CN104346951A - Device and method for monitoring vehicles of parking lot based on interference updating of geomagnetic detector - Google Patents
Device and method for monitoring vehicles of parking lot based on interference updating of geomagnetic detector Download PDFInfo
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Abstract
The invention relates to a device and a method for monitoring vehicles of a parking lot based on interference updating of a geomagnetic detector. The system is provided with a power supply circuit, a magnetoresistive sensor, a single chip microprocessor and a wireless zigbee communication module, wherein the output end of the power supply circuit is simultaneously connected with the input end of the magnetoresistive sensor and the input end of the wireless zigbee communication module, and the magnetoresistive sensor and the wireless zigbee communication module are respectively in bidirectional communication connection with the single chip microprocessor. The method specifically comprises the following steps of A, establishing a background magnetic field; B, collecting real-time waveform data, and comparing with the background magnetic field; C, detecting the existence of vehicles; D, detecting the non-existence of vehicles; E, calibrating. The system and the method have the advantages that the problems of low accuracy, complicated wiring, severe influence by environment factors and the like in the existing parking lot are solved; by adding a nearby vehicle interference updating algorithm, the parking position detection of the parking lot is converted into the single parking position detection, and the detection accuracy is improved.
Description
Technical field
The invention belongs to the automatic information collecting technical field of intelligent traffic monitoring and management, particularly a kind of equipment for monitoring vehicles based on geomagnetism detecting device interference renewal and method, be applicable to underground parking and open parking ground.
Background technology
Vehicle testing techniques is one of gordian technique of intelligent transportation system research, the information source that it is necessary for intelligent transportation system provides, and for intelligent transportation system fast development provides good condition, is the Information base carrying out Traffic monitoring and management.Vehicle testing techniques has become an important link in a lot of traffic system, needs the vehicle checking method of a set of more precise and high efficiency at present in the application badly.
Wagon detector is as the infrastructure of Intelligent traffic information acquiring, and its performance directly affects the effect of vehicle detection.At present, main on the market vehicle mode has ground induction coil, ultrasound wave, infrared induction and video detection etc.Ground induction coil due to construction not easily, road pavement destroys the shortcoming such as large, difficult in maintenance and cannot be applied to parking lot.Ultrasound wave is more affected by environment, and stability is not enough, often causes accuracy of detection to reduce because of the sensitivity decrease of probe.Infrared induction is affected by environment equally, and particularly the headlight of automobile and the light and shade change in parking lot often can cause flase drop.Ultrasound wave and infraredly cannot be applied to open parking ground.The accuracy of detection that video detects is current still not high, and cost is higher.
Current parking position is nearer because of what lean on, geomagnetism detecting device is because its physical characteristics is very easy to the interference being subject to other parking stall vehicle, the data detected are the magnetic field intensity after all vehicle joint effects of periphery in fact, the magnetic field intensity that such magnetic field intensity and single parking stall vehicle affect is obviously distinguishing, do vehicle detection with such data, the result calculated also is inaccurate.
Find after tested, side vehicle is very large on the impact of this parking stall magnetoresistive transducer, can draw high or reduce the numerical value of the detection of magnetoresistive transducer.If there is car this parking stall, and is tested with car, but a car has been carried out on side, will affect the detection data of this parking stall, if cause the phenomenon dragging down numerical value, this parking stall just there will be the phenomenon detected without car.
Summary of the invention
The object of the invention is the defect overcoming prior art existence, there is provided a kind of and can solve that precision existing for current parking lot is low, wiring is complicated, by the such environmental effects problem such as too heavily, and add other car interference update algorithm, parking position is detected and changes into single parking stall measure, improve the parking lot equipment for monitoring vehicles based on geomagnetism detecting device interference renewal and the method thereof of accuracy of detection.
