CN112419744B - Container truck detection method based on waveform detection - Google Patents
Container truck detection method based on waveform detection Download PDFInfo
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Abstract
The invention discloses a container truck detection method based on waveform detection, which is applied to vehicle detection at a wharf and used for judging whether a container truck passes through, stops and leaves; the wharf is provided with a plurality of card collecting lanes arranged in parallel and detects the conditions on the lanes by arranging a detection device, and the detection device comprises a plurality of geomagnetic sensors arranged at intervals on each card collecting lane, a plurality of geomagnetic sensors arranged on the ground and a signal processing module used for processing signals generated by the geomagnetic sensors. The container truck detection system and the detection method realize detection of the container truck in various operation scenes, can reduce manpower input, improve operation efficiency, and can be suitable for wharf operation scenes.
Description
Technical Field
The invention relates to a detection method, in particular to a container truck detection method based on waveform detection.
Background
The dispatching ability of a wharf dispatcher on an external container truck (external container truck for short) is weak, and the operation area, the operation quantity and the operation time of the external container truck cannot be accurately judged, so that two phenomena that the external container truck waits for field equipment for a long time and the field equipment waits for the external container truck to be in place are caused. This affects the freight industry, outside truck driver groups, and dockside.
The existing external container truck management mode is mostly to fix a position the vehicle through positioning equipment (such as RFID, GPS), and this mode is not only the equipment detection device installation difficulty, and the mounted position selection limitation is big, and positioning equipment recognition effect is unsatisfactory, and positioning equipment's management needs to spend great manpower moreover, and this resistance that will become traditional pier to intelligent pier transition.
The geomagnetic field is the inherent resource of the earth, provides a natural coordinate system for aviation, spaceflight and navigation, and can be applied to positioning and orientation and attitude control of spacecrafts or ships. The magnetic navigation technology utilizing the earth magnetic field spatial distribution is simple, convenient, efficient, reliable in performance and anti-interference, and is one of essential basic navigation and positioning means in developed countries, for example, the boeing aircraft with high automation degree is provided with a magnetic navigation and positioning system.
The geomagnetic sensor may be used to detect the presence of a vehicle and for vehicle type identification. The data acquisition system plays a very important role in a traffic monitoring system, the geomagnetic sensor is a key part of the data acquisition system, and the performance of the sensor plays a decisive role in the accuracy of the data acquisition system.
However, the conventional geomagnetic sensor vehicle detection cannot adapt to a complex operation scene of a wharf, and the application of container truck detection in the market is few and few.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a container truck detection method based on waveform detection, which realizes the detection of the container truck in each operation scene, can reduce the manpower input, improves the operation efficiency, and can be suitable for wharf operation scenes.
In order to solve the technical problems, the invention is solved by the following technical scheme: a container truck detection method based on waveform detection is applied to vehicle detection at a wharf and used for judging whether a truck passes through, stops and leaves; the wharf is provided with a plurality of parallel card collecting lanes, and a detection device is arranged to detect conditions on the lanes, wherein the detection device comprises a plurality of geomagnetic sensors arranged on each card collecting lane at intervals, a plurality of geomagnetic sensors arranged on the ground and a signal processing module used for processing signals generated by the geomagnetic sensors; the method comprises the following steps:
step one, a geomagnetic sensor detects a surrounding magnetic field and sends a detected magnetic field value to a signal processing module at a certain frequency;
step two, the signal processing module processes the received signals, and removes the influence of environmental magnetic field values and the influence of environmental noise in a vector superposition mode;
step three, steady state judgment, namely utilizing three axes of x, y and z to carry out steady state judgment, extracting a characteristic value of the processed magnetic field change vector s (n) by a signal processing module, namely calculating the 2-norm (namely the vector length) of the magnetic field change vector caused by the passing of the vehicle,
step four, selecting signal variation quantity delta m (n) abs [ m (n) -m (n-1)]Performing smoothing processing, and recording the processing result as
Calculating St, recording a steady state value m (n) when St is 1, and updating an environment value e (n) by using the steady state value;
step five, calculating a waveform, calculating a judgment condition 1, wherein the judgment condition is that the waveform state of xz is utilized to judge the number of peak values Nf-single peak/multiple peak, the peak value size-single peak is unique, the multiple peak is the final peak value and the previous maximum peak value,
Δs(n)＝s(n)-s(n-1)；
step six, judging peak values, [ delta s (n-D +1), [ delta s (n-D +2) ], and [ delta s (n) ]]＞D T4 ， [Δs(n+D+1)，Δs(n+D+2)，...,Δs(n)]＜-D T4 ；
Step seven, calculating a judgment condition 2, and comprehensively judging the vehicle position according to the vehicle waveform position with the judgment condition 2 of xyz;
step eight, recording a judgment condition 3 which is a parking mark, and judging whether the vehicle is parked at the last time;
recording a judgment condition 4, which is a relation between a steady state value and an environment value;
step ten, performing waveform judgment by comprehensively judging conditions 1, 2, 3 and 4, and judging the condition of passing, parking and leaving of the card collection.
