CN111311928A - Speed measuring system and speed measuring method of double geomagnetic sensors - Google Patents
Speed measuring system and speed measuring method of double geomagnetic sensors Download PDFInfo
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- CN111311928A CN111311928A CN202010201204.7A CN202010201204A CN111311928A CN 111311928 A CN111311928 A CN 111311928A CN 202010201204 A CN202010201204 A CN 202010201204A CN 111311928 A CN111311928 A CN 111311928A
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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Abstract
The invention discloses a speed measuring system and a speed measuring method based on double geomagnetic sensors, which mainly solve the problems of high cost and complex installation of the conventional speed measuring system. The input end and the output end of the data processing module are respectively connected with the double geomagnetic sensor module and the data reporting module, and the data reporting module is wirelessly connected with the base station module; two geomagnetic sensors A and B in the double geomagnetic sensor modules respectively acquire respective surrounding magnetic field data, transmit the data to the data processing module for storage, judge whether a vehicle passes through the detection range of the sensors according to the data, calculate the speed of the vehicle and output the speed to the data reporting module; the data reporting module sends the vehicle speed information to the base station, and the base station reports the received vehicle speed data sent by each data reporting module to the traffic data analysis platform. The system has low cost and convenient installation, is beneficial to large-scale deployment and can be used for road intellectualization.
Description
Technical Field
The invention belongs to the technical field of intelligent traffic, and further relates to a speed measuring system of a geomagnetic sensor, which can be used for realizing road intelligence on speed detection of motor vehicles.
Background
Traffic is the main power for urban development. The rapid increase of the automobile holding capacity causes increasingly severe problems of traffic jam, traffic accidents, environmental pollution and the like, and seriously restricts the development of urban socioeconomic development, so that the traffic revolution is reluctant. Road intellectualization is the key to solving the traffic problems and supporting the sustainable development of cities, and China has listed intelligent networked automobiles as a national development strategy. The intelligent road is used as a key part for constructing a person, vehicle, road and network cooperative comprehensive perception body, is combined with an intelligent driving technology, strongly supports automatic driving application, and promotes traffic intelligent construction. The automobile speed detection is used as an important component of the intelligent road and is widely applied to the fields of intelligent auxiliary driving, intelligent monitoring, pedestrian analysis and the like.
In the application of intelligent highways, motor vehicle overspeed driving is one of the most serious road traffic violations, is the main cause of road traffic accidents, and causes great loss to human life health and property. Therefore, the method monitors the running speed of the vehicle on the road, ensures that the running speed of the motor vehicle is in a safe range, and has important significance for preventing and reducing traffic illegal behaviors and accidents caused by overspeed running of the motor vehicle. The automobile speed measuring system is one of the most important devices for detecting whether the automobile runs over speed or not in the running process. However, most of the existing vehicle speed detection systems are expensive, the deployment cost is high, large-scale and full-coverage deployment is not facilitated, so that partial vehicles continuously overspeed on roads without vehicle speed detection, and comprehensive and systematic management and control on overspeed cannot be achieved.
Disclosure of Invention
The invention aims to provide a speed measuring system and a speed measuring method based on a geomagnetic sensor aiming at the defects of the existing speed measuring technology, so that the speed measuring cost is reduced, the installation and large-scale deployment are convenient, and the overspeed omnibearing management and control of a motor vehicle are realized.
In order to achieve the purpose, the speed measuring system based on the geomagnetic sensor comprises a data processing module, a data reporting module, a base station module and a power supply module; the data reporting module is connected with the data processing module by wire, and the data reporting module is connected with the base station module by wireless, which is characterized in that: the input end of the data processing module is connected with a double-geomagnetic sensor module, two geomagnetic sensors A and B in the double-geomagnetic sensor module respectively collect respective surrounding magnetic field data, transmit the data to the data processing module for storage, judge whether a vehicle passes through the detection range of the sensor according to the data, calculate the vehicle speed and output the vehicle speed to the data reporting module; the data reporting module sends the vehicle speed information to the base station module, and the base station module reports the received vehicle speed data sent by each data reporting module to the traffic data analysis platform.
Furthermore, the output end of the power supply module is connected with the data processing module, and the power supply mode of the input end of the power supply module can be all power supply modes of solar energy, wind energy, commercial power and the like.
