CN103646553A - Investigation system for road traffic flow and realization method thereof - Google Patents
Investigation system for road traffic flow and realization method thereof Download PDFInfo
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Abstract
The invention discloses an investigation system for road traffic flow and a realization method thereof, wherein the road traffic flow investigation system includes a magnetic-core inductive sensor, a signal processing circuit, a data acquisition circuit and a data processing system, which are mutually connected in order. The magnetic-core inductive sensor includes a first coil, a second coil and a magnetic coil. The signal processing circuit carries out filtering and amplifying on signals. The data acquisition circuit converts analog signals into digital signals. The data processing system carries out calculation and statistics on input digital signals and obtains traffic flow information which includes vehicle model, vehicle speed and traffic flow. The adopted magnetic-core inductive sensor not only has the characteristics of being small in size, simple to install and small in road damaged surfaces, but is also high in signal intensity and obvious in vehicle-model features corresponding to output waveform. Moreover, the investigation system for the road traffic flow adopts an RBF neural network to carry out vehicle-model identification so that vehicle-model identification rate is high.
Description
Technical field
The present invention relates to control of traffic and road field, particularly a kind of road traffic flow investigating system and its implementation.
Background technology
The development of China's different kinds of roads enters into management, control and optimizing phase by the large-scale construction period.Comprise that the isoparametric road traffic stream information of the magnitude of traffic flow, vehicle, the speed of a motor vehicle, lane occupancy ratio and vehicle density is the Main Basis of realizing traffic optimization and intelligent traffic administration system.By road vehicle telecommunication flow information accurately in real time, not only can understand and grasp current traffic information completely, and can utilize the means such as Based Intelligent Control and prediction, and carry out effective traffic control and traffic guidance, guarantee the optimum utilization of the unimpeded and existing road of road traffic.
According to the difference of adopted sensor, road traffic flow is adjusted and is mainly divided into several forms such as inductive coil detection, ultrasound examination, microwave detection, infrared detection, video detection.Inductive coil is one of mode being most widely used during traffic flow is adjusted, and can obtain the basic telecommunication flow informations such as vehicle appearance, process, counting and lane occupancy ratio.Its outstanding advantages is that technology comparative maturity, vehicle count are accurate, but the main deficiency existing is that in installation process, road pavement is destroyed greatly, need to suspend traffic, and affects road life, in use procedure, easily by damages such as heavy vehicle, road surface repairings, there is the problem that vehicle discrimination is low simultaneously.For the traffic flow adjusting system carrying out based on means such as ultrasound wave, microwave, infrared ray and videos, with regard to detecting principle, there is certain advance and realizability, but exist such as system mounting condition require high, be subject to that environmental influence is large, cost is higher and the problem such as reliability is lower, be restricted in actual applications.
Summary of the invention
The technical problem to be solved in the present invention overcomes above-mentioned technical matters exactly, proposes a kind of road traffic flow investigating system and its implementation, and it is installed simply, road damage face is little.
In order to address the above problem, the invention provides a kind of road traffic flow investigating system, comprise successively connected magnetic core induction pick-up, signal processing circuit, data acquisition circuit and data handling system, wherein,
Described magnetic core induction pick-up comprises the first coil, the second coil and magnetic core, described the first coil and the second coil series connection and around to identical; Described magnetic core is through described the first coil and the second coil; Between described the first coil and the second coil, there is constant driving voltage input;
Described signal processing circuit receives the signals of vehicles of described magnetic core induction pick-up output, carries out exporting described data acquisition circuit to after filtering, amplification;
Described data acquisition circuit is converted to digital signal by the simulating signal of signal processing circuit output and exports described data handling system to;
Described data handling system is calculated and is added up the digital signal of input, obtains including the traffic flow information of vehicle, the speed of a motor vehicle and vehicle flow; Wherein, described data handling system adopts RBF neural network model identification vehicle.
Preferably, described system comprises two magnetic core induction pick-ups, between described two magnetic core induction pick-ups, has default distance interval, according to same axletree, by the time interval of two sensors and the distance interval between sensor, obtains the speed of a motor vehicle.
Preferably, the material of described magnetic core is the amorphous rare earth material that contains.
Preferably, the half-coil length of described magnetic core induction pick-up is 25mm, and coil diameter is 2.3mm.
