CN110867093B - Parking space information detection method, system, network equipment and storage medium - Google Patents
Parking space information detection method, system, network equipment and storage medium Download PDFInfo
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- CN110867093B CN110867093B CN201911016123.3A CN201911016123A CN110867093B CN 110867093 B CN110867093 B CN 110867093B CN 201911016123 A CN201911016123 A CN 201911016123A CN 110867093 B CN110867093 B CN 110867093B
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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Abstract
The embodiment of the invention relates to the technical field of Internet of things, and discloses a parking space information detection method, which comprises the following steps: acquiring three-axis magnetic induction intensity of a current parking space, wherein the three-axis magnetic induction intensity comprises magnetic induction intensity of a Z axis and magnetic induction intensity of an X axis and a Y axis; acquiring the inclination angle change of magnetic lines of force of a ZY plane formed by the Z axis and the Y axis and the inclination angle change of magnetic lines of force of a ZX plane formed by the Z axis and the X axis according to the three-axis magnetic induction intensity; and judging the use state of the current parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane. The embodiment of the invention also provides a parking space information detection system, network equipment and a storage medium. The parking space information detection method, the parking space information detection system, the network equipment and the storage medium can improve the accuracy of parking space information detection.
Description
Technical Field
The invention relates to the technical field of Internet of things, in particular to a parking space information detection method, a parking space information detection system, network equipment and a storage medium.
Background
With the improvement of living standard of people, the automobile keeping quantity is higher and higher, and the problem that parking spaces are difficult to find for parking is solved, so that the ordered management of the parking spaces is very important. At present, in the management of parking spaces in a parking lot, a single-shaft magnetoresistive sensor is generally adopted to detect parking space information. However, when a strong magnetic vehicle enters the adjacent parking space, the sensor sensing data of the current parking space can be changed, and the detection method can draw a conclusion that the vehicle enters the current parking space, so that the information of the parking space is misjudged.
Therefore, the single-shaft magnetoresistive sensor is used for detecting the parking space information, and the accuracy is not high.
Disclosure of Invention
The embodiment of the invention aims to provide a parking space information detection method, a parking space information detection system, network equipment and a storage medium, and improve the accuracy of parking space information detection.
In order to solve the above technical problem, an embodiment of the present invention provides a parking space information detection method, including the following steps: acquiring three-axis magnetic induction intensity of a current parking space, wherein the three-axis magnetic induction intensity comprises magnetic induction intensity of a Z axis and magnetic induction intensity of an X axis and a Y axis; acquiring the inclination angle change of magnetic lines of force of a ZY plane formed by a Z axis and a Y axis and the inclination angle change of magnetic lines of force of a ZX plane formed by the Z axis and an X axis according to the three-axis magnetic induction intensity; and judging the use state of the current parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane.
The embodiment of the invention also provides a parking space information detection system, which comprises: parking stall detection device, communication device and server, parking stall detection device include triaxial magnetoresistive sensor and communication module, and parking stall detection device is used for sending parking stall information to communication device through communication module, and communication device is used for sending parking stall information to the server, and parking stall detection device still is used for: acquiring three-axis magnetic induction intensity of a current parking space through a three-axis magnetic resistance sensor, wherein the three-axis magnetic induction intensity comprises magnetic induction intensity of a Z axis and magnetic induction intensity of an X axis and a Y axis; acquiring the inclination angle change of magnetic lines of force of a ZY plane formed by a Z axis and a Y axis and the inclination angle change of magnetic lines of force of a ZX plane formed by the Z axis and an X axis according to the three-axis magnetic induction intensity; and judging the use state of the current parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane.
An embodiment of the present invention further provides a network device, including: at least one processor; and a memory communicatively coupled to the at least one processor; the storage stores instructions capable of being executed by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the parking space information detection method.
The embodiment of the invention also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the parking space information detection method.
Compared with the prior art, the embodiment of the invention can calculate the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane according to the three-axis magnetic induction intensity by acquiring the three-axis magnetic induction intensity of the current parking space, and further judge that the vehicle enters or leaves the parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination change trend of the magnetic force line on the ZX plane. When the parking space information is detected, the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane tend to reflect that the vehicle enters or leaves the parking space, and the adjacent parking space only influences the inclination angle of the magnetic force line of one of the ZX plane and the ZY plane, and the inclination angle change of the magnetic force line of the two planes is detected, so that the interference of the adjacent parking space can be eliminated, the misjudgment can be avoided, the accurate parking space information can be obtained, and the accuracy of parking space information detection is improved.