Further, the geomagnetic sensor includes: a digital geomagnetic sensor, an analog geomagnetic sensor, a single-axis geomagnetic sensor, and a multi-axis sensor;
further, the magnetic field data refers to fluctuating magnetic field data when all the geomagnetic sensors detect that a vehicle passes through and relatively steady magnetic field data when no vehicle passes through, wherein the magnetic field fluctuation range when the vehicle passes through exceeds 50nT, and the magnetic field fluctuation range when no vehicle passes through does not exceed 20 nT.
Furthermore, the two sensors A and B are placed in front and at the back, and the automobile passes through the sensors A and B in sequence when running.
In order to achieve the above object, the method for measuring speed based on the above system of the present invention comprises the following steps:
1) two geomagnetic sensors A and B in the system respectively acquire magnetic field data of the positions of the sensors in real time and transmit the data to a data processing module in turn;
2) the data processing module analyzes the data transmitted by the two sensors:
2a) the data processing module judges whether the data sign of the first geomagnetic sensor A is a vehicle: if yes, judging that the automobile passes through, executing 3b), otherwise, returning to 1);
2b) the data processing module judges whether the data sign of the second geomagnetic sensor B is a vehicle: if yes, judging that the automobile passes through, executing 3b), otherwise, returning to 1);
3b) the data processing module stores the part of the data sent by the first geomagnetic sensor A and the second geomagnetic sensor B, which is passed by the vehicle, and adds a timestamp;
3) the data processing module aligns the stored data;
3a) firstly, finding data of the moment when the automobile enters the two geomagnetic sensors A and B, and then finding data of the moment when the automobile leaves the two geomagnetic sensors A and B;
3b) aligning data, namely first data, of an automobile entering the geomagnetic sensor A and the geomagnetic sensor B at the initial moment, and aligning second data and third data collected by the two sensors in the automobile entering process sequentially until the automobile leaves the data of the sensor A and the sensor B, wherein n is the number of the data collected by the sensors;
4) calculating the time difference delta t of the automobile passing through the first sensor A and the second sensor B:
4a) sequentially calculating the time difference between the first data after alignment, the time difference between the second data and the time difference between the nth data until the time difference between the last data is calculated;
4b) taking the time difference mean value between all the data, namely the time difference delta t of the automobile passing through the two magnetic field data sensors;
5) obtaining the distance d between the geomagnetic sensor A and the geomagnetic sensor B in the system, and calculating the running speed of the automobile according to the time difference delta t:
6) reporting test information:
6a) the data processing module sends the vehicle speed data to the base station through the data reporting module;
8b) and the base station reports the acquired speed data to the traffic data analysis platform at intervals.
Compared with the prior art, the invention has the following advantages:
first, the system of the present invention can accurately and timely detect the speed of a passing vehicle by a geomagnetic sensor deployed beside a road, and can provide an optimal driving path for the vehicle according to the average speed of the detected road, thereby improving the road intelligence level.
Secondly, simple to operate, with low costs. The system adopts the geomagnetic sensor, and has lower price compared with the sensor required by the common Doppler radar for speed measurement; the required data processing module can adopt a low-power-consumption microprocessor, and is low in price. The system is installed without auxiliary equipment such as a portal frame, so that the system is convenient to install, low in cost and suitable for large-scale deployment.
Secondly, the reliability is high, and the influence of environmental factors is small. Compared with the traditional video signals such as cameras and the like, the geomagnetic sensor adopted by the system is not influenced by severe weather such as rain, snow and the like, and the influence of environmental factors on the traffic flow detection performance is small.
Thirdly, the system of the invention adopts the geomagnetic sensor, so that the system can not judge that the pedestrian and the non-motor vehicle pass by because of no fluctuation of the geomagnetic field or small fluctuation, thereby effectively avoiding the influence caused by the pedestrian and the non-motor vehicle.
Fourth, the lifetime is longer. The system adopts the geomagnetic sensor with the volume of tens of millimeters, has small volume, has longer service life compared with a geomagnetic coil, is less influenced by ground vibration, and has better application prospect.
