CN106959119B - Method and device for monitoring moving object - Google Patents
Method and device for monitoring moving object Download PDFInfo
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- CN106959119B CN106959119B CN201710127715.7A CN201710127715A CN106959119B CN 106959119 B CN106959119 B CN 106959119B CN 201710127715 A CN201710127715 A CN 201710127715A CN 106959119 B CN106959119 B CN 106959119B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention discloses a method for monitoring a moving object, which is applied to monitoring the moving object under the coordination of a geomagnetic sensor and a signal processing circuit. The moving object to be monitored is determined to enter the service range of the geomagnetic sensor by the sensing performed by the geomagnetic sensor itself. The movement of the moving object generates geomagnetic field distribution change, the magnetic flux change generated by the geomagnetic field distribution change obtains a voltage signal corresponding to the magnetic flux change rate, and the voltage signal is input to the signal processing circuit. And determining a mapping relation containing the voltage indicated by the voltage signal through a signal processing circuit, and obtaining the distance and the speed of the moving object corresponding to the voltage indicated by the voltage signal in the moving process according to the mapping relation.
Description
Technical Field
The present disclosure relates to the field of sensor application technologies, and in particular, to a method and an apparatus for monitoring a moving object.
Background
The geomagnetic sensor plays an increasingly important role in various aspects such as national defense construction, scientific research, medical health, traditional industrial application and transformation, resource exploration and comprehensive utilization, environmental protection, bioengineering, traffic intelligent control and the like. For data acquisition in a traffic monitoring system, a geomagnetic sensor is used as a key component of data acquisition, and the performance of the geomagnetic sensor plays a decisive role in the accuracy of data acquisition.
For example, the geomagnetic sensor may be used for passage detection and vehicle type identification of a vehicle. The geomagnetic sensor placed on the side of the expressway can calculate and distinguish vehicles passing through the sensor, and can also detect the length of the passing vehicles; the geomagnetic sensor placed in the parking space can record the time when the vehicle enters the parking space and the time when the vehicle parks.
However, since the geomagnetic sensor senses that the variation of magnetic flux caused by the variation of the geomagnetic field is rapidly attenuated as the distance increases, the monitoring of the moving object by the geomagnetic sensor is limited by the sensing distance in the related art. When the sensing distance exceeds 3 meters, the geomagnetic sensor cannot be applied to detection of a moving object.
For example, since the geomagnetic sensor sensing is limited by a distance, a highway toll station cannot obtain the distance and speed of a vehicle approaching or departing from the toll station, and a carrier-based aircraft cannot obtain the distance and speed of the carrier-based aircraft when the carrier-based aircraft takes off from an aircraft carrier deck.
Therefore, increasing the sensing distance of the geomagnetic sensor is a current technical problem to be solved urgently.
Disclosure of Invention
In order to solve the technical problem that the sensing distance of a geomagnetic sensor is small in the related art, the disclosure provides a moving object monitoring method and device.
A moving object monitoring method for monitoring a moving object in cooperation between a geomagnetic sensor and a signal processing circuit, comprising:
determining the monitored moving object through sensing performed by the geomagnetic sensor, wherein the movement of the moving object generates geomagnetic field distribution change;
obtaining a voltage signal corresponding to a magnetic flux change rate from a magnetic flux change generated by the geomagnetic field distribution change, and inputting the voltage signal to the signal processing circuit;
and determining a mapping relation containing the voltage indicated by the voltage signal through the signal processing circuit, and obtaining the distance and the speed of voltage mapping indicated by the voltage signal according to the mapping relation.
