CN108053655A - A kind of compound earth magnetism wagon detector and detection method - Google Patents
A kind of compound earth magnetism wagon detector and detection method Download PDFInfo
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- CN108053655A CN108053655A CN201810026461.4A CN201810026461A CN108053655A CN 108053655 A CN108053655 A CN 108053655A CN 201810026461 A CN201810026461 A CN 201810026461A CN 108053655 A CN108053655 A CN 108053655A
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- 238000001514 detection method Methods 0.000 title claims abstract description 47
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- 238000000034 method Methods 0.000 claims abstract description 10
- 238000005457 optimization Methods 0.000 claims abstract description 9
- 230000037007 arousal Effects 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 10
- 230000005059 dormancy Effects 0.000 claims description 9
- 230000035939 shock Effects 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 5
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- 238000007493 shaping process Methods 0.000 claims description 5
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- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 4
- 230000005381 magnetic domain Effects 0.000 abstract description 4
- 208000031339 Split cord malformation Diseases 0.000 description 27
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- 230000001105 regulatory effect Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
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Classifications
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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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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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 discloses a kind of compound earth magnetism wagon detector and detection methods, select 8 microcontrollers of high-performance, utilize its IIC interface, high-precision AD mouth, digital I/O port, serial line interface and high capability flash, based on three axis geomagnetic sensors, with reference to vibrations, it is infrared, ultrasonic wave, the sensors such as microwave do auxiliary detection, gather sensing data, optimization algorithm, evade aiding sensors the different application occasion the defects of, it can not only realize the initial automatic Calibration of earth magnetism wagon detector and the variation tracking calibration of magnetic domain background, and it combines aiding sensors and improves vehicle detection precision；Its principle is different from the vehicle detection of single three axis geomagnetic sensor, but based on the compound earth magnetism vehicle testing techniques of a variety of sensing technologies composition.
Description
Technical field
The present invention relates to intelligent traffic vehicle detector field, especially a kind of compound earth magnetism wagon detector and detection side
Method.
Background technology
Earth surface magnetic field keeps opposite stabilization within the specific limits, when the ferromagnets such as vehicle enter certain detection range
When, the micro variation when geomagnetic field intensity can be influenced, when specifically going measurement with three axis magnetoresistive sensors, tri- axis magnetic resistance numbers of XYZ
According to this micro variation can be embodied, if without vehicle background and will there is vehicle background magnetic domain to make a threshold value division, it can detect that vehicle is deposited
Or leave.
But this solely magnetic vehicle detection is also defective, and mainly earth magnetic field can be according to season, temperature, underground mine
Change with geophysics activity, background magnetic domain tracing compensation is relatively difficult.In addition in intelligent parking field, some parking stalls side by side
If if vehicle discharge is intensive, intermediate some parking space state detection can be greatly affected, and accuracy of detection is difficult to be guaranteed.
The content of the invention
The purpose of the present invention is exactly that magnetic sensor principle, improvement vehicle detection are smart in combination with hybrid vehicle detection technique
Degree, not only adapts to different application scenarios, but also auxiliary energy-saving.
To achieve these goals, technical scheme is as follows：A kind of compound earth magnetism wagon detector and detection side
Method, including：Ultrasonic wave modulation circuit, piezoelectric ultrasonic emitting head, piezoelectric ultrasonic receive head, ultrasonic wave filter shape electricity
It is road, infrared emission head, infrared emission power driving circuit, infrared receiving terminal, infrared receiver filter circuit, microwave remote sensor, micro-
Wave frequency rate meter, High Performance SCM, regulated power supply, battery pack, the three axis accelerometer with vibrations arousal function, three axis earth magnetism pass
Sensor；The High Performance SCM carries AD analog-to-digital conversions interface, IIC interfaces, serial ports, multipath high-speed I/O port, and possesses non-ROM
Class 8K more than flash datas space, possesses internal house dog and dormancy operating mode, can timing dormancy, timing wake-up and outside
It interrupts and wakes up.
The three axis geomagnetic sensor and with movement arousal function three axis accelerometer meet the High Performance SCM IIC
Interface reads three axis geomagnetic sensor numerical value and with the 3-axis acceleration count value for moving arousal function by iic bus.
One high speed I/O port of the High Performance SCM drives the infrared emission head, the infrared emission head and high speed
It is connected between I/O port by infrared emission power driving circuit；The High Performance SCM detects described infrared connect with one AD mouthfuls
Head is received, the infrared receiving terminal is closely connected with infrared receiver filter circuit；According to AD sampled values filter Infrared background radiation and
Direct sunlight so as to avoid Infrared jamming, and can change driving power and increase chassis finding range.