Preferably, described signal processing circuit comprises connected successively filtering circuit, zeroing circuit, subtraction circuit, integrating circuit, modulation circuit and amplifying circuit, wherein,
Described filtering circuit is connected with described magnetic core induction pick-up, and the signals of vehicles of magnetic core induction pick-up output is carried out to low-pass filtering;
Described zeroing circuit is for when inputting no signal, and regulation output is zero-signal;
Described subtraction circuit carries out subtraction and tentatively amplifies the differential signal of input;
Described integrating circuit carries out integration to input signal, to increase signal intensity;
Described modulation circuit is controlled at the output amplitude of signal processing circuit in 5V;
Described amplifying circuit further amplifies input signal, exports data acquisition circuit to.
Preferably, described data handling system adopts dynamic self-adapting RBF neural network model identification vehicle, wherein, the region that full car squiggle and the horizontal ordinate time shaft of car are surrounded is uniformly-spaced divided along time shaft, calculate the area of every part, then be normalized, as the input of RBF neural network.
Preferably, also comprise road traffic control center, described data handling system is sent to described road traffic control center by wireless network by traffic flow information.
In order to address the above problem, the invention provides a kind of implementation method of road traffic flow investigating system, comprising:
Magnetic core induction pick-up exports the signals of vehicles detecting to signal processing circuit;
Described signal processing circuit carries out exporting Acquisition Circuit to after filtering, amplification to the signals of vehicles receiving;
Described data acquisition circuit is converted to digital signal by the simulating signal of signal processing circuit output and exports data handling system to;
Described data handling system is calculated and is added up the digital signal of input, obtains including the traffic flow information of vehicle, the speed of a motor vehicle and vehicle flow, and reports to road traffic control center; Wherein, described data handling system adopts RBF neural network model identification vehicle.
In order to address the above problem, the invention provides a kind of magnetic core induction pick-up, comprise the first coil, the second coil and magnetic core, described the first coil and the second coil series connection and around to identical; Described magnetic core is through described the first coil and the second coil; Between described the first coil and the second coil, there is constant driving voltage input.
Preferably, the material of described magnetic core is the amorphous rare earth material that contains.
The road traffic flow adjusting system that invention proposes, adopts miniature magnetic core induction pick-up, and this sensor bulk little (diameter 10mm, length 120mm) is installed simple (imbedding, go between in the hole of boring equal length in road central authorities).Due to the particular design of sensor, signal output is strong, and vehicle feature is obvious.Different from traditional inductive coil principle of work, do not need high frequency shock wave, after processing of circuit, be output as magnitude of voltage, treatment circuit is simple, and antijamming capability is strong.To different automobile types because the vehicle characteristic signal curve that the difference of the factors such as chassis structure, height produces carries out RBF(Radical Basis Function, radial basis function) after neural network learning, complete the identification work of vehicle.Meanwhile, according to the feature of system works, in conjunction with the configuration of ARM embedded system and 3G network, realize road real time traffic data to the wireless transmission of control center, centered by understand and control traffic foundation is provided.Through actual test and checking, system meets design requirement.
Accompanying drawing explanation
Fig. 1 is the road traffic flow investigating system schematic diagram of the embodiment of the present invention;
Fig. 2 is the magnetic core induction pick-up schematic diagram of the embodiment of the present invention;
Fig. 3 is the composition schematic diagram of the signal processing circuit of the embodiment of the present invention;
Fig. 4 (a)～(d) is the different automobile types of the embodiment of the present invention waveform that actual measurement obtains during by sensor;
Fig. 5 is that horse six cars of the embodiment of the present invention pass through the signal waveform of two sensors with the speed of 44km/h;
Fig. 6 is RBF neural network topology structure;
Fig. 7 is the RBF neural metwork training process of the embodiment of the present invention;
Fig. 8 is the comparison of result of calculation and the actual vehicle of the embodiment of the present invention.
Embodiment
Hereinafter in connection with accompanying drawing, embodiments of the invention are elaborated.It should be noted that, in the situation that not conflicting, the embodiment in the application and the feature in embodiment be combination in any mutually.
