CN111485514A - Anti-smashing control method applied to barrier gate, storage medium and detector - Google Patents
Anti-smashing control method applied to barrier gate, storage medium and detector Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
- E01F13/044—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage the barrier being formed by obstructing members situated on, flush with, or below the traffic surface, e.g. with inflatable members on the surface
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
- E01F13/06—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage by swinging into open position about a vertical or horizontal axis parallel to the road direction, i.e. swinging gates
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
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Abstract
The invention provides an anti-smashing control method applied to a barrier gate, the barrier gate, a storage medium and a detector. The method comprises the following steps: under the condition that a gate rod of a barrier gate is in a lifting limit state, detecting whether a target detection object exists in an anti-smashing area of the barrier gate through a detector; when the target detection object is not detected in the smashing prevention area, controlling the brake lever to fall from the lifting limit state; and continuously detecting whether a target detection object exists in a smash-proof area of the barrier gate or not through the detector within a preset time length when the brake lever starts to fall from the lifting limit state, and controlling the brake lever to stop falling or controlling the brake lever to lift under the condition that the target detection object exists in the smash-proof area, wherein the preset time length is determined according to the time length required by the brake lever from the lifting limit state to the smash-proof safety height. The invention can realize the accurate, stable and reliable banister anti-smashing function.
Description
Technical Field
The invention relates to the technical field of detection application, in particular to an anti-smashing control method applied to a barrier gate, the barrier gate, a storage medium and a detector.
Background
The barrier gate is also called a car stopper, is a special channel entrance and exit management device for driving vehicles on roads, is widely applied to highway toll stations, parking lot systems, cell entrances and exits and the like at present, and is used for realizing the management of vehicle entrance and exit and the management of charging. In addition to the conventional single-lever type brake lever, the type of the brake lever is also a barrier type brake lever, a billboard type brake lever, and the like.
In the use process, if the brake lever falls down to hit a car or a pedestrian at an improper time, personal and property loss can be brought. Therefore, the anti-smashing control function of the barrier is necessary, and through the cooperation of the barrier and the vehicle detector, the control is hoped that the brake rod cannot fall when a vehicle is under the barrier.
However, in the related art, when the anti-smashing control function is implemented, the problem that the sensing time is not proper often exists, so that the anti-smashing sensing performance of the barrier gate is not good.
Disclosure of Invention
The embodiment of the invention provides an anti-smashing control method applied to a barrier gate, the barrier gate, a storage medium and a detector, which are used for at least solving the problem that the anti-smashing sensing performance of the barrier gate is poor due to inappropriate sensing time when the anti-smashing control function is realized in the related technology.
According to an aspect of the embodiments of the present invention, there is provided an anti-smash control method applied to a barrier gate, including: under the condition that a gate rod of a barrier gate is in a lifting limit state, detecting whether a target detection object exists in an anti-smashing area of the barrier gate through a detector; when the target detection object is not detected in the smashing prevention area, controlling the brake lever to fall from the lifting limit state; and continuously detecting whether a target detection object exists in a smash-proof area of the barrier gate or not through the detector within a preset time length when the brake lever starts to fall from the lifting limit state, and controlling the brake lever to stop falling or controlling the brake lever to lift under the condition that the target detection object exists in the smash-proof area, wherein the preset time length is determined according to the time length required by the brake lever from the lifting limit state to the smash-proof safety height.
In at least one exemplary embodiment, before detecting whether there is a target detection object in the anti-smashing area of the barrier through the detector, the method further includes: and initializing and calibrating the barrier gate, controlling the gate rod to fall from the lifting limit state in the process of initializing and calibrating the barrier gate, recording the time length of the gate rod from the lifting limit state to the smash-proof safety height, and determining the preset time length according to the recorded time length.
In at least one exemplary embodiment, before detecting whether there is a target detection object in the anti-smashing area of the barrier through the detector, the method further includes: and initializing and calibrating the barrier gate, controlling the gate rod to fall from the lifting limit state in the process of initializing and calibrating the barrier gate, recording the time length from the moment when the gate rod begins to fall to the moment when the gate rod begins to enter the detection range of the detector in the vertical direction, and determining the preset time length according to the recorded time length.
In at least one exemplary embodiment, the installation height of the probe satisfies the following condition: the installation height of the detector enables the height of the preset position of the brake lever to be the anti-smashing safety height at the moment when the brake lever starts to enter the detection range of the detector in the vertical direction.
In at least one exemplary embodiment, determining the predetermined length of time from the recorded length of time comprises: and multiplying the recorded time length T by a sensitivity adjustment factor to obtain the preset time length T', wherein the sensitivity adjustment factor is a positive number less than or equal to 1.
In at least one exemplary embodiment, before detecting whether there is a target detection object in the anti-smashing area of the barrier gate through the detector, the method further includes performing initialization calibration on the barrier gate, and during the initialization calibration of the barrier gate, performing at least one of the following: determining the type of the brake lever, and determining the anti-smashing safety height of the brake lever according to the type of the brake lever; determining an installation orientation of the brake bar relative to the probe; and determining the installation distance of the brake rod relative to the detector in the falling limit state.