Fifthly, the sensitivity is high. The geomagnetic sensor adopted by the invention has high sensitivity to motor vehicles, does not need to be arranged in the middle of a road, can detect the motor vehicles on the road only by placing the geomagnetic sensor in road test, and does not need to damage the road surface on a large scale.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of the overall architecture of the system of the present invention;
FIG. 2 is a diagram of a sensor deployment in the system of the present invention;
FIG. 3 is a flow chart of the present invention for measuring speed by using a dual geomagnetic speed measurement system;
FIG. 4 is a schematic diagram of data alignment in velocimetry according to the present invention;
fig. 5 is a schematic diagram of geomagnetic waveforms provided by two geomagnetic sensors in speed measurement according to the present invention.
Detailed Description
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the vehicle speed detection system of the present invention includes a data processing module 1, a data reporting module 2, a base station module 3, a dual geomagnetic sensor module 4, and a power supply module 5. The data processing module 1 is respectively connected with the data reporting module 2, the double geomagnetic sensor module 4 and the power supply module 5; the data processing module 1 provides the vehicle speed information for the data reporting module 2 and supplies power for the data reporting module 2; the two input ends of the data processing module 1 are respectively connected with the two geomagnetic sensors A and B of the double geomagnetic sensor module 4, and are used for providing geomagnetic data for the data processing module 1, the connection mode of the data processing module 1 can be connected in a wired mode or in a wireless mode, and if the data processing module 1 is connected in a wired mode, the data processing module 1 can also supply power to the double geomagnetic sensor module 4; the power supply mode of the input end of the power supply module 5 can be all power supply modes of solar energy, wind energy, commercial power and the like. To ensure that the entire system operates continuously for 24 hours per day.
The data processing module 1 is mainly composed of a low-power processor and a plurality of peripheral circuits. The low-power processor in the example adopts M3 series processor based on ARM system, but is not limited to other series processors based on ARM authorization, and also comprises a series of processors based on X86 design and MSP430 series ultra-low-power processors;
and the data reporting module 2 is used for sending the obtained vehicle speed information to each base station module 3. The technologies used for its transmission are mainly wireless technologies, such as bluetooth, Wi-Fi, LoRa, etc. Data can be reported in a wired mode without a wireless transmitting device; in addition, the means of data reporting communication can be carried out by using a mobile data network through a network mode. This example employs, but is not limited to, data transmission via the LoRa technique.
The base station module 3 is mainly responsible for communication with each sensor to obtain the vehicle speed sent by each sensor, and sends the vehicle speed information to the traffic data analysis platform, and the traffic data analysis platform carries out vehicle scheduling and accident judgment according to the data, and if an overspeed vehicle is found, the traffic data analysis platform can collect the vehicle information according to a nearby camera.
The dual geomagnetic sensor module 4 is composed of two geomagnetic sensors a and B, and the connection modes between the two geomagnetic sensors and the data processing module 1 can be diversified, and can be connected through a wire or a wireless connection, and all wireless communication modes are included through the wireless connection. The distance between the sensors is set according to the actual condition or the size of the sensor system, and the distance range is 0.1-10000cm, and the distance between the two sensors is 20cm in the example but not limited. The time difference of the automobile passing through the two sensors can be obtained through the position difference of the two geomagnetic sensors, and then the speed of the automobile can be obtained. The geomagnetic sensor module 4, which is an RM3100 digital three-axis geomagnetic sensor in this example, is not limited to other geomagnetic sensors and large dynamic range linear sensors in the market, which can reflect the change of the geomagnetic field, and is not limited to a single-axis and multi-axis geomagnetic sensor, nor to a geomagnetic sensor using digital signals and analog signals.
The power supply module 5 mainly supplies power to the whole system, and the connection mode of the output end of the power supply module has two types: the first is connected with the other input end of the data processing module 1 and used for providing required electric energy for the data processing module, the data processing module supplies power for each module, and the second is that the power supply module 5 is respectively connected with each module of the system and respectively supplies power for each module. This example uses, but is not limited to, the first connection.
Referring to fig. 3, the method for measuring speed by using a dual geomagnetic speed measurement system of the present invention includes the following steps:
The sensor is deployed on a building on one side of a road or underground according to actual requirements, and the geomagnetic sensor can detect the speed of the vehicle on one side of the road or underground.
Referring to fig. 2, in this example, two geomagnetic sensors a and B are deployed on one side of a road to be detected, and a first sensor a is in front of the road, and a second sensor B is placed behind the first sensor a, that is, an automobile firstly passes through the sensor a and then passes through the sensor B. The two sensors are installed according to the set distance d which is 20, the distance d can be adjusted according to actual needs and the requirements of the technology at that time, and the communication mode between the sensors and the data processing module is set to be wired communication or wireless communication according to the requirements. The present example employs a wired communication manner.
