CN105825682A - Geomagnetic vehicle detector - Google Patents
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- CN105825682A CN105825682A CN201610248063.8A CN201610248063A CN105825682A CN 105825682 A CN105825682 A CN 105825682A CN 201610248063 A CN201610248063 A CN 201610248063A CN 105825682 A CN105825682 A CN 105825682A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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Abstract
The invention relates to a geomagnetic vehicle detector. The geomagnetic vehicle detector comprises an MCU device, a wireless transmission module and a geomagnetic detection module; the MCU device is used for controlling working states and working frequencies of the wireless transmission module and the geomagnetic detection module and can control data transmission between the wireless transmission module and the geomagnetic detection module; the wireless transmission module is used for receiving geomagnetic signals detected by the geomagnetic detection module and uploading the geomagnetic signals to a data side though a radio-frequency transceiver; the geomagnetic detection module comprises at least two geomagnetic sensors and is used for detecting the geomagnetic signals; and the geomagnetic sensors are sensors capable of detecting at least three directions and can transfer the detected geomagnetic signals to the wireless transmission module. The geomagnetic vehicle detector has the advantages of structural simplicity, convenience in processing, quickness and convenience in installation and high application value.
Description
The application is filing date on April 30th, 2014, Application No. 201410183886.8, the divisional application of invention entitled " earth magnetism vehicle detection apparatus ".
Technical field
The present invention relates to vehicle detection apparatus, particularly to a kind of earth magnetism vehicle detection apparatus.
Background technology
Along with the raising with living standards of the people that develops rapidly in city, the quantity of various vehicles constantly increases, and the thing followed is then that the demand of the parking position of main business district, city and residential block increases accordingly.The appearance of large parking lot solves the problem that city parking is difficult, but also brings the series of problems such as the parking stall difficult management of large parking lot simultaneously.In order to realize the real-time detection to large parking lot parking stall, i.e. detect and on certain parking stall, whether stop there is vehicle, meet the tendency and developed multiple parking stall measure technology.
The principle utilizing Geomagnetic signal to detect vehicle is, the ferromagnetic material that vehicle itself contains can produce impact to the Geomagnetic signal of vehicle domain of the existence, makes the geomagnetic chart linesofforce of vehicle domain of the existence bend.When vehicle sensitive can perceive the change of signal through sensor proximity, sensor, can be obtained by detecting the relevant information of target through signal analysis.At present, carrying out vehicle detection by Geomagnetic signal and be generally used for vehicle early warning, less for storing cycle place, in the environment of existing geomagnetic sensor is applied to parking lot, there is the shortcoming that cost is high, efficiency is low, accuracy rate is low in main problem.Therefore, it is necessary to develop a kind of that be applicable to parking lot, can effectively detect the novel magnetic survey detector of the situation parked cars.
Summary of the invention
The present invention is directed to the shortcoming lacking the earth magnetism vehicle detection apparatus being specifically applied to parking lot in prior art, it is provided that a kind of novel earth magnetism vehicle detection apparatus, effectively the contact vehicle in parking lot can be monitored, improve vehicle management efficiency.
For achieving the above object, the present invention can take following technical proposals:
Earth magnetism vehicle detection apparatus, including MCU device, wireless transport module and geomagnetism detecting module；
Described MCU device is for controlling wireless transport module and the duty of geomagnetism detecting module and operating frequency, it is possible to control the data transmission between wireless transport module and geomagnetism detecting module；
Described wireless transport module is for receiving the Geomagnetic signal that geomagnetism detecting module detects, and by RF transceiver, Geomagnetic signal is uploaded to data terminal；
Described geomagnetism detecting module includes at least two geomagnetic sensor, is used for detecting Geomagnetic signal；
Described geomagnetic sensor is the sensor that can detect at least three direction, it is possible to Geomagnetic signal detection obtained is transferred to wireless transport module；
nullAfter described wireless transport module is by Geomagnetic signal transmission to data terminal，Data terminal is analyzed to changes of magnetic field and draws the vehicles while passing situation near described earth magnetism vehicle detection apparatus by signal below detecting step: by the differential signal between the Geomagnetic signal that contrast is detected by different geomagnetic sensors，Extract different differential signals，Differential signal is sorted out，Different classes of differential signal is associated from different vehicles while passing actions，Obtain associating between differential signal with vehicle action，Realize the judgement to the vehicles while passing situation near described earth magnetism vehicle detection apparatus，The difference detecting Geomagnetic signal in opposite direction that described differential signal is read by different geomagnetic sensors，Described classification refers to the classification that the excursion according to differential signal is carried out，Described association refers to the differentiation to vehicle action of the amplitude of variation according to differential signal，And will distinguish after particular vehicle action corresponding with the specific change amplitude of described differential signal，Described vehicles while passing situation includes size and the travel direction of vehicle.