The lane outside of most marginal is provided with the case shellfish that a plurality of formed one row, case shellfish quantity with earth magnetism sensor quantity corresponds.
In the second step, the three-axis magnetic field vector formula is m (n) ═ x (n), y (n), z (n) ], wherein the x-axis direction is the vehicle driving direction, the z-axis direction is the direction perpendicular to the ground, and the y-axis direction is the direction perpendicular to the (x, z) plane.
In the fourth step of the method, the first step of the method,
in step five, the calculation of the condition, ABS (amplitude of continuous equidirectional variation)>The threshold value of the number of bits of 2,
wherein, Bt is 1, and the calculation is started.
In the fifth step, the calculation conditions are ended: number of points of waveform>Threshold 3, ABS (amplitude change in continuous same direction)<Threshold 4, where threshold 3 is represented by C in the formula:
in step six, if s (n) is the peak point f (t), fmax is max [ f (t) ], and t e [0, 1.
Step ten, judging that the situation of passing is that double peaks appear and the peak value amplitude is large; double peaks appear, and the front and back steady states are consistent; the parking mark is 0, the front and the rear are consistent in stable state, and the position of the vehicle without an obvious peak value is behind the carriage. In the tenth step, judging that the parking is performed, namely, the parking mark is 0, the front and rear steady states are inconsistent, and judging the parking position according to the judgment conditions 2 and 4; the parking mark is 0, the front and rear stable states are consistent, and the position of the vehicle without an obvious peak value is in front of the carriage; the parking mark is 0, the front and the rear are consistent in steady state, and a single peak appears; the parking mark is 1, namely the vehicle head is detected, the front and rear steady states are inconsistent, the environment is consistent, and a single peak appears; the parking mark is 1, namely the front and rear stable states of the vehicle head and the carriage are detected to be inconsistent, the environment is consistent, and the position of the vehicle without an obvious peak value is in front of the carriage; and marking the parking mark as 1, judging that the front and rear stable states are inconsistent and the environment stable state is inconsistent, and judging the parking position according to the judgment conditions 2 and 4.
Step ten, judging that the vehicle leaves, wherein the parking mark is 1, namely the vehicle head is detected, the front and rear stable states are inconsistent, the environment stable state is consistent, and double peaks appear; the parking mark is 1, namely the front and rear stable states of the vehicle head and the carriage are detected to be inconsistent, the environment is consistent, and the position of the vehicle without an obvious peak value is behind the carriage; the parking mark is 1, namely the planker is detected, the front and back stable states are inconsistent, the environment is consistent, and a single peak appears; the parking mark is 1, namely the rear wheel is detected, the front and rear stable states are inconsistent, and the environment is consistent; the parking mark is 1, namely the front and rear stable states of the vehicle head are inconsistent, and the position of the vehicle is behind the carriage; the parking mark is 1, the front and rear stable states are inconsistent, the environment stable state is inconsistent, the xyz change value is close to 0, and the vehicle position is the tail of the vehicle or the vehicle position is a first peak descent point and the vehicle is parked at the same time and judged to be the tail of the vehicle.
When a parking mark exists, the judgment is that the vehicle is parked, the xyz variation value is smaller than the threshold value, and the judgment result is not output.
The invention provides a method for detecting a container truck based on waveform detection, which comprises the steps of installing a plurality of geomagnetic sensors on each truck passing lane for detection, receiving signals of the geomagnetic sensors through a signal processing module, carrying out calculation processing, and applying a parking detection algorithm of waveform detection to judge the current condition of a truck, thereby realizing the detection of the container truck in each operation scene, reducing the labor input, improving the operation efficiency, and being suitable for wharf operation scenes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be discussed below, it is obvious that the technical solutions described in conjunction with the drawings are only some embodiments of the present invention, and for those skilled in the art, other embodiments and drawings can be obtained according to the embodiments shown in the drawings without creative efforts.
Fig. 1 is a schematic view of the previous geomagnetic installation.
