CN108230502B

CN108230502B - Barrier gate control method and device, storage medium and electronic device

Info

Publication number: CN108230502B
Application number: CN201711478686.5A
Authority: CN
Inventors: 曾昭泽; 陈勖; 蔡常青; 余伟强; 王小丽; 黄智妙
Original assignee: Xiaoru Technology Shenzhen Co ltd
Current assignee: Shenzhen Hua Ru Technology Co ltd
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2021-01-19
Anticipated expiration: 2037-12-29
Also published as: CN108230502A; WO2019127820A1

Abstract

The embodiment of the invention discloses a barrier gate control method and equipment, a storage medium and electronic equipment thereof, which are applied to a monitoring area including a barrier gate, wherein the method comprises the following steps: collecting a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within the current detection time, and determining that a target object exists in the monitoring area according to the sampling signal sequence; performing matching processing on the signal energy data corresponding to the sampling signal sequence to identify the object type of the target object; and controlling a brake bar of the barrier according to the recognized object type. By adopting the method and the device, the damage to the lane road surface can be avoided on the basis of realizing automatic control of the barrier gate, the influence of the natural environment on equipment is reduced, the control accuracy of the barrier gate is improved, and the anti-smashing function of the barrier gate is ensured.

Description

Barrier gate control method and device, storage medium and electronic device

Technical Field

The invention relates to the technical field of electronics, in particular to a barrier gate control method and equipment, a storage medium and electronic equipment.

Background

The banister is the parking area equipment that applies to control vehicle business turn over in the parking area, when the vehicle of letting pass, the brake lever of steerable banister rises, and after the vehicle is current, the brake lever whereabouts of steerable banister, current banister generally adopts the mode of ground coil to carry out automatic identification to the vehicle, however the coil need bury under the lane road surface, consequently when installation or maintenance, lead to the long-time unable use in parking area because the construction of lane road surface easily, and simultaneously, the coil receives cold weather easily, natural environment influences such as salt and alkali, the accuracy to the banister control has been influenced, and then lead to the banister to have the condition of mistakenly pounding easily.

Disclosure of Invention

Embodiments of the present invention provide a barrier gate control method and device, a storage medium, and an electronic device, which can avoid damage to a lane road surface on the basis of implementing automatic control of a barrier gate, reduce the influence of a natural environment on the device, improve the accuracy of control over the barrier gate, and ensure an anti-smash function of the barrier gate.

The first aspect of the embodiments of the present invention provides a barrier gate control method, which is applied to a monitoring area including a barrier gate, and may include:

collecting a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within the current detection time, and determining that a target object exists in the monitoring area according to the sampling signal sequence;

performing matching processing on the signal energy data corresponding to the sampling signal sequence to identify the object type of the target object;

and controlling a brake bar of the barrier according to the recognized object type.

A second aspect of the embodiments of the present invention provides a barrier gate control device, which is applied in a monitoring area including a barrier gate, and may include:

the object confirmation module is used for collecting a sampling signal sequence obtained by reflecting the radar wave beam in a monitoring area within the current detection time and determining that a target object exists in the monitoring area according to the sampling signal sequence;

the type identification module is used for carrying out matching processing on the signal energy data corresponding to the sampling signal sequence so as to identify the object type of the target object;

and the brake bar control module is used for controlling the brake bar of the barrier gate according to the identified object type.

A third aspect of embodiments of the present invention provides a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method steps as set forth in the first aspect.

A fourth aspect of embodiments of the present invention provides an electronic device, including: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the steps of:

In the embodiment of the invention, the sampling signal sequence in the monitoring area is acquired in a radar beam mode to determine that the target object exists in the monitoring area and identify the type of the target object, and then the gate rod of the barrier gate is controlled according to the actual type of the target object, so that the process of automatically controlling the gate rod is realized, meanwhile, the radar beam is suitable for various natural environments, the influence of the natural environment on monitoring equipment is reduced, the accuracy of controlling the barrier gate is improved, and the anti-smashing function of the barrier gate is ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a barrier gate control method according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of another barrier gate control method according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of signal-to-noise ratio acquisition according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart of signal energy value acquisition according to an embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating an exemplary barrier control according to an embodiment of the present invention;

FIG. 6 is a diagram illustrating another example of barrier gate control according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a barrier gate control device according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of another barrier gate control device according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a signal-to-noise ratio obtaining module according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of an object confirmation module according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of an energy value obtaining unit according to an embodiment of the present invention;

FIG. 12 is a schematic structural diagram of another object confirmation module provided in accordance with an embodiment of the present invention;

fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The method for controlling the barrier gate provided by the embodiment of the invention can be applied to scenes of vehicle passing gates such as expressways, parking lots and the like, for example: the method comprises the steps that a barrier gate control device collects a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within current detection time, a target object exists in the monitoring area according to the sampling signal sequence, the barrier gate control device carries out matching processing on signal energy data corresponding to the sampling signal sequence so as to identify the object type of the target object, and the barrier gate control device controls a gate rod of the barrier gate according to the identified object type. Sampling signal sequence in the monitoring area is gathered through the mode of radar wave beam to confirm that there is the target object and discern the type of this target object in this monitoring area, and then control the brake lever of banister according to actual target object type, realized the process of automatic control brake lever, the radar wave beam has reduced natural environment to monitoring facilities's influence simultaneously, has promoted the accuracy to the banister control, has guaranteed the function of preventing pounding of banister.