As shown in Figure 1, the road traffic flow investigating system of the embodiment of the present invention comprises successively connected magnetic core induction pick-up, signal processing circuit, data acquisition circuit and data handling system, wherein,
Described magnetic core induction pick-up comprises the first coil, the second coil and magnetic core, described the first coil and the second coil series connection and around to identical; Described magnetic core is through described the first coil and the second coil; Between described the first coil and the second coil, there is constant driving voltage input;
Described signal processing circuit receives the signals of vehicles of described magnetic core induction pick-up output, carries out exporting described data acquisition circuit to after filtering, amplification;
Described data acquisition circuit exports described data handling system to for the simulating signal of signal processing circuit output is converted to digital signal;
Described data handling system is calculated and is added up the digital signal of input, obtains including the traffic flow information of vehicle, the speed of a motor vehicle and vehicle flow; Wherein, described data handling system adopts RBF neural network model identification vehicle.
In addition, road traffic flow investigating system also can comprise road traffic control center, road traffic control center as described in described data handling system is sent to traffic flow information by wireless network (as 3G network).
Below each ingredient of road traffic flow amount investigating system is described in detail:
One, magnetic core induction pick-up
Be different from traditional line of induction ring type detecting device, the miniature magnetic core induction pick-up that the present invention adopts is comprised of the magnetic core around to identical two series coils and particular design, and its basic structure is as Fig. 2:
This working sensor principle is fairly simple, is a kind of vehicle sensors based on Faraday's electromagnetic induction law.According to Faradic electricity magnetic induction theorem:
V
i=dΦ/dt （1）
V wherein
ibe the induced voltage in coil, Φ is the magnetic flux in coil, and its value is determined by following formula.
Φ=NA
cμ
0μ
cH （2）
N is coil turn, A
cbe the cross-sectional area of coil, H is magnetic field intensity, μ
0permeability of vacuum, μ
cit is the relative permeability of magnetic core.For the sensor of fixed sturcture, the variation of magnetic flux is only relevant with magnetic field intensity.
During application, sensor is vertically embedded under road surface, and at the given constant excitation voltage in the centre of two series coils, that system of the present invention adopts is 5V.When electromagnetic environment does not change, by magnetic field intensity and the magnetic flux of two coils, fix, therefore two output terminals are system 5V voltage.When having permeability magnetic material to pass through as metal vehicle, because magnetic circuit changes, cause magnetic field intensity in coil to change and cause the change of magnetic flux, in coil, produce induced voltage, because coil winding-direction is identical, 5V voltage terminal in the middle of being equivalent to, the induced voltage polarity of two output terminals is contrary.The size that sensor produces induced voltage is except outside the Pass the speed with by vehicle has, its continuous wave shape facility is main relevant with vehicle body and the chassis structure of vehicle that passes through sensor, by detect vehicle through time sensor output waveform, just can determine the fundamental type of vehicle.Therefore adopt the detection system of this sensor not only can detect the existence of vehicle, and can determine the structure type of vehicle.
Magnetic core coil is at the center of air core coil, to plug magnetic core stick to form.Because sensor construction is small, produce enough large induced voltage, the selection of the material of magnetic core is most important, requires core material to have the characteristics such as high magnetic permeability, low-coercivity, high magnetic saturation intensity.The core material that inductive coil sensor adopts has ferrite, permalloy and amorphous materials three basic forms of it conventionally.Ferritic eddy current loss is little, but the little use that is not suitable for low frequency and Mid Frequency system of magnetic permeability; Permalloy magnetic permeability is high, and coercive force is little, but has eddy current loss, and process is complicated; The relative permeability of amorphous materials is larger than permalloy, and eddy current loss is also little, and therefore, for the magnetic core of same size, its inductance is also larger.Therefore the embodiment of the present invention adopts the amorphous core structure that contains rare earth material form.
The magnetic core relative permeability μ that the embodiment of the present invention adopts
cvery high, make the voltage sensitivity of magnetic core inductive coil will improve μ than hollow inductive coil
cdoubly, consider the impact of demagnetizing factor, actual relative permeability μ
cvalue by formula (3), tried to achieve.
Wherein, μ
rfor theoretical relative permeability, N
dbe demagnetizing factor, by core shapes, determined.For right cylinder magnetic core, N
dcan be calculated by Stoner formula of reduction (4).
Wherein d is coil diameter, and l is loop length.
