CN106504582A - A kind of trackside berth vehicle checker - Google Patents
A kind of trackside berth vehicle checker Download PDFInfo
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- CN106504582A CN106504582A CN201710002707.XA CN201710002707A CN106504582A CN 106504582 A CN106504582 A CN 106504582A CN 201710002707 A CN201710002707 A CN 201710002707A CN 106504582 A CN106504582 A CN 106504582A
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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
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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Abstract
The present invention proposes a kind of trackside berth vehicle checker, including shell, geomagnetic sensor and data processing equipment, the shell includes embedded body, tank body and closure, the embedded body is arranged on the outside of tank body, the closure is arranged on the side of tank body, and the geomagnetic sensor and data processing equipment are in the tank body of the shell.The trackside berth vehicle checker cost is relatively low, and goes for motor pool.Present invention also offers a kind of condition detection method of trackside berth vehicle checker.
Description
Technical Field
The invention relates to the field of detection, in particular to a roadside berth vehicle detector.
Background
With the continuous acceleration of urban modernization process and the rapid development of automobile industry, the quantity of motor vehicles and the traffic volume of motor vehicles are continuously increased, and driving difficulty and parking difficulty become two stubborn diseases of urban traffic. The rapid development of parking lot construction is an important means for solving the problem of difficult parking, but because the intelligent management level is not high, the traditional mode of relying on manual management exposes more and more obvious defects. Therefore, the parking space can be conveniently and quickly prepared and found by the vehicle owner, the informationized parking resources are integrated, the use efficiency of the parking lot is improved, and meanwhile, the intelligent parking management system which guarantees the overall economic benefit of the parking lot industry obtains great attention.
The core of the intelligent parking system is the accurate detection of the parking position state. Therefore, several detection methods have been developed to solve the problem of detecting parking space occupancy, such as detection methods of inductive card, ultrasonic wave, video, etc. However, the above detection methods all have certain drawbacks, for example, although the inductive card is convenient to install and use, the inductive card can only be used in a closed parking lot, and only the total number of idle parking spaces in the parking lot can be counted, and the occupation situation of a specific parking space cannot be detected. The ultrasonic detection method is only suitable for an indoor parking lot and has the defects of high power consumption, independent power supply, short service life of the ultrasonic probe and frequent replacement. The video detection method requires a large number of cameras, so the cost is high. Therefore, it is an urgent technical problem to be solved in the art to provide a parking space state detection device suitable for an outdoor parking lot and having a low cost.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the roadside berth vehicle detector can be applied to an outdoor parking lot and is low in cost.
The solution of the invention is realized by the following steps: roadside berth car detector, it includes
The geomagnetic sensor is used for acquiring a peripheral magnetic field signal of the berth and transmitting the signal to the data processing device;
the data processing device is used for receiving the magnetic field signal detected by the geomagnetic sensor and judging whether a vehicle enters or exits the berth according to the change of the magnetic field signal;
the casing, including pre-buried body, jar body and sealed lid, pre-buried body sets up in the outside of jar body, sealed lid sets up in one side of the jar body, geomagnetic sensor and data processing apparatus install in the jar body of casing.
The other technical scheme of the invention is that on the basis, the shell is formed by injection molding of ABS (acrylonitrile butadiene styrene) rubber.
The other technical scheme of the invention is that on the basis, the vehicle inspection device further comprises a signal sending module which is connected with the data processing device and used for sending the data of the vehicle inspection device to the background server.
Another technical solution of the present invention is that, on the basis of the above, the signal sending module is a wireless network signal sending module or a bluetooth signal sending module.
On the basis, the wireless network signal sending module comprises an antenna and a wireless serial port communication module.
The other technical scheme of the invention is that on the basis, the vehicle inspection device further comprises a power supply module for supplying power to the vehicle inspection device, and the power supply module is connected with the geomagnetic sensor and the data processing device.
On the basis, the data processing device is a PCL or a singlechip.
On the basis, threads matched with each other are arranged on the inner wall of the embedded body and the outer wall of the sealing cover.