The barrier gate control equipment related to the embodiment of the invention can be a barrier gate monitoring terminal integrating a radar sensor, an arithmetic unit, a processor, a barrier gate controller and the like.

The following describes a barrier gate control method according to an embodiment of the present invention in detail with reference to fig. 1 to 4.

Referring to fig. 1, a schematic flow chart of a barrier gate control method according to an embodiment of the present invention is provided. As shown in fig. 1, the method of the embodiment of the present invention may include the following steps S101 to S103.

S101, collecting a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within the current detection time, and determining that a target object exists in the monitoring area according to the sampling signal sequence;

specifically, the barrier gate control device may acquire a sampling signal sequence obtained by transmitting a radar beam in a monitoring area within current detection time, where the detection time is a preset sampling time period, for example: 20 milliseconds and the like, where the current detection time may be represented as a current sampling time period, the barrier control device may control the radar sensor to transmit a radar beam to the monitoring area, where the radar beam is transmitted regardless of whether a target object exists in the monitoring area, and the barrier control device may acquire a sampling signal sequence within the current detection time through AD (analog signal to digital signal) high-speed sampling, where the sampling signal sequence may include a preset number of sampling signals, for example: 10 frames, etc., and the barrier gate control device can determine whether a target object exists in the monitored area according to the sampling signal sequence, and it is understood that the target object may include any object such as a pedestrian or a vehicle.

S102, performing matching processing on signal energy data corresponding to the sampling signal sequence to identify the object type of the target object;

specifically, the barrier gate control device may perform matching processing on the signal energy data corresponding to the sampling signal sequence, and preferably, the barrier gate control device may be pre-established with a buffer area for acquiring actually measured energy data, for storing signal energy data of the entire envelope of the target object from entering a monitoring region to leaving the monitoring region, the barrier control device may acquire at least one of signal energy data of a pulse width value, an energy peak value, and a sequence of sampled energy values of the target object based on the sequence of sampled signals, it will be appreciated that the barrier control apparatus may be trained beforehand for the object type of different objects, to extract energy reference data corresponding to object types of different objects, which may be a pulse width reference value, an energy peak reference value, and an energy value sequence reference value corresponding to the signal energy data.

The barrier gate control device can adopt energy reference data to carry out matching processing on the signal energy data so as to identify the object type of the target object, wherein the object type comprises a pedestrian type and a vehicle type, and the control of the gate rod can be realized according to accurate control logic by identifying the object type of the target object.

S103, controlling a brake bar of the barrier according to the recognized object type;

specifically, after the object type of the target object is identified, the barrier gate control device may control a gate rod of the barrier gate according to the identified object type, preferably, when the gate rod of the barrier gate is in an open state and the identified object type is a pedestrian type, the gate rod of the barrier gate is controlled to keep opening, the open state is used to indicate an open state in which the gate rod of the barrier gate has been triggered manually or by other sensing methods, when the gate rod of the barrier gate is in the open state and the identified object type is a vehicle type, it is further required to detect whether the target object is in a state away from the barrier gate or in a state close to the barrier gate, and if the target object is detected to be in a state close to the barrier gate, the gate rod of the barrier gate is controlled to keep opening; and if the target object is detected to be in a state of being far away from the barrier, controlling a gate rod of the barrier to execute closing action. When the gate rod of the barrier gate executes closing action and the recognized object type is the pedestrian type, controlling the gate rod of the barrier gate to be switched to execute opening action, when the gate rod of the barrier gate executes closing action and the recognized object type is the vehicle type, further detecting whether a target object is in a state far away from the barrier gate or in a state close to the barrier gate, and if the target object is detected to be in a state close to the barrier gate, controlling the gate rod of the barrier gate to execute opening action; and if the target object is detected to be in a state of being far away from the barrier, controlling a brake lever of the barrier to keep executing closing action. For example: when the brake lever performs closing action, recognizing that a target object exists in a monitoring area and controlling the brake lever to perform opening action when the target object is of a pedestrian type or a vehicle type; when the brake lever is in an open state, when the target object is identified to exist in the monitoring area, the target object is of a vehicle type and is in a state of driving away from the monitoring area, the brake lever is controlled to execute a closing action and the like.

Referring to fig. 2, a schematic flow chart of another barrier gate control method according to an embodiment of the present invention is provided. As shown in fig. 2, the method of the embodiment of the present invention may include the following steps S201 to S212.

In the first way of confirming the target object according to the embodiment of the present invention, please refer to steps S201 to S206.

S201, collecting a sample signal sequence obtained by reflecting radar beams in a monitoring area, and acquiring a sample energy value sequence of the monitoring area according to the sample signal sequence;

specifically, the barrier gate control device may calculate the background noise threshold value of the monitoring area in advance, specifically, the barrier gate control device may collect a sample signal sequence obtained by reflecting a radar beam in the monitoring area, and obtain a sample energy value sequence of the monitoring area according to the sample signal sequence, where sample energy values in the sample energy value sequence may be stored in a preset number of data cache regions in advance, and a specific way of calculating the energy values may refer to the following calculation process of the signal energy values, which is not described herein again.