A monitoring device for a moving object, the device comprising:
a moving object monitoring module for determining the moving object to be monitored through sensing performed by the geomagnetic sensor itself;
the induction voltage acquisition module is used for acquiring a voltage signal corresponding to the magnetic flux change rate according to the magnetic flux change generated by the geomagnetic field distribution change;
and the motion data acquisition module is used for determining a mapping relation containing the voltage indicated by the voltage signal through the signal processing circuit, and obtaining the distance and the speed of voltage mapping indicated by the voltage signal according to the mapping relation.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the electromagnetic induction sensor in the geomagnetic sensor senses the magnetic flux change generated by the geomagnetic field distribution change, and a voltage signal corresponding to the magnetic flux change rate is obtained. The magnitude of the magnetic flux change rate is calculated by detecting the voltage. The same magnetic flux change rate is corresponded, and the coil quantity of the induction coil is increased to obtain larger induced electromotive force, so that the geomagnetic sensor can sense the more tiny magnetic flux change rate, and the sensing distance of the geomagnetic sensor is increased. The signal processing circuit amplifies and performs analog-to-digital conversion on the voltage signal obtained by the geomagnetic sensor, filters the obtained digital voltage signal, improves the signal-to-noise ratio of the voltage signal, and further increases the sensing distance of the geomagnetic sensor.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart illustrating a method for monitoring a moving object in accordance with an exemplary embodiment;
FIG. 2 is a schematic diagram of a method for monitoring a moving object according to another exemplary embodiment;
fig. 3 is a flowchart illustrating one specific implementation of step 110 in the method for monitoring a moving object according to the corresponding embodiment of fig. 1;
fig. 4 is a flowchart illustrating an implementation of step 130 in the method for monitoring a moving object according to the corresponding embodiment of fig. 1;
FIG. 5 is a schematic diagram of a method for monitoring a moving object according to another exemplary embodiment;
FIG. 6 is a block diagram of a moving object monitoring device in accordance with an exemplary embodiment;
FIG. 7 is a block diagram of a moving object monitoring device in accordance with another exemplary embodiment;
FIG. 8 is a block diagram for one embodiment of a moving object monitoring module in accordance with the corresponding embodiment of FIG. 6;
FIG. 9 is a block diagram of an induced voltage acquisition module in accordance with a corresponding embodiment of FIG. 6, in one embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
Fig. 1 is a flowchart illustrating a method of monitoring a moving object according to an exemplary embodiment. As shown in fig. 1, the method comprises the steps of:
in step 110, a monitored moving object is determined by sensing performed by the geomagnetic sensor itself.
The geomagnetic sensor is a measuring device that indicates a motion state and motion data of a moving object by sensing a geomagnetic field distribution change caused by a motion of the moving object in a geomagnetic field. The geomagnetic sensor includes a magnetoresistive sensor and an electromagnetic induction sensor.
A magnetoresistive sensor refers to a geomagnetic sensor made using a magnetoresistive effect.
The electromagnetic induction sensor is a geomagnetic sensor manufactured by using an electromagnetic induction effect.
The magnetoresistance effect is a phenomenon in which the resistance of a conductor in a magnetic field changes. Specifically, when a current is applied along the length of a long and thin ferromagnetic alloy and a magnetic field is applied perpendicular to the current, the resistance of the alloy strip itself changes. The impedance change value is proportional to the magnetic field strength and the current strength. Furthermore, if two pairs of alloy strips are placed at a certain angle, the impedance of the two pairs of alloy strips is increased one and decreased one under the action of the geomagnetic field. The difference of the impedance changes is detected by the detection circuit, and a voltage signal proportional to the intensity of the earth magnetic field can be output.
The electromagnetic induction effect is a phenomenon in which a coil cuts magnetic lines of a geomagnetic field to generate induced electromotive force at both ends of the coil. Or, when the coil moves in the magnetic field, a phenomenon of generating induced electromotive force at both ends of the coil due to a change of magnetic lines of force in the coil.
The motion data includes data such as the distance between the moving object and the geomagnetic sensor, and the velocity of the moving object.
The intensity of the geomagnetic field corresponding to the absence of the moving object is obtained through the magnetoresistive sensor, and the obtained geomagnetic field intensity is used as the intensity of the reference geomagnetic field.
As the moving object moves within the service range of the geomagnetic sensor, the variation of the magnetic flux generated by the variation of the distribution of the geomagnetic field is sensed by the electromagnetic induction sensor, and the geomagnetic field strength obtained due to the movement of the moving object is obtained.