In addition, the use state of the current parking space is judged according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane, and the method comprises the following steps: if the current magnetic induction intensity of the Z axis is greater than or equal to a first threshold value, and the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane both tend to the Z axis, judging that a vehicle enters the current parking space; and if the current magnetic induction intensity of the Z axis is less than or equal to a second threshold value, and the inclination angle change of the magnetic line of force of the ZY plane and the inclination angle change of the magnetic line of force of the ZX plane both tend to depart from the Z axis, judging that the vehicle departs from the current parking space, wherein the second threshold value is less than the first threshold value.
In addition, the use state of the current parking space is judged according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane, and the method further comprises the following steps: if the current magnetic induction intensity of the Z axis is greater than a second threshold value and smaller than a first threshold value, acquiring the inclination angle change of the magnetic force lines of the ZY plane and the ZX plane of the adjacent parking spaces; if the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the current parking space, or the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the current parking space, and the current magnetic induction intensity of the Z axis is greater than a third threshold value, it is determined that the vehicle is not normally parked in the current parking space, and the. When a vehicle is not parked in a standard way and part of the vehicle body is positioned in the current parking space, the change direction of the inclination angle of the magnetic force line of the adjacent parking space is opposite to the change direction of the inclination angle of the magnetic force line of the current parking space, and meanwhile, the current magnetic induction intensity of the Z axis is required to be positioned between the magnetic induction intensity when the parking space is not parked and the magnetic induction intensity when the parking space is parked normally, so that the change direction of the inclination angle of the magnetic force line of the adjacent parking space is compared with the change direction of the inclination angle of the magnetic force line of the current parking space, the judgment is carried out by combining the current magnetic induction intensity of the Z axis, whether the vehicle is.
In addition, the method for acquiring the inclination angle change of the magnetic force line of the ZY plane formed by the Z axis and the Y axis and the inclination angle change of the magnetic force line of the ZX plane formed by the Z axis and the X axis according to the three-axis magnetic induction intensity comprises the following steps: filtering the three-axis magnetic induction intensity by adopting median filtering and mean filtering to obtain the filtered magnetic induction intensity; and acquiring the inclination angle change of the magnetic lines of force of the ZY plane and the inclination angle change of the magnetic lines of force of the ZX plane according to the filtered magnetic induction intensity. The three-axis magnetic induction intensity obtained through median filtering and mean filtering is used for calculating the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane by using the filtered magnetic induction intensity, so that the burr data and the interference data can be effectively filtered, the calculation precision of the inclination angle change of the magnetic force line is improved, and the detection accuracy of parking space information is improved.
In addition, parking stall detection device still is used for: if the current magnetic induction intensity of the Z axis is greater than or equal to a first threshold value, and the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane both tend to the Z axis, judging that a vehicle enters the current parking space; and if the current magnetic induction intensity of the Z axis is less than or equal to a second threshold value, and the inclination angle change of the magnetic line of force of the ZY plane and the inclination angle change of the magnetic line of force of the ZX plane both tend to depart from the Z axis, judging that the vehicle departs from the current parking space, wherein the second threshold value is less than the first threshold value.
In addition, parking stall detection device still is used for: if the current magnetic induction intensity of the Z axis is greater than a second threshold value and smaller than a first threshold value, acquiring the inclination angle change of the magnetic force lines of the ZY plane and the ZX plane of the adjacent parking spaces; if the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the current parking space, or the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the current parking space, and the current magnetic induction intensity of the Z axis is greater than a third threshold value, it is determined that the vehicle is not normally parked in the current parking space, and the.
In addition, parking stall detection device still is used for: filtering the three-axis magnetic induction intensity by adopting median filtering and mean filtering to obtain the filtered magnetic induction intensity; and acquiring the inclination angle change of the magnetic lines of force of the ZY plane and the inclination angle change of the magnetic lines of force of the ZX plane according to the filtered magnetic induction intensity.
Drawings
One or more embodiments are illustrated by the corresponding figures in the drawings, which are not meant to be limiting.