S202, obtaining background noise data of the monitoring area according to the sample energy value sequence, and obtaining a signal-to-noise ratio value of the monitoring area according to the sample signal sequence;

specifically, the barrier control device may obtain a sample average value, a sample maximum value, a sample minimum value, and a sample root mean square value of the sample energy value sequence, determine the sample average value, the sample maximum value, the sample minimum value, and the sample root mean square value as the background noise data of the monitored area, obtain an initial signal reflection intensity value of the monitored area, obtain a noise signal reflection intensity value of the monitored area according to the initial signal reflection intensity value and a sample amplitude spectrum of the sample signal sequence, and obtain a signal-to-noise ratio value of the monitored area according to the initial signal reflection intensity value and the noise signal reflection intensity value.

Further, please refer to fig. 3, which provides a schematic flow chart of signal-to-noise ratio acquisition according to an embodiment of the present invention. As shown in fig. 3, the process includes:

s2021, acquiring a sample average value, a sample maximum value, a sample minimum value and a sample root mean square value of the sample energy value sequence, and determining the sample average value, the sample maximum value, the sample minimum value and the sample root mean square value as background noise data of the monitoring area;

specifically, the barrier gate control device may obtain background noise data of the monitored area according to the sample energy value sequence, where the background noise data may include a sample average value, a sample maximum value, a sample minimum value, a sample root mean square value, and the like of the sample energy value sequence, and assume that any one single-time acquired energy value is G_nAnd if the number of the data buffer areas is N, it indicates that the sample energy values of N measurements need to be obtained, and the sample average value X is (G)₀+G₁+…+G_n+…+G_N-1) N, Max (G) of samples_n) Sample minimum Z ═ Min (G)_n) The root mean square value of the sample is:

preferably, when the number of the data buffer areas is 1024 points, it indicates that the energy value of a sample of 1024 measurements needs to be obtained, and the average value X of the sample is equal to (G)₀+G₁+…+G_n+…+G₁₀₂₃) /1024, Max (G) maximum of samples Y_n) Sample minimum Z ═ Min (G)_n) The root mean square value of the sample is:

the barrier control device may further determine the sample mean, sample maximum, sample minimum, and sample root mean square values as background noise data of the monitored area.

S2022, obtaining an initial signal reflection intensity value of the monitoring area, and obtaining a noise signal reflection intensity value of the monitoring area according to the initial signal reflection intensity value and a sample magnitude spectrum of the sample signal sequence;

specifically, the barrier gate control device may obtain an initial signal reflection intensity value of the monitoring area, where the initial signal reflection intensity value is specifically a useful signal reflection intensity value in the monitoring area, and it can be understood that, assuming that the frequency of the maximum amplitude value in the frequency domain amplitude spectrum when a single target object in the monitoring area is measured is F, the single harmonic frequency is fixed F₀And F is an integer multiple of F, the initial signal reflection intensity value can be M₀＝M((F/f₀)-1)+M((F/f₀))+M((F/f₀) +1), the barrier gate control device obtains the noise signal reflection intensity value of the monitoring area according to the initial signal reflection intensity value and the sample amplitude spectrum of the sample signal sequence, where the sample amplitude spectrum is the frequency domain amplitude spectrum, and if the sample amplitude spectrum is m (i), where i represents a frequency point in the sample amplitude spectrum, and the length of the entire sample amplitude spectrum may include P ═ 512 frequency points, the noise signal emission intensity value may be:

s2023, acquiring a signal-to-noise ratio of the monitoring area according to the initial signal reflection intensity value and the noise signal reflection intensity value;

specifically, the barrier gate control device may further obtain a signal-to-noise ratio of the monitored area according to the initial signal reflection intensity value and the noise signal reflection intensity value, where β is M₀/N₀。

S203, acquiring a background noise threshold value of the monitoring area by using the background noise data and the signal-to-noise ratio;

specifically, the barrier gate control device may acquire a background noise threshold value of the monitored area by using the background noise data and the signal-to-noise ratio, and preferably, the background noise threshold value a ═ β [ X + (Y-Z) ] + V.

S204, collecting a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within the current detection time, and acquiring a signal energy value of the monitoring area based on the sampling signal sequence;

specifically, the detection time is a preset sampling time period, for example: 20 milliseconds and the like, where the current detection time may be represented as a current sampling time period, the barrier control device may control the radar sensor to transmit a radar beam to the monitoring area, where the radar beam is transmitted regardless of whether a target object exists in the monitoring area, and the barrier control device may acquire a sampling signal sequence within the current detection time through AD (analog signal to digital signal) high-speed sampling, where the sampling signal sequence may include a preset number of sampling signals, for example: 10 frames, and the like, in an actual monitoring process, the barrier gate control device may acquire a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within current detection time, and acquire a signal energy value of the monitoring area based on the sampling signal sequence, preferably, the barrier gate control device acquires the sampling signal sequence obtained by reflecting the radar beam in the monitoring area within the current detection time, the barrier gate control device performs coherent accumulation processing on the sampling signal sequence to acquire a first signal sequence, performs blocking processing on the first signal sequence to acquire a second signal sequence, and performs windowing processing on the second signal sequence to acquire a third signal sequence, the barrier gate control device performs fourier transform processing on the third signal sequence to acquire a fourth signal sequence, and acquires a power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence, and the gateway control equipment acquires the detection distance of the monitoring area, acquires a power spectrum frequency point contained in the detection distance, and acquires the signal energy value of the monitoring area according to the power spectrum sequence and the power spectrum frequency point.