The High Performance SCM serial ports receives the numerical value from the microwave remote sensor and frequency meter, is surveyed by difference on the frequency
Speed simultaneously judges that vehicle exists.
1 high speed I/O port connection ultrasonic wave modulation circuit of the High Performance SCM, is arranged on ultrasonic wave modulation circuit
The piezoelectric ultrasonic emitting head in front sends signal, another high speed I/O port receives head with piezoelectric ultrasonic and receives signal,
Chassis height is surveyed by the velocity of sound and time difference, the piezoelectric ultrasonic receives to be filtered between head and high speed I/O port by ultrasonic wave
Shaping circuit connects；In the presence of the High Performance SCM large capacity flash stores background without vehicle geomagnetic data and different vehicle
Have vehicle geomagnetic data, so as to form reliable raw data array.
The High Performance SCM sets the regulated power supply and battery pack by VCC and GND line.
Compared with prior art, the present invention it has the following advantages and beneficial effect：
Single geomagnetism detecting is different from, still based on geomagnetism detecting, with reference to microwave vehicle detection technique and other sensors, and is deposited
It stores up authentic data and carries out adaptive optimization, accuracy of detection is improved with this.
Single microwave vehicle detector is different from, the present invention wakes up hibernated processor with reference to shock sensor, ties simultaneously in advance
Close geomagnetic technology and large capacity flash optimisation techniques, interval dormancy work is directed to and is passed in processor serial port and microwave with energy saving
Increase a frequency meter between sensor, accurately to test the speed and judge vehicle presence or absence.
The present invention has evaded the defects of various conventional truck detection techniques, applicable different application range, no matter indoor
Or it is outdoor, no matter detect presence or leave and the occasion that accurately tests the speed, can easily be realized by the present invention, improve detection
Precision and it can implement.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
It is whole that ultrasonic wave modulation circuit 1, piezoelectric ultrasonic emitting head 2, piezoelectric ultrasonic receive first 3, ultrasonic wave filtering
Shape circuit 4, infrared emission head 5, infrared emission power driving circuit 6, infrared receiving terminal 7, infrared receiver filter circuit 8, microwave
Sensor 9, microwave frequency counter 10, High Performance SCM 11, regulated power supply 12, battery pack 13, three axis with vibrations arousal function
Accelerometer 14, three axis geomagnetic sensors 15.
Specific embodiment
In order to which implement technical means, creation characteristic, reached purpose and effect for making the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figure 1, a kind of compound earth magnetism wagon detector and detection method, including：Ultrasonic wave modulation circuit 1, piezoelectricity
Formula ultrasonic wave emitting head 2, piezoelectric ultrasonic receive first 3, ultrasonic wave filtering shaping circuit 4, infrared emission head 5, infrared emission
Power driving circuit 6, infrared receiving terminal 7, infrared receiver filter circuit 8, microwave remote sensor 9, microwave frequency counter 10, high-performance list
Piece machine 11, regulated power supply 12, battery pack 13, three axis accelerometer 14, three axis geomagnetic sensors 15 with vibrations arousal function；Institute
It states High Performance SCM 11 and carries AD analog-to-digital conversions interface, IIC interfaces, serial ports, multipath high-speed I/O port, and possess non-ROM classes 8K
More than flash data space, possesses internal house dog and dormancy operating mode, can timing dormancy, timing wake-up and external interrupt
It wakes up.
The three axis geomagnetic sensor 15 and with movement arousal function three axis accelerometer 14 connect the high-performance monolithic
Machine 11IIC interfaces read three axis geomagnetic sensors, 15 numerical value and with the three axis accelerometer for moving arousal function by iic bus
14 numerical value.
One high speed I/O port of the High Performance SCM 11 drives the infrared emission head 5, the infrared emission head 5 with
It is connected between high speed I/O port by infrared emission power driving circuit 6；The High Performance SCM 11 detects institute with one AD mouthfuls
Infrared receiving terminal 7 is stated, the infrared receiving terminal 7 is closely connected with infrared receiver filter circuit 8；It is filtered according to AD sampled values infrared
Background radiation and direct sunlight so as to avoid Infrared jamming, and can change driving power and increase chassis finding range.
11 serial ports of High Performance SCM receives the numerical value from the microwave remote sensor 9 and frequency meter 10, passes through frequency
Rate difference tests the speed and judges that vehicle exists.
