CN116153131A - Parking detection method, device and system based on geomagnetism, radar and infrared light sense - Google Patents
Parking detection method, device and system based on geomagnetism, radar and infrared light sense Download PDFInfo
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Abstract
The invention discloses a parking detection method, device and system based on geomagnetism, radar and infrared light sensation, wherein the method comprises the following steps: acquiring geomagnetic signal parameters from a parking space to be detected, and respectively acquiring radar radio frequency signal parameters and infrared light signal parameters when the numerical value of the geomagnetic signal parameters is larger than a preset geomagnetic parameter threshold value; calculating a feedback signal intensity value by using geomagnetic signal parameters, radar radio frequency signal parameters and infrared light signal parameters; according to the feedback signal intensity value, determining that the parking space to be detected is parked with the vehicle or determining that the parking space to be detected is not parked with the vehicle or determining that the parking state of the parking space to be detected is unchanged. According to the invention, the intensity of the feedback signal can be calculated according to the returned magnetic field signal, the radio frequency signal and the infrared signal, whether the parking space is available or not is determined according to the intensity value of the feedback signal, the parking state of the parking space is detected by combining the intensity values of several different detection signals, the situation of false triggering or missing detection can be avoided, and the precision and the accuracy of the parking space detection are effectively improved.
Description
Technical Field
The invention relates to the technical field of parking space detection, in particular to a parking detection method, device and system based on geomagnetism, radar and infrared light sense.
Background
With the rapid development of economy, the quantity of the reserved automobiles is increased sharply, but the quantity of parking spaces is far smaller than the quantity of the reserved automobiles, so that the problem of difficult parking is increased. Especially, parking on urban road sides is caused by scattered berths and lack of centralized management and monitoring, so that the phenomena that parking fees are "lost and driped", empty berths cannot be found and used in time or zombie vehicles occupy the berths for a long time and the like often occur, and the turnover rate of the berths is low.
In order to improve the utilization rate of the parking space and avoid the problems, the method commonly used at present is to set a parking space detector at the parking space to carry out the on-line detection of the parking space. The detection principle of the parking space detector is to detect whether a vehicle is in a parking space or not based on the magnetic field change caused by the magnetic field of the vehicle on the earth; or radio frequency radar detection, wherein the radar wave is sent by a detector through the radio frequency radar detection, and whether the vehicle is in the berth or not is detected through the radar wave reflected by the vehicle.
However, the current common methods have the following technical problems: because the magnetic field only changes under ferromagnetic substances, various factors such as the height of a chassis and the materials used by a vehicle frame of different vehicles can influence the magnetic field change quantity of the vehicles on berths, or the magnetic field change of adjacent berth vehicles can exceed the magnetic field change quantity of the vehicles on berths, the condition of missed detection or false detection is easy to occur, and the detection precision is low. Based on radio frequency radar detection, radar waves can be absorbed by the concave part and the pipeline of the chassis or transmitted back after being transmitted for many times due to the irregular shape of the chassis of the vehicle, so that the condition of missed detection occurs, and the detection precision is low.
Disclosure of Invention
The invention provides a parking detection method, device and system based on geomagnetism, radar and infrared light sense, wherein the method can send magnetic field signals, radio frequency signals and infrared signals to a parking space, calculate the strength of feedback signals according to the returned magnetic field signals, radio frequency signals and infrared signals, determine whether the parking space has a car or not according to the strength value of the feedback signals, and detect parking space by combining a plurality of different detection signals, so that the situation of false triggering or missing detection can be avoided, and the detection precision is effectively improved.
The first aspect of the embodiment of the invention provides a parking detection method based on geomagnetism, radar and infrared light sense, which comprises the following steps:
acquiring geomagnetic signal parameters from a parking space to be detected, and respectively acquiring radar radio frequency signal parameters and infrared light signal parameters when the numerical value of the geomagnetic signal parameters is larger than a preset geomagnetic parameter threshold value;
calculating a feedback signal intensity value by using the geomagnetic signal parameter, the radar radio frequency signal parameter and the infrared light signal parameter;
when the feedback signal intensity value is larger than a first preset intensity value, determining that the parking space to be detected has vehicles to park, when the feedback signal intensity value is smaller than or equal to a second preset intensity value, determining that the parking space to be detected has no vehicles to park, and when the feedback signal intensity value is larger than or equal to the first preset intensity value and the feedback signal intensity value is larger than or equal to the first preset intensity value, determining that the parking state of the parking space to be detected is unchanged.
In a possible implementation manner of the first aspect, the calculation formula of the feedback signal strength value is as follows:
ΔV＝a*ΔG+b*ΔR+c*ΔL；
in the above formula, Δv is a feedback signal intensity value, Δg is a geomagnetic signal parameter, Δr is a radar radio frequency signal parameter, Δl is an infrared light signal parameter, a is a magnetic field weight coefficient, b is a radio frequency radar weight coefficient, and c is an infrared light intensity weight coefficient.
In a possible implementation manner of the first aspect, the geomagnetic signal parameter is obtained, specifically:
the method comprises the steps of collecting three-dimensional magnetic field values of a parking space to be detected according to a preset time interval, wherein the three-dimensional magnetic field values comprise: an X-axis magnetic field value, a Y-axis magnetic field value, and a Z-axis magnetic field value;
and obtaining geomagnetic signal parameters by means of the difference value between the three-dimensional magnetic field value and a preset magnetic field stability value, wherein the preset magnetic field stability value is a three-dimensional magnetic field value which is received and determined for magnetic field stability at the previous time.