Further, please refer to fig. 4, which provides a schematic flow chart of signal energy value acquisition according to an embodiment of the present invention. As shown in fig. 4, the process includes:

s2041, collecting a sampling signal sequence obtained by reflecting radar beams in a monitoring area within the current detection time;

specifically, the barrier gate control equipment can collect a sampling signal sequence obtained by reflecting the radar beam in a monitoring area within the current detection time, wherein the sampling signal sequence is S_j(P) where j denotes any one of frames of the sampled signal in the sampled signal sequence, P denotes any one of the sampled points included in each frame of the sampled signal, and P denotes the number of the sampled points included in each frame of the sampled signal, each frame of the sampled signal may include S_j(0)、S_j(1)、…、S_j(p)、…、S_j(P-1), assuming that the detection time is set to 20 msec, the number of frames J of the sample signal acquired in the detection time is 10 frames, and the number of sample points P is 512 points, the 1 st frame sample signal may include S₁(0)、S₁(1)、……、S₁(511) And so on.

S2042, performing coherent accumulation processing on the sampling signal sequence to obtain a first signal sequence, performing blocking processing on the first signal sequence to obtain a second signal sequence, and performing windowing processing on the second signal sequence to obtain a third signal sequence;

specifically, the barrier gate control device may perform coherent accumulation processing on the sampling signal sequence to obtain a first signal sequence, and further, the barrier gate control device may perform coherent accumulation processing on corresponding sampling points between each frame of sampling signals in the sampling signal sequence to obtain the first signal sequence_j(p), the first signal sequence after the coherent integration processing is performed on the sampling signal sequence is S (p), and the coherent integration result of any sampling point p is S (p) ([ S:)₁(p)+S₂(p)+……+S_j(p)]Assuming that the frame number J is 10 frames, the coherent integration result of the 0 th sample point is S (0) ([ S ]₁(0)+S₂(0)+……+S₁₀(0)]And/10, and so on.

The barrier control apparatus may obtain an average value of the first signal sequence, and obtain the second signal sequence from the average value of the first signal sequence and the first signal sequence, according to the above example, the first signal sequence is S (P), the second signal sequence after the first signal sequence is subjected to the blocking process is S '(P), the average value of the first signal sequence is S (x) ([ S (0) + S (1) + … + S (P)) + … + S (P-1) ]/P, the blocking process result of any sampling point P is S' (P) (-S (P))/P), and the average value of the first signal sequence is S (x) ([ S (0) + S (1) + … … + S (511))/512) assuming that the number P is 512 points, the result of the thinning processing at the 0 th sampling point is S' (0) ═ S (0) -S (x), and so on.

The barrier gate control device performs windowing on the second signal sequence to obtain a third signal sequence, and further, the barrier gate control device may call a window function to perform windowing on the second signal sequence, where the window function is:

the windowing result for any sample point P in the range from 0 to (P-1) is Sw (P) ═ S '(P) × h (P), and assuming that the number of sample points P is 512 points, the windowing result for the 0 th sample point is Sw (0) ═ S' (0) × h (0), and so on.

S2043, carrying out Fourier transform processing on the third signal sequence to obtain a fourth signal sequence, and obtaining a power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence;

specifically, the barrier gate control device may perform fourier transform processing on the third signal sequence to obtain the second signal sequenceA fourth signal sequence, and preferably, the gateway control apparatus may perform Fast Fourier Transform (FFT) processing on the windowed third signal sequence to obtain a fourth signal sequence, where the result of the FFT processing at any sampling point in the third signal sequence is x (P) ═ FFT [ sw (P), P ═ FFT), P]The barrier gate control device may obtain a power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence, and the barrier gate control device may obtain a magnitude spectrum sequence and a power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence, where the magnitude spectrum sequence is the frequency domain magnitude spectrum, and if the magnitude spectrum sequence is m (p) and the power spectrum sequence is o (p), where p represents a frequency point in the magnitude spectrum sequence, that is, a sampling point, the barrier gate control device may obtain a fourier transform result corresponding to any sampling point in the fourth signal sequence, and obtain a real part X in the fourier transform result_R(p) and imaginary part X_I(p) converting the real part X_R(p) and imaginary part X_IDetermining the square root value of (p) as the amplitude value of the sampling point, and determining the real part X_R(p) and imaginary part X_IAnd (p) determining the square sum of the power values of the sampling points, wherein the specific calculation formula is as follows:

O(p)＝X_R ²(p)+X_I ²(p)

s2044, acquiring the detection distance of the monitoring area, acquiring a power spectrum frequency point contained in the detection distance, and acquiring a signal energy value of the monitoring area according to the power spectrum sequence and the power spectrum frequency point;

specifically, the barrier gate control device may obtain a detection distance of the monitoring area, obtain a power spectrum frequency point included in the detection distance, and obtain a signal energy value of the monitoring area according to the power spectrum sequence and the power spectrum frequency point, where a formula may be obtained because it is known that a detection distance R of the monitoring area, a bandwidth Δ f of a radar beam, and a modulation period T of the radar beam:

wherein, c₀Expressing the speed of light, the frequency f of the echo signal reflecting the radar beam in the monitored area can be obtained by the formula_DSince the frequency f of the single harmonic is known₀Then, the number of points L ═ f of the power spectrum frequency point corresponding to the detection distance R can be obtained_D/f₀And obtaining a signal energy value G ═ O (0) + O (1) + … … + O (L) of the monitoring area at the current detection time.

S205, acquiring a sampling energy value sequence which is acquired in a plurality of continuous detection times and contains the signal energy value, and calculating a sampling average value of the sampling energy value sequence;

specifically, the barrier control device may obtain a sampling energy value sequence including the signal energy values acquired at a plurality of detection times, and calculate a sampling average value of the sampling energy value sequence, and it is understood that the barrier control device may obtain a plurality of signal energy values acquired at consecutive detection times, for example: the detection time is 20 milliseconds, and the total reserved time for monitoring the monitoring area is 1 second, so that the barrier gate control device can acquire 50 signal energy values within the total time, and calculate the sampling average value of the 50 signal energy values.

Of course, in order to prevent the prediction of the false target caused by the sudden change of the target or the jitter of the threshold value of the critical background noise, it is necessary to set a detection period, the detection period may include a plurality of consecutive detection times, for example, the detection period is 100 milliseconds, one detection time is 20 milliseconds, 5 signal energy values may be obtained in the detection period, the barrier control device may obtain a median value from the continuously sampled 5 signal energy values as the signal energy value of the detection period, and so on, 10 signal energy values may be obtained in the total duration, and a sampling average value of the 10 signal energy values is calculated.

Preferably, the barrier control device may calculate the average sampling value by using a First-in First-out (FIFO) queue.

S206, when the sampling average value is larger than the background noise threshold value, determining that a target object exists in the monitored area;

specifically, after the sampling average value is obtained, the barrier gate control device may further match the sampling average value with a background noise threshold value, and when the sampling average value is greater than the background noise threshold value, the barrier gate control device may determine that a target object exists in the monitored area.

In the second method for confirming the target object according to the embodiment of the present invention, please refer to steps S207 to S210.

S207, collecting a sampling signal sequence obtained by reflecting radar beams in a monitoring area within the current detection time, and obtaining a differential signal of adjacent sampling signals in the sampling signal sequence to generate a differential signal sequence;

specifically, the barrier gate control device may collect a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within current detection time, obtain a differential signal of adjacent sampling signals in the sampling signal sequence, to generate a differential signal sequence, and it can be understood that the sampling signal sequence is S_j(P) where j denotes any one of frames of the sampled signal in the sampled signal sequence, P denotes any one of the sampled points included in each frame of the sampled signal, and P denotes the number of the sampled points included in each frame of the sampled signal, each frame of the sampled signal may include S_j(0)、S_j(1)、…、S_j(p)、…、S_j(P-1), assuming that the detection time is set to 20 msec, the number of frames J of the sample signal acquired in the detection time is 10 frames, and the number of sample points P is 512 points, the 1 st frame sample signal may include S₁(0)、S₁(1)、……、S₁(511) And so on.

The barrier gate control equipment can sample two adjacent frames of signals or multiple framesThe sampled signals are subtracted to obtain a differential signal sequence, for example, a differential signal sequence t (p) S, of two adjacent frames_j+1(p)-S_j(p)。

S208, filtering the differential signal sequence to obtain a time domain signal sequence, and obtaining a mean square value of the time domain signal sequence;

specifically, the barrier control device may perform filtering processing on the differential signal sequence to obtain a time domain signal sequence, and it can be understood that a filtering parameter sequence may be preset, the number of filtering parameters in the filtering parameter sequence may be set according to actual scene requirements, the barrier control device may perform FIR filtering processing on the differential signal sequence, and if the number of the filtering parameters is u, the time domain signal energy of any sampling point in the time domain signal sequence is u (p) ═ C₀*T(p)+C₁*T(p-1)+……+C_u-1T (p-50+ 1). The echo frequency corresponding to the minimum monitoring distance in the monitoring area is known to be f_lThe echo frequency corresponding to the maximum monitoring distance is f_hThe collection frequency of the echo signal reflected by the original radar beam is f_sThen can be according to f_l、f_hAnd f_sAnd calculating to obtain the filtering parameter sequence.