1 high speed I/O port connection ultrasonic wave modulation circuit 1 of the High Performance SCM 11, is arranged on ultrasonic wave modulation electricity
The piezoelectric ultrasonic emitting head 2 in 1 front of road sends signal, another high speed I/O port receives first 3 with piezoelectric ultrasonic and receives
Signal surveys chassis height by the velocity of sound and time difference, and the piezoelectric ultrasonic receives passes through ultrasound between first 3 and high speed I/O port
Ripple filtering shaping circuit 4 connects；The 11 large capacity flash of High Performance SCM stores background without vehicle geomagnetic data and different vehicles
There is vehicle geomagnetic data in the presence of, so as to form reliable raw data array.
The High Performance SCM 11 sets the regulated power supply 12 and battery pack 13 by VCC and GND line.
Institute's publicity general design idea of the present invention is：8 High Performance SCMs 11 are selected with IIC interfacing ground Magnetic Sensors
15 and shock sensor, high-precision AD mouth connect marked as infrared receiving terminal 7, serial line interface connects microwave remote sensor 9, and digital I/O port connects
Ultrasonic sensor simultaneously makees digital drive, and high capability flash stores the initial data under different magnetic domain backgrounds.
Shock sensor is realized with " three axis accelerometer with movement arousal function " 14, with movement arousal function
The movement of three axis accelerometer 14 wakes up delivery outlet and connects the 11 external interrupt mouth INT feet of High Performance SCM, program initialization
When set accelerometer XYZ change thresholds can realize movement arousal function.
The three axis geomagnetic sensor 15 and the band movement arousal function three axis accelerometer 14 by iic bus with
High Performance SCM 11 is connected；The High Performance SCM 11 sets both in internal program initialization by iic bus
The operating mode and range of sensor also can constantly gather the detection numerical value of both sensors in detection process, realize vehicle
Testing goal.
1 output terminal of ultrasonic wave modulation circuit is connected with the piezoelectric ultrasonic emitting head 2, and input terminal comes from high-performance
The square wave of one high speed I/O port of microcontroller 11, I/O port modulation 40K Hz or so, through overmodulated circuit, becomes 40K Hz or so
Ultrasonic wave；The piezoelectric ultrasonic receives first 2, when ultrasonic wave, which receives head, receives the ultrasonic signal of 40K Hz or so,
By the ultrasonic wave filtering shaping circuit 4, export the square wave of 40K Hz or so to High Performance SCM 11 another at a high speed
I/O port is judged by program, it is known that has the ultrasonic wave that object covering reflects piezoelectric ultrasonic emitting head 2 above, with reference to earth magnetism
Data, velocity of sound constant and time threshold may filter that non-motor vehicle, dust, sleet or pedestrian pass by, so as to accurately judge that vehicle is deposited
Whether.
The infrared emission head 5 passes through the infrared emission power driving circuit 6 and another I/O port of High Performance SCM
It is connected, increases this power driving circuit, it is therefore an objective to which energy type exports, so as to avoid ranging short；The infrared receiving terminal 7 receives together
The infrared light of wave band, the infrared receiver filter circuit 8 are connected with the AD mouths of High Performance SCM 11, what accurate measurement was received
Energy size, with reference to geomagnetic data, the defects of may filter that direct sunlight and background infrared radiation, so as to accurately judge vehicle presence
Whether.
The 9 transmitted reference microwave frequency band of microwave remote sensor, when mobile object is arranged at top, according to Doppler effect,
Tranmitting frequency and reference frequency have a difference, the speed of this difference and mobile object is into known function relation；The frequency meter
10 be the current microwave frequency of measurement, calculates difference on the frequency, and passes through serial line interface RX feet and TX feet are connected with High Performance SCM 11,
Frequency-splitting is inputted, so as to calculate speed by High Performance SCM 11 or judge that vehicle exists；Why plus the frequency meter
10, it is because the I/O port frequency acquisition of High Performance SCM 11 avoids excessively occupying microcontroller system typically up to less than microwave frequency band
System clock sources, are also energy-saving design, with reference to geomagnetic data, may filter that non-motor vehicle and the interference of pedestrian, so as to accurately test the speed
With judge vehicle presence or absence.
