CN201698588U - Vehicle detection system based on double earth inductors - Google Patents
Vehicle detection system based on double earth inductors Download PDFInfo
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- CN201698588U CN201698588U CN2010201355018U CN201020135501U CN201698588U CN 201698588 U CN201698588 U CN 201698588U CN 2010201355018 U CN2010201355018 U CN 2010201355018U CN 201020135501 U CN201020135501 U CN 201020135501U CN 201698588 U CN201698588 U CN 201698588U
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Abstract
The utility model relates to a vehicle detection system based on double earth inductors. The vehicle detection system is used for detecting conditions of dynamic vehicles so as to solve the problems of incomplete function, single detection item and poor detection effect and the like in the conventional vehicle detection system. The system comprises two independent earth inductors, a microcontroller, two amplifiers, two filters, an AD module, a CAN bus, a set/reset circuit and a power management module. After the two independent earth inductors collect the samples in a matching mode respectively and the samples are processed by the algorithm of the microprocessor, the vehicle velocity, vehicle type, traffic flow and other related information of the vehicle are calculated.
Description
Technical field
The utility model relates to vehicle detecting system, particularly based on the vehicle detecting system of two earth inductors.
Technical background
In recent years, based on the vehicle equipment of earth inductor,, replacing traditional road surfacing formula inductive coil checkout equipment and dropped into gradually in the supervision of road traffic because that it has is easy to install, integrated level is high, be difficult for advantages such as impaired.
At present, based on the vehicle equipment of earth induction, mostly be based on the point type earth induction and develop.For example: the patented claim of Chinese patent application numbers 200710036504.9 has proposed a kind of wireless geomagnetism type vehicle detecting system, and it is made up of point type geomagnetic type vehicle sensing device and roadside radio receiver.System detecting track central authorities brill cylindrical hole, put into point type geomagnetic type vehicle sensing device, and sealing and fixing gets final product work when coming into operation.Point type geomagnetic type vehicle sensing device according in the vehicle sensors established detect vehicle by the time terrestrial magnetic field variation, and be converted to wireless signal and send to the roadside radio receiver.The advantage that above-mentioned wireless geomagnetism type vehicle detecting system possesses is not to be subjected to the restriction of pavement conditions and infield, integrated degree height, and stable performance, the reliability height, of many uses.
But with regard to present prior art, because the earth induction system that adopts single-point type, the project that causes it to detect is less more, and the vehicle that generally only is used to detect the dynamic traffic road surface promptly is used for statistical vehicle flowrate by situation; Owing to be the single-point operation, do not have the feedback correction mechanism simultaneously, accuracy of detection also comparatively is short of.Therefore, objectively cause existing earth induction systemic-function perfect inadequately, it is single to detect content, and it is relatively poor to detect effect, the generation of this situation.
The utility model content
The purpose of this utility model provides a kind of vehicle detecting system based on two earth inductors, and perfect inadequately to solve existing vehicle detecting system function, it is single to detect content, detects the relatively poor problem of effect.
The utility model proposes a kind of vehicle detecting system based on two earth inductors, in order to detect the dynamic vehicle situation, it is characterized in that: comprise two independently single geomagnetic sensors, microcontroller, two amplifiers, two filter, two AD modules, CAN bus, put/reset circuit, and power management module; Wherein, two geomagnetic sensors, two amplifiers, two filter, two AD modules connect respectively successively, the other end of two AD modules links to each other with microcontroller, microcontroller more respectively with put/reset circuit links to each other with the CAN bus, put/other end of reset circuit connects two geomagnetic sensors, and power management module is connecting two amplifiers, two AD modules respectively, is putting/reset circuit, microcontroller and CAN bus.The single geomagnetic sensor of two independence is based on three magnetoresistive transducer technology, adopt anisotropic magnetic field sensor (AMR) as sensing element, fluctuation by the perception terrestrial magnetic field comes near the existence and the situation of movement of the ferromagnetic object the detecting sensor, with two independently the collocation pattern of magnetic field sensor sample separately, calculate the associated vehicle information such as the speed of a motor vehicle, vehicle and current flow of traffick by the algorithm process of microprocessor.