The gate control device may obtain a mean square value of the time-domain signal sequence, where the mean square value Xrms2 ═ U (0)²+U(1)²+……+U(P-1)²]/P。

S209, acquiring a mean square value sequence which is acquired by a plurality of continuous detection times and contains the mean square value, and calculating a variance value of the mean square value sequence;

specifically, the barrier gate control device may obtain a mean square value sequence including the mean square value and acquired in a plurality of consecutive detection times, and calculate a variance value of the mean square value sequence, and it can be understood that the barrier gate control device may acquire a plurality of mean square values acquired in a plurality of consecutive detection times, for example: the detection time is 20 milliseconds, and the total reserved time for monitoring the monitoring area is 1 second, then the barrier gate control device can obtain 50 mean square values in the total time, and calculate the variance value of the 50 mean square values.

Of course, in order to prevent the prediction of the false target caused by the sudden change of the target or the jitter of the threshold of the critical background noise, it is necessary to set a detection period, where the detection period may include a plurality of consecutive detection times, for example, the detection period is 100 milliseconds, and one detection time is 20 milliseconds, then 5 mean square values may be obtained in the detection period, the barrier control device may obtain a median value from the continuously sampled 5 mean square values as the mean square value of the detection period, and so on, obtain 10 mean square values in the total duration, and calculate the variance value of the 10 mean square values.

Preferably, the barrier gate control device may calculate the variance value in a FIFO manner.

S210, when the variance value is larger than a preset threshold value, determining that a target object exists in the monitoring area;

specifically, after the variance value is obtained, the barrier gate control device may further match the variance value by using a preset threshold, and when the variance value is greater than the preset threshold, the barrier gate control device may determine that a target object exists in the monitored area, where the preset threshold is preferably 0.

It should be noted that, the first implementation manner adopts a background method to determine whether a target object exists in a monitored area, and is applicable to monitoring of a stationary target, and the second implementation manner adopts a frame difference method to determine whether a target object exists in a monitored area, and is applicable to monitoring of a micro-moving target. The target object may include any object such as a pedestrian or a vehicle.

S211, performing matching processing on the signal energy data corresponding to the sampling signal sequence to identify the object type of the target object;

S212, controlling a brake bar of the barrier according to the recognized object type;

In the embodiment of the invention, the sampling signal sequence in the monitoring area is acquired in a radar beam mode to determine that a target object exists in the monitoring area and identify the type of the target object, and then the gate rod of the barrier gate is controlled according to the actual type of the target object, so that the process of automatically controlling the gate rod is realized, meanwhile, the radar beam is suitable for various natural environments, the influence of the natural environment on monitoring equipment is reduced, the accuracy of controlling the barrier gate is improved, and the anti-smashing function of the barrier gate is ensured; by combining the background method and the frame difference method, the target object in the monitoring area can be judged more accurately, and the accuracy of controlling the barrier gate is further improved more effectively.

The method for controlling a barrier gate according to the embodiment of the present invention will be described with reference to two specific implementation environments shown in fig. 5 and 6.

Fig. 5 is a schematic diagram illustrating an example of barrier gate control according to an embodiment of the present invention. As shown in fig. 5, the monitoring area may specifically be an anti-smash monitoring area including a barrier gate, and the execution logic of the monitoring area is that when a vehicle enters the anti-smash monitoring area, a gate lever of the barrier gate is triggered to execute an opening action in a manual or other induction manner, after the gate lever is opened, when the vehicle enters the anti-smash monitoring area, a target object is monitored through an internal processing algorithm and the type of the object is determined to be the vehicle, at this time, the gate lever executes a closing action, when the gate lever is not completely closed, whether a pedestrian or a vehicle exists in the anti-smash monitoring area is continuously monitored, if a pedestrian or another vehicle enters the anti-smash monitoring area, the gate lever executes an emergency opening action, otherwise, the gate lever executes a closing action; or after the brake lever is opened, when a pedestrian enters the anti-smashing monitoring area before the vehicle, the target object is detected through an internal processing algorithm and the type of the passing object is judged to be the pedestrian, the brake lever keeps opening at the moment until the vehicle passes through the area, the brake lever executes closing action, when the brake lever is not completely closed, the radar continues to monitor whether the anti-smashing monitoring area has the pedestrian or the vehicle, if the pedestrian or other vehicles enter the anti-smashing monitoring area at the tail, the brake lever executes emergent opening action, otherwise, the brake lever executes closing action.

Fig. 6 is a schematic diagram illustrating another example of barrier gate control according to an embodiment of the present invention. As shown in fig. 6, the monitoring area may specifically include a trigger monitoring area and an anti-pound monitoring area including a barrier, the trigger monitoring area is located in front of the anti-pound monitoring area according to a vehicle driving direction and is used for monitoring whether a vehicle drives to the barrier in advance, and an execution logic of the trigger monitoring area is that when the vehicle enters the trigger monitoring area, a system judges that a target vehicle enters the trigger monitoring area through an internal processing algorithm, and at this time, a trigger brake lever is turned on. When a vehicle enters an anti-smashing monitoring area, triggering a brake lever of a barrier gate to execute an opening action in a manual or other induction mode, after the brake lever is opened, when the vehicle enters the anti-smashing monitoring area, monitoring a target object through an internal processing algorithm and judging that the type of the object passing through the vehicle is the vehicle, executing a closing action by the brake lever, when the brake lever is not completely closed, continuously monitoring whether pedestrians or vehicles exist in the anti-smashing monitoring area, if the pedestrians or other vehicles enter the anti-smashing monitoring area, executing an emergency opening action by the brake lever, otherwise executing a closing action by the brake lever; or after the brake lever is opened, when a pedestrian enters the anti-smashing monitoring area before the vehicle, the target object is detected through an internal processing algorithm and the type of the passing object is judged to be the pedestrian, the brake lever keeps opening at the moment until the vehicle passes through the area, the brake lever executes closing action, when the brake lever is not completely closed, the radar continues to monitor whether the anti-smashing monitoring area has the pedestrian or the vehicle, if the pedestrian or other vehicles enter the anti-smashing monitoring area at the tail, the brake lever executes emergent opening action, otherwise, the brake lever executes closing action.