In at least one exemplary embodiment, the method further comprises at least one of: under the condition that the brake bar of the barrier gate is in the lifting limit state, when the target detection object is detected in the smashing prevention area, the detector controls the brake bar to keep the lifting limit state; when and after the preset time length for the brake lever to fall from the lifting limit state is reached, stopping detecting whether a target detection object exists in a smash-proof area of the barrier gate, and controlling the brake lever to stop falling or controlling the brake lever to lift under the condition that the target detection object exists in the smash-proof area; in the process that a gate rod of the barrier gate is lifted from a falling limit state, whether a target detection object exists in a smashing prevention area of the barrier gate or not is detected through a detector, and the gate rod is controlled to be lifted continuously under the condition that the target detection object exists in the smashing prevention area.
In at least one exemplary embodiment, prior to a process of lifting a bar of the barrier from a falling limit state, the method further comprises: when a vehicle driving to the barrier gate is detected through an image acquisition device, acquiring a license plate image or a video of the vehicle; determining the license plate number of the vehicle according to the license plate image or video of the vehicle; and when the license plate number of the vehicle belongs to the passing license plate number list, controlling a brake lever of the barrier to lift up from a falling limit state.
According to another aspect of the embodiments of the present invention, there is provided a barrier gate, including: the device comprises a brake lever, a detector and a barrier gate control panel, wherein the detector is arranged to detect whether a target detection object is in a smashing prevention area of the barrier gate under the condition that the brake lever is in a lifting limit state; when detecting that the target detection object does not exist in the smashing prevention area, sending a falling control signal to the barrier gate control panel; the barrier gate control board is arranged to control the gate rod to fall from the lifting limit state according to the falling control signal; the detector is set to continuously detect whether a target detection object is in a smash-proof area of the barrier gate within a preset time length when the gate rod falls from the lifting limit state, and sends a falling-stopping control signal or a lifting control signal to the barrier gate control panel under the condition that the target detection object is detected in the smash-proof area, wherein the preset time length is determined according to the time length required by the gate rod from the lifting limit state to the smash-proof safety height; the barrier gate control board is arranged to control the gate rod to stop falling or control the gate rod to lift according to the falling stopping control signal or the lifting control signal.
In at least one exemplary embodiment, the barrier gate further comprises an upper computer configured to: initializing and calibrating the barrier gate, controlling the gate rod to fall from the lifting limit state in the process of initializing and calibrating the barrier gate, recording the time length of the gate rod from the lifting limit state to the smash-proof safety height, and determining the preset time length according to the recorded time length; or, in the process of initial calibration of the barrier gate, controlling the gate rod to fall from the lifting limit state, recording the time length from the moment when the gate rod starts to fall to the moment when the gate rod starts to enter the detection range of the detector in the vertical direction, and determining the preset time length according to the recorded time length.
In at least one exemplary embodiment, the barrier gate further includes an upper computer configured to perform initialization calibration on the barrier gate, and execute at least one of the following in an initialization calibration process of the barrier gate: determining the type of the brake lever, and determining the anti-smashing safety height of the brake lever according to the type of the brake lever; determining an installation orientation of the brake bar relative to the probe; and determining the installation distance of the brake rod relative to the detector in the falling limit state.
In at least one exemplary embodiment, the detector is further configured to perform at least one of: under the condition that the brake lever is in the lifting limit state, when the target detection object is detected in the smashing prevention area, a lifting maintaining control signal is sent to the barrier control panel to control the brake lever to maintain the lifting limit state; when and after the preset time that the brake lever starts to fall from the lifting limit state arrives, stopping executing the operation of detecting whether a target detection object exists in a smash-proof area of the barrier gate, and sending a falling-stopping control signal or a lifting control signal to the barrier gate control panel under the condition that the target detection object exists in the smash-proof area; in the process of lifting the brake lever from the falling limit state, whether a target detection object exists in a smash-proof area of the barrier is detected, and under the condition that the target detection object exists in the smash-proof area, a lifting control signal is sent to the barrier control board to control the brake lever to be lifted continuously.
In at least one exemplary embodiment, the barrier further comprises an image acquisition device configured to: when a vehicle driving to the barrier gate is detected, acquiring a license plate image or a video of the vehicle; determining the license plate number of the vehicle according to the license plate image or video of the vehicle; and when the license plate number of the vehicle belongs to the passing license plate number list, sending a lifting control signal to the barrier gate control panel so as to control the gate rod of the barrier gate to be lifted from the falling limit state.
In at least one exemplary embodiment, the detector comprises a millimeter wave radar.
According to another aspect of embodiments of the present invention, there is provided a storage medium having a computer program stored therein, wherein the computer program is configured to perform the method described in the preceding embodiments when executed.