The use of this system and the course of work are:
1, geomagnetic sensor is converted into change in voltage information after signal amplification filtering and AD module samples with changes of magnetic field, digitized terrestrial magnetic field fluctuation information is passed to microcontroller handle.
2, microprocessor according to implant in advance wherein algorithm to the magnetic field fluctuation information that receives handle obtain information of vehicles and will handle after data send to receive by the CAN bus and equip.
3, multiple/setting circuit is to be used for by the back geomagnetic sensor being carried out demagnetization at vehicle once or several times, makes it be returned to fast that original state is unlikely to cause next collecting vehicle information error.
Wherein, for the resolution of carrying out active data processing AD should be more than or equal to 10bit, at this moment the data area of two peak values is 0-1023, detecting vehicle speed range according to design is 0-250km/h, is about 70m/s, and the time by the detecting device top is about 2ms, be not higher than 3% in conjunction with velocity error, the theoretical sample frequency of AD should be more than or equal to 17Khz, and in view of difference actual and theoretical value, the AD sample frequency should be not less than 20Khz.
According to the described vehicle detecting system of the utility model preferred embodiment based on two earth inductors, two independently single geomagnetic sensors, promptly the distance between sensor 1 and the sensor 2 is set to about 10cm.
According to the described vehicle detecting system of the utility model preferred embodiment based on two earth inductors, two independently the Wave data gathered of single geomagnetic sensor can carry out certain contrast, match earlier, to reduce the system acquisition error.
According to the described vehicle detecting system of the utility model preferred embodiment based on two earth inductors, GEOMAGNETIC CHANGE squiggle when vehicle is sailed through sensor is exactly a Gaussian waveform basically, when vehicle during by this car test device at first through sensor 1 then through sensor 2 in theory the output waveform wave1 of sensor 1 and the output waveform wave2 of sensor 2 be consistent because the earth magnetism curve of cyclical fluctuations that same vehicle causes under the situation of no external interference is the same.But because vehicle is sailed between sensor 1 and sensor 2 poorly if having time, this just causes wave2 to compare with wave1 hysteresis on phase place.Based on this, can calculate information of vehicles (vehicle, the speed of a motor vehicle, flow etc.) according to the output waveform of sensor and the difference between them.If the two sensors spacing is L, the speed of a motor vehicle is V, and the phase differential of wave2 and wave1 is T, and detected vehicle is long to be S, certain time interval T
0In to enter certain regional number of vehicles be N, the surveyed area vehicle flowrate is W in the certain hour.
The speed of a motor vehicle
(t wherein
1-t
0Reach the mistiming of threshold voltage for the two sensors output waveform); Vehicle S=V* (t
2-t
0), (t wherein
2-t
0For sample waveform from the time between first forward threshold voltage to the second negative sense threshold voltage); Vehicle flowrate
Beneficial effect
Owing to adopted above scheme, the beneficial effect that the utility model is possessed is:
1, antijamming capability is strong.Compare with traditional coil type vehicle detecting system, because it is not subjected to the influence of factors such as inclement weather, so have degree of accuracy height, strong, the stable high advantage of antijamming capability.
2, perfect in shape and function.Compare with single-point type earth induction vehicle detecting system in the past, it is except that can an inspection vehicle travel situations (flow), can also detect other relevant informations such as vehicle, the speed of a motor vehicle, more parameter variation of detection means more in the past, perfect in shape and function are for scientific management traffic in future provides more reference frame.
3, the detection effect is better.Owing to be the collecting device that adopts dual inductor, so can the result of two single geomagnetic sensor collections be compared, match, the error that filtering is gathered is calculated in the later stage and to be made the precision of collection more accurate, thereby accomplishes quite good detecting effectiveness.
Certainly, implement arbitrary product of the present utility model and must not necessarily need to reach simultaneously above-described all advantages.