In a possible implementation manner of the first aspect, after the step of collecting the three-dimensional magnetic field values of the parking space to be detected at preset time intervals, the method further includes:
respectively calculating the difference value of the X-axis magnetic field value and the first X-axis magnetic field value, the difference value of the Y-axis magnetic field value and the first Y-axis magnetic field value, and the difference value of the Z-axis magnetic field value and the first Z-axis magnetic field value to obtain an X-axis difference value, a Y-axis difference value and a Z-axis difference value, wherein the first X-axis magnetic field value is an X-axis magnetic field value acquired at a previous time interval, the Y-axis magnetic field value is a Y-axis magnetic field value acquired at a previous time interval, and the first Z-axis magnetic field value is a Z-axis magnetic field value acquired at a previous time interval;
If the X-axis difference value is smaller than a preset X-axis change value, the Y-axis difference value is smaller than a preset Y-axis change value and the Z-axis difference value is smaller than a preset Z-axis change value, determining that the three-dimensional magnetic field value is a stable value;
otherwise, determining the three-dimensional magnetic field value as an unstable value, re-detecting the three-dimensional magnetic field value of the parking space, and calculating the average value of the re-collected three-dimensional magnetic field values.
In a possible implementation manner of the first aspect, after the step when the value of the geomagnetic signal parameter is greater than a preset geomagnetic parameter threshold, the method further includes:
acquiring berth state data of a to-be-detected parking space, sending the berth state data to a preset back-end management platform, so that the preset back-end management platform can display the berth state data to a toll collector and perform berth confirmation operation, and acquiring correction data input by the toll collector to perform parameter correction.
In a possible implementation manner of the first aspect, the radar radio frequency signal parameter is obtained, specifically:
transmitting a radio frequency microwave signal to a parking space to be detected and receiving a feedback echo signal;
performing signal processing on the echo signals to obtain processed signals, wherein the signal processing comprises filtering processing, demodulation processing and signal amplification processing;
Extracting signal intensity values from the processed signal, wherein the signal intensity values comprise a plurality of echo signal intensity values;
and calculating the difference value between the signal intensity value and a preset intensity value to obtain radar radio frequency signal parameters, wherein the preset intensity value is an echo intensity value when the parking space to be detected is in an idle state.
In a possible implementation manner of the first aspect, the acquiring the infrared light signal parameter is specifically:
collecting infrared light intensity values of a parking space to be detected according to a preset time interval;
and calculating the difference value between the infrared light intensity value and a preset infrared light intensity value to obtain an infrared light signal parameter, wherein the preset infrared light intensity value is an average value of the infrared light intensities of the parking spaces to be detected.
In a possible implementation manner of the first aspect, after the step of determining that the vehicle is parked in the parking space to be detected, the method further includes:
and sending a berth state data packet related to the to-be-detected parking space to a preset back-end management platform so that the preset back-end management platform can analyze the berth state data packet and display the time for entering and exiting the vehicle and the berth state.
A second aspect of an embodiment of the present invention provides a parking detection device based on geomagnetism, radar, and infrared light sensation, the device including:
The acquisition module is used for acquiring geomagnetic signal parameters from a parking space to be detected, and respectively acquiring radar radio frequency signal parameters and infrared light signal parameters when the numerical value of the geomagnetic signal parameters is larger than a preset geomagnetic parameter threshold value;
the calculation module is used for calculating a feedback signal strength value by using the geomagnetic signal parameter, the radar radio frequency signal parameter and the infrared light signal parameter;
the detection module is used for determining that the vehicle is parked in the parking space to be detected when the feedback signal intensity value is larger than a first preset intensity value, determining that the vehicle is not parked in the parking space to be detected when the feedback signal intensity value is smaller than or equal to a second preset intensity value, and determining that the parking state of the parking space to be detected is unchanged when the feedback signal intensity value is larger than or equal to the first preset intensity value and the feedback signal intensity value is larger than or equal to the first preset intensity value.
A third aspect of the embodiments of the present invention provides a geomagnetic, radar, and infrared light sensation-based parking detection system, which is suitable for a geomagnetic, radar, and infrared light sensation-based parking detection method as described above, the system including:
the system comprises a main control MCU unit, a geomagnetic detection unit, a radio frequency radar detection unit, an infrared light intensity detection unit, a LORA communication unit, an NBIOT communication unit and a power supply unit;
The main control MCU unit is respectively connected with the geomagnetic detection unit, the radio frequency radar detection unit, the infrared light intensity detection unit, the LORA communication unit, the NBIOT communication unit and the power supply unit, and the power supply unit is respectively connected with the geomagnetic detection unit, the radio frequency radar detection unit, the infrared light intensity detection unit, the LORA communication unit and the NBIOT communication unit;
the geomagnetic detection unit is used for collecting geomagnetic signal parameters of the parking space to be detected;
the radio frequency radar detection unit is used for sending radio frequency radar waves and collecting radar radio frequency signal parameters returned by the object on the parking space to be detected;
the infrared light intensity detection unit is used for acquiring the infrared light intensity above the parking space to be detected by adopting an infrared photoelectric resistor, and acquiring infrared light signal parameters;
the LORA communication unit is used for LORA receiver communication;
the NBIOT communication unit is used for communication of a preset back-end management platform;
the main control MCU unit is used for confirming whether a parking space to be detected has a car or not according to the geomagnetic signal parameter, the radar radio frequency signal parameter and the infrared light signal parameter;
The power supply unit is used for supplying power to the main control MCU unit, the geomagnetic detection unit, the radio frequency radar detection unit, the infrared light intensity detection unit, the LORA communication unit and the NBIOT communication unit.
Compared with the prior art, the parking detection method, device and system based on geomagnetism, radar and infrared light sense provided by the embodiment of the invention have the beneficial effects that: the invention can send magnetic field signals, radio frequency signals and infrared signals to the parking space, calculate the strength of feedback signals according to the returned magnetic field signals, radio frequency signals and infrared signals, determine whether the parking space has vehicles according to the strength value of the feedback signals, and detect parking states of the parking space by combining the strength values of different detection signals, thereby avoiding false triggering or missing detection and effectively improving the precision and accuracy of parking space detection.
Drawings
Fig. 1 is a schematic flow chart of a parking detection method based on geomagnetism, radar and infrared light sensation according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a parking detection device based on geomagnetism, radar and infrared light sensation according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a parking detection system based on geomagnetism, radar and infrared light sensation according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
With the rapid development of economy, the quantity of the reserved automobiles is increased sharply, but the quantity of parking spaces is far smaller than the quantity of the reserved automobiles, so that the problem of difficult parking is increased. Especially, parking on urban road sides is caused by scattered berths and lack of centralized management and monitoring, so that the phenomena that parking fees are "lost and driped", empty berths cannot be found and used in time or zombie vehicles occupy the berths for a long time and the like often occur, and the turnover rate of the berths is low.