According to a further aspect of an embodiment of the present invention, there is provided a detector comprising a detection module, a memory having a computer program stored therein, and a processor configured to execute the computer program to perform the method described in the preceding embodiments using the detection module.
According to the embodiment of the invention, in the process of starting falling of the brake bar from the lifting limit state, whether a target detection object exists in the anti-smashing area of the barrier gate or not is continuously detected through the detector within the preset falling time length, and the brake bar is controlled to stop falling or the brake bar is controlled to be lifted under the condition that the target detection object exists in the anti-smashing area.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of an anti-smash control method applied to a barrier gate according to embodiment 1 of the present invention;
FIG. 2 is a block diagram of a barrier according to embodiment 2 of the present invention;
FIG. 3 is a block diagram of a first detailed structure of a barrier according to embodiment 2 of the present invention;
FIG. 4 is a block diagram of a second detailed structure of a barrier according to embodiment 2 of the present invention;
FIG. 5 is a block diagram showing the construction of a probe according to embodiment 3 of the present invention;
fig. 6 is a schematic view of a fence (billboard) barrier radar vertical identification area according to embodiment 5 of the present invention;
fig. 7 is a schematic diagram of a millimeter wave radar barrier topology according to embodiment 5 of the present invention;
fig. 8 is a schematic view of a radar barrier installation position according to embodiment 5 of the present invention;
fig. 9 is a billboard millimeter-wave radar control flow diagram according to embodiment 5 of the invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
The method provided by the embodiment 1 of the application can be applied to a barrier gate and a control system thereof. Fig. 1 is a flowchart of an anti-smash control method applied to a barrier gate according to embodiment 1 of the present invention, and as shown in fig. 1, the flowchart includes the following steps:
step S102, under the condition that the gate rod of the barrier gate is in the lifting limit state, detecting whether a target detection object (for example, a person or a vehicle) is in the anti-smashing area of the barrier gate by using a detector, where the lifting limit state is the limit state that the gate rod can be lifted, and is generally in a vertical state, but the abnormal gate rod may be in other limit angles, which is not limited in this embodiment;
step S104, when detecting that the target detection object does not exist in the smashing prevention area, controlling the brake lever to fall from the lifting limit state;
step S106, continuously detecting whether a target detection object exists in a smash-proof area of the barrier gate or not through the detector within a preset time length of falling of the gate rod from the lifting limit state, and controlling the gate rod to stop falling or controlling the gate rod to lift under the condition that the target detection object exists in the smash-proof area, wherein the preset time length is determined according to the time length required by falling of the gate rod from the lifting limit state to the smash-proof safety height.
The anti-pound safety height in step S106 is the lowest height of an adult, at which the brake lever falls without touching an average height or a higher height, that is, the lowest height at which a pedestrian passes the brake lever without being smashed when the brake lever falls to the height. The anti-smashing safety height can be generally determined in advance according to the average height of adults in the used country or region, and can be adjusted up to a certain value compared with the average height, so that the anti-smashing effect on most people is achieved; alternatively, the anti-smashing safety height can be set through field testing, and can also be set by a user according to an actual use scene.
Through the steps, in the process that the brake bar begins to fall from the lifting limit state, whether a target detection object exists in a smashing prevention area of the barrier is continuously detected through the detector within the preset falling time, and the brake bar is controlled to stop falling or the brake bar is controlled to lift under the condition that the target detection object exists in the smashing prevention area.
In order to prevent the bar from being mistakenly recognized as the background, thereby causing a dead zone of anti-pound recognition, as a preferred embodiment, the bar may not be set as the background in the anti-pound region.
Before a detector detects whether a target detection object exists in a smash-proof area of the barrier gate, the barrier gate can be initialized and calibrated. In order to select the appropriate predetermined time period, the predetermined time period may be determined during an initial calibration of the barrier in one of the following ways.
The first method is as follows: and in the initial calibration process of the barrier gate, controlling the gate rod to fall from the lifting limit state, recording the time length of the gate rod from the lifting limit state to the smash-proof safety height, and determining the preset time length according to the recorded time length.
The second method comprises the following steps: and in the process of initial calibration of the barrier gate, controlling the gate rod to fall from the lifting limit state, recording the time length from the moment when the gate rod starts to fall to the moment when the gate rod starts to enter the detection range of the detector in the vertical direction, and determining the preset time length according to the recorded time length. In this mode, the installation height of the probe satisfies the following condition: the installation height of the detector enables the height of the preset position of the brake lever to be the anti-smashing safety height at the moment when the brake lever starts to enter the detection range of the detector in the vertical direction. In this embodiment, since the brake lever is a long lever, the heights of different positions from the ground are different due to the angle when the brake lever falls, and the specific position (i.e. the predetermined position) of which point on the brake lever is used to define the height can be set according to factory settings, actual conditions or user settings, for example, the predetermined position can be the center point of the lever, the distance from the rotating shaft 3/4, and the like.