Description of drawings
Fig. 1 is a kind of vehicle detecting system structural representation based on two earth inductors;
Fig. 2 is that synoptic diagram is used in a kind of placement of present embodiment;
Fig. 3 is the disturbance synoptic diagram of vehicle to the terrestrial magnetic field;
Fig. 4 is two geomagnetic sensor sample waveform output maps;
Fig. 5 is a kind of vehicle detection process flow diagram based on two earth inductors of the utility model embodiment.
Specific embodiment
Below in conjunction with accompanying drawing, specify the utility model.
See also Fig. 1, it is a kind of vehicle detecting system structural representation based on two earth inductors of the utility model embodiment.It comprises two independently single geomagnetic sensors (101,101 '), microcontroller 109, two amplifiers (103,103 '), two filter (105,105 ') and AD module (107,107 '), CAN bus 111, put/reset circuit 113, power management module 115.Wherein, connect AD module (107,107 ') respectively and put/reset circuit 113 as the microcontroller 109 of core, microcontroller 109 is sent to external unit by CAN bus 111 with the data of handling.
The earth inductor of present embodiment (101,101 ') can adopt the magnetoresistive transducer of Honeywe11 (Huo Niwei) company, and model is HMC1052ZL, and microcontroller 109 can be selected the process chip of the STM32F103CB of ST company for use.
See also Fig. 2, it is a kind of placement use synoptic diagram of present embodiment.If track shown in this figure is the right lateral track, and for easy-to-read amplifies the ratio of each module among the figure, in reality, microprocessor size in kind is not more than 80cm (L) x50cm (W) x18cm (H), and size sensor is not more than 45cm (L) x10cm (W) x8cm (H).Settle the CAN bus in one side of road, obtain with the convenient collection of analyzing the back data, on the continuous enforcement direction that is laid on this road of two magnetoresistive transducers, the surface can maintain an equal level with the road surface, can reduce collision and wearing and tearing so effectively.Distance between the two sensors can depend on the circumstances, and its distance is unsuitable long, is not that straight line passes because the long vehicle of distance may be sailed when two sensors, and during the speed of a motor vehicle can change, can cause the two sensors output waveform inconsistent like this, error is bigger.If instead the phase differential of the words two sensors output waveform of hypotelorism is very little, cause the back microprocessor calculating the increase of speed of a motor vehicle time error.Through actual verification, the distance between present embodiment sensor 1 and the sensor 2 is set to about 10cm.According to this modes of emplacement of present embodiment, detected vehicle passes through the geomagnetic sensor of twenty percent axis with linear fashion.
See also Fig. 3, it is the disturbance synoptic diagram of vehicle to the terrestrial magnetic field.Because ferromagnetic object has the two poles of the earth, north and south, when can causing the sensor distortion in magnetic field peripherally when the sensor, vehicle changes, be reflected in the output of sensor is to the oppositely fluctuation variation of (or negative sense is to forward) by forward, so the desirable GEOMAGNETIC CHANGE squiggle when vehicle is sailed through sensor is exactly a Gaussian waveform basically, under perfect condition, work as in the vehicle proximity transducer, sensor output voltage (terrestrial magnetic field fluctuation information) raises gradually or reduces (relevant with vehicle heading, promptly oppositely sail into when sailing into just the opposite) with forward, when output voltage arrives forward threshold voltage, automobile is just in time sailed through sensor, then voltage begins to descend after reaching peak value, vehicle just sails out of sensor when magnitude of voltage drops to the negative sense threshold voltage, and voltage fluctuation will be returned to zero-point voltage after vehicle sails out of a segment distance.