At definite final magnetic core relative permeability μ
cbasis on, by theory, calculate and experimental verification, the length of determining sensor half-coil is 25mm, coil diameter is 2.3mm, its output meets the requirement that system detects.
In the middle of practical application, in order to obtain speed and the length of vehicle, the sensor at two certain distance intervals is installed, can obtain so same axletree by the time interval of two sensors, the distance of combined sensor calculates the speed of a motor vehicle, then can be in the hope of vehicle commander's information by the required time of single sensor according to car load.
Two, signal processing circuit
As shown in Figure 3, the signal processing circuit of the embodiment of the present invention comprises connected successively filtering circuit, zeroing circuit, subtraction circuit, integrating circuit, modulation circuit and amplifying circuit, wherein,
Described filtering circuit is connected with described magnetic core induction pick-up, and the signals of vehicles of magnetic core induction pick-up output is carried out to low-pass filtering, wherein, can adopt several groups of RC circuit to realize the function of low-pass filtering;
Described zeroing circuit is for when inputting no signal, and regulation output is zero-signal, and this circuit can be realized this function by zero potentiometer;
Described subtraction circuit carries out subtraction and tentatively amplifies the differential signal of input; This circuit class adopts two triodes to take difference input to sensor two end signals, high-accuracy operational amplifier carries out subtraction to differential signal and carries out certain signal and amplify, when eliminating 5V system excitation voltage, for subsequent conditioning circuit provides the sensor output signal of preliminary amplification;
Described integrating circuit carries out integration to input signal, to increase signal intensity, and the variation tendency of signal during simultaneous reactions vehicle different piece process sensor;
Described modulation circuit is controlled at the output amplitude of signal processing circuit in 5V; On the basis that different automobile types is tested, by regulating the enlargement factor of amplifying circuit to select suitable output amplitude, the while increases voltage follower in this circuit and subsequent conditioning circuit carries out impedance matching;
Described amplifying circuit further amplifies input signal, exports data acquisition circuit to; This circuit is configurable holding circuit and the circuit with amplitude limit function also.
Filtering circuit, zeroing circuit, subtraction circuit, integrating circuit, modulation circuit and amplifying circuit can adopt existing ripe circuit, are not emphasis of the present invention, repeat no more in the present invention.
Three, data acquisition circuit
Data acquisition circuit is converted to digital signal by the simulating signal of signal processing circuit output and exports described data handling system to, is generally data collecting card, because data collecting card is prior art, repeats no more in the present invention.
Four, data handling system
Data handling system can be the embedded computer disposal system that adopts ARM, and this system is carried out data processing and vehicle identification, and the result that comprises the information such as flow, vehicle, the speed of a motor vehicle is sent to road traffic control center by 3G network.
Fig. 4 is the different automobile types waveform that actual measurement obtains while passing through sensor, and wherein (a) is two axle lorries, (b) is horse six cars, is (c) six axle lorries, (d) is the output waveform of motor bus, and every kind of vehicle provides two velocity wave forms.Can find out, concerning same vehicle, when friction speed is passed through sensor, the shape height of its output waveform is similar, for no other reason than that velocity variations, its waveform width changes, and waveforms amplitude is also because the speed of magnetic flux change has certain difference.But concerning different automobile types, the differences in shape of waveform is obvious, this is also that we carry out the principal character of vehicle identification by RBF neural network.
In the middle of practical application, two magnetic core induction pick-ups with default distance interval have been adopted, Fig. 5 is that horse six cars pass through the signal waveform of two sensors with the speed of 44km/h, this waveform has carried out digital filtering processing, signal has obvious starting point and terminal feature, the full car waveform in the time of can obtaining vehicle by a sensor according to this feature.
According to detecting device output waveform feature, carry out the model recognition system based on pattern-recognition, have the methods such as fuzzy algorithm, BP neural network, wavelet analysis processing, every kind of algorithm has relative merits and the accommodation of oneself.Because market vehicle constantly increases, the resulting signature waveform of detecting device is also ever-changing, adopts the system of fuzzy algorithm, is determining aspect fuzzy rule just existing problems more comprehensively; On BP neural network theory, can obtain the function of model Optimum Matching, but the exhaustive that prerequisite is sample to reach requirement; The modern signal processing means such as wavelet analysis processing can realize identical function, but the complicacy that the problem existing is algorithm causes system real time existing problems.