FIG. 1(a) is a schematic view of the magnetic field when the parking space is idle;
FIG. 1(b) is a schematic view of the magnetic field with a vehicle parked in a parking space;
fig. 2 is a schematic flow chart of a parking space information detection method according to a first embodiment of the present invention;
FIG. 3(a) is a schematic diagram showing the variation of the inclination angle of the magnetic lines of force formed by the ZY plane when a vehicle enters a parking space;
FIG. 3(b) is a schematic diagram showing the variation of the inclination angle of the magnetic lines of force formed by the ZY plane when a vehicle is driven out of the parking space;
FIG. 4 is a schematic diagram showing the variation of the inclination angle of the magnetic force lines on the ZY plane when a vehicle enters an adjacent parking space;
fig. 5 is a schematic flowchart of S103 refinement in the parking space information detection method according to the first embodiment of the present invention;
fig. 6 is a diagram illustrating a specific process of parking space information detection;
fig. 7 is another schematic flow chart of S103 refinement in the parking space information detection method according to the first embodiment of the present invention;
FIG. 8 is a schematic view of the magnetic field variation of a parking space when a vehicle is parked irregularly;
FIG. 9 is a diagram illustrating an exemplary process for processing abnormal parking space status;
fig. 10 is a schematic flowchart of S102 refinement in the parking space information detection method according to the first embodiment of the present invention;
fig. 11 is a schematic structural diagram of a parking space information detection system according to a second embodiment of the present invention;
fig. 12 is a schematic structural diagram of a network device according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
The first embodiment of the invention relates to a parking space information detection method, which comprises the steps of obtaining the three-axis magnetic induction intensity of the current parking space; acquiring the inclination angle change of magnetic lines of force of a ZY plane formed by a Z axis and a Y axis and the inclination angle change of magnetic lines of force of a ZX plane formed by the Z axis and an X axis according to the three-axis magnetic induction intensity; and judging the use state of the current parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane. When the using state of the current parking space is judged, the information of the inclination angle change of the magnetic force line of the ZY plane and the information of the inclination angle change of the magnetic force line of the ZX plane are combined, so that accurate parking space information can be obtained, the interference of adjacent parking spaces is eliminated, the misjudgment of the using state of the parking spaces is not caused, and the accuracy of parking space information detection is improved.
Please refer to fig. 1(a) and fig. 1(b), which are a schematic magnetic field diagram when the parking space is idle and a schematic magnetic field diagram when a vehicle is parked in the parking space, respectively. As shown in fig. 1(a), when the vehicle is not in the parking space, the magnetic field is uniformly distributed; when a vehicle enters a parking space, as shown in fig. 1(b), due to the influence of magnetism of an automobile component (such as an engine), magnetic lines of force of a magnetic field are distorted, so that the magnetic field changes, and therefore the using state of the parking space can be judged by acquiring the change of the inclination angle of the magnetic lines of force.
It should be noted that an implementation subject of the parking space information detection method provided by the embodiment of the present invention may be a parking space detection device, where the parking space detection device is installed on a parking space and is configured to obtain magnetic induction intensity of the parking space through a three-axis magnetic resistance sensor, obtain a change of an inclination angle of a magnetic line of force of a parking space magnetic field according to the obtained magnetic induction intensity, and determine a use state of the parking space according to the change of the inclination angle of the magnetic line of force. The implementation main body of the parking space information detection method provided by the embodiment of the invention can also be a server communicated with the parking space detection device, the parking space detection device is used for acquiring the magnetic induction intensity of the parking space, uploading the acquired magnetic induction intensity to the server, and the server calculates the change of the inclination angle of the magnetic force line to judge the use state of the parking space. The specific implementation subject is not limited, and the following description will be made with reference to the parking space detection device as the implementation subject.
The specific process of the parking space information detection method provided by the embodiment of the invention is shown in fig. 2, and comprises the following steps:
s101: and acquiring the three-axis magnetic induction intensity of the current parking space, wherein the three-axis magnetic induction intensity comprises the magnetic induction intensity of a Z axis and an X axis and a Y axis.
Wherein, triaxial magnetic induction can be obtained through triaxial magnetic resistance sensor. Optionally, the X axis is parallel to a longitudinal center line of the current parking space, the Y axis is parallel to a transverse center line of the current parking space, the Z axis is perpendicular to the X axis and the Y axis, and the origin is the position of the three-axis magnetoresistive sensor. Optionally, the origin is located in the current parking space, and the specific position may be set according to actual needs, which is not specifically limited herein. Preferably, the origin is located on the longitudinal center line of the current parking space, so that the inclination angle change of the magnetic force line of the current parking space can be better identified.
It should be understood that obtaining the three-axis magnetic induction intensity of the current parking space means obtaining the three-axis magnetic induction intensity corresponding to a plurality of moments, that is, the three-axis magnetic induction intensity is a plurality of sets of data. Optionally, the parking space detection device may be configured to obtain the three-axis magnetic induction intensity of the current parking space according to a preset time interval, where the preset time interval may be 5S, 10S, 20S, or the like.
S102: and acquiring the inclination angle change of the magnetic force lines of a ZY plane formed by the Z axis and the Y axis and the inclination angle change of the magnetic force lines of a ZX plane formed by the Z axis and the X axis according to the three-axis magnetic induction intensity.
Wherein, the inclination angle change of the magnetic force line in the ZY plane can be calculated by the following formula:
wherein, BZ1And BY1Magnetic induction in the Z-axis and Y-axis of the disturbing magnetic field, B, obtained for the three-axis magnetoresistive sensor, respectivelyZ0And BY0The magnetic induction intensity of a reference magnetic field obtained by the three-axis magnetic resistance sensor on the Z axis and the Y axis respectively is the magnetic induction intensity of the reference magnetic field obtained by the three-axis magnetic resistance sensor on the parking space when the reference magnetic field is not interfered by a magnetic object, and the disturbance magnetic field is the magnetic field obtained by the parking space when the disturbance magnetic field is interfered by the magnetic object.