Through the second mode, the preset time length is determined according to the recorded time length from the falling time of the brake lever to the entering time of the brake lever into the detection range of the detector in the vertical direction, namely, the preset time length for executing continuous smashing prevention is determined based on the time length required by the brake lever entering the detection range of the detector in the vertical direction.
In at least one exemplary embodiment, the process of determining the predetermined length of time according to the recorded length of time may include: and multiplying the recorded time length T by a sensitivity adjustment factor to obtain the preset time length T', wherein the sensitivity adjustment factor is a positive number less than or equal to 1. It will be appreciated by those skilled in the art that the recorded time period may also be set to the predetermined time period, or the predetermined time period may be determined based on factors other than sensitivity.
In addition to recording the time required by controlling the lifting and lowering of the brake lever during the initial calibration, other types of information can be obtained. For example, in at least one exemplary embodiment, the method may further comprise at least one of:
in the process of initializing and calibrating the barrier gate, determining the type of the gate rod, and determining the anti-smashing safety height of the gate rod according to the type of the gate rod, for example, for a fence type gate rod and a billboard type gate rod, as the bottoms of the gate rods are lower, pedestrians or vehicles are easy to smash, the corresponding anti-smashing safety height can be set to be lower, and for a single-rod type gate rod, the corresponding anti-smashing safety height can be set to be higher;
during the initial calibration process of the barrier, determining the installation orientation of the barrier rod relative to the detector, such as left installation or right installation;
in the initial calibration process of the barrier gate, the installation distance of the gate rod relative to the detector in the falling limit state, for example, the installation distance (left and right installation distances) of the gate rod relative to the detector such as a radar is determined.
To better implement the safe anti-pound function, an appropriate anti-pound strategy is executed at an appropriate timing, and anti-pound control may be executed based on the state of the brake lever, for example, in at least one exemplary embodiment, the method may further include at least one of:
under the condition that the brake lever of the barrier gate is in the lifting limit state, when the target detection object is detected in the anti-smashing area, the detector controls the brake lever to keep the lifting limit state, namely when the brake lever is completely lifted (lifting limit state), if the target detection object is detected in the anti-smashing area, the brake lever is controlled to keep being completely lifted;
when and after the preset time length of the brake lever falling from the lifting limit state arrives, stopping executing the operation of detecting whether a target detection object exists in a smash-proof area of the barrier gate, and controlling the brake lever to stop falling or controlling the brake lever to lift under the condition that the target detection object exists in the smash-proof area, namely, when and after the preset time length arrives, carrying out smash-proof identification no longer;
in the process that the gate rod of the barrier gate is lifted from the falling limit state, whether a target detection object exists in a smash-proof area of the barrier gate is detected through a detector, and the gate rod is controlled to be lifted continuously under the condition that the target detection object exists in the smash-proof area, namely, continuous smash-proof identification can be carried out in the process that the gate rod is lifted.
In at least one exemplary embodiment, prior to a process of lifting a bar of the barrier from a falling limit state, the method may further include:
when a vehicle driving to the barrier gate is detected through an image acquisition device, acquiring a license plate image or a video of the vehicle;
determining the license plate number of the vehicle according to the license plate image or video of the vehicle;
and when the license plate number of the vehicle belongs to the passing license plate number list, controlling a brake lever of the barrier to lift up from a falling limit state.
By the method, admission control of the park vehicles can be realized.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 2
In this embodiment, a barrier is further provided, and the barrier is used to implement the foregoing embodiments and preferred embodiments, and the description of the barrier is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the control section functions described in the following embodiments are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 2 is a block diagram of a barrier according to embodiment 2 of the present invention, and as shown in fig. 2, the barrier includes: a brake bar 22, a detector 24 and a barrier control plate 26.
The detector 24 is configured to detect whether a target detection object exists in an anti-smashing area of the barrier gate under the condition that the gate rod 22 is in a lifting limit state; when detecting that the target detection object does not exist in the smashing prevention area, sending a falling control signal to the barrier gate control panel 26;
the barrier control plate 26 is configured to control the gate rod 22 to start falling from the lifting limit state according to the falling control signal;
the detector 24 is configured to continuously detect whether a target detection object is in a smash-proof area of the barrier gate within a preset time length when the gate rod 22 starts to fall from the lifting limit state, and send a drop-stopping control signal or a lifting control signal to the gate control board 26 under the condition that the target detection object is detected in the smash-proof area, wherein the preset time length is determined according to a time length required by the gate rod 22 to fall from the lifting limit state to the smash-proof safety height;
the barrier control board 26 is configured to control the gate rod 22 to stop dropping or control the gate rod 22 to lift according to the drop stopping control signal or the lifting control signal.
The anti-pound safety height in this embodiment refers to the lowest height of an adult where the brake lever falls without touching an average height or a higher height, that is, the lowest height where a pedestrian passes the brake lever without being pound when the brake lever falls to the height. The anti-smashing safety height can be generally determined in advance according to the average height of adults in the used country or region, and can be adjusted up to a certain value compared with the average height, so that the anti-smashing effect on most people is achieved; alternatively, the anti-smashing safety height can be set through field testing, and can also be set by a user according to an actual use scene.