Another technical solution of the present invention is to provide a method for detecting a parking position state of a roadside parking position vehicle detector based on the above, including the steps of:
s01, acquiring parking space background magnetic field data, acquiring parking space geomagnetic data at the highest refresh rate of 80Hz through the geomagnetic sensor, acquiring more than 20 samples, and taking an average value to record as a parking space background magnetic field data value;
s02, judging the disturbance of the vehicle parking space, wherein the geomagnetic sensor captures the disturbance of the vehicle parking space at a refresh rate of 40Hz, records the data of single sampling, the current single sampling data and the average value of the first 12 single sampling data, and records the average value of the first 12 single sampling data as the sliding average value of the geomagnetic data for judging the shaking state of the vehicle parking space; specifically, the method comprises the following steps of,
s021, judging jitter, setting a difference value between a single sliding average value and a sliding average sample as Y, setting a first difference value threshold value as T1, and when the difference value Y is greater than T1, determining that a geomagnetic field around the parking space lock generates disturbance, wherein the dynamic refresh rate of the geomagnetic sensor is set to be 40Hz and used for capturing transient magnetic field data jitter;
s022, judging large jitter, setting a difference value between a single sliding average value and a sliding average sample as Y, setting a second difference value threshold value as T2, wherein T2 is greater than T1, and when the difference value Y is greater than T2, judging that a vehicle passes through a space right above the geomagnetic sensor;
s03, judging the parking space state of the vehicle, after the vehicle completely stops in the parking space and stops shaking, gradually recovering the stability of the data acquired by the geomagnetic sensor, setting the difference value between the sliding average value and the parking space background magnetic field data value at the moment as X, and judging that the vehicle has stably parked in the parking space when the difference value is greater than a set threshold value Valve;
s04, judging the disturbance of the vehicle leaving the parking space, wherein after the vehicle is judged to be parked in the parking space, the geomagnetic sensor captures the disturbance of the vehicle when parked in the parking space at a refresh rate of 1.25Hz, records data sampled once, current data sampled once and the average value of the first 12 data sampled once, and records the average value of the first 12 data sampled once as the sliding average value of the geomagnetic data for judging the shake of the vehicle leaving the parking space;
and S05, judging the state that the vehicle completely drives away from the parking space, and judging that the vehicle completely drives away from the parking space when the difference value between the sliding average value and the background magnetic field data value of the parking space is smaller than a threshold value Valve.
When the roadside berth vehicle detector is used, the roadside berth vehicle detector can be buried in a proper position in a berth, and the surface of the roadside berth vehicle detector is flush with the ground. The geomagnetic sensor is used for acquiring magnetic field signals around the berth and transmitting the magnetic field signals to the data processing device, the data processing device judges whether a vehicle enters or exits the berth according to the change of the magnetic field signals, the berth state is detected in real time, the current berth state is sent to the background server in real time, and meanwhile, the background server can send remote instructions to configure parameters of the current berth state, calibrate the magnetic field and the like. Roadside berth car detector cost is lower, can be applicable to outdoor parking area moreover.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic block diagram of a roadside berth vehicle detector according to an embodiment of the present disclosure;
fig. 2 is a structural diagram of a roadside berth vehicle detector according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a berthing state detection method according to an embodiment of the present disclosure.
Wherein,
1 geomagnetic sensor 2 data processing device 3 micro radar sensor
4 signal sending module and 5 power supply module
61 Pre-buried body 62 jar 63 sealed lid
Detailed Description
The present invention will now be described in detail with reference to the drawings, which are given by way of illustration and explanation only and should not be construed to limit the scope of the present invention in any way. Furthermore, features from embodiments in this document and from different embodiments may be combined accordingly by a person skilled in the art from the description in this document.