The inclination angle change of the magnetic force line of the ZX plane can be calculated in the same way.
S103: and judging the use state of the current parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane.
Please refer to fig. 3(a) and fig. 3(b), which are a schematic diagram of the inclination angle variation of the magnetic force lines on the ZY plane when a vehicle enters the parking space and a schematic diagram of the inclination angle variation of the magnetic force lines on the ZY plane when the vehicle leaves the parking space, respectively.
As shown in FIG. 3(a), the reference line is the reference magnetic induction BZ0And BY0The magnetic line of force inclination line that forms in ZY level, when there is the vehicle to drive into the present parking stall, the magnetic line of force inclination of ZY level changes to trend to the Z axle direction; similarly, the inclination angle of the magnetic field lines in the ZX plane also changes toward the Z-axis direction. Therefore, the inclination angle change of the magnetic lines of force of the ZY plane and the inclination angle change of the magnetic lines of force of the ZX plane can be changed from the reference line to the Z-axis direction to be used as the basis for the vehicle to drive into the current parking space.
As shown in fig. 3(b), when a vehicle leaves the current parking space, the inclination angle of the magnetic line of force on the ZY plane changes to approach the Z-axis direction; similarly, the inclination angle of the magnetic field lines in the ZX plane also changes toward the Z-axis direction. Therefore, the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane are close to the Z-axis direction and the reference line, and the basis that the vehicle drives away from the current parking space can be taken.
Please refer to fig. 4, which is a schematic diagram illustrating the inclination angle variation of the magnetic force lines on the ZY plane when a vehicle enters into an adjacent parking space. When a vehicle enters an adjacent parking space, the inclination angle of the magnetic force line on the ZY plane is changed to approach to the Z axis and approach to the datum line. Therefore, the inclination angle of the magnetic force line of the ZY plane can be changed to be away from the Z axis and the reference line to be used as the basis for the driving of the vehicles in the adjacent parking spaces, and meanwhile, the situation that no vehicle is driven in the current parking space can be judged. It can be understood that, at this time, if there is a vehicle entering the space adjacent to the right side of the current space (the space adjacent to the left and right directions), it can be determined by the change of the inclination angle of the magnetic line of force in the ZX plane if there is a vehicle entering the space adjacent to the front and rear directions of the current space.
Compared with the prior art, the parking space information detection method provided by the embodiment of the invention can calculate the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane according to the three-axis magnetic induction intensity by acquiring the three-axis magnetic induction intensity of the current parking space, and further judge that the vehicle enters or leaves the parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination change trend of the magnetic force line on the ZX plane. When the parking space information is detected, the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane can reflect that the vehicle enters or leaves the parking space, and meanwhile, the inclination angle change trend of the magnetic force line on the ZY plane or the inclination angle change trend of the magnetic force line on the ZX plane can eliminate the interference of adjacent parking spaces and can not cause misjudgment, so that accurate parking space information can be obtained, and the accuracy of parking space information detection is improved.
In a specific example, in S103, that is, the using state of the current parking space is determined according to the inclination angle change of the magnetic line of force on the ZY plane and the inclination angle change of the magnetic line of force on the ZX plane, as shown in fig. 5, the method includes the following steps:
s1031: and if the current magnetic induction intensity of the Z axis is greater than or equal to the first threshold value, and the inclination angle change of the magnetic line of force of the ZY plane and the inclination angle change of the magnetic line of force of the ZX plane both tend to the Z axis, judging that the vehicle enters the current parking space.
S1032: and if the current magnetic induction intensity of the Z axis is less than or equal to a second threshold value, and the inclination angle change of the magnetic line of force of the ZY plane and the inclination angle change of the magnetic line of force of the ZX plane both tend to depart from the Z axis, judging that the vehicle departs from the current parking space, wherein the second threshold value is less than the first threshold value.
In S1031, the first threshold may be set according to actual conditions, and is not particularly limited herein. Optionally, the magnetic induction intensity of various vehicles when driving into the parking space may be obtained, and the minimum magnetic induction intensity is used as the first threshold.
In S1032, when the vehicle is driven away from the current parking space, the magnetic induction intensity of the current parking space is restored to be close to the magnetic induction intensity of the reference magnetic field, and therefore, the second threshold value is small and close to the magnetic induction intensity of the reference magnetic field. The second threshold may be set according to practical situations, and is not particularly limited herein. Optionally, the magnetic induction intensity after the vehicle drives out of the parking space for multiple times may be obtained, and the maximum magnetic induction intensity may be used as the second threshold.