Fig. 3 is a block diagram of a first detailed structure of a barrier gate according to embodiment 2 of the present invention, and as shown in fig. 3, the barrier gate may further include an upper computer 32 configured to perform initialization calibration on the barrier gate, and perform the following operations in an initialization calibration process of the barrier gate:
controlling the brake rod 22 to fall from the lifting limit state, recording the time length of the brake rod 22 falling from the lifting limit state to the anti-smashing safety height, and determining the preset time length according to the recorded time length;
or,
controlling the brake lever 22 to fall from the lifted limit state, recording a time period elapsed from a time point when the brake lever 22 starts falling to a time point when the brake lever 22 starts entering a detection range of the vertical direction of the probe 24, and determining the predetermined time period according to the recorded time period.
In at least one exemplary embodiment, the upper computer 32 can be further configured to perform at least one of:
in the process of initializing and calibrating the barrier gate, determining the type of the gate rod 22, and determining the anti-smashing safety height of the gate rod 22 according to the type of the gate rod 22;
during the initial calibration process of the barrier, determining the installation orientation of the brake bar 22 relative to the detector 24;
during the initial calibration of the barrier, the installation distance of the brake lever 22 relative to the detector 24 in the extreme falling state is determined.
In at least one exemplary embodiment, the detector 24 is further configured to perform at least one of:
when the brake lever 22 is in the lifting limit state and the target detection object is detected in the smash-proof area, a lifting maintaining control signal is sent to the barrier control board 26 to control the brake lever 22 to maintain the lifting limit state;
when and after the preset time period for the brake lever 22 to fall from the lifting limit state is reached, stopping executing the operation of detecting whether a target detection object exists in a smash-proof area of the barrier, and sending a falling-stopping control signal or a lifting control signal to the barrier control board 26 under the condition that the target detection object exists in the smash-proof area;
in the process that the brake lever 22 is lifted from the falling limit state, whether a target detection object exists in a smash-proof area of the barrier is detected, and when the target detection object exists in the smash-proof area, a lifting control signal is sent to the barrier control board 26 to control the brake lever 22 to be lifted continuously.
Fig. 4 is a block diagram of a second detailed structure of the barrier according to embodiment 2 of the present invention, and as shown in fig. 4, the barrier further includes an image capturing device 42 configured to:
when a vehicle driving to the barrier gate is detected, acquiring a license plate image or a video of the vehicle;
determining the license plate number of the vehicle according to the license plate image or video of the vehicle;
and when the license plate number of the vehicle belongs to the passing license plate number list, sending a lifting control signal to the barrier gate control plate 26 so as to control the gate rod 22 of the barrier gate to be lifted from the falling limit state.
In at least one exemplary embodiment, the detector 24 includes a millimeter wave radar having a millimeter wavelength that is effective to measure the distance, radial velocity, and angle of the target.
Example 3
In this embodiment, a detector is provided, and the detector is used to implement the above embodiments and preferred embodiments, which have already been described and are not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the control section functions described in the following embodiments are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a block diagram of a detector according to embodiment 3 of the present invention, and as shown in fig. 5, the detector includes a detection module 52, a memory 54, and a processor 56, the memory 54 stores a computer program, and the processor 56 is configured to execute the computer program to perform the following steps using the detection module 52:
step S1, detecting whether there is a target detection object (e.g., a person or a vehicle) in an anti-smashing area of the barrier gate through a detector when the gate bar of the barrier gate is in a lifting limit state, where the lifting limit state is a limit state in which the gate bar can be lifted, and is generally a gate bar vertical state, but the abnormal gate bar may be in other limit angles, which is not limited in this embodiment;
step S2, when it is detected that the target detection object is not present in the smash-proof area, controlling the brake lever to fall from the lifting limit state;
step S3, continuously detecting whether a target detection object is in a smash-proof area of the barrier gate or not through the detector within a preset time length of falling of the gate rod from the lifting limit state, and controlling the gate rod to stop falling or controlling the gate rod to lift under the condition that the target detection object is detected in the smash-proof area, wherein the preset time length is determined according to the time length required by falling of the gate rod from the lifting limit state to the smash-proof safety height.