Described signal detection step also includes differential signal calculation procedure；
Described differential signal calculation procedure includes, by different geomagnetic sensors to after placing, the signal subtraction being positioned on same axis of orientation that the detection of differently Magnetic Sensor obtains is obtained differential signal, described referring to place in opposite direction for different geomagnetic sensor to placement, the signal on described same axis of orientation refers to be detected, in different geomagnetic sensors, the Geomagnetic signal in opposite direction obtained.
Described signal detection step also includes that reference axis determines step and adjustment in direction step；
Described reference axis determines that step comprises determining that master reference and from sensor, and described master reference is arbitrary geomagnetic sensor, described from sensor be the arbitrary geomagnetic sensor in addition to master reference；Orthogonal coordinate system is set up for coordinate axes with the direction that master reference can detect；Direction O1 on the basis of the either direction that master reference can detect；Read Geomagnetic signal from all directions of sensor, direction O2 on the basis of the vector of the point corresponding in orthogonal coordinate system of orthogonal coordinate system initial point to Geomagnetic signal；It is deviation angle a with the angle between the inverse direction of reference direction O2 to reference direction O1；
Described adjustment in direction step includes: read the Geomagnetic signal from all directions of sensor；In orthogonal coordinate system, with orthogonal coordinate system initial point to the vector of the point corresponding in orthogonal coordinate system of Geomagnetic signal for detection direction O3；Detection direction O3 is turned over deviation angle a and forms correction direction O4；To revise a length of revised Geomagnetic signal from sensor of the direction O4 orthographic projection on all coordinate axess respectively.
Described signal detection step also includes sorting out associated steps, for differential signal is sorted out, and will be associated between differential signal and vehicle action, specifically include: record point corresponding to differential signal in orthogonal coordinate system, differential signal is classified by the density according to point, and the collection cooperation belonging to of a sort differential signal after classification is considered as same vehicle action.
In embodiments of the invention, described geomagnetism detecting module includes two geomagnetic sensors.
In embodiments of the invention, said two geomagnetic sensor is arranged oppositely.
In embodiments of the invention, described data terminal is installed on described earth magnetism vehicle detection apparatus, it is also possible to be mounted to away from the device separated with described earth magnetism vehicle detection apparatus of described earth magnetism vehicle detection apparatus.
The present invention has a following notable technique effect:
Effectively can detect the vehicle in parking lot, accuracy of detection is high, and sensitivity is good, and normal service life is long, adapts to various environment, and accuracy of detection is high, and strong interference immunity is convenient for installation and maintenance.
For above and other objects of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly, and coordinate accompanying drawing, it is described in detail below.
Accompanying drawing explanation
Fig. 1 is the structural representation of earth magnetism vehicle detection apparatus.
Fig. 2 is the schematic flow sheet of the signal detection step of earth magnetism vehicle detection apparatus.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail.
Embodiment 1
A kind of earth magnetism vehicle detection apparatus, as shown in Figure 1-2, including MCU device 100, wireless transport module 200 and geomagnetism detecting module 300；
Described MCU device 100 is for controlling wireless transport module 200 and the duty of geomagnetism detecting module 300 and operating frequency, it is possible to control the data transmission between wireless transport module 200 and geomagnetism detecting module 300；MCU part mainly includes low-power scm and peripheral circuit thereof.MCU model is the IC chip that Texas Instruments produces, the chip that MCU is used needs to meet the condition of 16 super low-power consumption chips, because detector needs to be embedded in underground, powers with battery, and this chip standby current is minimum such that it is able to ensure the work that geomagnetism detecting device is steady in a long-term.
Described wireless transport module 200 is for receiving the Geomagnetic signal that geomagnetism detecting module 300 detects, and by RF transceiver, Geomagnetic signal is uploaded to data terminal 400；Earth magnetism vehicle detection apparatus can use wired or wireless and repeater to communicate, it is contemplated that installing and maintenance cost, use wireless solution here, being wirelessly transferred part is the high-performance radio-frequency transceiver using operating frequency less than 1GHz.It is mainly for industry, scientific research and medical treatment (ISM) and short-range wireless communication apparatus (SRD).High-performance radio-frequency transceiver needs to meet output up to+20dBm, receiving sensitivity reaches-121dBm, it is possible to provide to processing data packets, data buffering FIFO, received signal strength indicator (RSSI), clear channel assessment (CCA) (CCA), wake up the hardware supported of the functions such as intervalometer, low voltage test, temperature sensor, 8 bit A/D converters and general I/O port up.