In order to improve the utilization rate of the parking space and avoid the problems, the method commonly used at present is to set a parking space detector at the parking space to carry out the on-line detection of the parking space. The detection principle of the parking space detector is to detect whether a vehicle is in a parking space or not based on the magnetic field change caused by the magnetic field of the vehicle on the earth; or radio frequency radar detection, wherein the radar wave is sent by a detector through the radio frequency radar detection, and whether the vehicle is in the berth or not is detected through the radar wave reflected by the vehicle.
However, the current common methods have the following technical problems: because the magnetic field only changes under ferromagnetic substances, various factors such as the height of a chassis and the materials used by a vehicle frame of different vehicles can influence the magnetic field change quantity of the vehicles on berths, or the magnetic field change of adjacent berth vehicles can exceed the magnetic field change quantity of the vehicles on berths, the condition of missed detection or false detection is easy to occur, and the detection precision is low. Based on radio frequency radar detection, radar waves can be absorbed by the concave part and the pipeline of the chassis or transmitted back after being transmitted for many times due to the irregular shape of the chassis of the vehicle, so that the condition of missed detection occurs, and the detection precision is low.
In order to solve the above problems, a parking detection method based on geomagnetism, radar, and infrared light sensation provided in the embodiments of the present application will be described and illustrated in detail by the following specific embodiments.
Referring to fig. 1, a schematic flow chart of a parking detection method based on geomagnetism, radar and infrared light sensation according to an embodiment of the present invention is shown.
In an embodiment, the method is applicable to a parking detection system based on geomagnetism, radar and infrared light, and the parking detection system based on geomagnetism, radar and infrared light can be arranged at the side edge of a parking space. The system can be a parking space detector, can be particularly arranged on a detection rod beside a parking space or on a road surface of a parking space, and can be particularly adjusted according to actual needs.
As an example, the parking detection method based on geomagnetism, radar and infrared light may include:
s11, acquiring geomagnetic signal parameters from a parking space to be detected, and respectively acquiring radar radio frequency signal parameters and infrared light signal parameters when the geomagnetic signal parameters are larger than a preset geomagnetic parameter threshold value.
In an embodiment, the parking detection system based on geomagnetism, radar and infrared light sensation may be provided with a magnetic field detection unit, a radio frequency radar detection unit and an infrared light detection unit, where each detection unit may collect a detection signal and a signal parameter corresponding to the detection signal, so as to obtain a geomagnetism signal parameter, a radar radio frequency signal parameter and an infrared light signal parameter respectively.
In an example of practical application, if geomagnetic signal parameters, radar radio frequency signal parameters and infrared light signal parameters are collected at the same time at any moment, a plurality of detection signals need to be processed, which increases the burden of the system. In order to improve the processing efficiency, geomagnetic signal parameters related to a parking space to be detected can be collected first. And judging whether the parameter threshold value of the geomagnetic signal parameter is larger than a preset geomagnetic parameter threshold value, if the geomagnetic signal parameter is larger than the preset geomagnetic parameter threshold value, parking a vehicle in a parking space is possible at the moment, and the radio frequency radar detection unit and the infrared light detection unit can be triggered to respectively acquire the radar radio frequency signal parameter and the infrared light signal parameter.
By combining the signal parameters of the three detection signals, whether the vehicle is parked in the parking space or not can be accurately calculated, so that the detection error can be reduced, and the detection accuracy is improved.
The obtaining the geomagnetic signal parameter may specifically include the following substeps:
s21, acquiring three-dimensional magnetic field values of a parking space to be detected according to a preset time interval, wherein the three-dimensional magnetic field values comprise: an X-axis magnetic field value, a Y-axis magnetic field value, and a Z-axis magnetic field value.
Specifically, current magnetic field values of the X-axis, the Y-axis and the Z-axis may be detected at preset time intervals (for example, every 100 milliseconds) to obtain three-dimensional magnetic field values, where the X-axis magnetic field values, the Y-axis magnetic field values and the Z-axis magnetic field values may be respectively denoted as GX, GY and GZ.
Since different ferromagnetic substances around the parking space may affect the magnetic field variation of the vehicle at the berth, in order to determine whether the collected X-axis magnetic field value, the Y-axis magnetic field value and the Z-axis magnetic field value are normal stable values, the method may further include, as an example, the following steps after step S21:
s31, respectively calculating the difference value between the X-axis magnetic field value and the first X-axis magnetic field value, the difference value between the Y-axis magnetic field value and the first Y-axis magnetic field value, and the difference value between the Z-axis magnetic field value and the first Z-axis magnetic field value to respectively obtain an X-axis difference value, a Y-axis difference value and a Z-axis difference value, wherein the first X-axis magnetic field value is an X-axis magnetic field value acquired at a previous time interval, the Y-axis magnetic field value is a Y-axis magnetic field value acquired at a previous time interval, and the first Z-axis magnetic field value is a Z-axis magnetic field value acquired at a previous time interval.
By adopting the example, the difference value between the current X-axis magnetic field value and the X-axis magnetic field value acquired in the previous 100 milliseconds can be calculated to obtain an X-axis difference value; similarly, the difference between the current Y-axis magnetic field value and the Y-axis magnetic field value acquired in the previous 100 milliseconds can be calculated to obtain a Y-axis difference; the difference between the current Z-axis magnetic field value and the Z-axis magnetic field value acquired in the previous 100 milliseconds can also be calculated to obtain a Z-axis difference value.
S32, if the X-axis difference value is smaller than a preset X-axis change value, the Y-axis difference value is smaller than a preset Y-axis change value and the Z-axis difference value is smaller than a preset Z-axis change value, determining that the three-dimensional magnetic field value is a stable value.
S33, otherwise, determining the three-dimensional magnetic field value as an unstable value, re-detecting the three-dimensional magnetic field value of the parking space, and calculating the average value of the re-collected three-dimensional magnetic field values.