Example 4
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
step S1, detecting whether there is a target detection object (e.g., a person or a vehicle) in an anti-smashing area of the barrier gate through a detector when the gate bar of the barrier gate is in a lifting limit state, where the lifting limit state is a limit state in which the gate bar can be lifted, and is generally a gate bar vertical state, but the abnormal gate bar may be in other limit angles, which is not limited in this embodiment;
step S2, when it is detected that the target detection object is not present in the smash-proof area, controlling the brake lever to fall from the lifting limit state;
step S3, continuously detecting whether a target detection object is in a smash-proof area of the barrier gate or not through the detector within a preset time length of falling of the gate rod from the lifting limit state, and controlling the gate rod to stop falling or controlling the gate rod to lift under the condition that the target detection object is detected in the smash-proof area, wherein the preset time length is determined according to the time length required by falling of the gate rod from the lifting limit state to the smash-proof safety height.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Example 5
The anti-smashing control method applied to the barrier gate provided by the embodiment can automatically identify the performance of the barrier gate system, such as the type of the used barrier gate rod, the falling time of the barrier gate rod and the installation position of the barrier gate rod, and before the barrier gate rod falls, the situation that the barrier gate rod is mistakenly identified as the background does not occur, so that the identification blind area is not caused; people and vehicles can be identified continuously for a certain time in the falling process of the barrier gate, so that continuous and stable smashing prevention is realized; when the barrier gate rod is judged to fall down, people and vehicles are not identified, and the effect of avoiding mistaken touch is achieved.
The scheme of this example is described in detail below.
Fig. 6 is a schematic view of a radar vertical identification area of a barrier (billboard) barrier according to embodiment 5 of the present invention. As shown in fig. 6, the barrier radar has a certain vertical recognition angle, when the barrier rod just begins to fall down, the radar does not detect any echo signal, and when the barrier rod falls down to a certain extent, the radar detects an echo signal from the fence (billboard), which will be specifically described in the following control flow.
Fig. 7 is a schematic diagram of a topology structure of a millimeter wave radar barrier according to embodiment 5 of the present invention, and as shown in fig. 7, a basic topology structure of the millimeter wave radar barrier includes the following modules or components.
The power supply module 71: and the commercial power is converted into various levels to meet the power supply requirements of the modules.
The camera 72: when a vehicle enters, the license plate of the vehicle is identified, if the vehicle is a vehicle in a park, a signal that the barrier rod is lifted up is given to the barrier gate control plate 74, and if the vehicle is not a vehicle in a park, the signal is not lifted up to the barrier gate control plate 74.
Millimeter-wave radar 73: the anti-smashing function is used for the people and the vehicles, when people or vehicles in an anti-smashing area are identified, a signal for keeping lifting is given to the barrier gate control panel 74, and when the vehicles or the people in the anti-smashing area leave, a signal for falling is given to the barrier gate control panel 74.
Barrier gate control board 74: the closing operation of raising the barrier bar 76 is controlled by receiving signals from the millimeter wave radar 73 and the camera 72.
An upper computer 75: initial configuration for the millimeter wave radar 73 to accommodate different usage scenarios.
The barrier bar 76: the method can be divided into a single-dry type, a fence type and a billboard type, and the embodiment is mainly described by taking the fence type and the billboard type as examples.
Fig. 8 is a schematic diagram of a radar barrier installation position according to embodiment 5 of the present invention, as shown in fig. 8, in this embodiment, a camera 72 is installed toward a direction in which a vehicle travels, a barrier rod 76 is installed on a column, and further, a power supply module 71, a millimeter wave radar 73, a barrier control board 74, and an upper computer 75 are also installed on the column. The barrier control board 74 needs to receive control signals from the millimeter wave radar 73 and the camera 72, and therefore needs to be connected to both, and in addition, should be connected to the barrier rod 76 or a mechanical member for controlling the movement of the barrier rod 76, so as to control the lifting and lowering operations of the barrier rod 76. The upper computer 75 needs to be connected to the millimeter-wave radar 73 because it needs to initially configure the millimeter-wave radar 73.
Fig. 9 is a billboard millimeter-wave radar control flow chart according to embodiment 5 of the invention, as shown in fig. 9, the flow chart includes the following operations:
in step S901, the system is powered on.
Step S902, determining whether the current usage environment has been calibrated by initialization, if not, going to step S903, and if so, going to step S905.
Step S903, initial calibration is performed. The bar is controlled to fall (a certain number of times, for example, 10 times) by a program already set in the radar upper computer.
Step S904, automatically recording a time T from the beginning of the bar falling to the entering of the radar vertical direction detection range (after the bar with the billboard or the fence enters the radar vertical direction detection range, people or vehicles can not pass under the bar), automatically running the program ten times, multiplying the obtained average value by the sensitivity (the falling time of the bar may be influenced by wind, abrasion, etc., and generally taking a value of 0.8) to obtain a new time T', and obtaining the position (left or right) of the bar. After the initialization calibration is completed, the barrier bar falls down, the radar starts to work normally, and at this time, the process goes to step S905.
Step S905, after the radar finishes the initialization calibration, the camera starts to collect images.
And step S906, after the camera at the entrance collects the license plate of the entering vehicle, identifying the license plate number.
In step S907, it is determined whether the vehicle is an on-campus vehicle, and if not, the process proceeds to step S908, and if so, the process proceeds to step S909.
Step S908 is to manually determine whether the barrier gate is allowed to be opened, and if so, the process proceeds to step S909.