Principle is used in combination in order to further illustrate the accelerometer 14 and microwave, earth magnetism of band movement arousal function：
Test the speed the identifier marking that front has hot melt adhesive or white cement to do on Ordinary Rd road surface, when vehicle tyre rolled these graticules,
Shock wave signal can be generated, spread speed often reaches more than 1km/s to shock wave in solids, can be compound to be arrived in very short time
Earth magnetism wagon detector；Compound earth magnetism is often in dormancy operating mode to be energy saving, when the 3-axis acceleration with movement arousal function
When meter 14 receives shock wave, associated acceleration threshold value output external interrupt signal can be triggered, wakes up three axis geomagnetic sensors 15
It gets up to work, measures the variation of magnetic field intensity in real time, start microwave remote sensor 9 and test the speed；Vehicle do not arrive at before steady magnetic field meeting
Become disturbed variation magnetic field after vehicle arrival, with reference to compound geomagnetic sensor, filter out side track vibrations wave interference, it can
Contrasting detection vehicle passes through, exists or leave, and it is energy saving then to enter back into dormant state.
The adaptive optimization method of compound geomagnetism detecting is as follows：
Geomagnetic sensor Preliminary detection vehicle uses total magnetic intensity threshold decision.No matter manually demarcate or by aiding sensors
Automatic Calibration can all obtain no vehicle earth magnetism background total magnetic intensity BL and have vehicle earth magnetism background total magnetic intensity BE, smoothing processing
Afterwards, total magnetic intensity calculation formula is：
B=(Bx2+ By2+ Bz2)1/2
There are a threshold range between BL and BE, according to the research present invention using golden section ratio as fuzzy Judgment, i.e.,
There are vehicle or vehicle to enter state as doubtful during beyond no vehicle background total magnetic intensity 61.8%.Then other auxiliary sensings are inquired about
Device whether there is accurate judgement, if other aiding sensors accurately judge that vehicle exists, the total magnetic intensity under current background is true
It is set to the presence of vehicle, and stores that data into processor flash.Conversely, other aiding sensors operating modes are abnormal,
Then processor will call known data array in flash to be compared.
σ1=|B-Max（BL1…..B Ln）|
σ2=|B-Min（BE1…..B En）|
If σ 1>>σ 2, judgement have vehicle；If σ 1<<σ 2 judges no vehicle, if 1 ≈ σ 2 of σ, judges that vehicle moves storehouse or into detection zone.
Data in Flash are usually the collection value in the fixed time period, general 12 standard values of acquisition daily, smoothing processing
After be stored in flash, 128 day data of Coutinuous store, across 1 season, after capacity, new data will persistently refresh old number
According to.This optimization method can make up the dynamic change of earth magnetism background, accomplish automatic tracking and compensating, improve accuracy of detection.
It is continuous to can't detect within more days 40K Hz ultrasonic signals, judge ultrasonic sensor failure.
Continuous more days infrared AD detections and background radiation detection variation are little, judge infrared sensor failure.
It is continuous to can't detect within more days microwave difference signal in the case of known vibrations, judge microwave remote sensor failure.
Microwave difference signal can be received after timing wake-up work in continuous more days or other sensors judge, cannot but be detected
The significant change of accelerometer judges that shock sensor fails.
It in the case of aiding sensors all failure, returns in single geomagnetic sensors detection state, but still utilizes tired
Data array of the product in flash is carried out continuously optimization and judges.
Compared with prior art, the present invention it has the following advantages and beneficial effect：
Single geomagnetism detecting is different from, still based on geomagnetism detecting, with reference to microwave vehicle detection technique and other sensors, and is deposited
It stores up authentic data and carries out adaptive optimization, accuracy of detection is improved with this.
Single microwave vehicle detector is different from, the present invention wakes up hibernated processor with reference to shock sensor, ties simultaneously in advance
Close geomagnetic technology and large capacity flash optimisation techniques, interval dormancy work is directed to and is passed in processor serial port and microwave with energy saving
Increase a frequency meter between sensor, accurately to test the speed and judge vehicle presence or absence.
The present invention has evaded the defects of various conventional truck detection techniques, applicable different application range, no matter indoor
Or it is outdoor, no matter detect presence or leave and the occasion that accurately tests the speed, can easily be realized by the present invention, improve detection
Precision and it can implement.
The basic principles, main features and the advantages of the invention, the technology of the industry has been shown and described above
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the present invention by appended claims and
Its equivalent thereof.