See also Fig. 4, it is two geomagnetic sensor sample waveform output maps.Because vehicle is sailed between sensor 1 and sensor 2 poorly if having time, this just causes wave2 to compare with wave1 hysteresis on phase place.Two geomagnetic sensor sample waveform output forward threshold voltage are Vth+, and the negative sense threshold voltage is Vth-, and the moment that the wave1 waveform reaches threshold voltage vt h+ and Vth-is respectively t
0And t
2, the moment that the wave2 waveform reaches threshold voltage vt h+ is t
1. present embodiment can calculate correlation parameter according to following formula in view of the above:
If the two sensors spacing is L, the speed of a motor vehicle is V, and the phase differential of wave2 and wave1 is T, and detected vehicle is long to be S, certain time interval T
0In to enter certain regional number of vehicles be N, the surveyed area vehicle flowrate is W. in the certain hour
1, for the calculating of the speed of a motor vehicle: by top as can be known because the distance between the two sensors is certain L that is, therefore the speed of a motor vehicle is relevant with the phase differential (being the mistiming that two sensors produces waveform) of two sensors output waveform, the fast more phase differential of the speed of a motor vehicle is more little, otherwise the slow more then phase differential of the speed of a motor vehicle is big more, and the speed of a motor vehicle equals the ratio of distance and phase differential shown in the last figure between the two sensors in theory.
The speed of a motor vehicle then
So can obtain corresponding speed information by calculating to phase differential T.
T reaches threshold voltage V for the two sensors output waveform as can be seen from Figure 4
ThMistiming T=t
1-t
0, hence one can see that
2, for the calculating of vehicle: mainly be meant calculating here, distinguish compact car, in-between car and large car by vehicle commander's difference to vehicle commander S.The effective time that microcontroller can write down a complete waveform of sensor, (vehicle was expressed as on the figure from the time t between first forward threshold voltage to the second negative sense threshold voltage from just sailing through a certain sensor to just sailing out of the used time of this sensor again
2-t
0), because sensor size with automobile is compared can be ignored, be equivalent to a point, so we can obtain according to multiplying each other the effective time of the speed of a motor vehicle of calculating above and waveform when calculating the vehicle commander.S＝V*(t
2-t
0)
3, for the calculating of flow: so-called flow just is meant and enters certain regional number of vehicles N in the certain hour, we do not do calculating to the vehicle that leaves in during this period of time, so thereby the travel direction that must determine vehicle when calculated flow rate determines that vehicle enters or leave the somewhere.We are easy to determine the travel direction of vehicle according to the top detection scheme of mentioning.When vehicle forward travel during in sensor magnetic induction axle, sensor is at first detected to be that the negative sense of field curve is beated, and when the vehicle backward going sensor at first detected be that the forward of field curve is beated.Therefore for once complete magnetic field fluctuation, if at first arrive negative sense threshold voltage vt h-, real-time vehicle number n=n+1 then, if instead at first reach forward threshold voltage Vth+, then real-time vehicle number n is constant.
Be located at stipulated time T
0In, detected real-time vehicle number is N, then flow
Here the problem that should be noted that is, once or after the information of vehicles processing several times to pass through the reset circuit reseting sensor, because magnetization, after the ferromagnetism object passes through, sensor relies on self attributes, output is difficult to be returned to virgin state at short notice, will produce error if next car is worked as in untimely correction through the output waveform of out-of-date sensor, and this will inevitably influence the calculating of information of vehicles.
See also Fig. 5, it is a kind of vehicle detection process flow diagram based on two earth inductors of the utility model embodiment.
501, system initialization.
503, the output of sampling sensor voltage.
505, whether sensor 1 reaches positive threshold voltage.
507, car is arranged through opening timer.
509, whether sensor 2 reaches positive threshold voltage.
511, calculate phase differential (but match, contrast waveform).
513, whether sensor 1 reaches negative threshold voltage through behind the negative peak.
515, the beginning calculating and sending is sent information of vehicles.
517, whether sensor 2 reaches negative threshold voltage through behind the negative peak.
519, vehicle sails out of system reset.
Claims (2)
1. vehicle detecting system based on two earth inductors, in order to detect the dynamic vehicle situation, it is characterized in that: comprise two independently single geomagnetic sensors, microcontroller, two amplifiers, two filter, two AD modules, CAN bus, put/reset circuit, and power management module; Wherein, two geomagnetic sensors, two amplifiers, two filter, two AD modules connect respectively successively, the other end of two AD modules links to each other with microcontroller, microcontroller more respectively with put/reset circuit links to each other with the CAN bus, put/other end of reset circuit connects two geomagnetic sensors, and power management module is connecting two amplifiers, two AD modules respectively, is putting/reset circuit, microcontroller and CAN bus.