And step S909, a barrier lifting signal is given to the barrier control panel, the barrier control panel receives the signal and lifts the barrier, and the barrier radar collects the lifting action of the barrier and starts to identify the anti-smashing people and vehicles.
Step S910, judging whether a vehicle or a person in the anti-smashing area leaves is collected, if not, giving a signal that the barrier gate keeps lifting to the barrier gate control plate, enabling the barrier gate rod not to fall down, returning to step S909 to continuously monitor, and if so, entering step S911.
In step S911, after the vehicle or the person is detected to completely leave, a signal that the barrier bar can fall is given to the barrier control board, and the barrier bar starts to fall.
Step S912, in the time of T (or T', depending on the design), the barrier radar still continues to detect the person and the vehicle, so as to prevent the person or the vehicle from suddenly entering the anti-smashing area. And after T', stopping the radar for identifying the people and the vehicles, keeping the barrier gate rod in a falling state, and waiting for the next switching-off signal of the camera.
In the bill-board banister control mode of this embodiment, guarantee through setting up time T that the banister pole can also continuously carry out people's car and prevent pounding detection in the T time of just falling down, and can not gather the banister point and cause the spurious triggering. And after the time T, the radar closes the man-vehicle identification function, the barrier gate identification is carried out in the barrier gate area, and the man-vehicle identification function is restarted after the barrier gate is identified to be lifted. Compared with the scheme of constructing the environment background, the scheme can not lead to that in the detection area for preventing smash, one part of the detection area becomes a blind area because of shielding the echo signal of the barrier gate rod when the barrier gate or the billboard gate is used, and the reliability for preventing smash is reduced. The scheme really realizes the non-blind area detection in the process of smashing prevention detection.
The millimeter wave radar barrier gate combination mode of this embodiment uses high-speed camera to snatch vehicle license plate information, verifies the admittance, gives a signal of opening the floodgate control panel by the camera again, and the banister prevents pounding the radar and begins work after the banister pole is opened, stops work after the banister pole falls to wait for the next time the banister pole lifts up. Compared with the scheme that the identification is not carried out when the bar falls down, the scheme can automatically identify the installation position of the barrier gate bar, the falling time and other barrier gate information, ensure that the dead angle is free from smashing when the barrier gate bar falls down, simultaneously detect the state of the barrier gate bar, and avoid identifying any person or vehicle when the barrier gate bar falls down completely, thereby preventing the condition of mistaken touch.
The scheme of this embodiment adopts the millimeter wave radar to detect, compares in the laser radar scheme, uses the millimeter wave radar, can realize all-weather use, and detection range is wideer, and people and cars are prevented pounding more stably.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (16)
1. An anti-smashing control method applied to a barrier gate is characterized by comprising the following steps:
under the condition that a gate rod of a barrier gate is in a lifting limit state, detecting whether a target detection object exists in an anti-smashing area of the barrier gate through a detector;
when the target detection object is not detected in the smashing prevention area, controlling the brake lever to fall from the lifting limit state;
and continuously detecting whether a target detection object exists in a smash-proof area of the barrier gate or not through the detector within a preset time length when the brake lever starts to fall from the lifting limit state, and controlling the brake lever to stop falling or controlling the brake lever to lift under the condition that the target detection object exists in the smash-proof area, wherein the preset time length is determined according to the time length required by the brake lever from the lifting limit state to the smash-proof safety height.
2. The method of claim 1, wherein before detecting whether the target detection object is in the anti-smashing area of the barrier through the detector, the method further comprises the following steps:
and initializing and calibrating the barrier gate, controlling the gate rod to fall from the lifting limit state in the process of initializing and calibrating the barrier gate, recording the time length of the gate rod from the lifting limit state to the smash-proof safety height, and determining the preset time length according to the recorded time length.
3. The method of claim 1, wherein before detecting whether the target detection object is in the anti-smashing area of the barrier through the detector, the method further comprises the following steps:
and initializing and calibrating the barrier gate, controlling the gate rod to fall from the lifting limit state in the process of initializing and calibrating the barrier gate, recording the time length from the moment when the gate rod begins to fall to the moment when the gate rod begins to enter the detection range of the detector in the vertical direction, and determining the preset time length according to the recorded time length.
4. The method of claim 3, wherein the installation height of the probe satisfies the following condition:
the installation height of the detector enables the height of the preset position of the brake lever to be the anti-smashing safety height at the moment when the brake lever starts to enter the detection range of the detector in the vertical direction.
5. The method of any of claims 1-4, wherein determining the predetermined length of time from the recorded length of time comprises:
and multiplying the recorded time length T by a sensitivity adjustment factor to obtain the preset time length T', wherein the sensitivity adjustment factor is a positive number less than or equal to 1.
6. The method according to any one of claims 1 to 4, characterized in that before detecting whether a target detection object exists in the anti-smashing area of the barrier by the detector, the method further comprises performing initial calibration on the barrier, and during the initial calibration of the barrier, at least one of the following is performed:
determining the type of the brake lever, and determining the anti-smashing safety height of the brake lever according to the type of the brake lever;
determining an installation orientation of the brake bar relative to the probe;
and determining the installation distance of the brake rod relative to the detector in the falling limit state.