Claims (8)
1. a kind of compound earth magnetism wagon detector and detection method, it is characterised in that：Including：Ultrasonic wave modulation circuit, piezoelectric type
Ultrasonic wave emitting head, piezoelectric ultrasonic receive head, ultrasonic wave filtering shaping circuit, infrared emission head, infrared emission power and drive
Dynamic circuit, infrared receiving terminal, infrared receiver filter circuit, microwave remote sensor, microwave frequency counter, High Performance SCM, voltage stabilizing electricity
Source, battery pack, three axis accelerometer, three axis geomagnetic sensors with vibrations arousal function；The High Performance SCM carries AD
Analog-to-digital conversion interface, IIC interfaces, serial ports, multipath high-speed I/O port, and possess non-ROM classes 8K more than flash datas space, possess
Internal house dog and dormancy operating mode, can timing dormancy, timing wake-up and external interrupt wakeup.
2. a kind of compound earth magnetism wagon detector according to claim 1 and detection method is characterized in that：The high property
Energy microcontroller serial port receives the numerical value from the microwave remote sensor and frequency meter, is tested the speed by difference on the frequency and judges that vehicle is deposited
.
3. a kind of compound earth magnetism wagon detector according to claim 1 and detection method is characterized in that：Compound earth magnetism
The adaptive optimization method of detection is as follows：
Geomagnetic sensor Preliminary detection vehicle uses total magnetic intensity threshold decision；No matter manually demarcate or by aiding sensors
Automatic Calibration can all obtain no vehicle earth magnetism background total magnetic intensity BL and have vehicle earth magnetism background total magnetic intensity BE, smoothing processing
Afterwards, total magnetic intensity calculation formula is：
B=(Bx2+ By2+ Bz2)1/2
There are a threshold range between BL and BE, according to the research present invention using golden section ratio as fuzzy Judgment, i.e.,
There are vehicle or vehicle to enter state as doubtful during beyond no vehicle background total magnetic intensity 61.8%；Then other auxiliary sensings are inquired about
Device whether there is accurate judgement, if other aiding sensors accurately judge that vehicle exists, the total magnetic intensity under current background is true
It is set to the presence of vehicle, and stores that data into processor flash；Conversely, other aiding sensors operating modes are abnormal,
Then processor will call known data array in flash to be compared；
σ1=|B-Max（BL1…..B Ln）|
σ2=|B-Min（BE1…..B En）|
If σ 1>>σ 2, judgement have vehicle；If σ 1<<σ 2 judges no vehicle, if 1 ≈ σ 2 of σ, judges that vehicle moves storehouse or into detection zone；
Data in Flash are usually the collection value in the fixed time period, general 12 standard values of acquisition daily, are deposited after smoothing processing
Into flash, 128 day data of Coutinuous store, across 1 season, after capacity, new data will persistently refresh old data；
This optimization method can make up the dynamic change of earth magnetism background, accomplish automatic tracking and compensating, improve accuracy of detection.
4. a kind of compound earth magnetism wagon detector according to claim 1 and detection method is characterized in that：It is more days continuous
40K Hz ultrasonic signals are can't detect, judge ultrasonic sensor failure.
5. a kind of compound earth magnetism wagon detector according to claim 1 and detection method is characterized in that：It is more days continuous
Infrared AD detections and background radiation detection variation are little, judge infrared sensor failure.
6. a kind of compound earth magnetism wagon detector according to claim 1 and detection method is characterized in that：It is more days continuous
It can't detect microwave difference signal in the case of known vibrations, judge microwave remote sensor failure.
7. a kind of compound earth magnetism wagon detector according to claim 1 and detection method is characterized in that：It is more days continuous
Microwave difference signal can be received after timing wake-up work or other sensors judge, cannot but detect the apparent change of accelerometer
Change, judge that shock sensor fails.
8. a kind of compound earth magnetism wagon detector according to claim 1 and detection method is characterized in that：It is passed in auxiliary
Sensor all in the case of failure, is returned in single geomagnetic sensors detection state, but still utilizes data of the accumulation in flash
Array is carried out continuously optimization and judges.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109024340A (en) * | 2018-09-07 | 2018-12-18 | 山东交通学院 | Safety early warning device at a kind of corner |
| CN110232828A (en) * | 2019-07-29 | 2019-09-13 | 深圳市万泊科技有限公司 | A kind of a variety of aiding sensors fusion detection methods based on geomagnetic sensor |
| CN112767712A (en) * | 2019-11-04 | 2021-05-07 | 深圳长城开发科技股份有限公司 | Method, system and storage medium for geomagnetic sensor to detect fast passing vehicle |
| CN113077628A (en) * | 2021-04-06 | 2021-07-06 | 柳州慧龙智能科技发展有限公司 | Algorithm of composite geomagnetic vehicle detector |
| CN114072637A (en) * | 2019-06-19 | 2022-02-18 | 亚萨合莱有限公司 | Sensor device comprising a vibration detector |
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