By comparing the geomagnetic field strength obtained due to the movement of the moving object with the reference geomagnetic field strength, the geomagnetic field strength obtained according to the movement of the moving object sensed by the electromagnetic induction sensor is lower than the reference geomagnetic field strength in a continuous time, so that the moving object to be monitored can be determined to enter the service range of the geomagnetic sensor, and the monitoring of the moving object is realized.
In step 130, a voltage signal corresponding to the rate of change of the magnetic flux is obtained from the change of the magnetic flux caused by the change of the distribution of the earth magnetic field, and the voltage signal is input to the signal processing circuit.
The geomagnetic field distribution changes as the moving object moves in the service range of the geomagnetic sensor. The electromagnetic induction sensor in the geomagnetic sensor senses the magnetic flux change generated by the geomagnetic field distribution change, and a voltage signal corresponding to the magnetic flux change rate is obtained.
In a specific exemplary embodiment, the electromagnetic induction sensor is manufactured based on a micro electro mechanical system process, and comprises a ring-shaped harmonic oscillator and a ferromagnetic material between the ring-shaped harmonic oscillator, wherein the induction coil surrounds the ring-shaped harmonic oscillator and is connected with a resistor in series at two ends.
When the magnetic lines of force passing through the ring resonator change due to the motion of the moving object, induced electromotive force is generated in the induction coil surrounding the ring resonator. The induced electromotive force generates a voltage signal through a resistor connected in series with the induction coil, and the electromagnetic induction sensor senses the magnitude of the rate of change of the magnetic flux by detecting the voltage signal.
In step 150, a mapping relation containing the voltage indicated by the voltage signal is determined by the signal processing circuit, and the distance and the speed of the voltage mapping indicated by the voltage signal are obtained from the mapping relation.
And the signal processing circuit is used for amplifying and carrying out analog-to-digital conversion on the voltage signal output by the geomagnetic sensor to obtain a digitized voltage signal. The digitized voltage signal is filtered to improve the signal-to-noise ratio, thereby further improving the distance sensed by the geomagnetic sensor.
The voltage signal corresponding to the magnetic flux change rate obtained by the electromagnetic induction sensor is a continuous analog quantity which changes along with time, and a digitized voltage signal is obtained by sampling and analog-to-digital conversion processing of the analog quantity. The voltage signal is a voltage function with time as an argument. In a specific exemplary embodiment, the voltage function is monotonically increasing or monotonically decreasing.
The method comprises the steps of measuring the movement of a moving object in a service range of a geomagnetic sensor at a set speed, obtaining a time-dependent change curve of the distance between the moving object and the geomagnetic sensor, and sampling the time-dependent change curve of the distance at different time points to obtain a distance function with time as an independent variable. In a specific exemplary embodiment, the distance function is a monotonically increasing or monotonically decreasing function. And obtaining the one-to-one mapping relation between the distance and the voltage signals according to the fact that the distance function and the voltage function have the same derivative function.
And reading the distance functions corresponding to various speeds stored in the memory, obtaining the distance functions corresponding to the voltage signals according to the mapping relation between the distance and the voltage signals, and obtaining the distance and the speed corresponding to the moving object by the distance functions.
In a specific embodiment, the signal processing circuit comprises a programmable amplifier, a zero point adjusting circuit, an analog-to-digital converter, a digital signal processor, a memory and a microprocessor.
And the zero point adjusting circuit is used for adjusting the input reference voltage of the programmable amplifier to obtain the zero point reference voltage of the programmable amplifier.
In a specific exemplary embodiment, the zero point reference voltage is equal to a static voltage obtained by the geomagnetic sensor, the static voltage corresponding to the geomagnetic field intensity sensed by the geomagnetic sensor when no moving object enters.
And the programmable amplifier is used for adjusting and amplifying the voltage signal according to the dynamic range of the input signal received by the analog-to-digital converter.
In a specific exemplary embodiment, the programmable amplifier is configured to compare a voltage signal obtained by sensing a geomagnetic field variation by the geomagnetic sensor with a zero reference voltage to determine that the moving object enters a service range of the geomagnetic sensor.