For example, if the X-axis difference is less than 20, the Y-axis difference is less than 20, and the Z-axis difference is less than 10, the magnetic field is considered stable, and the average value of the magnetic field X, Y, Z can be calculated every 30 seconds and respectively denoted as VGX, VGY, VGZ.
If the X-axis difference is greater than 20, the Y-axis difference is greater than 20, or the Z-axis difference is greater than 10, the magnetic field is considered unstable and the rebirth begins to calculate the average value of the magnetic field X, Y, Z.
If the magnetic field is stable, three-dimensional magnetic field values can be recorded, namely, the X-axis magnetic field value, the Y-axis magnetic field value and the Z-axis magnetic field value are saved and used for subsequent parking space judgment. If the magnetic field is unstable, the acquired value may be a value influenced by other factors, and the acquired value may not be reserved and acquired again.
S22, obtaining geomagnetic signal parameters by means of the difference value between the three-dimensional magnetic field value and a preset magnetic field stability value, wherein the preset magnetic field stability value is a three-dimensional magnetic field value which is received and determined for magnetic field stability at the previous time.
In one embodiment, the preset magnetic field stability value is a three-dimensional magnetic field value that was previously received and determined for magnetic field stability, and the determination method may be the processing flow of steps S31-S33.
Specifically, a difference between the three-dimensional magnetic field value and a preset magnetic field stability value can be calculated to obtain geomagnetic signal parameters.
The specific calculation mode is as follows:
wherein, the latest magnetic field values are marked as GX, GY and GZ, the stable values before the magnetic field are respectively marked as VGX, VGY and VGZ, and the difference value is marked as delta G, so as to obtain geomagnetic signal parameters.
ΔG＝A*(GX-VGX)2+B*(GY-VGY)2+C(GZ-VGZ)2。
In the above formula, A, B, C is the calculation weight of the X axis, the calculation weight of the Y axis, and the calculation weight of the Z axis, respectively.
Alternatively, in calculating the geomagnetic signal parameters, since the Z axis represents the amount of change in the magnetic field above the sensor, a and B may be 0.25, and c may be 1, i.e., the calculation weights of the X axis and the Y axis are 0.25, and the calculation weight of the Z axis is 1. The specific calculation weight can be adjusted according to actual needs.
When the value of the geomagnetic signal parameter Δg exceeds a preset geomagnetic parameter threshold (e.g., 50), it is considered that the magnetic field changes, and there is a possibility that the vehicle enters and exits the berth. At this time, the radio frequency radar detection unit and the infrared light intensity detection unit can be awakened to collect signal parameters, so that radar radio frequency signal parameters and infrared light signal parameters are obtained.
When the value of the geomagnetic signal parameter Δg exceeds a preset geomagnetic parameter threshold, there may be a vehicle parked in a parking space, and a toll collector is notified to charge for accurate calculation of parking fee, wherein, as an example, after the step when the value of the geomagnetic signal parameter is greater than the preset geomagnetic parameter threshold, the method may further include the steps of:
s23, acquiring berth state data of a to-be-detected parking space, sending the berth state data to a preset back-end management platform, so that the preset back-end management platform can display the berth state data to a toll collector and perform berth confirmation operation, and acquiring correction data input by the toll collector to perform parameter correction.
In connection with the above example, if the value of the geomagnetic signal parameter Δg exceeds a preset geomagnetic parameter threshold (e.g., 50), the geomagnetic signal parameter, the radar radio frequency signal parameter, the infrared light signal parameter, and the berth status data of the parking space corresponding to the magnetic field after the magnetic field is changed may be transmitted to a preset back-end management platform. The preset back-end management platform can be a data processing platform which is communicated with a parking detection system based on geomagnetism, radar and infrared light, and can be used for parking charging and information interaction with a back-end manager, and the back-end manager can also manage parking spaces through the preset back-end management platform.
In an embodiment, because the corresponding toll collector confirms when the berth state changes, after receiving berth state data of the parking space, the preset back-end management platform can transmit various data to the toll collector, the toll collector performs berth confirmation operation (specifically, can determine whether the parking space has vehicles berthed on site), if the detection result is inconsistent with the actual berthing state, the toll collector can perform manual correction on the preset back-end management platform, the manually corrected data of the toll collector is transmitted to the preset back-end management platform, and the preset back-end management platform performs parameter correction to correct geomagnetic signal parameters, radar radio frequency signal parameters, infrared light signal parameters and berth state data of the parking space.
Meanwhile, the preset back-end management platform can learn, analyze and calibrate more than 1500 ten thousand pieces of data returned by 5000 geomagnetic detectors for 3 months; correcting the coefficients a, b and c and the threshold value; the accuracy of the vehicle detector verified in the actual field through the corrected coefficient and the threshold value reaches 99.99 percent.
Wherein, as an example, the acquiring the radar radio frequency signal parameter may specifically include the following substeps:
S41, transmitting radio frequency microwave signals to the parking space to be detected, and receiving feedback echo signals.
In an embodiment, a transmitting antenna of a radio frequency radar detection unit arranged in a parking detection system based on geomagnetism, radar and infrared light sense can transmit radio frequency microwave signals to the direction of a parking space to be detected, the radio frequency microwave signals form reflection echoes after encountering vehicles or other obstacles of the parking space to be detected, and a receiving antenna of the radio frequency radar detection unit receives the echo signals to obtain feedback echo signals.
S42, performing signal processing on the echo signals to obtain processed signals, wherein the signal processing comprises filtering processing, demodulation processing and signal amplification processing.
In an embodiment, after receiving the feedback echo signal, the echo signal may be sequentially subjected to filtering, demodulation, and signal amplification preprocessing, to obtain a processed signal. After the processed signal is obtained, echo intensity detection is performed.
S43, extracting signal intensity values from the processing signals, wherein the signal intensity values comprise a plurality of echo signal intensity values.
In one implementation, signal strength values of the processed signals of several rf radar waves at close range may be recorded, for example, 16 are recorded, respectively denoted as { R1, R2, R3 … … R16}.