2. a kind of vehicle detecting system based on two earth inductors as claimed in claim 1 is characterized in that: the single geomagnetic sensor of described two independences with anisotropic magnetic field sensor (AMR) as sensing element.
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102324184A (en) * | 2011-05-27 | 2012-01-18 | 迈锐数据（北京）有限公司 | Vehicle detecting system |
| CN103050014A (en) * | 2012-12-11 | 2013-04-17 | 武汉智慧城市研究院股份有限公司 | Traffic speed detection system and detection method |
| CN103942965A (en) * | 2014-04-30 | 2014-07-23 | 杭州百控科技有限公司 | Geomagnetic vehicle detector |
| CN104099846A (en) * | 2014-07-17 | 2014-10-15 | 同济大学 | Multifunctional road |
| CN104821085A (en) * | 2015-05-19 | 2015-08-05 | 太原理工大学 | Method of measuring vehicle speed and vehicle length based on rectangular single coil |
| CN104835326A (en) * | 2015-04-24 | 2015-08-12 | 周欣 | Vehicle detector based on anisotropy magnetic resistance sensor array |
| CN105023441A (en) * | 2015-07-27 | 2015-11-04 | 苏州大学 | Traffic vehicle detection system based on magnetic sensor and method |
| CN105607138A (en) * | 2016-01-05 | 2016-05-25 | 上海斐讯数据通信技术有限公司 | Anti-interference circuit and method for geomagnetic sensor |
| CN105825682A (en) * | 2014-04-30 | 2016-08-03 | 杭州百控科技有限公司 | Geomagnetic vehicle detector |
| CN106097728A (en) * | 2016-06-27 | 2016-11-09 | 东莞理工学院 | Vehicle checking method, Apparatus and system |
| CN106205146A (en) * | 2016-07-27 | 2016-12-07 | 北方工业大学 | Vehicle information acquisition and processing system and method based on dual-vector magnetic sensor |
| CN106355898A (en) * | 2016-11-04 | 2017-01-25 | 南京理工大学 | Method and device for speed measurement based on geomagnetic sensing |
| CN106448276A (en) * | 2016-07-28 | 2017-02-22 | 南京航空航天大学 | Airport surface moving target detection and speed sequence acquisition method |
| CN108109394A (en) * | 2017-12-07 | 2018-06-01 | 重庆交通大学 | Single earth magnetism vehicular traffic parameter detecting system and method based on vector model |
| CN108304773A (en) * | 2017-12-25 | 2018-07-20 | 广州市高科通信技术股份有限公司 | A kind of vehicle density analysis method, device, electronic equipment and storage medium based on wavelet transformation |
| CN108831188A (en) * | 2018-08-13 | 2018-11-16 | 桂林航天工业学院 | Wireless geomagnetism parking space intelligent awareness apparatus and method based on narrowband Internet of Things |
| CN108873087A (en) * | 2018-09-29 | 2018-11-23 | 重庆天箭惯性科技股份有限公司 | Rotary body geomagnetic sensor noiselike signal processing circuit |
| CN108898849A (en) * | 2018-07-23 | 2018-11-27 | 中国地质大学（武汉） | A kind of vehicle checking method and system based on terrestrial magnetic disturbance detection |
| CN109147345A (en) * | 2018-07-16 | 2019-01-04 | 国创智能设备制造股份有限公司 | Intelligent transportation micro-nano Magnetic Sensor |
| CN117558140A (en) * | 2024-01-11 | 2024-02-13 | 四川九通智路科技有限公司 | Traffic flow detection method for double-lane tunnel |
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2010
- 2010-03-19 CN CN2010201355018U patent/CN201698588U/en not_active Expired - Lifetime
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102324184A (en) * | 2011-05-27 | 2012-01-18 | 迈锐数据（北京）有限公司 | Vehicle detecting system |
| CN102324184B (en) * | 2011-05-27 | 2014-06-04 | 迈锐数据（北京）有限公司 | Vehicle detecting system |