And the analog-to-digital converter is used for sampling the analog voltage signal according to a preselected set sampling rate and converting the analog voltage signal into a corresponding digital voltage signal.
And the digital signal processor is used for improving the signal-to-noise ratio of the voltage signal by filtering the digitized voltage signal.
And a memory for storing distance functions corresponding to the various speeds.
And the microprocessor is used for reading the distance functions corresponding to various speeds stored in the memory, obtaining the distance function corresponding to the voltage signal according to the mapping relation between the distance and the voltage signal, and obtaining the distance and the speed corresponding to the moving object by the distance function.
A greater induced electromotive force can be obtained by increasing the number of coils of the induction coil corresponding to the same rate of change of magnetic flux. The geomagnetic sensor can sense a smaller magnetic flux change rate by increasing the number of the induction coils, so that the distance sensed by the geomagnetic sensor is increased. The signal processing circuit amplifies and performs analog-to-digital conversion on the voltage signal obtained by the geomagnetic sensor, filters the obtained digital voltage signal, improves the signal-to-noise ratio of the voltage signal, and further increases the sensing distance of the geomagnetic sensor.
In an exemplary embodiment, before performing step 150, the method further comprises the steps of: the distance and the speed monitored by the moving object obtained by the measurement are stored, the distance corresponding to a voltage signal obtained by sensing the moving object moving at the speed by the geomagnetic sensor.
Specifically, a time-dependent change curve of the distance between the moving object and the geomagnetic sensor is obtained by measuring the moving object moving within the service range of the geomagnetic sensor at a set speed, and a distance function with time as an independent variable is obtained by sampling the time-dependent change curve of the distance at different time points. The distance function is a monotonically increasing or monotonically decreasing function corresponding to an application scenario when the vehicle is approaching or departing from the highway toll station. The distance functions corresponding to the various speeds are stored by a memory in the signal processing circuit.
Fig. 2 is a schematic diagram illustrating a method for monitoring a moving object according to another exemplary embodiment. As shown in fig. 2, the method comprises the steps of:
in step 101, the magnetic resistance sensor senses the intensity of the earth magnetic field corresponding to the absence of the moving object in the service range, and obtains a static voltage signal corresponding to the intensity of the earth magnetic field.
In order to realize the sensing of the geomagnetic sensor on the moving object, when no moving object enters the service range of the local magnetic sensor, the geomagnetic field strength sensed by the magnetoresistive sensor in the geomagnetic sensor is used to obtain the static voltage corresponding to the geomagnetic strength. The static voltage is used for setting the zero reference voltage of the programmable amplifying circuit in the signal processing circuit according to the static voltage.
In step 103, a zero reference voltage of the programmable amplifying circuit in the signal processing circuit is obtained by inputting the static voltage signal to the signal processing circuit and adjusting the zero adjusting circuit in the signal processing circuit.
The static voltage signal is input to the signal processing circuit, the static voltage is used as one input end of the programmable amplifying circuit, and the output voltage of the zero point adjusting circuit is used as the other input end of the programmable amplifying circuit. And adjusting the output voltage of the zero point adjusting circuit, wherein the output voltage of the zero point adjusting circuit when the output voltage of the programmable amplifying circuit is at a zero level is used as the zero point reference voltage of the programmable amplifying circuit.
Fig. 3 is a flowchart illustrating a specific implementation of step 110 in the method for monitoring a moving object according to the corresponding embodiment of fig. 1.
In step 111, a magnetic flux variation generated by the geomagnetic distribution variation is sensed by the geomagnetic sensor, and a voltage signal corresponding to a magnetic flux variation rate is obtained.
And sensing the magnetic flux change generated by the geomagnetic field distribution change by the geomagnetic sensor along with the geomagnetic field distribution change generated when the moving object enters the service range of the geomagnetic sensor, and obtaining a voltage signal corresponding to the magnetic flux change rate.