Fig. 2 is a schematic view of geomagnetic installation of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments described herein without the need for inventive work, are within the scope of the present invention.
The embodiment of the invention provides a container truck detection method based on waveform detection, which can realize detection of a container truck in each operation scene, reduce manpower input, improve operation efficiency and be suitable for wharf operation scenes.
As shown in fig. 1, which is a schematic diagram of geomagnetic installation in the prior art, in order to ensure that vehicles passing through each truck collection lane can be detected without mutual influence, 1 geomagnetic sensor is installed in each truck collection lane, that is, the number of geomagnetic sensors and lanes satisfies 1: 1. And judging by using the three-axis magnetic field variation detected by the geomagnetic sensor when the vehicle passes by using the self-adaptive environment value.
However, to obtain a high detection rate of parking in a shellfish, a large number of geomagnetism is required, and the geomagnetic sensor is placed densely.
Referring to fig. 2, the maximum positioning interval of the geomagnetic installation method of the present invention is to ensure that each big shell is equipped with 1 geomagnetic field.
Description of geomagnetic coverage: a non-double-dragging instruction is arranged in a range from a shell number-2 shell corresponding to the geomagnetism to a shell number of the user, and a prediction instruction set card enters a column to occupy the geomagnetism; the non-double-dragging instruction is arranged in the range from the number corresponding to the geomagnetism to +2 beits, and the prediction instruction set card enters the column and occupies the geomagnetism and 1 adjacent geomagnetism; the geomagnetic corresponding to the range from-4 shellfish to +6 shellfish has double-dragging instruction, and the prediction instruction set card enters the column, and the occupied geomagnetic position is determined according to the position of the carriage corresponding to the instruction.
The shell matching range in the process can be required to be set by parameters; the GPS and the instruction matching part decibel bit matching can be set with parameters.
As shown in fig. 2, when a vehicle is detected to stay above the earth magnetism a, the number of shells corresponding to the container is 02; when the geomagnetism A and the geomagnetism B simultaneously detect that a vehicle stays above the container, the number of shells corresponding to the container is 04 shells; when only B geomagnetism detects that a vehicle stays above, the corresponding shellfish of the container is 06 shellfish; and so on.
The invention discloses an algorithm for geomagnetic detection, which is specifically described as follows.
Firstly, steady state judgment: and (5) performing steady state judgment by using the three axes of x, y and z.
ABS (continuous equidirectional change amplitude) < threshold 1, determined as steady state, and recorded the steady state value (vector average).
Triaxial magnetic field vector calculation formula: m (n) ([ x (n), y (n), z (n)), wherein the x-axis direction is a vehicle traveling direction, the z-axis direction is a direction perpendicular to the ground, and the y-axis direction is a vertical (x, z) plane direction.
Characteristic values are extracted, a vehicle passes through a 2-norm (namely vector length) which causes a magnetic field vector, and a triaxial magnetic field change value can be further extracted for auxiliary judgment: the 2-norm of the x, z axis vectors can also be chosen:
selecting a signal variation Δ m (n) abs [ m (n) -m (n-1)]Performing smoothing processing, and recording the processing result as
Where St is 1 the steady state value m (n) is recorded.
Updating the environment value e (n) using the steady state value, with the condition: no stop sign and at steady state.
And II, calculating a waveform.
Starting calculation conditions: ABS (continuous equidirectional amplitude) > threshold 2,
wherein, Bt is 1, and the calculation is started.
And (4) finishing the calculation condition: the number of waveform points is larger than a threshold value 3, ABS (continuous equidirectional change amplitude) is smaller than a threshold value 4, the length requirement is met, the amplitude change tends to be stable, and the threshold value 3 in the formula is represented by C:
judgment condition 1: judging the number of peak values Nf-single peak/multiple peak by using the waveform state of xz, wherein the peak value size-single peak is unique, the multiple peak is the final peak value and the previous maximum peak value,
Δs(n)＝s(n)-s(n-1)
and (4) peak value judgment:
[Δs(n-D+1)，Δs(n-D+2)，...,Δs(n)]＞D T4
[Δs(n+D+1)，Δs(n+D+2)，...,Δs(n)]＜-D T4
taking the peak point f (t) as the moment,
fmax＝max[f(t)]，t∈[0,1,...,Nf]
judgment condition 2: the vehicle waveform position of xyz is comprehensively judged to the vehicle position, the continuous equidirectional change amplitude is increased, and the state is judged in sequence:
0: an initial state;
1: continuously rising to a threshold value a;
2: the single change amplitude is larger than a threshold b;
3: continuously decreasing to a threshold value c;
4: the single change amplitude is smaller than a threshold value d;
5: continuously rising to a threshold value a;
6: the single change amplitude is larger than a threshold b;
7: continuously drops to the threshold c.