The execution order of S1031 and S1032 may be set according to actual needs. Optionally, before S1031 and S1032, a determination may also be made first whether the current parking space is in an idle state, that is, a state of the current parking space before the change of the parking space usage state. Specifically, if the current parking space is in an idle state, executing S1031; and if the current parking space is in a non-idle state, executing S1032.
Optionally, after determining whether the current parking space is in the idle state and before executing S1031 and S1302, a pre-determination of the parking space usage state may also be performed. Specifically, if the current parking space is judged to be in an idle state, calculating the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane, and judging whether the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane are larger than a first preset value or not; if the value is larger than the first preset value, S1031 is executed for further judgment; if the value is less than or equal to the first preset value, the interference caused by passing other magnetic objects (such as a battery car) nearby the current parking space is indicated, the process is ended, and the step of judging the use state of the parking space is not carried out any more. Similarly, if the current parking space is judged to be in a non-idle state, calculating the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane, and judging whether the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane are larger than a second preset value or not; if the value is larger than the second preset value, executing S1032 to further judge; if the value is smaller than the second preset value, the interference is possibly existed, the process is ended, and the step of judging the parking space using state is not carried out any more. The first preset value and the second preset value may be set according to actual situations, and are not limited herein.
It should be noted that, if the position of the parking space detection device is closer to the position where the vehicle enters, in the process that the vehicle enters the current parking space, the inclination angle of the magnetic force line on the ZX plane changes to tend to the Z axis first and then to depart from the Z axis, and then the inclination angle of the magnetic force line on the ZX plane changes to tend to the Z axis first and then to depart from the Z axis first and serves as the basis for the vehicle to enter the current parking space. However, when the vehicle drives into the current parking space, the process that the inclination angle change of the magnetic force line on the ZX plane tends to the Z axis exists, so the parking space detection device can judge that the vehicle drives into the current parking space according to the inclination angle change trend of the magnetic force line on the ZX plane, the inclination angle change trend of the magnetic force line on the ZY plane and the current magnetic induction intensity of the Z axis.
Please refer to fig. 6, which is a diagram illustrating a specific process of parking space information detection.
Specifically, the parking space detection device enters an awakening state according to the change or the magnitude value of the set magnetic induction intensity, burrs and interference are filtered from the obtained magnetic induction intensity, and data are processed; judging whether the current parking space is in an idle state, if so, calculating the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane so as to pre-judge whether a vehicle drives into the current parking space; judging whether the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane exceed a first preset value according to the calculation result, and if the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane are smaller than or equal to the first preset value, ending the process; if the inclination angle of the magnetic force line is larger than the first preset value, judging that a suspected vehicle drives into the current parking space, and analyzing the inclination angle change trend of the magnetic force line; judging whether the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane both tend to the Z axis or not, and judging that a vehicle enters the current parking space if the magnetic induction intensity of the Z axis is greater than a first threshold value, and updating the use state of the parking space to be a non-idle state; if not, indicating that the vehicle can not be parked in a standard way, entering a parking place abnormal state processing flow for processing; if the current parking space is in a non-idle state, calculating the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane so as to pre-judge that the vehicle is driven away from the current parking space; judging whether the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane are larger than a second preset value according to the calculation result, and if the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane are smaller than or equal to the second preset value, ending the process; if the magnetic force is greater than the second preset value, judging that a vehicle is suspected to be driven away, and analyzing the change of the inclination angle of the magnetic force line; judging whether the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane both tend to depart from the Z axis or not, and judging that a vehicle leaves the current parking space if the magnetic induction intensity is less than a second threshold value, and updating the use state of the current parking space to be an idle state; if not, judging as interference, and recording an abnormal log.
When the parking space information is detected, the magnetic induction intensity of the Z axis is obviously increased or reduced, so that the current magnetic induction intensity of the Z axis can be used as the basis for one aspect of driving the vehicle into or out of the parking space; meanwhile, whether the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane tend to the Z axis or tend to leave the Z axis can be judged, whether a vehicle drives into the current parking space or drives away from the current parking space can be judged, and in addition, the interference of adjacent parking spaces can be eliminated by judging the current magnetic induction intensity of the Z axis, so that accurate parking space information can be obtained, and the accuracy of parking space information detection is improved.
In a specific example, in S103, that is, the using state of the current parking space is determined according to the inclination angle change of the magnetic line of force on the ZY plane and the inclination angle change of the magnetic line of force on the ZX plane, as shown in fig. 7, the method further includes the following steps:
s1031': and if the current magnetic induction intensity of the Z axis is greater than the second threshold and smaller than the first threshold, acquiring the inclination angle change of the magnetic lines of force of the ZY plane and the ZX plane of the adjacent parking space.