| CN103050014A (en) * | 2012-12-11 | 2013-04-17 | 武汉智慧城市研究院股份有限公司 | Traffic speed detection system and detection method |
| CN103942965B (en) * | 2014-04-30 | 2016-07-06 | 杭州百控科技有限公司 | geomagnetic vehicle detector |
| CN105825682B (en) * | 2014-04-30 | 2018-04-20 | 杭州百控科技有限公司 | Earth magnetism vehicle detection apparatus |
| CN105825682A (en) * | 2014-04-30 | 2016-08-03 | 杭州百控科技有限公司 | Geomagnetic vehicle detector |
| CN103942965A (en) * | 2014-04-30 | 2014-07-23 | 杭州百控科技有限公司 | Geomagnetic vehicle detector |
| CN104099846A (en) * | 2014-07-17 | 2014-10-15 | 同济大学 | Multifunctional road |
| CN104835326A (en) * | 2015-04-24 | 2015-08-12 | 周欣 | Vehicle detector based on anisotropy magnetic resistance sensor array |
| CN104821085A (en) * | 2015-05-19 | 2015-08-05 | 太原理工大学 | Method of measuring vehicle speed and vehicle length based on rectangular single coil |
| CN105023441A (en) * | 2015-07-27 | 2015-11-04 | 苏州大学 | Traffic vehicle detection system based on magnetic sensor and method |
| CN105607138A (en) * | 2016-01-05 | 2016-05-25 | 上海斐讯数据通信技术有限公司 | Anti-interference circuit and method for geomagnetic sensor |
| CN106097728A (en) * | 2016-06-27 | 2016-11-09 | 东莞理工学院 | Vehicle checking method, Apparatus and system |
| CN106205146A (en) * | 2016-07-27 | 2016-12-07 | 北方工业大学 | Vehicle information acquisition and processing system and method based on dual-vector magnetic sensor |
| CN106205146B (en) * | 2016-07-27 | 2019-04-02 | 北方工业大学 | Vehicle information acquisition and processing system and method based on dual-vector magnetic sensor |
| CN106448276A (en) * | 2016-07-28 | 2017-02-22 | 南京航空航天大学 | Airport surface moving target detection and speed sequence acquisition method |
| CN106355898A (en) * | 2016-11-04 | 2017-01-25 | 南京理工大学 | Method and device for speed measurement based on geomagnetic sensing |
| CN108109394A (en) * | 2017-12-07 | 2018-06-01 | 重庆交通大学 | Single earth magnetism vehicular traffic parameter detecting system and method based on vector model |
| CN108109394B (en) * | 2017-12-07 | 2020-09-29 | 重庆交通大学 | System and method for detecting traffic parameters of single geomagnetic vehicle based on vector model |
| CN108304773A (en) * | 2017-12-25 | 2018-07-20 | 广州市高科通信技术股份有限公司 | A kind of vehicle density analysis method, device, electronic equipment and storage medium based on wavelet transformation |
| CN109147345A (en) * | 2018-07-16 | 2019-01-04 | 国创智能设备制造股份有限公司 | Intelligent transportation micro-nano Magnetic Sensor |
| CN108898849A (en) * | 2018-07-23 | 2018-11-27 | 中国地质大学（武汉） | A kind of vehicle checking method and system based on terrestrial magnetic disturbance detection |
| CN108831188A (en) * | 2018-08-13 | 2018-11-16 | 桂林航天工业学院 | Wireless geomagnetism parking space intelligent awareness apparatus and method based on narrowband Internet of Things |
| CN108873087A (en) * | 2018-09-29 | 2018-11-23 | 重庆天箭惯性科技股份有限公司 | Rotary body geomagnetic sensor noiselike signal processing circuit |
| CN117558140A (en) * | 2024-01-11 | 2024-02-13 | 四川九通智路科技有限公司 | Traffic flow detection method for double-lane tunnel |
| CN117558140B (en) * | 2024-01-11 | 2024-04-12 | 四川九通智路科技有限公司 | Traffic flow detection method for double-lane tunnel |
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