Analyzing on basis relatively, the present invention adopts RBF nerve network as model recognizing method, and the method not only can realize off-line training, and can on-line study and perfect, algorithm is also fairly simple, and speed is also fast, has overcome the some shortcomings that above algorithm exists.
RBF neural network is a kind of artificial neural network that adopts local receptive field to carry out Function Mapping, is a kind of single hidden layer feedforward neural network, has the characteristic that best approximation and the overall situation are approached, and its topological structure as shown in Figure 6.
Wherein: X=[x
1, x
1..., x
n]
tfor network input vector; K is hidden node (being receptive field) number;
the Gauss kernel function of receptive field i, || || represent the general number of Euclidean; C
i=[c
i, 1, c
i, 2c
i,n]
tdata center for receptive field i; σ
iit is the width of i nonlinear transformation unit; ω
ijthe weights between i hidden node and j output node.The output of RBF net is the linear weighted function of receptive field kernel function output, for
As long as determine Liao Ge data center and width, can obtain output power by separating linear equation.Therefore, the main task of RBF net design is to determine its data center and width.
RBF neural network learning has several forms such as random algorithm, self-organized learning algorithm and nearest neighbor classifier learning algorithm, and object is for choosing RBF center.Random algorithm, self-organized learning algorithm are mainly used in the off-line learning of static schema, not only need to obtain all possible sample, and need to determine in advance Center Number, the actual demand of coupling system, and these two kinds of methods are not suitable for using in native system.The embodiment of the present invention adopts dynamic self-adapting RBF neural network model, this model is based on nearest neighbor classifier learning algorithm, it is a kind of self-adaption cluster learning algorithm, do not need to determine in advance the number of hidden layer unit, it is optimum completing the resulting RBF network of cluster, and can carry out on-line study, so just guarantee changeable in vehicle, can not gather in advance all vehicle samples in the situation that, by sample collection on real road and on-line study, obtain the ability of optimum RBF network.
According to the waveform of system output, reflection vehicle feature should comprise the parameters such as amplitude, pulsewidth, minimax point, but find in analytic process, vehicle for same type, as be both station wagon or with the cargo vehicle of the number of axle, these eigenwerts all can be variant, just on the global shape of waveform, has similarity.In conjunction with this feature, choosing the method for taking region normalized area in vehicle waveform character parameter, the region full car squiggle and the horizontal ordinate time shaft of a car being surrounded is uniformly-spaced divided along time shaft, calculate the area of every part, then be normalized, as the input of RBF.Such division methods, is not subject to the impact of car speed, needs only divide enough thin, just the shape facility of the accurate reflected waveform of energy.
The network training of the embodiment of the present invention selected station wagon, two axles to six axles totally 7 kinds of vehicles train, be input as the decile normalized area of every kind of vehicle, being output as corresponding vehicle respective value is 1, and kernel function is Gaussian function, and training method adopts self-adaptation nearest neighbor clustering algorithm.Through the training in 25 cycles, form the network with 28 hidden layers, precision is 0.01.With 29 cars of 7 class, training result is verified, training process and result are relatively as Fig. 7 and Fig. 8 simultaneously.From comparative result, network is very high to the discrimination of actual vehicle, surpasses 95%.According to the feature of the requirement of Ministry of Communications's highway communication condition survey and detection section actual traffic stream composition, vehicle is divided into several forms such as type passenger vehicle, motorbus, jubilee wagon, medium truck, high capacity waggon, motorcycle, in conjunction with vehicle commander's information, just can accurately classify to these vehicles.
