 | Wireless geomagnetism type vehicle detecting system |
| CN201270092Y (en) * | 2008-09-19 | 2009-07-08 | 东莞市帕马智能停车服务有限公司 | Parking space monitoring system and parking space monitoring sensor |
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| WO2013082786A1 (en) * | 2011-12-08 | 2013-06-13 | 无锡米兰磁传感网络有限公司 | Dual-mode vehicle detection sensor |
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| CN101226690A (en) * | 2007-01-16 | 2008-07-23 | 同济大学 | Wireless geomagnetism type vehicle detecting system |
| CN201270092Y (en) * | 2008-09-19 | 2009-07-08 | 东莞市帕马智能停车服务有限公司 | Parking space monitoring system and parking space monitoring sensor |
| CN201698588U (en) * | 2010-03-19 | 2011-01-05 | 上海真灼电子技术有限公司 | Vehicle detection system based on double earth inductors |
| CN102855763A (en) * | 2012-09-06 | 2013-01-02 | 北京交通发展研究中心 | Wireless geomagnetic vehicle detector and shell thereof |
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