S44, calculating the difference value between the signal intensity value and a preset intensity value to obtain a radar radio frequency signal parameter, wherein the preset intensity value is an echo intensity value when the parking space to be detected is in an idle state.
In an embodiment, it is assumed that there is no object above the parking space to be detected, and the receiving antenna can receive the echo signal as well due to weak reflection of air and emission formed by the housing, but the echo signal is weak, the echo signal when there is no other object above the parking space can be recorded, and the signal intensity is recorded until { NR1, NR2, NR3 … … NR16}, respectively, after preprocessing, to obtain the preset intensity value.
And then, calculating the difference between the signal intensity value corresponding to the current radio frequency radar wave and the echo intensity value (namely the preset intensity value) when the berth is idle, and marking the difference as delta R to obtain the radar radio frequency signal parameter. The calculation of the radar radio frequency signal parameters is shown as follows:
ΔR＝(R1-NR1)2+(R2-NR2)2+(R3-NR3)2+……(R16-NR16)2。
wherein, as an example, the acquiring the infrared light signal parameter may specifically include the following substeps:
s51, collecting infrared light intensity values of the parking spaces to be detected according to preset time intervals.
In an embodiment, an infrared light intensity value of a parking space to be detected can be collected by an infrared light sensitive detection unit arranged in a parking detection system based on geomagnetism, radar and infrared light sense according to a preset time interval (every 100 milliseconds), and is recorded as L.
S52, calculating the difference value between the infrared light intensity value and a preset infrared light intensity value to obtain an infrared light signal parameter, wherein the preset infrared light intensity value is an average value of the infrared light intensities of the parking spaces to be detected.
The preset infrared intensity value may be an infrared intensity stable value above the parking space to be detected, and in an alternative embodiment, an average value of the infrared intensity values may be calculated once every 30 seconds to obtain the preset infrared intensity value, which is recorded as VL.
The difference between the current infrared light intensity value and the preset infrared light intensity value can be calculated to obtain an infrared light signal parameter which is recorded as delta L. The calculation of the infrared light signal parameters is shown as follows:
ΔL＝L-VL。
s12, calculating a feedback signal intensity value by using the geomagnetic signal parameter, the radar radio frequency signal parameter and the infrared light signal parameter.
In an alternative embodiment, the formula for calculating the feedback signal strength value is as follows:
ΔV＝a*ΔG+b*ΔR+c*ΔL；
in the above formula, Δv is a feedback signal intensity value, Δg is a geomagnetic signal parameter, Δr is a radar radio frequency signal parameter, Δl is an infrared light signal parameter, a is a magnetic field weight coefficient, b is a radio frequency radar weight coefficient, and c is an infrared light intensity weight coefficient.
In one implementation, 200 devices may be installed on the parking space in the early stage, and the geomagnetic signal parameter Δg, the radar radio frequency signal parameter Δr, and the infrared light signal parameter Δl when the vehicle returns to the parking space without a vehicle are detected, and the geomagnetic signal parameter Δg, the radar radio frequency signal parameter Δr, and the infrared light signal parameter Δl after the vehicle is parked on the parking space are detected.
Then inputting geomagnetic signal parameters delta G, radar radio frequency signal parameters delta R and infrared light signal parameters delta L when no car exists and geomagnetic signal parameters delta G, radar radio frequency signal parameters delta R and infrared light signal parameters delta L when a car exists into simulation software (such as Matlab) to perform data simulation, and obtaining a magnetic field weight coefficient a of 89, a radio frequency radar weight coefficient b of 37 and an infrared light intensity weight coefficient c of 573.
The magnetic field weight coefficient a, the radio frequency radar weight coefficient b and the infrared light intensity weight coefficient c can be adjusted according to actual needs.
S13, when the feedback signal intensity value is larger than a first preset intensity value, determining that the vehicle is parked in the parking space to be detected, when the feedback signal intensity value is smaller than or equal to a second preset intensity value, determining that the vehicle is not parked in the parking space to be detected, and when the feedback signal intensity value is larger than or equal to the first preset intensity value and the feedback signal intensity value is larger than or equal to the first preset intensity value, determining that the parking state of the parking space to be detected is unchanged, wherein the first preset intensity value is larger than the second preset intensity value.
In an embodiment, if the calculated feedback signal intensity value Δv is greater than a first preset intensity value (for example, 127930), it may be determined that the vehicle is parked in the parking space to be detected;
If the calculated feedback signal intensity value DeltaV is smaller than or equal to a second preset intensity value (for example, 28690), judging that the parking space to be detected is not parked by the vehicle;
if the calculated feedback signal intensity value is between the second preset intensity value and the first preset intensity value (for example, Δv is between 28690 and 127930), it can be determined that the berth state of the parking space to be detected is unchanged. Specifically, if the previous state is no-vehicle parking, the no-vehicle parking is maintained; if the previous state is that there is a vehicle parking, the vehicle parking is maintained.
In order to prevent erroneous judgment caused by the difference between the magnetic field and the radar in a single dimension exceeding a certain threshold, the maximum threshold (e.g., 185) of the geomagnetic signal parameter Δg may be set when the feedback signal strength value Δv is calculated.
If the geomagnetic signal parameter Δg exceeds 185, also calculate at 185; meanwhile, the maximum threshold value corresponding to the radar radio frequency signal parameter delta R or the maximum threshold value corresponding to the infrared light signal parameter delta L can be set.
For example, the maximum threshold value of the radar radio frequency signal parameter Δr may be set to 1972. The specific values can be adjusted according to actual needs.
When it is determined that the vehicle is parked in the parking space to be detected, the vehicle needs to be charged, and for convenience of charging, the method may further include, as an example:
S14, sending a berth state data packet related to the to-be-detected parking space to a preset back-end management platform so that the preset back-end management platform can analyze the berth state data packet and display the time for entering and exiting the vehicle and the berth state.
In an embodiment, after detecting the berth status change, a communication unit built in the parking detection system based on geomagnetism, radar and infrared light sense may send a berth status data packet to the back-end management platform.