And 2, acquiring geomagnetic field data by the geomagnetic sensor.
As shown in fig. 5, when an automobile passes through, waveform changes of the sensor a and the sensor B may be caused, that is, when the automobile passes through, data fluctuation of the geomagnetic field in the sensor a is caused first, and then data fluctuation of the sensor B is caused, and the two geomagnetic sensors acquire data of the local magnetic field in real time and transmit the acquired data to the data processing module through the communication method described in step 1.
And 3, analyzing the data transmitted by the two sensors by the data processing module, and judging whether a vehicle passes through the data processing module.
3.1) the data processing module judges that the automobile passes through if the fluctuation of 10 continuous data of the magnetic field data of the sensor A exceeds 60nT according to the fluctuation condition of the magnetic field data in the first geomagnetic sensor A, if so, the data processing module stores the geomagnetic data when the automobile passes through and executes the step 3.2), and if not, the data processing module returns to the step 2.
3.2) the data processing module further judges whether the data mark of the second geomagnetic sensor B is a vehicle, and the judging mode is the same as the mode in the step 3.1): if yes, judging that the automobile passes through, storing the geomagnetic data, and otherwise, returning to the step 2.
3.3) the data processing module saves the part of the data sent by the first geomagnetic sensor A and the second geomagnetic sensor B, where the vehicle passes by, and adds a time stamp.
And 4, adding a time stamp to the stored geomagnetic data by the data processing module.
4.1) when the automobile passes by, the data processing module finds the initial moment t of the detection range of the automobile input sensor0And acquiring time information once by acquiring one data each time, wherein the time acquiring method can be acquired by a clock module of the processor and can also be acquired according to the time information in the instruction issued by the base station module.
The time information obtained in this example is obtained by a clock module in the processor, i.e. by the time t of the first geomagnetic data0According to the sampling frequency f of the magnetic field
Obtaining a sampling interval, and obtaining the time of each data according to the time interval NT between the Nth geomagnetic data and the 1 st geomagnetic data: t is tn＝t0+NT；
4.2) adding the time information obtained in the step 4.1) to the corresponding magnetic field data until the automobile leaves the geomagnetic sensor A and the geomagnetic sensor B respectively.
And 5, aligning the data of the sensor A and the data of the sensor B.
5.1) the data processing module takes the data of the initial moment when the automobile enters the sensor A and the sensor B as the first aligned data, and takes the data of the moment when the automobile leaves the sensor A and the sensor B as the last aligned data:
5.2) align the first, second, third data … of sensor A with sensor B in sequence until the last data alignment is complete, as shown in FIG. 4.
And 6, calculating the time difference delta t of the automobile passing through the two sensors.
In the step 5 of acquiring the aligned data, the first data t of the sensor A is acquiredA1The second data tA2The third data tA3… with first data t of sensor BB1The second data tB2The third data tB3…, obtaining a difference at between each dataiAnd the time difference of the automobile passing through the sensor A and the sensor B is as follows:
and 7, calculating the vehicle speed v.
And (3) obtaining the distance d between the two sensors according to the step (2) and the time difference delta t of the automobile passing through the two sensors according to the step (6), and calculating to obtain the running speed of the automobile:
and 8, reporting the processed data.
The data processing module calculates speed information, the speed information is sent to the base station module through the data sending module, the base station can receive data information reported by a plurality of speed measuring systems, and the base station module reports the data information reported by each module to the traffic data analysis platform.
The invention realizes the overall targets of low power consumption, low cost, high reliability and strong applicability, realizes the intelligent and informatization construction of a deployment area, is suitable for the construction of an intelligent road, and plays a vital role in assisting the unmanned driving safety. The system provided by the invention can be used for monitoring whether abnormal behaviors such as overspeed and the like occur on the road surface in real time by deploying the geomagnetic sensor to accurately acquire the speed information of the road in real time. In addition, by large-scale low-cost deployment, the overspeed detection range can be further widened, the traffic accident rate is reduced, and the road safety is ensured.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A speed measurement system based on double geomagnetic sensors comprises a data processing module (1), a data reporting module (2), a base station module (3) and a power supply module (5); the data reporting module (2) is in wired connection with the data processing module (1), and the data reporting module (2) is in wireless connection with the base station module (3), and is characterized in that: the input end of the data processing module (1) is connected with a double-geomagnetic sensor module (4), two geomagnetic sensors A and B in the double-geomagnetic sensor module (4) respectively collect respective surrounding magnetic field data, the data are transmitted to the data processing module (1) to be stored, whether a vehicle passes through the detection range of the sensor is judged according to the data, and the vehicle speed is calculated and output to the data reporting module (2); the data reporting module sends the vehicle speed information to the base station module (3), and the base station module reports the received vehicle speed data sent by each data reporting module to the traffic data analysis platform.