Described geomagnetism detecting module 300 includes at least two geomagnetic sensor 301, is used for detecting Geomagnetic signal.Preferably, described geomagnetism detecting module 300 includes two geomagnetic sensors 301.Said two geomagnetic sensor 301 is arranged oppositely.Two geomagnetic sensors are in opposite direction, and each geomagnetic sensor can detect three directions, and two can be detected six direction, the most so-called six axles.Utilize the differential signal of two sensors, be not only able to obtain accurate data, and by the analysis of data being can be derived that size and the direction of vehicle traveling of vehicle.
Additionally, all of hardware can be contained in inside a small cylinder, having only to open a corresponding duck eye on the ground and can be carried out installing, do not affect road traffic when of installation, maintenance is also convenient for.
Described geomagnetic sensor 301 is the sensor that can detect at least three direction, it is possible to Geomagnetic signal detection obtained is transferred to wireless transport module 200；
nullAfter described wireless transport module 200 is by Geomagnetic signal transmission to data terminal 400，Data terminal 400 is the data server being positioned at high in the clouds or far-end，Data terminal 400 is collected by wireless connections and records all of Geomagnetic signal，Data terminal 400 is analyzed to changes of magnetic field and draws the vehicles while passing situation near described earth magnetism vehicle detection apparatus by signal below detecting step: by the differential signal between the Geomagnetic signal that contrast is detected by different geomagnetic sensors 301，Extract different differential signals，Differential signal is sorted out，Different classes of differential signal is associated from different vehicles while passing actions，Obtain associating between differential signal with vehicle action，Realize the judgement to the vehicles while passing situation near described earth magnetism vehicle detection apparatus，Comparison includes to the comparison between the Geomagnetic signal measured by the different moment and to the comparison between Geomagnetic signal measured on different directions，The comparison detected between Geomagnetic signal in opposite direction that described differential signal is read by different geomagnetic sensors 301，The i.e. difference of Geomagnetic signal，Described classification refers to the classification that the excursion according to differential signal is carried out，In embodiments of the invention，It is by rebuilding the point representated by differential signal in certain coordinate system，By to the relativeness between point，Such as density，The classification carried out，Described association refers to the differentiation to vehicle action of the amplitude of variation according to differential signal，And will distinguish after particular vehicle action corresponding with the specific change amplitude of described differential signal，Described vehicles while passing situation includes size and the travel direction of vehicle.Further, described data terminal 400 can be mounted to away from the device separated with described earth magnetism vehicle detection apparatus of described earth magnetism vehicle detection apparatus, in view of the volume of transmitted data reducing wireless transport module 200, can also be directly mounted on described earth magnetism vehicle detection apparatus, now, Geomagnetic signal by wired mode (can also be wirelessly) transmission to data terminal 400, minimizing data transmission period, is prevented leaking data by wireless transport module 200.
Described signal detection step 500 also includes differential signal calculation procedure 501；
Described differential signal calculation procedure 501 includes, by different geomagnetic sensors 301 to after placing, the signal subtraction being positioned on same axis of orientation that the detection of differently Magnetic Sensor 301 obtains is obtained differential signal, described refer to place in opposite direction for different geomagnetic sensor 301 to placement, signal on described same axis of orientation refers to be detected the Geomagnetic signal in opposite direction obtained on different geomagnetic sensors 301, typically, geomagnetic sensor 301 can detect the changes of magnetic field in three directions, the magnetic direction that geomagnetic sensor 301 is detected could be aware that, owing to geomagnetic sensor 301 is to placing, the most different identical magnetic directions detected by geomagnetic sensor 301, magnetic direction the most in opposite direction.
Further, in order to avoid the alignment error when installing geomagnetic sensor 301, and the geomagnetic sensor 301 caused due to the vibrations of vehicle offset its to position, described signal detection step 500 also includes that reference axis determines step 502 and adjustment in direction step 503；
Described reference axis determines that step 502 comprises determining that master reference and from sensor, and described master reference is arbitrary geomagnetic sensor 301, described from sensor be the arbitrary geomagnetic sensor 301 in addition to master reference；Orthogonal coordinate system O is set up for coordinate axes with the direction that master reference can detect；Direction O1 on the basis of the either direction that master reference can detect；Read Geomagnetic signal from all directions of sensor, direction O2 on the basis of the vector of the point corresponding in orthogonal coordinate system O of orthogonal coordinate system O initial point to Geomagnetic signal；It is deviation angle a with the angle between the inverse direction of reference direction O2 to reference direction O1；
Described adjustment in direction step 503 includes: read the Geomagnetic signal from all directions of sensor；In orthogonal coordinate system O, with orthogonal coordinate system O initial point to the vector of the point corresponding in orthogonal coordinate system O of Geomagnetic signal for detection direction O3；Detection direction O3 is turned over deviation angle a and forms correction direction O4；To revise a length of revised Geomagnetic signal from sensor of the direction O4 orthographic projection on all coordinate axess respectively.