The technical scheme realizing the object of the invention is: a kind of parking lot vehicle monitoring method upgraded based on the interference of geomagnetism detecting device, comprises the steps:
A, set up background magnetic field, its concrete steps are as follows:
A, interference value G reset, and vehicle influence value S resets;
B, to adopt geomagnetism detecting device calibrate or demarcate;
Geomagnetism detecting device after c, utilization correct gathers the earth induction Wave data of the non-filtered of x, y, z three-axle magnetic field perpendicular to each other on current parking lot;
It is sample that d, every axle get current data respectively toward top n data, and gets the variance of these N number of data;
E, setting are worked as variance yields and are less than 10, and when continuing to be less than 10 to 100 times, represent that waveform is steady, recording data x0, y0, z0 is instantly background magnetic field;
The background magnetic field intensity A of f, the synthesis of calculating x, y, z three axle;
B, gather real-time waveform data and with background magnetic field comparison, its concrete steps are as follows:
A, geomagnetism detecting device gather the earth induction Wave data after extreme value and mean filter of x, y, z three-axle magnetic field perpendicular to each other on current parking lot, and recording data is instantly x1, y1, z1;
B, by three number of axle according to doing subtraction with background magnetic field and difference being the evolution A ' of quadratic sum;
C, A ' is kept at sample data collection f(k) in, k is number of samples;
C, have car test to survey, its concrete steps are as follows:
A, according to test data setting vehicle detection threshold value H1, when | during A '-G| >=H1, counter T2 resets, and counter T1 starts to count;
B, be set with car count threshold N1 according to test data, in the process maintaining A ' >=H1, if T1 >=N1, then u=1, represents and has car to stop above geomagnetism detecting device;
C, according to test data setting waveform steady threshold value W, as f(k) the variance V < W of data set time, counter T3 starts counting, and after lasting till N3 time, represent that current form is steady, and enter the detection of vehicle influence value S, unison counter T3 resets;
If the vehicle influence value S=0 that d detects, represent also do not record the influence value that stops to magnetic field, record S=A '-G; If vehicle influence value S ≠ 0 detected, represent recorded the influence value that stops to magnetic field, record renewal interference value G '=A '-S; As V > W, counter T3 resets;
D, without car test survey, its concrete steps are as follows:
A, when | during A '-G| < H1, counter T1 resets, and vehicle influence value S resets, counter T2 start counting;
B, arrange without car count threshold N2 according to test data, in the process maintaining A ' < H1, if T2 >=N2, then u=0, represents that the vehicle above geomagnetism detecting device leaves;
C, as f(k) the variance V < W of data set time, counter T3 starts counting, and after lasting till N3 time, represent that current form is steady, counter T3 resets, renewal interference value G '=A '-S; As V > W, counter T3 resets;
E, correction.
Described in technique scheme, step e comprises the following steps: the data x1 of collection, y1, z1 and original background data x0, y0, z0 are done difference respectively, if three axle differences are all less than H0, then represent and do not have ferromagnetic material to disturb near this parking stall, without car on parking stall, interference value G resets, and vehicle influence value S resets.
Calculate the background magnetic field intensity A of x, y, z three axle synthesis in steps A described in technique scheme, its computing formula is: A=(x02+y02+z02).
In step B described in technique scheme by three number of axle gathered according to doing subtraction with background magnetic field and difference being the evolution A ' of quadratic sum, its computing formula is: A '=((x1-x0) 2+ (y1-y0) 2+ (z1-z0) 2).
N >=10 described in technique scheme, described H0 is 5 ~ 10; Described H1 is 60 ~ 80; Described N1 is 5f; Described N2 is 10f; Described N3 is that 20f, f are for detecting frequency.
Based on the parking lot equipment for monitoring vehicles that the interference of geomagnetism detecting device upgrades, there is feed circuit, magnetoresistive transducer, single-chip microcomputer and wireless zigbee communication module; The output terminal of described feed circuit connects the input end of magnetoresistive transducer and the input end of wireless zigbee communication module simultaneously; Described magnetoresistive transducer is all connected with single-chip microcomputer two-way communication with wireless zigbee communication module.
Feed circuit described in technique scheme have power supply and low pressure difference linear voltage regulator; The input end of the output termination low pressure difference linear voltage regulator of described power supply; The output terminal of described low pressure difference linear voltage regulator connects the input end of magnetoresistive transducer and the input end of wireless zigbee communication module simultaneously.
Magnetoresistive transducer described in technique scheme is three axle magnetoresistive transducers, and the detection frequency of the geomagnetism detecting chip in magnetoresistive transducer is 1Hz.
Be connected by I2C interface between magnetoresistive transducer with single-chip microcomputer described in technique scheme.