S1032': if the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the current parking space, or the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the current parking space, and the current magnetic induction intensity of the Z axis is greater than a third threshold value, it is determined that the vehicle is not normally parked in the current parking space, and the.
In S1032', the third threshold may be set according to practical situations, and is not limited specifically here. Because the vehicle can occupy partial space of the current parking space when the vehicle is not parked normally, the third threshold value is larger than the second threshold value and smaller than the first threshold value, and is close to the first threshold value.
Please refer to fig. 8, which is a schematic diagram illustrating the magnetic field variation of the parking space when the vehicle is parked irregularly. As shown in fig. 8, when a vehicle stops in the current parking space and the adjacent parking space, the magnetic fields of the two parking spaces change, and for the left parking space, the magnetic field changes (increases) in the positive direction of the Y axis; for the right parking space, the magnetic field changes (increases) in the negative direction of the Y axis; further, for the left parking space, the changing direction of the inclination angle of the magnetic force line in the ZY plane is a positive direction tending to the Y axis, and for the right parking space, the changing direction of the inclination angle of the magnetic force line in the ZY plane is a negative direction tending to the Y axis, that is, the changing directions of the inclination angle of the magnetic force line in the ZY planes of the two parking spaces are opposite, therefore, the changing direction of the inclination angle of the magnetic force line in the ZY plane of the adjacent parking space and the changing direction of the inclination angle of the magnetic force line in the ZY plane of the current parking space can be opposite to each other to be used as the basis for the irregular parking of the vehicle in. Similarly, when the adjacent parking space is the front and rear adjacent parking spaces, the direction of the change of the inclination angle of the magnetic force line of the ZX plane of the adjacent parking space and the direction of the change of the inclination angle of the magnetic force line of the ZX plane of the current parking space can be opposite to each other to serve as the basis for the non-standard parking of the vehicle in the current parking space.
It is understood that S1031 'and S1032' may be used as the parking space status exception handling process in the above example.
Please refer to fig. 9, which is a diagram illustrating an exemplary parking space status exception handling process. Specifically, the parking space detection device uploads the identifier of the current parking space as an abnormal identifier to the server, the server issues an instruction to acquire the magnetic line inclination angle data of the adjacent parking space and returns the data to the parking space detection device, the parking space detection device judges whether the magnetic induction intensity of the current parking space is greater than a third threshold value, and the adjacent parking space acquires a magnetic line inclination angle change trend opposite to that of the current parking space on a ZY plane or a ZX plane; if yes, judging that the current parking space has a vehicle which does not stop in a standard way, and generating notification information to a manager for processing; if not, the interference is determined and recorded in the abnormal log.
When a vehicle is parked in an irregular way, the direction of the change of the inclination angle of the magnetic force line of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line of the current parking space, and meanwhile, the current magnetic induction intensity of the Z axis is between the magnetic induction intensity when the parking space is not parked and the magnetic induction intensity when the parking space is parked normally, so that the direction of the change of the inclination angle of the magnetic force line of the adjacent parking space is compared with the direction of the change of the inclination angle of the magnetic force line of the current parking space, the judgment is carried out by combining the current magnetic induction intensity of the Z axis, whether the vehicle is parked in.
In a specific example, in S102, acquiring the inclination angle variation of the magnetic field lines of the ZY plane formed by the Z axis and the Y axis and the inclination angle variation of the magnetic field lines of the ZX plane formed by the Z axis and the X axis according to the three-axis magnetic induction, as shown in fig. 10, includes:
s1021: and filtering the three-axis magnetic induction intensity by adopting median filtering and mean filtering to obtain the filtered magnetic induction intensity.
S1022: and acquiring the inclination angle change of the magnetic lines of force of the ZY plane and the inclination angle change of the magnetic lines of force of the ZX plane according to the filtered magnetic induction intensity.
In S1021, median filtering may be performed using the following formula:
y(i)＝Med[x(i-n),...,x(i),...,x(i+n)]；
wherein y (i) is the median filtered magnetic induction, x (i) is the originally obtained magnetic induction, and n is a positive integer.
Optionally, mean filtering may be performed after median filtering, wherein the mean filtering may be performed using the following equation:
wherein, f (k) is the magnetic induction intensity after the mean value filtering, and k is the number of the magnetic induction intensity after the median value filtering.
The three-axis magnetic induction intensity obtained through median filtering and mean filtering is used for calculating the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane by using the filtered magnetic induction intensity, so that the burr data and the interference data can be effectively filtered, the calculation precision of the inclination angle change of the magnetic force line is improved, and the detection accuracy of parking space information is improved.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the steps contain the same logical relationship, which is within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A second embodiment of the present invention relates to a parking space information detection system, as shown in fig. 11, including: the parking space monitoring system comprises a server 201, a communication device 202 and a parking space detection device 203, wherein the parking space detection device 203 comprises a communication module 2031 and a three-axis magnetic resistance sensor 2032.