The berth status data packet may include berth status of a parking space (including a vehicle and no vehicle) and related data of the parking space (such as a parking time, a departure time, an accumulated time and a parking unit price of the vehicle). The back-end management platform can analyze the berth state data packet, display the vehicle in-out time and the berth state, and finally charge the fee, and send the fee and the berth state to the intelligent terminal of the toll collector for the toll collector to carry out subsequent toll collection.
It should be noted that the invention can also distinguish motor vehicles above berth from other objects such as fallen leaves, tissues, packaging boxes, iron barrels and the like through infrared light intensity detection; the misjudgment caused by covering other substances such as fallen leaves, tissues, packaging boxes, iron drums and the like above the vehicle detector is effectively reduced.
Meanwhile, a plurality of detection modes such as geomagnetism, radio frequency radar, infrared light intensity detection and the like are used, so that the defect of a single detection technology is overcome; meanwhile, different weights are given to different detection technologies, so that the accuracy of vehicle detection is greatly improved.
In this embodiment, the embodiment of the invention provides a parking detection method based on geomagnetism, radar and infrared light sense, which has the following beneficial effects: the invention can send magnetic field signals, radio frequency signals and infrared signals to the parking space, calculate the strength of feedback signals according to the returned magnetic field signals, radio frequency signals and infrared signals, determine whether the parking space has vehicles according to the strength value of the feedback signals, and detect parking states of the parking space by combining the strength values of different detection signals, thereby avoiding false triggering or missing detection and effectively improving the precision and accuracy of parking space detection.
The embodiment of the invention also provides a parking detection device based on geomagnetism, radar and infrared light sense, and referring to fig. 2, a schematic structural diagram of the parking detection device based on geomagnetism, radar and infrared light sense is shown.
As an example, the parking detection device based on geomagnetism, radar, and infrared light may include:
The acquisition module 201 is configured to acquire geomagnetic signal parameters from a parking space to be detected, and acquire radar radio frequency signal parameters and infrared light signal parameters respectively when the numerical value of the geomagnetic signal parameters is greater than a preset geomagnetic parameter threshold;
a calculation module 202, configured to calculate a feedback signal strength value using the geomagnetic signal parameter, the radar radio frequency signal parameter, and the infrared light signal parameter;
the detection module 203 is configured to determine that the parking space to be detected has a vehicle parking when the feedback signal intensity value is greater than a first preset intensity value, determine that the parking space to be detected has no vehicle parking when the feedback signal intensity value is less than or equal to a second preset intensity value, and determine that the parking state of the parking space to be detected is unchanged when the feedback signal intensity value is greater than or equal to the first preset intensity value and the feedback signal intensity value is greater than or equal to the first preset intensity value.
Optionally, the calculation formula of the feedback signal strength value is as follows:
ΔV＝a*ΔG+b*ΔR+c*ΔL；
in the above formula, Δv is a feedback signal intensity value, Δg is a geomagnetic signal parameter, Δr is a radar radio frequency signal parameter, Δl is an infrared light signal parameter, a is a magnetic field weight coefficient, b is a radio frequency radar weight coefficient, and c is an infrared light intensity weight coefficient.
Optionally, the geomagnetic signal parameter is obtained, specifically:
the method comprises the steps of collecting three-dimensional magnetic field values of a parking space to be detected according to a preset time interval, wherein the three-dimensional magnetic field values comprise: an X-axis magnetic field value, a Y-axis magnetic field value, and a Z-axis magnetic field value;
and obtaining geomagnetic signal parameters by means of the difference value between the three-dimensional magnetic field value and a preset magnetic field stability value, wherein the preset magnetic field stability value is a three-dimensional magnetic field value which is received and determined for magnetic field stability at the previous time.
Optionally, the apparatus further comprises:
the difference value calculation module is used for respectively calculating the difference value between the X-axis magnetic field value and the first X-axis magnetic field value, the difference value between the Y-axis magnetic field value and the first Y-axis magnetic field value, and the difference value between the Z-axis magnetic field value and the first Z-axis magnetic field value to respectively obtain an X-axis difference value, a Y-axis difference value and a Z-axis difference value, wherein the first X-axis magnetic field value is an X-axis magnetic field value acquired at a previous time interval, the Y-axis magnetic field value is a Y-axis magnetic field value acquired at a previous time interval, and the first Z-axis magnetic field value is a Z-axis magnetic field value acquired at a previous time interval;
the stable value judging module is used for determining the three-dimensional magnetic field value as a stable value if the X-axis difference value is smaller than a preset X-axis change value, the Y-axis difference value is smaller than a preset Y-axis change value and the Z-axis difference value is smaller than a preset Z-axis change value;
And the unstable value judging module is used for determining the three-dimensional magnetic field value as an unstable value if the X-axis difference value is smaller than a preset X-axis change value, the Y-axis difference value is smaller than a preset Y-axis change value or the Z-axis difference value is smaller than a preset Z-axis change value, re-detecting the three-dimensional magnetic field value of the parking space, and calculating the average value of the re-collected three-dimensional magnetic field values.
Optionally, the apparatus further comprises:
the correction module is used for acquiring berth state data of the parking space to be detected, sending the berth state data to a preset back-end management platform, so that the preset back-end management platform can display the berth state data to toll staff and perform berth confirmation operation, and acquiring correction data input by the toll staff to perform parameter correction.
Optionally, the radar radio frequency signal parameter is obtained, specifically:
transmitting a radio frequency microwave signal to a parking space to be detected and receiving a feedback echo signal;
performing signal processing on the echo signals to obtain processed signals, wherein the signal processing comprises filtering processing, demodulation processing and signal amplification processing;
extracting signal intensity values from the processed signal, wherein the signal intensity values comprise a plurality of echo signal intensity values;
And calculating the difference value between the signal intensity value and a preset intensity value to obtain radar radio frequency signal parameters, wherein the preset intensity value is an echo intensity value when the parking space to be detected is in an idle state.
Optionally, the acquiring the infrared light signal parameter specifically includes:
collecting infrared light intensity values of a parking space to be detected according to a preset time interval;
and calculating the difference value between the infrared light intensity value and a preset infrared light intensity value to obtain an infrared light signal parameter, wherein the preset infrared light intensity value is an average value of the infrared light intensities of the parking spaces to be detected.