Power supply described in technique scheme is lithium ion battery, and the voltage of power supply is 3.7V, and the capacity of power supply is 3500mAh.
After adopting technique scheme, the present invention has following positive effect:
(1) the present invention can solve that precision existing for current parking lot is low, wiring is complicated, by the such environmental effects problem such as too heavily, and add other car interference update algorithm, is detected by parking position and changes into single parking stall measure, improve accuracy of detection.
(2) the present invention is exclusively used in parking lot, and it is closer that the parking stall due to parking lot is leaned on, when using geomagnetism detecting, other car interference is more serious, cause accuracy of detection not high, on the other hand, compared to road surface, external interference on road is sectional, vehicle crosses, and interference just disappears, but the car in parking lot can rest on parking stall for a long time, be continuation to the interference of other parking stall, therefore adopt the parking lot vehicle monitoring method that interference upgrades.
(3) the present invention is by judging that vehicle enters, having car to disturb, leaving without car interference, vehicle, guarantees that accuracy of detection is higher.
(4) the present invention can detect whether this parking stall, device place has car to stop in time, and is wirelessly sent to receiving equipment, without the need to wiring, installs simple.
Accompanying drawing explanation
In order to make content of the present invention more easily be clearly understood, below according to specific embodiment also by reference to the accompanying drawings, the present invention is further detailed explanation, wherein
Fig. 1 is module diagram of the present invention;
Attached number in the figure is: feed circuit 1, power supply 11, low pressure difference linear voltage regulator 12, magnetoresistive transducer 2, single-chip microcomputer 3 and wireless zigbee communication module 4.
Embodiment
(embodiment 1, a kind of parking lot equipment for monitoring vehicles upgraded based on the interference of geomagnetism detecting device)
Based on the parking lot equipment for monitoring vehicles that the interference of geomagnetism detecting device upgrades, there is feed circuit 1, magnetoresistive transducer 2, single-chip microcomputer 3 and wireless zigbee communication module 4; The output terminal of feed circuit 1 connects the input end of magnetoresistive transducer 2 and the input end of wireless zigbee communication module 4 simultaneously; Magnetoresistive transducer 2 is all connected with single-chip microcomputer 3 two-way communication with wireless zigbee communication module 4.
Feed circuit 1 have power supply 11 and low pressure difference linear voltage regulator 12; The input end of the output termination low pressure difference linear voltage regulator 12 of power supply 11; The output terminal of low pressure difference linear voltage regulator 12 connects the input end of magnetoresistive transducer 12 and the input end of wireless zigbee communication module 4 simultaneously.
Magnetoresistive transducer 2 is three axle magnetoresistive transducers, and the detection frequency of the geomagnetism detecting chip in magnetoresistive transducer 2 is 1Hz.
Be connected by I2C interface between magnetoresistive transducer 2 with single-chip microcomputer 3.
Power supply 11 is lithium ion battery, and the voltage of power supply 11 is 3.7V, and the capacity of power supply 11 is 3500mAh.
The present invention is arranged on parking position by four bulged tubes, center ofthe, and front and back are positioned at 1/5th places.Crust of the device adopts PC material, and resistance to compression reaches 5 tons, water proof and dust proof Grade I P67.The inner lithium ion battery that adopts is powered, voltage 3.7V, capacity 3500mAh.Adopt low pressure difference linear voltage regulator 12 in the front end of circuit, 3.0 volts of voltages of stable output power to follow-up single-chip microcomputer 3 and magnetoresistive transducer 2.The detection frequency of setting geomagnetism detecting chip is 1Hz, by I2C interface, terrestrial magnetic field data is transferred to single-chip microcomputer 3 from magnetoresistive transducer 2 and carries out data analysis.As detected, there is obvious disturbance current terrestrial magnetic field, illustrate this parking stall have car stop into, namely car information will be had wirelessly to be sent to receiving equipment by ZigBee.After car leaves, this device can detect that magnetic field revert to normal condition, can send equally by without car information.