Specifically, as the moving object enters the service range, a decrease in the geomagnetic field strength, i.e., a drop in the geomagnetic field strength, is caused. The decrease in the intensity of the geomagnetic field causes a change in magnetic flux passing through the geomagnetic sensor, and the geomagnetic sensor obtains a voltage signal corresponding to a rate of change of the magnetic flux by sensing the rate of change of the magnetic flux.
In step 113, an output voltage of the programmable amplifier circuit is obtained by inputting the voltage signal and the input reference voltage to the programmable amplifier circuit.
The programmable gain amplifying circuit is used for adjusting the voltage value of the voltage signal according to the dynamic range of the input signal received by the analog-to-digital converter. Since the voltage signal output from the geomagnetic sensor to the signal processing circuit is a small analog voltage signal, the voltage signal needs to be adjusted and amplified to satisfy the dynamic range of the input signal that the digital converter can receive.
In a specific embodiment, the dynamic range of the analog-to-digital converter receiving the input signal is 20mV to 3.3V. The voltage signal corresponding to the magnetic flux change rate obtained by sensing the magnetic flux change generated by the geomagnetic field distribution change through the geomagnetic sensor is 20 mV. Since the voltage signal output from the geomagnetic sensor to the signal processing circuit is 20mV, the voltage signal is not within the dynamic range of the analog-to-digital converter receiving the input signal. The voltage signal is amplified by the programmable amplifier to obtain an output voltage of 400mV, which is within the dynamic range of the analog-to-digital converter.
In step 115, it is determined that the moving object enters the service range of the geomagnetic sensor according to the fact that the output voltage continuously exceeds the preset threshold value within the set time.
The geomagnetic field distribution change is generated as the moving object enters the service range of the geomagnetic sensor, and the geomagnetic sensor senses the magnetic flux change generated by the geomagnetic field distribution change to obtain a voltage signal corresponding to the magnetic flux change rate. The obtained voltage signal is input to a programmable amplifier circuit in the signal processing circuit, and the input voltage signal is amplified by the programmable amplifier circuit to obtain an output voltage. And determining that the moving object enters the service range of the geomagnetic sensor according to the fact that the output voltage exceeds a preset threshold value.
Specifically, the geomagnetic sensor measures the geomagnetic field at a fixed position, and the strength of the obtained geomagnetic field is close to a constant value. However, the strength of the earth's magnetic field is not constant and varies within a certain range. Therefore, by setting the threshold and the gain of the programmable amplifier, it is determined that no moving object enters the service range to which the geomagnetic sensor belongs, based on the programmable amplifier output voltage being lower than the threshold. And determining that the moving object enters the service range of the geomagnetic sensor according to the fact that the output voltage exceeds a preset threshold value.
Further, even if there is no entry of a moving object, the intensity of the geomagnetic field may vary due to factors such as instability of the power supply of the geomagnetic sensor. The geomagnetic sensor in the working state senses the strength change of the geomagnetic field to obtain a corresponding voltage signal. The voltage signal is input to a programmable amplifier in the signal processing circuit, which may cause the output voltage of the programmable amplifier circuit to instantaneously exceed a predetermined threshold. To solve this problem, a signal processing circuit determines that a moving object enters a service range of a geomagnetic sensor based on an output voltage of a programmable amplifier continuously exceeding a preset threshold for a preset time by presetting a duration.
Fig. 4 is a flowchart illustrating a specific implementation of step 130 in the method for monitoring a moving object according to the corresponding embodiment of fig. 1.
In step 131, the X-axis amplification module, the Y-axis amplification module, and the Z-axis amplification module of the electromagnetic induction sensor in the geomagnetic sensor sense the magnetic flux changes in the respective axial directions, and voltage signals corresponding to the magnetic flux change rates in the X-axis, Y-axis, and Z-axis directions are obtained, respectively.
The electromagnetic induction sensor not only requires the existence of a magnetic field, but also requires the movement of a moving object cutting magnetic lines, and a voltage signal obtained by sensing the moving object by the electromagnetic induction sensor is closely related to the movement speed of the sensed moving object.