In the following embodiments of the present invention, referring to fig. 1 and 2, a roadside berth vehicle detector includes a housing, a geomagnetic sensor 1, and a data processing device 2, where the housing includes an embedded body 61, a tank 62, and a sealing cover 63, the embedded body 61 is disposed outside the tank 62, the sealing cover 63 is disposed on the top of the tank 62, and the geomagnetic sensor 1 and the data processing device 2 are installed in the tank 62 of the housing. The shell can be formed by ABS injection molding. Further, be provided with on the pre-buried body 61 inner wall with the screw thread that matches on the sealed lid 63 outer wall can realize rotatory installation like this, and end face seal forms airtight space in jar body 62, prevents that dust and rainwater from getting into jar body 62 in, and the installation is very convenient, and life is longer. The geomagnetic sensor 1 is used for acquiring a magnetic field signal around the berth and transmitting the signal to the data processing device 2; the data processing device 2 is used for receiving the magnetic field signal detected by the geomagnetic sensor 1 and judging whether a vehicle enters or exits the berth according to the change of the magnetic field signal; the casing, including pre-buried body, jar body and sealed lid, pre-buried body sets up in the outside of jar body, sealed lid sets up in one side of the jar body, geomagnetic sensor and data processing apparatus install in the jar body of casing. Wherein, geomagnetic sensor 1 can adopt the geomagnetic sensor 1 module based on the design of AMR magnetoresistive sensor, utilizes triaxial geomagnetic sensor 1 to gather the disturbance and the change of geomagnetic field on the parking stall in real time and judges whether the vehicle stops on the parking stall. Since there are a large number of ferromagnets in the automobile, and the distribution of the geomagnetic field is distorted on the automobile body due to the large number of ferromagnets in the engine and the chassis, the Z-axis magnetic component perpendicular to the ground detected right below the vehicle in the area where the ferromagnets in the engine, the chassis, the wheel axle, and the like of the vehicle are intensively distributed can be significantly changed, which is the theoretical basis of the geomagnetic sensor 1 for vehicle detection. In this embodiment, MAG3110 of freescale is selected as the geomagnetic sensor 1, and the value of the Z-axis magnetic component directly above the parking space is acquired by using the dynamic refresh rate. The algorithm of the geomagnetic sensor 1 comprises the steps of collecting parking space background magnetic field data, identifying disturbance generated when a vehicle is parked in a parking space, detecting the stable state of the vehicle after the vehicle is parked in the parking space, identifying disturbance generated when the vehicle drives away from the parking space, and detecting the stable state of the vehicle after the vehicle completely drives away from the parking space. As a record and detection of a complete parking and driving-out of the vehicle at one time. The data processing device 2 may select a processor such as a PLC or a single chip microcomputer, and determines whether a vehicle enters or exits the parking space according to a change of the magnetic field signal. As shown in fig. 1, the data processing apparatus 2 may further include a parameter storage module, a parameter setting module, or a serial communication protocol processing module, where the parameter storage module may be a FLASH memory, and the serial communication protocol processing module may be an existing chip. It should be noted that, a threshold value of the magnetic field change is set through experience or experiment according to the change of the magnetic field signal detected by the geomagnetic sensor 1, and when the magnetic field change exceeds the threshold value, it is determined that a vehicle enters/exits the parking space, and this determination method is disclosed in the prior art, for example, in the published chinese patent document CN102682600A (a traffic information detection system named by patent), a problem of detecting the change of the disturbing geomagnetic field of the vehicle when the vehicle passes by using a magnetic sensitive material to detect the traffic flow (including the presence or absence of the vehicle, the traffic flow, etc.) in real time is disclosed. Therefore, the innovation of the present patent is not in the above determination method.
On the basis of the above embodiment, in another embodiment of the present invention, the present invention further includes a micro radar sensor 3, connected to the data processing device 2, for checking the judgment result of the geomagnetic sensor 1. Preferably, the micro radar sensor 3 may be a waterproof integrated ultrasonic sensor. The working principle of the ultrasonic sensor is as follows: the IO pin of the singlechip sends a signal with a certain frequency and a certain pulse width, and the signal is amplified by power and passes through the matched booster circuit to the ultrasonic sensor through the transceiving conversion circuit to output an ultrasonic signal. The ultrasonic sensor receives the target echo, and outputs the target echo to the singlechip after filtering, amplifying, detecting and comparing. The singlechip calculates the target distance according to the time delay difference from the emission of the sound wave to the reception of the sound wave.