Optionally, the apparatus further comprises:
the sending module is used for sending a berth state data packet related to the to-be-detected parking space to a preset back-end management platform so that the preset back-end management platform can analyze the berth state data packet and display the time for entering and exiting the vehicle and the berth state.
The embodiment of the invention also provides a parking detection system based on geomagnetism, radar and infrared light sense, and referring to fig. 3, a schematic structural diagram of the parking detection system based on geomagnetism, radar and infrared light sense is shown.
Among them, as an example, the parking detection system based on geomagnetism, radar, infrared light may include:
The system comprises a main control MCU unit, a geomagnetic detection unit, a radio frequency radar detection unit, an infrared light intensity detection unit, a LORA communication unit, an NBIOT communication unit and a power supply unit;
the main control MCU unit is respectively connected with the geomagnetic detection unit, the radio frequency radar detection unit, the infrared light intensity detection unit, the LORA communication unit, the NBIOT communication unit and the power supply unit, and the power supply unit is respectively connected with the geomagnetic detection unit, the radio frequency radar detection unit, the infrared light intensity detection unit, the LORA communication unit and the NBIOT communication unit;
the geomagnetic detection unit is used for collecting geomagnetic signal parameters of the parking space to be detected;
specifically, the geomagnetic detection unit is used for berth magnetic field change, when the geomagnetic detection unit detects that the berth magnetic field changes, the geomagnetic detection unit sends signals to the main control MCU unit, and the main control MCU unit can wake up the radio frequency radar detection unit and the infrared light intensity detection unit to detect and confirm the signals.
The radio frequency radar detection unit is used for sending radio frequency radar waves and collecting radar radio frequency signal parameters returned by the object on the parking space to be detected;
Specifically, the radio frequency radar detection unit is used for sending radio frequency radar waves and receiving radar wave signals returned by objects on the berth.
The infrared light intensity detection unit is used for acquiring the infrared light intensity above the parking space to be detected by adopting an infrared photoelectric resistor, and acquiring infrared light signal parameters;
specifically, the infrared light intensity detection unit is used for detecting the infrared light intensity above the berth by adopting an infrared photoresistor and transmitting the infrared light intensity to the main control MCU unit.
The LORA communication unit is used for LORA receiver communication;
specifically, the LORA communication unit can communicate with the LORA receiver, and sends the detection result of the main control MCU unit to the LORA receiver, and sends the detection result to the back-end management platform through the LORA receiver; the LORA communication is short-distance communication within 1000 meters, and has the advantages of low power consumption, no dependence on a telecom operator and no communication cost.
The NBIOT communication unit is used for communication of a preset back-end management platform;
specifically, the NBIOT communication unit may send the detection result of the master control MCU unit to the back-end management platform; the NBIOT communication unit communicates with the back-end management platform through the telecommunication base station; the advantages are that: the receiver is not required to be arranged, and the installation is simple. The NBIOT communication unit and the LORA communication unit can be replaced with each other or can be configured simultaneously.
The main control MCU unit is used for confirming whether a parking space to be detected has a car or not according to the geomagnetic signal parameter, the radar radio frequency signal parameter and the infrared light signal parameter;
specifically, the main control MCU unit can control the work, communication and algorithm analysis of each unit; and combining geomagnetic field variation, radio frequency radar wave detection results and infrared light intensity detection results to confirm whether the parking space has vehicles.
The power supply unit is used for supplying power to the main control MCU unit, the geomagnetic detection unit, the radio frequency radar detection unit, the infrared light intensity detection unit, the LORA communication unit and the NBIOT communication unit.
Specifically, the power supply unit is responsible for voltage conditioning and simultaneously supplies power to other units of the system.
It will be clearly understood by those skilled in the art that, for convenience and brevity, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Further, an embodiment of the present application further provides an electronic device, including: the parking detection system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the parking detection method based on geomagnetic, radar and infrared light sensation according to the embodiment.
Further, the embodiment of the application also provides a computer-readable storage medium storing a computer-executable program for causing a computer to execute the parking detection method based on geomagnetism, radar, and infrared light sensation as described in the above embodiment.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (10)
1. A parking detection method based on geomagnetism, radar and infrared light sensation, which is characterized by comprising the following steps:
acquiring geomagnetic signal parameters from a parking space to be detected, and respectively acquiring radar radio frequency signal parameters and infrared light signal parameters when the numerical value of the geomagnetic signal parameters is larger than a preset geomagnetic parameter threshold value;
calculating a feedback signal intensity value by using the geomagnetic signal parameter, the radar radio frequency signal parameter and the infrared light signal parameter;
when the feedback signal intensity value is larger than a first preset intensity value, determining that the parking space to be detected has vehicles to park, when the feedback signal intensity value is smaller than or equal to a second preset intensity value, determining that the parking space to be detected has no vehicles to park, and when the feedback signal intensity value is larger than or equal to the first preset intensity value and the feedback signal intensity value is larger than or equal to the first preset intensity value, determining that the parking state of the parking space to be detected is unchanged.
2. The parking detection method based on geomagnetism, radar and infrared light sensation according to claim 1, wherein the calculation formula of the feedback signal intensity value is as follows:
ΔV＝a*ΔG+b*ΔR+c*ΔL；
in the above formula, Δv is a feedback signal intensity value, Δg is a geomagnetic signal parameter, Δr is a radar radio frequency signal parameter, Δl is an infrared light signal parameter, a is a magnetic field weight coefficient, b is a radio frequency radar weight coefficient, and c is an infrared light intensity weight coefficient.
3. The parking detection method based on geomagnetism, radar and infrared light sensation according to claim 1, wherein the geomagnetic signal parameter is obtained by:
the method comprises the steps of collecting three-dimensional magnetic field values of a parking space to be detected according to a preset time interval, wherein the three-dimensional magnetic field values comprise: an X-axis magnetic field value, a Y-axis magnetic field value, and a Z-axis magnetic field value;
and obtaining geomagnetic signal parameters by means of the difference value between the three-dimensional magnetic field value and a preset magnetic field stability value, wherein the preset magnetic field stability value is a three-dimensional magnetic field value which is received and determined for magnetic field stability at the previous time.