The electromagnetic induction sensor comprises an X-axis amplification module, a Y-axis amplification module and a Z-axis amplification module. The magnetic flux change in the axial direction of the X-axis sensor, the Y-axis sensor and the Z-axis sensor in the electromagnetic induction sensor is sensed, and voltage signals corresponding to the magnetic flux change rate in the X-axis direction, the Y-axis direction and the Z-axis direction are obtained respectively.
Specifically, the electromagnetic induction sensor is manufactured based on a micro-electro-mechanical system process and comprises an X-axis amplification module, a Y-axis amplification module and a Z-axis amplification module. Each amplification module comprises an annular harmonic oscillator and a ferromagnetic material between the annular harmonic oscillators, and the induction coil surrounds the annular harmonic oscillator and is connected with resistors in series at two ends. When magnetic lines of force penetrating through the ring resonator change due to the change of the geomagnetic field distribution, induced electromotive force is generated in the induction coil surrounding the ring resonator. The induced electromotive force generates a voltage by a resistance connected in series with the induction coil, and the electromagnetic induction sensor senses the magnitude of the rate of change of the magnetic flux by detecting the voltage.
In step 133, the electromagnetic induction sensor in the geomagnetic sensor is gated by the gating circuit, and the electromagnetic induction sensor establishes a connection with the signal processing circuit through the gating circuit.
The gating circuit refers to a multi-path analog switch manufactured by a microelectronic process, and can select one or more paths of voltage signals to pass through and also can set one or more paths of voltage signals not to pass through. And the connection between the geomagnetic sensor and a subsequent signal processing circuit is realized through a gating circuit.
Furthermore, when it is necessary to set the zero reference voltage of the programmable amplifier circuit in the signal processing circuit, it is only necessary to gate the connection between the magnetoresistive sensor in the geomagnetic sensor and the subsequent signal processing circuit. And setting a zero reference voltage of the programmable amplifying circuit according to the static voltage obtained by the geomagnetic sensor. When the setting of the zero reference voltage is completed, the electromagnetic induction sensor in the geomagnetic sensor and the subsequent signal processing circuit are connected through the gating circuit, and the movement of the moving object is monitored through the electromagnetic induction sensor.
In a specific application scenario, a network topology for monitoring a moving object may be as shown in fig. 5. Wherein the geomagnetic sensor includes a magnetoresistive sensor and an electromagnetic induction sensor. The magnetoresistive sensors include an X-axis magnetoresistive sensor, a Y-axis magnetoresistive sensor, and a Z-axis magnetoresistive sensor. The electromagnetic induction sensor comprises an X-axis amplification module, a Y-axis amplification module and a Z-axis amplification module. The magnetic resistance sensor and the electromagnetic induction sensor are connected with the subsequent signal processing circuit through the gating circuit. The magneto-resistive sensor has very high geomagnetic field sensing accuracy, static voltage corresponding to the geomagnetic field intensity is obtained by sensing the geomagnetic field intensity when no moving object enters through the magneto-resistive sensor, the static voltage is used as an input reference signal and is input into the programmable amplifying circuit, and the zero reference voltage of the programmable amplifying module is obtained by adjusting the zero adjusting circuit. The local magnetic sensor determines that a monitored moving object enters a service range of the geomagnetic sensor through sensing of the local magnetic sensor, the electromagnetic induction sensor in the geomagnetic sensor is gated through the gating circuit, magnetic flux changes generated by the electromagnetic induction sensor sensing geomagnetic field distribution changes are obtained, voltage signals corresponding to magnetic flux change rates are obtained, and the voltage signals are input to a subsequent signal processing circuit to be processed.
Fig. 6 is a block diagram illustrating a monitoring apparatus for a moving object according to an exemplary embodiment. As shown in fig. 6, the apparatus includes, but is not limited to: a moving object monitoring module 610, an induced voltage acquisition module 630 and a motion data acquisition module 650.