Parking stall detection device 203 is used for sending parking stall information to communication device 202 through communication module 2031, and communication device 202 is used for sending parking stall information to server 201, and parking stall detection device 203 still is used for:
acquiring three-axis magnetic induction intensity of the current parking space through a three-axis magnetic resistance sensor 2032, wherein the three-axis magnetic induction intensity comprises magnetic induction intensity of a Z axis and magnetic induction intensity of an X axis and a Y axis;
acquiring the inclination angle change of magnetic lines of force of a ZY plane formed by a Z axis and a Y axis and the inclination angle change of magnetic lines of force of a ZX plane formed by the Z axis and an X axis according to the three-axis magnetic induction intensity;
and judging the use state of the current parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane.
Further, the parking space detection device 203 is further configured to:
if the current magnetic induction intensity of the Z axis is greater than or equal to a first threshold value, and the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane both tend to the Z axis, judging that a vehicle enters the current parking space;
and if the current magnetic induction intensity of the Z axis is less than or equal to a second threshold value, and the inclination angle change of the magnetic line of force of the ZY plane and the inclination angle change of the magnetic line of force of the ZX plane both tend to depart from the Z axis, judging that the vehicle departs from the current parking space, wherein the second threshold value is less than the first threshold value.
Further, the parking space detection device 203 is further configured to:
if the current magnetic induction intensity of the Z axis is greater than a second threshold value and smaller than a first threshold value, acquiring the inclination angle change of the magnetic force lines of the ZY plane and the ZX plane of the adjacent parking spaces;
if the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the current parking space, or the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the current parking space, and the current magnetic induction intensity of the Z axis is greater than a third threshold value, it is determined that the vehicle is not normally parked in the current parking space, and the.
Further, the parking space detection device 203 is further configured to:
filtering the three-axis magnetic induction intensity by adopting median filtering and mean filtering to obtain the filtered magnetic induction intensity;
and acquiring the inclination angle change of the magnetic lines of force of the ZY plane and the inclination angle change of the magnetic lines of force of the ZX plane according to the filtered magnetic induction intensity.
Optionally, the communication module 2031 is an NB-IoT communication module, where NB-IoT is short for narrow frequency Internet of Things (Narrowband Internet of Things). In a specific example, the parking space information detecting system further includes an NB-IoT base station and an NB-IoT core network, the parking space detecting device 203 is configured to send the parking space information to the NB-IoT base station through the communication module 2031, the NB-IoT base station sends the collected parking space information to the NB-IoT core network, and the NB-IoT core network sends the parking space information to the communication device 202. Optionally, the communication device 202 may be, for example, a mobile OneNET platform, and the server 201 may be, for example, an ali cloud, which is not limited herein.
Optionally, the parking space detection device 203 further includes a battery management module, where the battery management module is configured to obtain state change information of the current parking space, and if the state change information is not changed, the parking space detection device 203 enters a low power consumption mode.
Optionally, the parking space information detection system further includes an information terminal, where the information terminal includes a mobile phone, a computer, a tablet computer, and the like, and the server 201 is configured to send the parking space information to the information terminal, for example, send the parking space information to a wechat applet on a mobile phone of a user, so that the user knows the parking space information to facilitate parking and finding a car. And for example, the parking space information of the vehicle which does not normally park is sent to a computer of an administrator, so that the administrator can timely process the vehicle which does not normally park, and the like.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
A third embodiment of the present invention relates to a network device, as shown in fig. 12, including at least one processor 301; and a memory 302 communicatively coupled to the at least one processor 301; the memory 302 stores instructions executable by the at least one processor 301, and the instructions are executed by the at least one processor 301, so that the at least one processor 301 can execute the parking space information detection method.
Where the memory 302 and the processor 301 are coupled in a bus, the bus may comprise any number of interconnected buses and bridges, the buses coupling one or more of the various circuits of the processor 301 and the memory 302. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 301 is transmitted over a wireless medium through an antenna, which further receives the data and transmits the data to the processor 301.
The processor 301 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 302 may be used to store data used by processor 301 in performing operations.