On the basis of the above embodiment, in another embodiment of the present invention, the vehicle inspection system further includes a signal sending module 4 connected to the data processing device 2, and configured to send data of the vehicle inspection device to the background server.
On the basis of the above embodiment, in another embodiment of the present invention, the signal sending module 4 is a wireless network signal sending module 4 or a bluetooth signal sending module 4. The wireless network signal sending module 4 can comprise an antenna and a wireless serial communication module, wherein the wireless serial communication module can adopt an LORA spread spectrum communication technology, and the counting has the characteristics of low power consumption, small power, long transmission distance and difficulty in interference.
On the basis of the above embodiment, in another embodiment of the present invention, the data at least includes a car inspection device ID number, a channel, a geomagnetic state, and an ultrasonic state signal.
On the basis of the above embodiment, in another embodiment of the present invention, the present invention further includes a power module 5 for supplying power to the car inspection device, and the power module 5 is connected to the geomagnetic sensor 1 and the data processing device 2.
On the basis of the above embodiment, in another embodiment of the present invention, the power module 5 includes more than two lithium batteries connected in parallel. In consideration of the standby time requirement, the power module 5 may select a primary lithium battery with high energy density and long service life, but the discharge current of the primary lithium battery is low, so in this embodiment, more than two lithium batteries connected in parallel are selected to increase the discharge current. Specifically, an EVE brand ER34615 lithium thionyl battery (19000 milliampere hours) and an EVE brand SPC1520 lithium ion rechargeable battery can be used in parallel, or the lithium thionyl battery is used in parallel with an energy storage capacitor to make up for the shortage that the discharge current of the lithium thionyl battery is limited.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 3, the method for detecting a parking state of a roadside parking lot vehicle detector includes the following steps:
and S01, acquiring parking space background magnetic field data, and acquiring parking space geomagnetic data at the highest refresh rate of 80Hz through the MAG3110 sensor, so that acquisition of corresponding magnetic field data samples is completed in the fastest time when the lock is lowered each time. Collecting 20 samples and taking an average value to record as a parking space background magnetic field data value;
s02, judging the disturbance of the vehicle parking into the parking space, wherein after entering a parking space detection cycle, the geomagnetic sensor captures the disturbance of the vehicle parking into the parking space at a refresh rate of 40Hz, records the data of single sampling, the current single sampling data and the average value of the first 12 single sampling data, and records the average value of the first 12 single sampling data as the sliding average value of the geomagnetic data for judging the shaking state of the vehicle parking into the parking space; the shaking state of the vehicle parked in the parking space is divided into two parts:
s021, judging the shaking, setting the difference value between the single sliding average value and the sliding average sample as Y, setting a first difference value threshold value as T1, and when the difference value Y is greater than T1, determining that the geomagnetic field around the parking space lock generates disturbance, judging the shaking caused by parking, and returning to the value of 1. The dynamic refresh rate of the geomagnetic sensor is set to be 40Hz and is used for capturing transient magnetic field data jitter;
and S022, judging the large-amplitude jitter, setting the difference value between the single sliding average value and the sliding average sample as Y, setting a second difference value threshold value as T2, wherein T2 is greater than T1, and judging that the vehicle passes through the space right above the geomagnetic sensor when the difference value Y is greater than T2. This is because, in the process of stopping and driving the vehicle, when the ferromagnetic concentrated portion passes directly above the sensor, a strong magnetic field data shift larger than the second difference threshold T2 is generated, and thus, it is determined whether the vehicle has traveled through the space directly above the sensor, and the determination of the chattering in step S021 is enhanced.