7. The method of any one of claims 1-4, further comprising at least one of:
under the condition that the brake bar of the barrier gate is in the lifting limit state, when the target detection object is detected in the smashing prevention area, the detector controls the brake bar to keep the lifting limit state;
when and after the preset time length for the brake lever to fall from the lifting limit state is reached, stopping detecting whether a target detection object exists in a smash-proof area of the barrier gate, and controlling the brake lever to stop falling or controlling the brake lever to lift under the condition that the target detection object exists in the smash-proof area;
in the process that a gate rod of the barrier gate is lifted from a falling limit state, whether a target detection object exists in a smashing prevention area of the barrier gate or not is detected through a detector, and the gate rod is controlled to be lifted continuously under the condition that the target detection object exists in the smashing prevention area.
8. The method of claim 7, further comprising, prior to the process of lifting the bar of the barrier from the fall limit condition:
when a vehicle driving to the barrier gate is detected through an image acquisition device, acquiring a license plate image or a video of the vehicle;
determining the license plate number of the vehicle according to the license plate image or video of the vehicle;
and when the license plate number of the vehicle belongs to the passing license plate number list, controlling a brake lever of the barrier to lift up from a falling limit state.
9. A barrier gate, comprising: a brake bar, a detector and a barrier control panel, wherein,
the detector is arranged to detect whether a target detection object exists in an anti-smashing area of the barrier gate under the condition that the gate rod is in a lifting limit state; when detecting that the target detection object does not exist in the smashing prevention area, sending a falling control signal to the barrier gate control panel;
the barrier gate control board is arranged to control the gate rod to fall from the lifting limit state according to the falling control signal;
the detector is set to continuously detect whether a target detection object is in a smash-proof area of the barrier gate within a preset time length when the gate rod falls from the lifting limit state, and sends a falling-stopping control signal or a lifting control signal to the barrier gate control panel under the condition that the target detection object is detected in the smash-proof area, wherein the preset time length is determined according to the time length required by the gate rod from the lifting limit state to the smash-proof safety height;
the barrier gate control board is arranged to control the gate rod to stop falling or control the gate rod to lift according to the falling stopping control signal or the lifting control signal.
10. The barrier gate of claim 9, further comprising an upper computer configured to perform initialization calibration on the barrier gate, and perform the following operations during the initialization calibration of the barrier gate:
controlling the brake rod to fall from the lifting limit state, recording the time length of the brake rod from the lifting limit state to the smashing prevention safety height, and determining the preset time length according to the recorded time length;
or,
and controlling the brake rod to fall from the lifting limit state, recording the time duration from the moment when the brake rod starts falling to the moment when the brake rod starts entering the detection range of the detector in the vertical direction, and determining the preset time duration according to the recorded time duration.
11. The barrier gate of claim 9, further comprising an upper computer configured to perform initialization calibration on the barrier gate, and perform at least one of the following in the initialization calibration process of the barrier gate:
determining the type of the brake lever, and determining the anti-smashing safety height of the brake lever according to the type of the brake lever;
determining an installation orientation of the brake bar relative to the probe;
and determining the installation distance of the brake rod relative to the detector in the falling limit state.
12. The barrier gate of claim 9, wherein the detector is further configured to perform at least one of:
under the condition that the brake lever is in the lifting limit state, when the target detection object is detected in the smashing prevention area, a lifting maintaining control signal is sent to the barrier control panel to control the brake lever to maintain the lifting limit state;
when and after the preset time that the brake lever starts to fall from the lifting limit state arrives, stopping executing the operation of detecting whether a target detection object exists in a smash-proof area of the barrier gate, and sending a falling-stopping control signal or a lifting control signal to the barrier gate control panel under the condition that the target detection object exists in the smash-proof area;
in the process of lifting the brake lever from the falling limit state, whether a target detection object exists in a smash-proof area of the barrier is detected, and under the condition that the target detection object exists in the smash-proof area, a lifting control signal is sent to the barrier control board to control the brake lever to be lifted continuously.
13. The barrier gate of claim 12, further comprising an image capture device configured to:
when a vehicle driving to the barrier gate is detected, acquiring a license plate image or a video of the vehicle;
determining the license plate number of the vehicle according to the license plate image or video of the vehicle;
and when the license plate number of the vehicle belongs to the passing license plate number list, sending a lifting control signal to the barrier gate control panel so as to control the gate rod of the barrier gate to be lifted from the falling limit state.
14. The barrier gate of any one of claims 9-13, wherein the detector comprises a millimeter wave radar.
15. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 8 when executed.
16. A detector comprising a detection module, a memory, and a processor, wherein the memory has stored therein a computer program, and the processor is arranged to execute the computer program to perform the method of any of claims 1 to 8 using the detection module.
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