A fourth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, those skilled in the art can understand that all or part of the steps in the method of the foregoing embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (8)
1. The parking space information detection method is characterized by comprising the following steps:
acquiring three-axis magnetic induction intensity of a current parking space, wherein the three-axis magnetic induction intensity comprises magnetic induction intensity of a Z axis and magnetic induction intensity of an X axis and a Y axis;
acquiring the inclination angle change of magnetic lines of force of a ZY plane formed by the Z axis and the Y axis and the inclination angle change of magnetic lines of force of a ZX plane formed by the Z axis and the X axis according to the three-axis magnetic induction intensity;
judging the use state of the current parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane;
the determining the using state of the current parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane comprises the following steps:
if the current magnetic induction intensity of the Z axis is greater than a second threshold value and smaller than a first threshold value, acquiring the inclination angle change of magnetic lines of force of a ZY plane and a ZX plane of an adjacent parking space, wherein the second threshold value is smaller than the first threshold value;
if the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the current parking space, or the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the current parking space, and the current magnetic induction intensity of the Z axis is greater than a third threshold value, it is determined that the vehicle is not normally parked in the current parking space, and the third threshold value is greater than the second threshold value.
2. The parking space information detection method according to claim 1, wherein the determining the use state of the current parking space according to the inclination change of the magnetic line of force on the ZY plane and the inclination change of the magnetic line of force on the ZX plane further comprises:
if the current magnetic induction intensity of the Z axis is larger than or equal to the first threshold value, and the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane both trend to the Z axis from a reference line, judging that a vehicle enters the current parking space, wherein the reference line is reference magnetic induction intensity BZ0And BY0A magnetic line of force tilt angle line formed on the ZY plane;
and if the current magnetic induction intensity of the Z axis is less than or equal to the second threshold value, and the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane both approach to the Z axis and approach to the datum line, judging that the vehicle drives away from the current parking space.
3. The parking space information detection method according to claim 1, wherein the obtaining of the inclination change of the magnetic lines of force of the ZY plane formed by the Z axis and the Y axis and the inclination change of the magnetic lines of force of the ZX plane formed by the Z axis and the X axis according to the three-axis magnetic induction includes:
filtering the three-axis magnetic induction intensity by adopting median filtering and mean filtering to obtain filtered magnetic induction intensity;
and acquiring the inclination angle change of the magnetic lines of force of the ZY plane and the inclination angle change of the magnetic lines of force of the ZX plane according to the filtered magnetic induction intensity.
4. The utility model provides a parking stall information detection system which characterized in that includes: parking stall detection device, communication device and server, parking stall detection device includes triaxial magnetoresistive sensor and communication module, parking stall detection device is used for passing through communication module with parking stall information send to communication device, communication device be used for with parking stall information send to the server, parking stall detection device still is used for:
acquiring three-axis magnetic induction intensity of the current parking space through the three-axis magnetic resistance sensor, wherein the three-axis magnetic induction intensity comprises magnetic induction intensity of a Z axis and magnetic induction intensity of an X axis and a Y axis;
acquiring the inclination angle change of magnetic lines of force of a ZY plane formed by the Z axis and the Y axis and the inclination angle change of magnetic lines of force of a ZX plane formed by the Z axis and the X axis according to the three-axis magnetic induction intensity;
judging the use state of the current parking space according to the inclination angle change of the magnetic force line on the ZY plane and the inclination angle change of the magnetic force line on the ZX plane;
the parking space detection device is also used for:
if the current magnetic induction intensity of the Z axis is greater than a second threshold value and smaller than a first threshold value, acquiring the inclination angle change of magnetic lines of force of a ZY plane and a ZX plane of an adjacent parking space, wherein the second threshold value is smaller than the first threshold value;
if the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZY plane of the current parking space, or the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the adjacent parking space is opposite to the direction of the change of the inclination angle of the magnetic force line on the ZX plane of the current parking space, and the current magnetic induction intensity of the Z axis is greater than a third threshold value, it is determined that the vehicle is not normally parked in the current parking space, and the third threshold value is greater than the second threshold value.
5. The parking space information detection system according to claim 4, wherein the parking space detection device is further configured to:
if the current magnetic induction intensity of the Z axis is larger than or equal to the first threshold value, and the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane both trend to the Z axis from a reference line, judging that a vehicle enters the current parking space, wherein the reference line is reference magnetic induction intensity BZ0And BY0A magnetic line of force tilt angle line formed on the ZY plane;
and if the current magnetic induction intensity of the Z axis is less than or equal to the second threshold value, and the inclination angle change of the magnetic force line of the ZY plane and the inclination angle change of the magnetic force line of the ZX plane both approach to the Z axis and approach to the datum line, judging that the vehicle drives away from the current parking space.
6. The parking space information detection system according to claim 4, wherein the parking space detection device is further configured to:
filtering the three-axis magnetic induction intensity by adopting median filtering and mean filtering to obtain filtered magnetic induction intensity;
and acquiring the inclination angle change of the magnetic lines of force of the ZY plane and the inclination angle change of the magnetic lines of force of the ZX plane according to the filtered magnetic induction intensity.
7. A network device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the parking space information detection method according to any one of claims 1 to 3.
8. A computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the parking space information detection method according to any one of claims 1 to 3.
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