(embodiment 2, a kind of parking lot vehicle monitoring method upgraded based on the interference of geomagnetism detecting device)
Based on the parking lot vehicle monitoring method that the interference of geomagnetism detecting device upgrades, comprise the steps:
A, set up background magnetic field, its concrete steps are as follows:
A, interference value G reset, and vehicle influence value S resets;
B, to adopt geomagnetism detecting device calibrate or demarcate;
Geomagnetism detecting device after c, utilization correct gathers the earth induction Wave data of the non-filtered of x, y, z three-axle magnetic field perpendicular to each other on current parking lot;
D, every axle get respectively current data forward 10 data be sample, and get the variance of these 10 data;
E, setting are worked as variance yields and are less than 10, and when continuing to be less than 10 to 100 times, represent that waveform is steady, and namely assert that geomagnetism detecting device is in the environment not having other magnetic interference, recording data x0, y0, z0 is instantly background magnetic field;
The background magnetic field intensity A of f, the synthesis of calculating x, y, z three axle; Its computing formula is: A=(x02+y02+z02).
B, gather real-time waveform data and with background magnetic field comparison, its concrete steps are as follows:
After a, background magnetic field upgrade, geomagnetism detecting device gathers the earth induction Wave data after extreme value and mean filter of x, y, z three-axle magnetic field perpendicular to each other on current parking lot, and recording data is instantly x1, y1, z1;
B, by three number of axle according to doing subtraction with background magnetic field and difference being the evolution A ' of quadratic sum, its computing formula is: A '=((x1-x0) 2+ (y1-y0) 2+ (z1-z0) 2);
C, A ' is kept at sample data collection f(k) in, k is number of samples, and last sample is current A ', and A ' is necessarily more than or equal to 0;
C, have car test to survey, its concrete steps are as follows:
A, according to test data setting vehicle detection threshold value H1, when | during A '-G| >=H1, counter T2 resets, and counter T1 starts to count;
B, be set with car count threshold N1 according to test data, in the process maintaining A ' >=H1, if T1 >=N1, then u=1, represents and has car to stop above geomagnetism detecting device;
C, according to test data setting waveform steady threshold value W, as f(k) the variance V < W of data set time, counter T3 starts counting, and after lasting till N3 time, represent that current form is steady, and enter the detection of vehicle influence value S, unison counter T3 resets;
If the vehicle influence value S=0 that d detects, represent also do not record the influence value that stops to magnetic field, record S=A '-G; If vehicle influence value S ≠ 0 detected, represent recorded the influence value that stops to magnetic field, record renewal interference value G '=A '-S; As V > W, counter T3 resets;
D, without car test survey, its concrete steps are as follows:
A, when | during A '-G| < H1, counter T1 resets, and vehicle influence value S resets, counter T2 start counting;
B, arrange without car count threshold N2 according to test data, in the process maintaining A ' < H1, if T2 >=N2, then u=0, represents that the vehicle above geomagnetism detecting device leaves;
C, as f(k) the variance V < W of data set time, counter T3 starts counting, and after lasting till N3 time, represent that current form is steady, counter T3 resets, renewal interference value G '=A '-S; As V > W, counter T3 resets;
E, correction, its concrete steps are as follows: the data x1 of collection, y1, z1 and original background data x0, y0, z0 are done difference respectively, if three axle differences are all less than H0, then represent and do not have ferromagnetic material to disturb near this parking stall, without car on parking stall, interference value G resets, and vehicle influence value S resets.