In sum, the principle of work of miniature magnetic core inductive coil is different from traditional endless line of induction ring type wagon detector, has the advantages that volume is little, installation is simple, little to road damage face.By the particular design to sensor magnetic core and coil, sensor output signal is strong, and signal processing circuit does not need to load excitation chain, and signal processing circuit is simple.Adopt the road traffic flow adjusting system of this sensor design, the signal waveform feature of detecting device output is obvious, is beneficial to and adopts the mode of pattern-recognition to carry out the identification of vehicle, and system is by adopting RBF neural network different automobile types is trained and identify, result is accurate, and discrimination is high.Simultaneity factor can adopt ARM embedded processing systems and 3G wireless network transmission system in hardware design, can send to traffic control center by the traffic flow adjusting information by Real-time Collection and after processing, and carries out real-time road monitoring and control of traffic and road.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a road traffic flow investigating system, is characterized in that, comprises successively connected magnetic core induction pick-up, signal processing circuit, data acquisition circuit and data handling system, wherein,
Described magnetic core induction pick-up comprises the first coil, the second coil and magnetic core, described the first coil and the second coil series connection and around to identical; Described magnetic core is through described the first coil and the second coil; Between described the first coil and the second coil, there is constant driving voltage input;
Described signal processing circuit receives the signals of vehicles of described magnetic core induction pick-up output, carries out exporting described data acquisition circuit to after filtering, amplification;
Described data acquisition circuit is converted to digital signal by the simulating signal of signal processing circuit output and exports described data handling system to;
Described data handling system is calculated and is added up the digital signal of input, obtains including the traffic flow information of vehicle, the speed of a motor vehicle and vehicle flow; Wherein, described data handling system adopts RBF neural network model identification vehicle.
2. the system as claimed in claim 1, is characterized in that,
Described system comprises two magnetic core induction pick-ups, between described two magnetic core induction pick-ups, has default distance interval, according to same axletree, by the time interval of two sensors and the distance interval between sensor, obtains the speed of a motor vehicle.
3. system as claimed in claim 1 or 2, is characterized in that,
The material of described magnetic core is the amorphous rare earth material that contains.
4. system as claimed in claim 1 or 2, is characterized in that,
The half-coil length of described magnetic core induction pick-up is 25mm, and coil diameter is 2.3mm.
5. the system as claimed in claim 1, is characterized in that,
Described signal processing circuit comprises connected successively filtering circuit, zeroing circuit, subtraction circuit, integrating circuit, modulation circuit and amplifying circuit, wherein,
Described filtering circuit is connected with described magnetic core induction pick-up, and the signals of vehicles of magnetic core induction pick-up output is carried out to low-pass filtering;
Described zeroing circuit is for when inputting no signal, and regulation output is zero-signal;
Described subtraction circuit carries out subtraction and tentatively amplifies the differential signal of input;
Described integrating circuit carries out integration to input signal, to increase signal intensity;
Described modulation circuit is controlled at the output amplitude of signal processing circuit in 5V;
Described amplifying circuit further amplifies input signal, exports data acquisition circuit to.
6. the system as claimed in claim 1, is characterized in that,
Described data handling system adopts dynamic self-adapting RBF neural network model identification vehicle, wherein, the region that full car squiggle and the horizontal ordinate time shaft of car are surrounded is uniformly-spaced divided along time shaft, calculate the area of every part, then be normalized, as the input of RBF neural network.
7. the system as described in any one in claim 1～6, is characterized in that,
Also comprise road traffic control center, described data handling system is sent to described road traffic control center by wireless network by traffic flow information.
8. an implementation method for road traffic flow investigating system, comprising:
Magnetic core induction pick-up exports the signals of vehicles detecting to signal processing circuit;
Described signal processing circuit carries out exporting Acquisition Circuit to after filtering, amplification to the signals of vehicles receiving;
Described data acquisition circuit is converted to digital signal by the simulating signal of signal processing circuit output and exports data handling system to;
Described data handling system is calculated and is added up the digital signal of input, obtains including the traffic flow information of vehicle, the speed of a motor vehicle and vehicle flow, and reports to road traffic control center; Wherein, described data handling system adopts RBF neural network model identification vehicle.
9. a magnetic core induction pick-up, is characterized in that, comprises the first coil, the second coil and magnetic core, described the first coil and the second coil series connection and around to identical; Described magnetic core is through described the first coil and the second coil; Between described the first coil and the second coil, there is constant driving voltage input.
10. magnetic core induction pick-up as claimed in claim 9, is characterized in that,
The material of described magnetic core is the amorphous rare earth material that contains.
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| CN104882018A (en) * | 2015-05-08 | 2015-09-02 | 江苏大学 | Road operating condition pre-identification system for controlling vehicle suspension based on Internet of Vehicles |
| CN105321343A (en) * | 2014-07-06 | 2016-02-10 | 临安巨丰城市配套设备有限公司 | A system and method for detecting traffic conditions of large vehicles on a road based on manhole covers |
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