Wherein 2-front wheel; 4-a carriage; 6-rear wheel.
Judgment condition 3: and a parking mark for judging whether the vehicle is parked at the last time.
Judgment condition 4: steady state values are related to environmental values.
And thirdly, judging the waveform, comprehensively judging conditions 1, 2, 3 and 4, and judging results including passing, stopping and leaving.
And (3) judging that the condition is passed:
1. double peaks appear, the peak amplitude is large;
2. double peaks appear, and the front and back steady states are consistent;
3. the parking mark is 0, the front and the rear are consistent in stable state, and the position of the vehicle without an obvious peak value is behind the carriage.
Judging the parking condition:
1. the parking mark is 0, the front and rear stable states are inconsistent, and the parking position is judged according to the judgment conditions 2 and 4;
2. the parking mark is 0, the front and rear stable states are consistent, and the position of the vehicle without an obvious peak value is in front of the carriage;
3. the parking mark is 0, the front and the rear are consistent in steady state, and a single peak appears;
4. the parking mark is 1 (vehicle head), the front and rear stable states are inconsistent, the environment stable state is consistent, and a single peak appears;
5. the parking mark is 1 (vehicle head, carriage), the front and back stabilities are inconsistent, the environment stabilities are consistent, and the vehicle position without obvious peak value is in front of the carriage;
6. the parking mark is 1, the front and rear steady states are inconsistent, the environment steady state is inconsistent (except for leaving scene 6), and the parking position is judged according to the judgment conditions 2 and 4.
And judging the situation of leaving:
1. the parking mark is 1 (vehicle head), the front and back stable states are inconsistent, the environment stable state is consistent, and double peaks appear;
2. the parking mark is 1 (vehicle head, carriage), the front and back stabilities are inconsistent, the environment stabilities are consistent, and the position of the vehicle without an obvious peak value is behind the carriage;
3. the parking mark is 1 (carriage), the front and rear steady states are inconsistent, the environment is consistent, and a single peak appears;
4. the parking mark is 1 (rear wheel), the front and rear steady states are inconsistent, and the environment is consistent;
5. the parking mark is 1 (vehicle head), the front and rear steady states are inconsistent, and the position of the vehicle is behind the carriage (priority condition);
6. the parking mark is 1, the front and rear stable states are inconsistent, the environment stable state is inconsistent, the xyz change value is close to 0, and the vehicle position is the tail of the vehicle or the vehicle position is a first peak descent point and the vehicle is parked at the same time and judged to be the tail of the vehicle.
In addition, special cases are also included: when a parking mark exists, the parking is judged to be the parking, the xyz change value is smaller than the threshold value, and the judgment result is not output.
By adopting the detection method, the parking detection rate is more accurate, and the method can be suitable for wharf operation scenes
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive. The scope of the invention is indicated by the appended claims, rather than the foregoing description, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The invention provides a method for detecting a container truck based on waveform detection, which is characterized in that a plurality of geomagnetic sensors are arranged on each truck passing lane for detection, signals of the geomagnetic sensors are received through a signal processing module, and calculation processing is carried out, so that the current condition of the trucks is judged, the detection of the container truck under each operation scene is realized, the human input can be reduced, the operation efficiency is improved, and the method can be suitable for wharf operation scenes.