It should be noted that the internal processing algorithm may specifically be a background method and a frame difference method in the embodiment shown in fig. 2, and a processing process of the specific algorithm may be according to the specific description of the embodiment shown in fig. 2, which is not described herein again.

The barrier gate control device according to the embodiment of the present invention will be described in detail with reference to fig. 7 to 12. It should be noted that, the barrier gate control apparatus shown in fig. 7-12 is used for executing the method of the embodiment shown in fig. 1-4 of the present invention, and for convenience of description, only the portion related to the embodiment of the present invention is shown, and details of the specific technology are not disclosed, please refer to the embodiment shown in fig. 1-4 of the present invention.

Fig. 7 is a schematic structural diagram of a barrier gate control device according to an embodiment of the present invention. As shown in fig. 7, the barrier gate control device 10 according to the embodiment of the present invention may include: an object confirmation module 11, a type recognition module 12, and a brake lever control module 13.

The object confirming module 11 is configured to collect a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within current detection time, and determine that a target object exists in the monitoring area according to the sampling signal sequence;

in a specific implementation, the object identification module 11 may acquire a sampling signal sequence obtained by transmitting a radar beam in a monitoring area within current detection time, where the detection time is a preset sampling time period, for example: 20 milliseconds and the like, where the current detection time may be represented as a current sampling time period, the barrier control device 1 may control the radar sensor to transmit a radar beam to the monitoring area, where the radar beam is transmitted regardless of whether a target object exists in the monitoring area, and the object identification module 11 may acquire a sampling signal sequence within the current detection time through AD (analog signal to digital signal) high-speed sampling, where the sampling signal sequence may include a preset number of sampling signals, for example: 10 frames, etc., and the object identification module 11 may determine whether a target object exists in the monitored area according to the sampling signal sequence, it is understood that the target object may include any object, such as a pedestrian or a vehicle.

The type identification module 12 is configured to perform matching processing on the signal energy data corresponding to the sampling signal sequence to identify an object type of the target object;

in a specific implementation, the type identifying module 12 may perform matching processing on the signal energy data corresponding to the sampling signal sequence, preferably, the barrier control device 1 may be pre-established with a buffer for acquiring measured energy data, which is used to store the signal energy data of the target object from entering the monitoring area to leaving the entire envelope of the monitoring area, the type identifying module 12 may obtain at least one of the pulse width value, the energy peak value, and the sampling energy value sequence of the target object based on the sampling signal sequence, it is understood that the barrier control device 1 may be pre-trained for object types of different objects to extract energy reference data corresponding to the object types of the different objects, and the energy reference data may be a pulse width reference value, a, An energy peak reference value and an energy value sequence reference value.

The type identification module 12 may perform matching processing on the signal energy data by using energy reference data to identify an object type of the target object, where the object type includes a pedestrian type and a vehicle type, and by identifying the object type of the target object, control of the brake lever may be implemented according to an accurate control logic.

The brake bar control module 13 is used for controlling the brake bar of the barrier according to the identified object type;

in a specific implementation, after the object type of the target object is identified, the gate rod control module 13 may control the gate rod of the barrier gate according to the identified object type, preferably, when the gate rod of the barrier gate is in an open state and the identified object type is a pedestrian type, control the gate rod of the barrier gate to keep opening, where the open state is used to indicate an open state in which the gate rod of the barrier gate has been triggered manually or by other sensing methods, and when the gate rod of the barrier gate is in the open state and the identified object type is a vehicle type, it is necessary to further detect whether the target object is in a state far from the barrier gate or in a state close to the barrier gate at this time, and if the target object is detected to be in a state close to the barrier gate, control the gate rod of the barrier gate to keep opening; and if the target object is detected to be in a state of being far away from the barrier, controlling a gate rod of the barrier to execute closing action. When the gate rod of the barrier gate executes closing action and the recognized object type is the pedestrian type, controlling the gate rod of the barrier gate to be switched to execute opening action, when the gate rod of the barrier gate executes closing action and the recognized object type is the vehicle type, further detecting whether a target object is in a state far away from the barrier gate or in a state close to the barrier gate, and if the target object is detected to be in a state close to the barrier gate, controlling the gate rod of the barrier gate to execute opening action; and if the target object is detected to be in a state of being far away from the barrier, controlling a brake lever of the barrier to keep executing closing action. For example: when the brake lever performs closing action, recognizing that a target object exists in a monitoring area and controlling the brake lever to perform opening action when the target object is of a pedestrian type or a vehicle type; when the brake lever is in an open state, when the target object is identified to exist in the monitoring area, the target object is of a vehicle type and is in a state of driving away from the monitoring area, the brake lever is controlled to execute a closing action and the like.