And S03, judging the parking space parking state, judging that the parking shaking is finished through the shaking judgment in the step S021 after the vehicle completely parks in the parking space and stops shaking, gradually recovering the stability of the data acquired by the geomagnetic sensor, setting the difference value between the sliding average value and the background magnetic field data value of the parking space to be X, and judging that the vehicle stably parks in the parking space when the difference value is greater than the set threshold value Valve, wherein the parking space state is that the parking space is occupied. At this point, the dynamic refresh rate of the MAG3110 sensor is adjusted to 1.25Hz in order to conserve battery power. The judgment basis of the parking space state is that the sensor is judged to record the disturbance of the vehicle parking into the parking space and the stable state of the vehicle after the parking space is parked into the parking space at the same time.
S04, judging the disturbance of the vehicle leaving the parking space, wherein after the vehicle is judged to be parked in the parking space, the geomagnetic sensor captures the disturbance of the vehicle when parked in the parking space at a refresh rate of 1.25Hz, records data sampled once, current data sampled once and the average value of the first 12 data sampled once, and records the average value of the first 12 data sampled once as the sliding average value of the geomagnetic data for judging the shake of the vehicle leaving the parking space; after the local magnetic sensor captures the shake determination in step S021, the dynamic refresh rate of the geomagnetic sensor is increased to 40Hz to capture the shake when the vehicle is driven away.
And S05, judging the state that the vehicle completely drives away from the parking space, judging that the vehicle completely drives away from the parking space when the vehicle completely drives away from the parking space and the jitter judgment returns to 0, namely no jitter exists, judging that the vehicle completely drives away from the parking space when the difference value between the sliding average value and the background magnetic field data value of the parking space is less than a threshold value Valve. The criterion of the zero clearing and no-vehicle returning of the parking space position is that the sensor is judged to record the disturbance of the vehicle leaving the parking space and the stable state of the vehicle completely leaving the parking space.
In this patent, MAG3110 of freescale is used as a geomagnetic sensor, and the value of the Z-axis magnetic component immediately above the parking space is acquired by using a dynamic refresh rate method. The geomagnetic sensor algorithm comprises the steps of collecting parking space background magnetic field data, identifying disturbance generated when a vehicle is parked in a parking space, detecting a stable state of the vehicle after the vehicle is parked in the parking space, identifying disturbance generated when the vehicle drives away from the parking space, and detecting a stable state of the vehicle after the vehicle completely drives away from the parking space. As a record and detection of a complete parking and driving-out of the vehicle at one time.
The working principle of the roadside berth vehicle detector is as follows: when the magnetic field sensor works, the geomagnetic sensor 1 judges a peripheral magnetic field at a period of 200mS, when the change rate of the magnetic field exceeding a threshold value is found, 10mS is started for fast sampling until the magnetic field is relatively stable again, and whether a vehicle enters or exits from a parking space is judged by analyzing the change rule of the magnetic field. Meanwhile, the micro radar sensor 3 is triggered to work every time the magnetic field exceeds the threshold value, so as to assist judgment. After the operation is completed once, the roadside berth vehicle detector sends data to the background server, wherein the data comprises information such as an ID number of the vehicle detector, a channel, a geomagnetic state, an ultrasonic state and the like. Meanwhile, the roadside berth vehicle detector sends heartbeat packet data to the background server every 5 minutes.
When the roadside berth vehicle detector is used, the roadside berth vehicle detector can be buried in a proper position in a berth, and the surface of the roadside berth vehicle detector is flush with the ground. The geomagnetic sensor 1 is used for acquiring magnetic field signals around the berth and transmitting the magnetic field signals to the data processing device 2, the data processing device 2 judges whether a vehicle enters or exits the berth according to the change of the magnetic field signals, the berth state is detected in real time, the current berth state is sent to a background server in real time, and meanwhile, a remote instruction can be sent to the background server to configure parameters of the current berth state, calibrate the magnetic field and the like. Roadside berth car detector cost is lower, can be applicable to outdoor parking area moreover.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a roadside berth car detector which characterized in that: comprises that
The geomagnetic sensor is used for acquiring a peripheral magnetic field signal of the berth and transmitting the signal to the data processing device;
the data processing device is used for receiving the magnetic field signal detected by the geomagnetic sensor and judging whether a vehicle enters or exits the berth according to the change of the magnetic field signal;
the casing, including pre-buried body, jar body and sealed lid, pre-buried body sets up in the outside of jar body, sealed lid sets up in one side of the jar body, geomagnetic sensor and data processing apparatus install in the jar body of casing.