Described signal detection step 500 also includes sorting out associated steps 504, for differential signal is sorted out, and will be associated between differential signal and vehicle action, specifically include: record point corresponding to differential signal in orthogonal coordinate system O, differential signal is classified by the density according to point, and the collection cooperation belonging to of a sort differential signal after classification is considered as same vehicle action.
Further, it is also possible to vehicle size and the travel direction of the vehicle of turnover earth magnetism vehicle detection apparatus are judged by below step, specifically, also include vehicle detecting step 505 and angle detecting step 506.
Wherein, in vehicle detecting step 505, the size detection of rate of change in the earth magnetism magnetic field in region is laid through the vehicle size of earth magnetism vehicle detection apparatus by detection earth magnetism vehicle detection apparatus, specifically, the rate of change in described earth magnetism magnetic field can by twice detected before and after intervals or in multiple times difference size between magnetic signal judge.Record the rate of change numerical value in all of earth magnetism magnetic field, the maximum of record rate of change and the time of arrival maximum.Record different vehicle to enter earth magnetism vehicle detection apparatus and lay the maximum of earth magnetism rate of change of magnetic in region and arrive time of maximum, set up with described maximum as abscissa, arrive orthogonal coordinate system P that the time is vertical coordinate of maximum, the maximum that above-mentioned different vehicle entrance earth magnetism vehicle detection apparatus is laid the earth magnetism rate of change of magnetic in region and the time arriving maximum are labeled in described orthogonal coordinate system P, using the density of point that marked as the criteria for classifying, first a density threshold is set, a range of will mark the quantity put, region beyond density threshold is marked, the region of institute's labelling is i.e. corresponding with certain vehicle size, it is ranked up in the position of abscissa and vertical coordinate according to institute's marked region, marked region after sequence i.e. represents the type of vehicle size.Secondly, the vehicle that entrance earth magnetism vehicle detection apparatus is laid region detects, and record the change in value of its rate of change, extract the maximum of rate of change and arrive the time of maximum, it is judged that this maximum and arrive time of maximum and fall into or the sequence number of close marked region both may determine that vehicle size.Finally, according to the density of the point in orthogonal coordinate system P after new mark, again the region in orthogonal area is marked.
In addition, angle detecting step 506 is then for judging the travel direction of vehicle, the differential signal of the different directions in reading Geomagnetic signal, according to said reference axle, differential signal is determined that step 502 and adjustment in direction step 503 are modified after, orthogonal coordinate system O marks the vector representated by the differential signal of different directions, the rightabout of this vector i.e. travel direction of this vehicle.
Although the present invention is disclosed above by preferred embodiment; but be not limited to the present invention, any know this those skilled in the art, without departing from the spirit and scope of the present invention; can make a little change and retouching, therefore protection scope of the present invention is when being as the criterion depending on claims scope required for protection.