Described N >=10, described H0 is 5 ~ 10; Described H1 is 60 ~ 80; H1 is larger, and antijamming capability is stronger, but easily real vehicle identification is become interference; H1 is less easily becomes vehicle by disturbance ecology, and described N1 is 5f; Described N2 is 10f; Described N3 is the more large equilibrium mode more difficult to get access of 20f, N3, is more easily disturbed by accident, as car is entered in other parking stall; N3 is more little more easily enters equilibrium mode, more easily obtains incorrect vehicle influence value S, and wherein f is for detecting frequency.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1., based on the parking lot vehicle monitoring method that the interference of geomagnetism detecting device upgrades, it is characterized in that, comprise the steps:
A, set up background magnetic field, its concrete steps are as follows:
A, interference value G reset, and vehicle influence value S resets;
B, to adopt geomagnetism detecting device calibrate or demarcate;
Geomagnetism detecting device after c, utilization correct gathers the earth induction Wave data of the non-filtered of x, y, z three-axle magnetic field perpendicular to each other on current parking lot;
It is sample that d, every axle get current data respectively toward top n data, and gets the variance of these N number of data;
E, setting are worked as variance yields and are less than 10, and when continuing to be less than 10 to 100 times, represent that waveform is steady, recording data x0, y0, z0 is instantly background magnetic field;
The background magnetic field intensity A of f, the synthesis of calculating x, y, z three axle;
B, gather real-time waveform data and with background magnetic field comparison, its concrete steps are as follows:
A, geomagnetism detecting device gather the earth induction Wave data after extreme value and mean filter of x, y, z three-axle magnetic field perpendicular to each other on current parking lot, and recording data is instantly x1, y1, z1;
B, by three number of axle according to doing subtraction with background magnetic field and difference being the evolution A ' of quadratic sum;
C, A ' is kept at sample data collection f(k) in, k is number of samples;
C, have car test to survey, its concrete steps are as follows:
A, according to test data setting vehicle detection threshold value H1, when | during A '-G| >=H1, counter T2 resets, and counter T1 starts to count;
B, be set with car count threshold N1 according to test data, in the process maintaining A ' >=H1, if T1 >=N1, then u=1, represents and has car to stop above geomagnetism detecting device;
C, according to test data setting waveform steady threshold value W, as f(k) the variance V < W of data set time, counter T3 starts counting, and after lasting till N3 time, represent that current form is steady, and enter the detection of vehicle influence value S, unison counter T3 resets;
If the vehicle influence value S=0 that d detects, represent also do not record the influence value that stops to magnetic field, record S=A '-G; If vehicle influence value S ≠ 0 detected, represent recorded the influence value that stops to magnetic field, record renewal interference value G '=A '-S; As V > W, counter T3 resets;
D, without car test survey, its concrete steps are as follows:
A, when | during A '-G| < H1, counter T1 resets, and vehicle influence value S resets, counter T2 start counting;
B, arrange without car count threshold N2 according to test data, in the process maintaining A ' < H1, if T2 >=N2, then u=0, represents that the vehicle above geomagnetism detecting device leaves;
C, as f(k) the variance V < W of data set time, counter T3 starts counting, and after lasting till N3 time, represent that current form is steady, counter T3 resets, renewal interference value G '=A '-S; As V > W, counter T3 resets;
E, correction.
2. the parking lot vehicle monitoring method upgraded based on the interference of geomagnetism detecting device according to claim 1, it is characterized in that, described step e comprises the following steps: the data x1 of collection, y1, z1 and original background data x0, y0, z0 are done difference respectively, if three axle differences are all less than H0, then represent and do not have ferromagnetic material to disturb near this parking stall, without car on parking stall, interference value G resets, and vehicle influence value S resets.
3. the parking lot vehicle monitoring method upgraded based on the interference of geomagnetism detecting device according to claim 1, it is characterized in that, calculate the background magnetic field intensity A of x, y, z three axle synthesis in described steps A, its computing formula is: A=(x02+y02+z02).
4. the parking lot vehicle monitoring method upgraded based on the interference of geomagnetism detecting device according to claim 1, it is characterized in that, in described step B by three number of axle gathered according to doing subtraction with background magnetic field and difference being the evolution A ' of quadratic sum, its computing formula is: A '=((x1-x0) 2+ (y1-y0) 2+ (z1-z0) 2).
5. the parking lot vehicle monitoring method upgraded based on the interference of geomagnetism detecting device according to claim 1, it is characterized in that, described N >=10, described H0 is 5 ~ 10; Described H1 is 60 ~ 80; Described N1 is 5f; Described N2 is 10f; Described N3 is that 20f, f are for detecting frequency.
6., based on the parking lot equipment for monitoring vehicles that the interference of geomagnetism detecting device upgrades, it is characterized in that: there is feed circuit (1), magnetoresistive transducer (2), single-chip microcomputer (3) and wireless zigbee communication module (4); The output terminal of described feed circuit (1) connects the input end of magnetoresistive transducer (2) and the input end of wireless zigbee communication module (4) simultaneously; Described magnetoresistive transducer (2) is all connected with single-chip microcomputer (3) two-way communication with wireless zigbee communication module (4).