A moving object monitoring module 610 for determining a monitored moving object through sensing performed by the geomagnetic sensor itself;
an induced voltage obtaining module 630, configured to obtain a voltage signal corresponding to a magnetic flux change rate from a magnetic flux change generated by a geomagnetic field distribution change;
and the motion data acquisition module 650 is configured to determine, through the signal processing circuit, a mapping relation including a voltage indicated by the voltage signal, and obtain, from the mapping relation, a distance and a speed mapped by the voltage indicated by the voltage signal.
Fig. 7 is a block diagram of a moving object monitoring apparatus according to another exemplary embodiment. As shown in fig. 7, the apparatus includes, but is not limited to: a static voltage acquisition module 710 and a zero voltage acquisition module 730.
A static voltage obtaining module 710, configured to sense, by using a magnetic resistance sensor in the geomagnetic sensor, a geomagnetic field strength corresponding to a service range where no moving object exists, and obtain a static voltage signal corresponding to the geomagnetic field strength;
the zero voltage obtaining module 730 is configured to input the static voltage signal to the signal processing circuit, adjust a zero adjustment circuit in the signal processing circuit, and obtain an input reference voltage of a programmable amplification circuit in the signal processing circuit.
Fig. 8 is a block diagram of a moving object monitoring module in accordance with a corresponding embodiment of fig. 6, in one embodiment. As shown in fig. 8, the apparatus includes, but is not limited to: a voltage signal acquisition unit 611, an output voltage acquisition unit 613, a moving object determination unit 615.
A voltage signal acquisition unit 611 for sensing a magnetic flux change generated by the geomagnetic field distribution change by the geomagnetic sensor, and obtaining a voltage signal corresponding to the magnetic flux change rate;
an output voltage obtaining unit 613, configured to obtain an output voltage signal of a programmable amplification circuit by inputting the voltage signal and the input reference voltage to the programmable amplification circuit;
and a moving object determination unit 615, configured to determine that the moving object enters a service range to which the geomagnetic sensor belongs according to that the output voltage signal continuously exceeds a preset threshold for a set time.
FIG. 9 is a block diagram of one embodiment of a voltage signal acquisition module according to a corresponding embodiment of FIG. 6. As shown in fig. 9, the apparatus includes, but is not limited to: a gating unit 631, an induced voltage acquiring unit 633.
A gating unit 631 for gating an electromagnetic induction sensor among the geomagnetic sensors through a gating circuit, the electromagnetic induction sensor being connected to the signal processing circuit through the gating circuit;
the induced voltage obtaining unit 633 is configured to sense a change of magnetic flux in an axial direction of the electromagnetic induction sensor through an X-axis amplification module, a Y-axis amplification module, and a Z-axis amplification module in the electromagnetic induction sensor, and obtain voltage signals corresponding to a rate of change of the magnetic flux in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (8)
1. A method for monitoring a moving object, the method being used for monitoring the moving object in cooperation between a geomagnetic sensor and a signal processing circuit, the method comprising:
sensing the geomagnetic field intensity corresponding to the absence of a moving object in a service range through a magnetic resistance sensor in the geomagnetic sensor to obtain a static voltage signal corresponding to the geomagnetic field intensity;
obtaining a zero reference voltage of a programmable amplification circuit in the signal processing circuit by inputting the static voltage signal to the signal processing circuit and adjusting a zero adjustment circuit in the signal processing circuit, the zero reference voltage being used to determine the moving object to be monitored by sensing performed by the geomagnetic sensor itself;
determining the monitored moving object through sensing performed by the geomagnetic sensor, wherein the movement of the moving object generates geomagnetic field distribution change;
obtaining a voltage signal corresponding to a magnetic flux change rate from a magnetic flux change generated by the geomagnetic field distribution change, and inputting the voltage signal to the signal processing circuit;
and determining a mapping relation containing the voltage indicated by the voltage signal through the signal processing circuit, and obtaining the distance and the speed of voltage mapping indicated by the voltage signal according to the mapping relation.