Claims (4)
1. an earth magnetism vehicle detection apparatus, it is characterised in that include MCU device (100), wireless transport module (200) and geomagnetism detecting module (300)；
Described MCU device (100) is used for controlling wireless transport module (200) and the duty of geomagnetism detecting module (300) and operating frequency, it is possible to control the data transmission between wireless transport module (200) and geomagnetism detecting module (300)；
Described wireless transport module (200) is used for receiving the Geomagnetic signal that geomagnetism detecting module (300) detects, and by RF transceiver, Geomagnetic signal is uploaded to data terminal (400)；
Described geomagnetism detecting module (300) includes at least two geomagnetic sensor (301), is used for detecting Geomagnetic signal；
Described geomagnetic sensor (301) is the sensor that can detect at least three direction, it is possible to Geomagnetic signal detection obtained is transferred to wireless transport module (200)；
nullAfter described wireless transport module (200) is by Geomagnetic signal transmission to data terminal (400)，Data terminal (400) is analyzed to changes of magnetic field and draws the vehicles while passing situation near described earth magnetism vehicle detection apparatus by signal below detecting step (500): by the differential signal between the Geomagnetic signal that contrast is detected by different geomagnetic sensors (301)，Extract different differential signals，Differential signal is sorted out，Different classes of differential signal is associated from different vehicles while passing actions，Obtain associating between differential signal with vehicle action，Realize the judgement to the vehicles while passing situation near described earth magnetism vehicle detection apparatus，The difference detecting Geomagnetic signal in opposite direction that described differential signal is read by different geomagnetic sensors (301)，Described classification refers to the classification that the excursion according to differential signal is carried out，Described association refers to the differentiation to vehicle action of the amplitude of variation according to differential signal，And will distinguish after particular vehicle action corresponding with the specific change amplitude of described differential signal，Described vehicles while passing situation includes size and the travel direction of vehicle；
Described signal detection step (500) also includes that reference axis determines step (502) and adjustment in direction step (503)；
Described reference axis determines that step (502) comprises determining that master reference and from sensor, described master reference is arbitrary geomagnetic sensor (301), described from sensor be the arbitrary geomagnetic sensor (301) in addition to master reference；Orthogonal coordinate system is set up for coordinate axes with the direction that master reference can detect；Direction O1 on the basis of the either direction that master reference can detect；Read Geomagnetic signal from all directions of sensor, direction O2 on the basis of the vector of the point corresponding in orthogonal coordinate system of orthogonal coordinate system initial point to Geomagnetic signal；It is deviation angle a with the angle between the inverse direction of reference direction O2 to reference direction O1；
Described adjustment in direction step (503) including: reads the Geomagnetic signal from all directions of sensor；In orthogonal coordinate system, with orthogonal coordinate system initial point to the vector of the point corresponding in orthogonal coordinate system of Geomagnetic signal for detection direction O3；Detection direction O3 is turned over deviation angle a and forms correction direction O4；To revise a length of revised Geomagnetic signal from sensor of the direction O4 orthographic projection on all coordinate axess respectively；
Described signal detection step (500) also includes differential signal calculation procedure (501)；
Described differential signal calculation procedure (501) includes, by different geomagnetic sensors (301) to after placing, the signal subtraction being positioned on same axis of orientation that differently Magnetic Sensor (301) detection obtains is obtained differential signal, described referring to place in opposite direction for different geomagnetic sensor (301) to placement, the signal on described same axis of orientation refers to be detected, in different geomagnetic sensors (301), the Geomagnetic signal in opposite direction obtained；
Described signal detection step (500) also includes sorting out associated steps (504), for differential signal is sorted out, and will be associated between differential signal and vehicle action, specifically include: record point corresponding to differential signal in orthogonal coordinate system, differential signal is classified by the density according to point, and the collection cooperation belonging to of a sort differential signal after classification is considered as same vehicle action.
Earth magnetism vehicle detection apparatus the most according to claim 1, it is characterised in that described geomagnetism detecting module (300) includes two geomagnetic sensors (301).
Earth magnetism vehicle detection apparatus the most according to claim 2, it is characterised in that said two geomagnetic sensor (301) is arranged oppositely.
Earth magnetism vehicle detection apparatus the most according to claim 1, it is characterized in that, described data terminal (400) is installed on described earth magnetism vehicle detection apparatus, it is also possible to be mounted to away from the device separated with described earth magnetism vehicle detection apparatus of described earth magnetism vehicle detection apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610248063.8A CN105825682B (en) | 2014-04-30 | 2014-04-30 | Earth magnetism vehicle detection apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610248063.8A CN105825682B (en) | 2014-04-30 | 2014-04-30 | Earth magnetism vehicle detection apparatus |
| CN201410183886.8A CN103942965B (en) | 2014-04-30 | 2014-04-30 | geomagnetic vehicle detector |
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| CN201410183886.8A Division CN103942965B (en) | 2014-04-30 | 2014-04-30 | geomagnetic vehicle detector |
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| CN105825682B CN105825682B (en) | 2018-04-20 |
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| CN106530812A (en) * | 2016-12-02 | 2017-03-22 | 杭州维昕科技有限公司 | AMR-based double-terrestrial magnetism vehicle detection method and device |
| CN109841066A (en) * | 2017-11-27 | 2019-06-04 | 大唐移动通信设备有限公司 | Processing method, geomagnetism detecting device, electronic equipment and the storage medium of economize on electricity |
| CN111742356A (en) * | 2018-03-27 | 2020-10-02 | 株式会社京三制作所 | Detection system |
| CN114373306A (en) * | 2022-01-12 | 2022-04-19 | 中国公路工程咨询集团有限公司 | Vehicle passing detection method and system based on intelligent spike and storable medium |
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| CN114373306A (en) * | 2022-01-12 | 2022-04-19 | 中国公路工程咨询集团有限公司 | Vehicle passing detection method and system based on intelligent spike and storable medium |
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| CN105825682B (en) | 2018-04-20 |
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