Claims (7)
1. A container truck detection method based on waveform detection is characterized in that the method is applied to vehicle detection at a wharf and used for judging whether a truck passes through, stops and leaves; the wharf is provided with a plurality of parallel card collecting lanes, and a detection device is arranged to detect conditions on the lanes, wherein the detection device comprises a plurality of geomagnetic sensors arranged on each card collecting lane at intervals, a plurality of geomagnetic sensors arranged on the ground and a signal processing module used for processing signals generated by the geomagnetic sensors; the method comprises the following steps:
step one, a geomagnetic sensor detects a surrounding magnetic field and sends a detected magnetic field value to a signal processing module at a certain frequency;
step two, the signal processing module processes the received signals, and removes the influence of environmental magnetic field values and the influence of environmental noise in a vector superposition mode;
step three, steady state judgment, namely utilizing three axes of x, y and z to carry out steady state judgment, extracting a characteristic value of the processed magnetic field change vector s (n) by a signal processing module, namely calculating that the characteristic value of the magnetic field change vector caused by the passing of the vehicle is 2-norm,
；
step four, selecting signal variation
Performing smoothing processing, and recording the processing result as
Calculating St, wherein St is 1, recording a steady state value m (n), and updating an environment value e (n) by using the steady state value;
step five, calculating a waveform, calculating a judgment condition 1, wherein the judgment condition is that the waveform state of xz is utilized to judge the number of peak values Nf-single peak/multiple peak, the peak value size-single peak is unique, the multiple peak is the final peak value and the previous maximum peak value,
，
；
step six, judging the peak value,
，
；
step seven, calculating a judgment condition 2, wherein the judgment condition 2 is the comprehensive judgment of the vehicle position of the vehicle waveform position of xyz;
step eight, recording a judgment condition 3, and judging whether the vehicle is parked or not at the last time if the judgment condition is a parking mark;
recording a judgment condition 4 which is a relation between a steady state value and an environment value;
step ten, comprehensively judging the conditions 1, 2, 3 and 4 to judge the waveform, judging the condition of the card collection to be one of passing, parking and leaving,
wherein, the condition of passing judgment is as follows: double peaks appear, the peak amplitude is large;
double peaks appear, and the front and back steady states are consistent;
the parking mark is 0, the front and rear stable states are consistent, no obvious peak value exists, and the position of the vehicle is behind the carriage;
wherein, the condition of judging that the vehicle is stopped is as follows: the parking mark is 0, the front and rear stable states are inconsistent, and the parking position is judged according to the judgment conditions 2 and 4;
the parking mark is 0, the front and rear stable states are consistent, no obvious peak value exists, and the position of the vehicle is in front of the carriage;
the parking mark is 0, the front and the rear are consistent in steady state, and a single peak appears;
the parking mark is 1, when the vehicle head is detected, the front and rear stable states are inconsistent, the environment stable state is consistent, and a single peak appears;
the parking mark is 1, the front and rear stable states are inconsistent when the vehicle head and the carriage are detected, the environment is consistent in stable state, no obvious peak value exists, and the vehicle position is in front of the carriage;
the parking mark is 1, the front and rear stable states are inconsistent, the environment stable state is inconsistent, and the parking position is judged according to the judgment conditions 2 and 4;
wherein, the condition of judging as leaving is as follows: the parking mark is 1, namely the vehicle head is detected, the front and rear stable states are inconsistent, the environment is consistent, and double peaks appear;
the parking mark is 1, the front and rear stable states of the vehicle head and the carriage are detected to be inconsistent, the environment is consistent, no obvious peak value exists, and the vehicle position is behind the carriage;
the parking mark is 1, the planker is detected, the front and back stable states are inconsistent, the environment stable state is consistent, and a single peak appears;
the parking mark is 1, when a rear wheel is detected, the front and rear stable states are inconsistent, and the environment stable state is consistent;
the parking mark is 1, the front and rear stable states of the vehicle head are inconsistent when the vehicle head is detected, and the position of the vehicle is behind the carriage;
the parking mark is 1, the front and rear stable states are inconsistent, the environment stable state is inconsistent, the xyz change value is close to 0, and the vehicle position is the tail of the vehicle or the vehicle position is a first peak descent point and the vehicle is parked at the same time and judged to be the tail of the vehicle.
2. The method for detecting the container truck based on the waveform detection as claimed in claim 1, wherein a plurality of boxes forming a row are arranged outside the most marginal lane, and the number of the boxes corresponds to the number of the geomagnetic sensors.
3. The method as claimed in claim 1, wherein in step two, the three-axis magnetic field vector formula is
Wherein, the x-axis direction is the vehicle driving direction, the z-axis direction is the direction vertical to the ground, and the y-axis direction is the vertical (x, z) plane direction.
4. The method for detecting the container truck based on the waveform detection as claimed in claim 1, wherein in step four,
。
5. the method of claim 1, wherein in step five, the calculation of the condition, ABS (amplitude of continuous equidirectional variation)>The threshold value of the number of bits of 2,
and wherein, when Bt is 1, the calculation is started.
6. The method for detecting the container truck based on the waveform detection as claimed in claim 5, wherein in step five, the calculation conditions are ended: number of points of waveform>Threshold 3, ABS (amplitude change in continuous same direction)<Threshold 4, where threshold 3 is represented by C:
。
7. the method for detecting the container truck based on the waveform detection as claimed in claim 1, wherein in step six, the time is taken
Is the peak point f (t), then
。
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