2. The method according to claim 1, wherein the determining of the moving object monitored through the sensing by the geomagnetic sensor itself includes:
sensing, by the geomagnetic sensor, a magnetic flux change generated by the geomagnetic field distribution change to obtain a voltage signal corresponding to the magnetic flux change rate;
obtaining an output voltage of the programmable amplifying circuit corresponding to the voltage signal by inputting the voltage signal and the zero reference voltage to the programmable amplifying circuit;
and determining that the moving object enters the service range of the geomagnetic sensor according to the fact that the output voltage continuously exceeds a preset threshold value within a set time.
3. The method of claim 1, wherein the magnetic flux change resulting from the change in the earth magnetic field distribution results in a voltage signal corresponding to a rate of change of magnetic flux, comprising:
sensing the magnetic flux change in the respective axial direction through an X-axis amplification module, a Y-axis amplification module and a Z-axis amplification module of an electromagnetic induction sensor in the geomagnetic sensor, and respectively obtaining the voltage signals corresponding to the magnetic flux change rates in the X-axis direction, the Y-axis direction and the Z-axis direction;
the electromagnetic induction sensor is connected with the signal processing circuit through a gating circuit.
4. The method of claim 1, wherein the determining, by the signal processing circuit, a mapping containing the voltage indicated by the voltage signal and prior to obtaining the distance and the speed monitored by the moving object from the mapping comprises:
storing a distance and a speed monitored by the moving object measured, the distance corresponding to a voltage signal obtained by sensing the moving object moving at the speed by a geomagnetic sensor.
5. An apparatus for monitoring a moving object, the apparatus comprising:
the device comprises a static voltage acquisition module, a power supply module and a power supply module, wherein the static voltage acquisition module is used for sensing the geomagnetic field intensity corresponding to the absence of a moving object in a service range through a magnetic resistance sensor in a geomagnetic sensor to obtain a static voltage signal corresponding to the geomagnetic field intensity;
the zero voltage acquisition module is used for inputting the static voltage signal to the signal processing circuit and adjusting a zero adjusting circuit in the signal processing circuit to acquire a zero reference voltage of a programmable amplifying circuit in the signal processing circuit; the zero reference voltage is used for determining the monitored moving object through sensing performed by the geomagnetic sensor;
a moving object monitoring module for determining the moving object to be monitored through sensing performed by the geomagnetic sensor itself, wherein the movement of the moving object generates a geomagnetic field distribution change;
the induced voltage acquisition module is used for acquiring a voltage signal corresponding to the magnetic flux change rate from the magnetic flux change generated by the geomagnetic field distribution change and inputting the voltage signal to the signal processing circuit;
and the motion data acquisition module is used for determining a mapping relation containing the voltage indicated by the voltage signal through the signal processing circuit, and obtaining the distance and the speed of voltage mapping indicated by the voltage signal according to the mapping relation.
6. The monitoring device of claim 5, wherein the moving object monitoring module comprises:
a voltage signal acquisition unit for sensing a magnetic flux change generated by the geomagnetic field distribution change through the geomagnetic sensor to obtain a voltage signal corresponding to the magnetic flux change rate;
the output voltage acquisition unit is used for inputting the voltage signal and the zero reference voltage into a programmable amplification circuit to obtain an output voltage signal of the programmable amplification circuit;
and the moving object determining unit is used for determining that the moving object enters a service range to which the geomagnetic sensor belongs according to the fact that the output voltage signal continuously exceeds a preset threshold value within a set time.
7. The monitoring device of claim 5, wherein the voltage signal acquisition module comprises an electromagnetic induction unit:
the induction voltage acquisition unit is used for sensing the magnetic flux change in the respective axial direction through an X-axis amplification module, a Y-axis amplification module and a Z-axis amplification module of an electromagnetic induction sensor in the geomagnetic sensor, and respectively acquiring the voltage signals corresponding to the magnetic flux change rates in the X-axis direction, the Y-axis direction and the Z-axis direction;
and the gating unit is used for establishing connection between the electromagnetic induction sensor and the signal processing circuit through a gating circuit.
8. The monitoring device of claim 5, further comprising:
and a storage unit for storing a distance and a speed monitored by the moving object obtained through measurement, the distance corresponding to a voltage signal obtained by sensing a moving object moving at the speed by a geomagnetic sensor.
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