2. The system of claim 1, wherein: the output end of the power supply module (5) is connected with the data processing module (1), and the power supply mode of the input end of the power supply module adopts all power supply modes of solar energy, wind energy or commercial power.
3. The system of claim 1, wherein: the geomagnetic sensor includes: digital geomagnetic sensors, analog geomagnetic sensors, single-axis geomagnetic sensors, and multi-axis sensors.
4. The system of claim 1, wherein: the magnetic field data refers to fluctuating magnetic field data when all the geomagnetic sensors detect that a vehicle passes through and relatively steady magnetic field data when no vehicle passes through, wherein the fluctuation range of the magnetic field when the vehicle passes through exceeds 50nT, and the fluctuation range of the magnetic field when no vehicle passes through does not exceed 20 nT.
5. The system of claim 1, wherein: the two sensors A and B are placed in front and at back, and the automobile passes through the sensors A and B in sequence when running.
6. A method for testing the speed of a vehicle using the system of claim 1, comprising the steps of:
1) two geomagnetic sensors A and B in the system respectively acquire magnetic field data of the positions of the sensors in real time and transmit the data to a data processing module in turn;
2) the data processing module analyzes the data transmitted by the two sensors:
2a) the data processing module judges whether the data sign of the first geomagnetic sensor A is a vehicle: if yes, judging that the automobile passes through, executing 3b), otherwise, returning to 1);
2b) the data processing module judges whether the data sign of the second geomagnetic sensor B is a vehicle: if yes, judging that the automobile passes through, executing 3b), otherwise, returning to 1);
3b) the data processing module stores the part of the data sent by the first geomagnetic sensor A and the second geomagnetic sensor B, which is passed by the vehicle, and adds a timestamp;
3) the data processing module aligns the stored data;
3a) firstly, finding data of the moment when the automobile enters the two geomagnetic sensors A and B, and then finding data of the moment when the automobile leaves the two geomagnetic sensors A and B;
3b) aligning data, namely first data, of an automobile entering the geomagnetic sensor A and the geomagnetic sensor B at the initial moment, and aligning second data and third data collected by the two sensors in the automobile entering process sequentially until the automobile leaves the data of the sensor A and the sensor B at the moment, wherein n is the number of the data collected by the sensors;
4) calculating the time difference delta t of the automobile passing through the first sensor A and the second sensor B:
4a) sequentially calculating the time difference between the first data after alignment, the time difference between the second data and the time difference between the nth data until the time difference between the last data is calculated;
4b) taking the time difference mean value between all the data, namely the time difference delta t of the automobile passing through the two magnetic field data sensors;
5) obtaining the distance d between the geomagnetic sensor A and the geomagnetic sensor B in the system, and calculating the running speed of the automobile according to the time difference delta t:
6) reporting test information:
6a) the data processing module sends the vehicle speed data to the base station through the data reporting module;
8b) and the base station reports the acquired speed data to the traffic data analysis platform at intervals.
7. The method according to claim 6, wherein the timestamp in step 3b) is an instantaneous time of the geomagnetic data collected by the sensor, and the time is obtained by a clock module in the central processing or by time data uniformly transmitted by the base station.
8. The method as claimed in claim 6, wherein the data alignment in 3b) is to align the initial time when the vehicle enters the monitoring ranges of the two geomagnetic sensors, or to align the data when the vehicle leaves the monitoring ranges of the two geomagnetic sensors, or to align the time when the geomagnetic characteristics of the two geomagnetic sensors are most obvious, i.e. the time when the data fluctuate at the highest point or the data fluctuate at the lowest point.
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Application publication date: 20200619 |
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| RJ01 | Rejection of invention patent application after publication |