2. The roadside berth vehicle detector of claim 1, wherein the housing is injection molded with ABS glue.
3. The roadside berth vehicle detector of claim 1, further comprising a signal sending module connected with the data processing device for sending data of the vehicle detector to a background server.
4. The roadside berth vehicle detector as claimed in claim 3, wherein the signal transmitting module is a wireless network signal transmitting module or a Bluetooth signal transmitting module.
5. The roadside berth vehicle detector as claimed in claim 4, wherein the wireless network signal sending module comprises an antenna and a wireless serial port communication module.
6. The roadside berth vehicle detector of any one of claims 1 to 5, further comprising a power module for supplying power to the vehicle detector, the power module being connected with the geomagnetic sensor and the data processing device.
7. The roadside berth vehicle detector as claimed in claim 6, wherein the data processing device is a PCL or a single chip microcomputer.
8. The roadside berth vehicle detector as claimed in claim 6, wherein threads matched with each other are arranged on the inner wall of the embedded body and the outer wall of the sealing cover.
9. The roadside berth vehicle detector according to any one of claims 1 to 5, characterized in that the berthing state detection method of the roadside berthing vehicle detector comprises the following steps:
s01, acquiring parking space background magnetic field data, acquiring parking space geomagnetic data at the highest refresh rate of 80Hz through the geomagnetic sensor, acquiring more than 20 samples, and taking an average value to record as a parking space background magnetic field data value;
and S02, judging the disturbance of the vehicle parking space, specifically comprising,
s021, judging jitter, setting a difference value between a single sliding average value and a sliding average sample as Y, setting a first difference value threshold value as T1, and when the difference value Y is greater than T1, determining that a geomagnetic field around the parking space lock generates disturbance, wherein the dynamic refresh rate of the geomagnetic sensor is set to be 40Hz and used for capturing transient magnetic field data jitter;
s022, judging large jitter, setting a difference value between a single sliding average value and a sliding average sample as Y, setting a second difference value threshold value as T2, wherein T2 is greater than T1, and when the difference value Y is greater than T2, judging that a vehicle passes through a space right above the geomagnetic sensor;
s03, judging the parking space state of the vehicle, after the vehicle completely stops in the parking space and stops shaking, gradually recovering the stability of the data acquired by the geomagnetic sensor, setting the difference value between the sliding average value and the parking space background magnetic field data value at the moment as X, and judging that the vehicle has stably parked in the parking space when the difference value is greater than a set threshold value Valve;
s04, judging the disturbance of the vehicle leaving the parking space, wherein after the vehicle is judged to be parked in the parking space, the geomagnetic sensor captures the disturbance of the vehicle when parked in the parking space at a refresh rate of 1.25Hz, records data sampled once, current data sampled once and the average value of the first 12 data sampled once, and records the average value of the first 12 data sampled once as the sliding average value of the geomagnetic data for judging the shake of the vehicle leaving the parking space;
and S05, judging the state that the vehicle completely drives away from the parking space, and judging that the vehicle completely drives away from the parking space when the difference value between the sliding average value and the background magnetic field data value of the parking space is smaller than a threshold value Valve.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109118785A (en) * | 2018-10-30 | 2019-01-01 | 四川长虹电器股份有限公司 | Earth magnetism vehicle checker and its control method based on low-power consumption bluetooth |
| CN112419743A (en) * | 2020-08-27 | 2021-02-26 | 宁波大榭招商国际码头有限公司 | Detection correction method based on continuous geomagnetic sensor |
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