4. The geomagnetic, radar, infrared light sensing-based parking detection method of claim 3, wherein after the step of collecting three-dimensional magnetic field values of the parking space to be detected at preset time intervals, the method further comprises:
Respectively calculating the difference value of the X-axis magnetic field value and the first X-axis magnetic field value, the difference value of the Y-axis magnetic field value and the first Y-axis magnetic field value, and the difference value of the Z-axis magnetic field value and the first Z-axis magnetic field value to obtain an X-axis difference value, a Y-axis difference value and a Z-axis difference value, wherein the first X-axis magnetic field value is an X-axis magnetic field value acquired at a previous time interval, the Y-axis magnetic field value is a Y-axis magnetic field value acquired at a previous time interval, and the first Z-axis magnetic field value is a Z-axis magnetic field value acquired at a previous time interval;
if the X-axis difference value is smaller than a preset X-axis change value, the Y-axis difference value is smaller than a preset Y-axis change value and the Z-axis difference value is smaller than a preset Z-axis change value, determining that the three-dimensional magnetic field value is a stable value;
otherwise, determining the three-dimensional magnetic field value as an unstable value, re-detecting the three-dimensional magnetic field value of the parking space, and calculating the average value of the re-collected three-dimensional magnetic field values.
5. A method for detecting a vehicle stop based on geomagnetism, radar, and infrared light sensing according to claim 3, wherein after the step of when the value of the geomagnetic signal parameter is greater than a preset geomagnetic parameter threshold, the method further comprises:
acquiring berth state data of a to-be-detected parking space, sending the berth state data to a preset back-end management platform, so that the preset back-end management platform can display the berth state data to a toll collector and perform berth confirmation operation, and acquiring correction data input by the toll collector to perform parameter correction.
6. The parking detection method based on geomagnetism, radar and infrared light sensation according to claim 1, wherein the radar radio frequency signal parameters are obtained specifically as follows:
transmitting a radio frequency microwave signal to a parking space to be detected and receiving a feedback echo signal;
performing signal processing on the echo signals to obtain processed signals, wherein the signal processing comprises filtering processing, demodulation processing and signal amplification processing;
extracting signal intensity values from the processed signal, wherein the signal intensity values comprise a plurality of echo signal intensity values;
and calculating the difference value between the signal intensity value and a preset intensity value to obtain radar radio frequency signal parameters, wherein the preset intensity value is an echo intensity value when the parking space to be detected is in an idle state.
7. The parking detection method based on geomagnetism, radar and infrared light sensation according to claim 1, wherein the obtaining of the infrared light signal parameter is specifically:
collecting infrared light intensity values of a parking space to be detected according to a preset time interval;
and calculating the difference value between the infrared light intensity value and a preset infrared light intensity value to obtain an infrared light signal parameter, wherein the preset infrared light intensity value is an average value of the infrared light intensities of the parking spaces to be detected.
8. The geomagnetic, radar, infrared light sensing-based parking detection method according to any one of claims 1 to 7, wherein after the step of determining that a vehicle is parked in the parking space to be detected, the method further comprises:
and sending a berth state data packet related to the to-be-detected parking space to a preset back-end management platform so that the preset back-end management platform can analyze the berth state data packet and display the time for entering and exiting the vehicle and the berth state.
9. A parking detection device based on geomagnetism, radar and infrared light sensation, the device comprising:
the acquisition module is used for acquiring geomagnetic signal parameters from a parking space to be detected, and respectively acquiring radar radio frequency signal parameters and infrared light signal parameters when the numerical value of the geomagnetic signal parameters is larger than a preset geomagnetic parameter threshold value;
the calculation module is used for calculating a feedback signal strength value by using the geomagnetic signal parameter, the radar radio frequency signal parameter and the infrared light signal parameter;
the detection module is used for determining that the vehicle is parked in the parking space to be detected when the feedback signal intensity value is larger than a first preset intensity value, determining that the vehicle is not parked in the parking space to be detected when the feedback signal intensity value is smaller than or equal to a second preset intensity value, and determining that the parking state of the parking space to be detected is unchanged when the feedback signal intensity value is larger than or equal to the first preset intensity value and the feedback signal intensity value is larger than or equal to the first preset intensity value.
10. A geomagnetic, radar and infrared light-sensitive parking detection system, wherein the system is adapted to a geomagnetic, radar and infrared light-sensitive parking detection method as set forth in any one of claims 1 to 8, and the system includes:
the system comprises a main control MCU unit, a geomagnetic detection unit, a radio frequency radar detection unit, an infrared light intensity detection unit, a LORA communication unit, an NBIOT communication unit and a power supply unit;
the main control MCU unit is respectively connected with the geomagnetic detection unit, the radio frequency radar detection unit, the infrared light intensity detection unit, the LORA communication unit, the NBIOT communication unit and the power supply unit, and the power supply unit is respectively connected with the geomagnetic detection unit, the radio frequency radar detection unit, the infrared light intensity detection unit, the LORA communication unit and the NBIOT communication unit;
the geomagnetic detection unit is used for collecting geomagnetic signal parameters of the parking space to be detected;
the radio frequency radar detection unit is used for sending radio frequency radar waves and collecting radar radio frequency signal parameters returned by the object on the parking space to be detected;
the infrared light intensity detection unit is used for acquiring the infrared light intensity above the parking space to be detected by adopting an infrared photoelectric resistor, and acquiring infrared light signal parameters;
The LORA communication unit is used for LORA receiver communication;
the NBIOT communication unit is used for communication of a preset back-end management platform;
the main control MCU unit is used for confirming whether a parking space to be detected has a car or not according to the geomagnetic signal parameter, the radar radio frequency signal parameter and the infrared light signal parameter;
the power supply unit is used for supplying power to the main control MCU unit, the geomagnetic detection unit, the radio frequency radar detection unit, the infrared light intensity detection unit, the LORA communication unit and the NBIOT communication unit.
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