7. the parking lot equipment for monitoring vehicles upgraded based on the interference of geomagnetism detecting device according to claim 6, is characterized in that: described feed circuit (1) have power supply (11) and low pressure difference linear voltage regulator (12); The input end of the output termination low pressure difference linear voltage regulator (12) of described power supply (11); The output terminal of described low pressure difference linear voltage regulator (12) connects the input end of magnetoresistive transducer (12) and the input end of wireless zigbee communication module (4) simultaneously.
8. the parking lot equipment for monitoring vehicles upgraded based on the interference of geomagnetism detecting device according to claim 6 or 7, it is characterized in that: described magnetoresistive transducer (2) is three axle magnetoresistive transducers, the detection frequency of the geomagnetism detecting chip in magnetoresistive transducer (2) is 1Hz.
9. the parking lot equipment for monitoring vehicles upgraded based on the interference of geomagnetism detecting device according to claim 8, be is characterized in that: be connected by I2C interface between described magnetoresistive transducer (2) with single-chip microcomputer (3).
10. the parking lot equipment for monitoring vehicles upgraded based on the interference of geomagnetism detecting device according to claim 7, it is characterized in that: described power supply (11) is lithium ion battery, the voltage of power supply (11) is 3.7V, and the capacity of power supply (11) is 3500mAh.
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Cited By (14)
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| CN104794933A (en) * | 2015-05-04 | 2015-07-22 | 江苏省交通规划设计院股份有限公司 | Method for improving accuracy of geomagnetic parking stall detector |
| CN104916159A (en) * | 2015-03-25 | 2015-09-16 | 北京长城金点物联网科技股份有限公司 | Vehicle detection method and detection system |
| CN105321351A (en) * | 2015-11-03 | 2016-02-10 | 徐承柬 | Parking space arrearage management method and system |
| CN105679044A (en) * | 2016-02-26 | 2016-06-15 | 深圳市国帆网络信息技术股份有限公司 | Three-shaft-magnetic-sensor-based detection method and apparatus for vehicle on parking stall |
| CN105825708A (en) * | 2016-04-22 | 2016-08-03 | 江苏省交通规划设计院股份有限公司 | Parking space state judgment method of geomagnetic vehicle detector |
| CN105869434A (en) * | 2016-05-10 | 2016-08-17 | 深圳市万泊科技有限公司 | Parking space detection method based on geomagnetic sensor |
| CN106297373A (en) * | 2015-06-09 | 2017-01-04 | 中国科学院深圳先进技术研究院 | Parking lot based on cross-correlation and geomagnetic sensor vehicle checking method |
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| CN107730976A (en) * | 2017-09-19 | 2018-02-23 | 深圳云停智能交通技术研究院有限公司 | A kind of earth magnetism wagon detector jamproof system and method |
| CN108961777A (en) * | 2018-08-21 | 2018-12-07 | 西安鸿儒硕学电子科技有限公司 | A kind of parking space state monitoring method and device based on earth's magnetic field |
| CN110570686A (en) * | 2019-09-30 | 2019-12-13 | 东莞理工学院 | anti-interference parking detection method and system based on geomagnetic sensor |
| CN112037533A (en) * | 2020-09-02 | 2020-12-04 | 四川九通智路科技有限公司 | Vehicle passing detection method of geomagnetic sensing type spike |
| CN112419744A (en) * | 2020-08-27 | 2021-02-26 | 宁波大榭招商国际码头有限公司 | Container truck detection method based on waveform detection |
| CN115273490A (en) * | 2021-04-30 | 2022-11-01 | 阿尔卑斯通信器件技术（上海）有限公司 | Parking space detection device and parking space detection method |
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| CN107730976A (en) * | 2017-09-19 | 2018-02-23 | 深圳云停智能交通技术研究院有限公司 | A kind of earth magnetism wagon detector jamproof system and method |
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| CN110570686A (en) * | 2019-09-30 | 2019-12-13 | 东莞理工学院 | anti-interference parking detection method and system based on geomagnetic sensor |
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| CN115273490A (en) * | 2021-04-30 | 2022-11-01 | 阿尔卑斯通信器件技术（上海）有限公司 | Parking space detection device and parking space detection method |
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