Referring to fig. 8, a schematic structural diagram of a barrier gate control device is provided in an embodiment of the present invention. As shown in fig. 8, the barrier gate control device 10 according to the embodiment of the present invention may include: the device comprises an object confirmation module 11, a type identification module 12, a brake lever control module 13, a sample sequence acquisition module 14, a signal-to-noise ratio acquisition module 15 and a threshold value acquisition module 16.

The sample sequence acquisition module 14 is configured to acquire a sample signal sequence obtained by reflecting a radar beam in a monitoring area, and acquire a sample energy value sequence of the monitoring area according to the sample signal sequence;

in a specific implementation, the sample sequence obtaining module 14 may calculate a background noise threshold value of the monitoring area in advance, specifically, the sample sequence obtaining module 14 may collect a sample signal sequence obtained by reflecting a radar beam in the monitoring area, and obtain a sample energy value sequence of the monitoring area according to the sample signal sequence, where sample energy values in the sample energy value sequence may be stored in a preset number of data buffer areas in advance, and a specific way of calculating an energy value may refer to a following calculation process of a signal energy value, which is not described herein again.

A signal-to-noise ratio obtaining module 15, configured to obtain background noise data of the monitored area according to the sample energy value sequence, and obtain a signal-to-noise ratio value of the monitored area according to the sample signal sequence;

in a specific implementation, the signal-to-noise ratio obtaining module 15 may obtain a sample average value, a sample maximum value, a sample minimum value, and a sample root-mean-square value of the sample energy value sequence, determine the sample average value, the sample maximum value, the sample minimum value, and the sample root-mean-square value as the background noise data of the monitored area, the signal-to-noise ratio obtaining module 15 may obtain an initial signal reflection intensity value of the monitored area, and obtain a noise signal reflection intensity value of the monitored area according to the initial signal reflection intensity value and a sample amplitude spectrum of the sample signal sequence, and the signal-to-noise ratio obtaining module 15 may obtain a signal-to-noise ratio value of the monitored area according to the initial signal reflection intensity value and the noise signal reflection intensity value.

Specifically, please refer to fig. 9, which provides a schematic structural diagram of the snr obtaining module according to an embodiment of the present invention. As shown in fig. 9, the snr obtaining module 15 may include:

a noise data obtaining unit 151, configured to obtain a sample average value, a sample maximum value, a sample minimum value, and a sample root mean square value of the sample energy value sequence, and determine the sample average value, the sample maximum value, the sample minimum value, and the sample root mean square value as background noise data of the monitored area;

in a specific implementation, the noise data obtaining unit 151 may obtain the background noise data of the monitored area according to the sample energy value sequence, where the background noise data may include a sample average value, a sample maximum value, a sample minimum value, a sample root mean square value, and the like of the sample energy value sequence, and it is assumed that any one single-time collected energy value is G_nAnd if the number of the data buffer areas is N, it indicates that the sample energy values of N measurements need to be obtained, and the sample average value X is (G)₀+G₁+…+G_n+…+G_N-1) N, Max (G) of samples_n) Sample minimum Z ═ Min (G)_n) The root mean square value of the sample is:

the noise data obtaining unit 151 may further determine the sample average value, the sample maximum value, the sample minimum value, and the sample root mean square value as the background noise data of the monitored area.

An intensity value obtaining unit 152, configured to obtain an initial signal reflection intensity value of the monitored area, and obtain a noise signal reflection intensity value of the monitored area according to the initial signal reflection intensity value and a sample magnitude spectrum of the sample signal sequence;

in a specific implementation, the intensity value obtaining unit 152 may obtain an initial signal reflection intensity value of the monitoring area, where the initial signal reflection intensity value is specifically a useful signal reflection intensity value in the monitoring area, and it is understood that, assuming that a frequency of a maximum amplitude value of a frequency domain amplitude spectrum when a single target object in the monitoring area is measured is F, a single harmonic frequency is fixed F₀And F is an integer multiple of F, the initial signal reflection intensity value can be M₀＝M((F/f₀)-1)+M((F/f₀))+M((F/f₀) +1), the intensity value obtaining unit 152 obtains the noise signal reflection intensity value of the monitoring area according to the initial signal reflection intensity value and a sample amplitude spectrum of the sample signal sequence, where the sample amplitude spectrum is the frequency domain amplitude spectrum, and the sample amplitude spectrum is assumed to be m (i), where i represents a frequency point in the sample amplitude spectrum, and the length of the entire sample amplitude spectrum may include P ═ 512 frequency bandsPoint, the noise signal emission strength value may be:

a signal-to-noise ratio obtaining unit 153, configured to obtain a signal-to-noise ratio of the monitored area according to the initial signal reflection intensity value and the noise signal reflection intensity value;

in a specific implementation, the snr obtaining unit 153 may further obtain the snr of the monitored area according to the initial signal reflection strength value and the noise signal reflection strength value, where β is M₀/N₀。

A threshold obtaining module 16, configured to obtain a background noise threshold of the monitored area by using the background noise data and the signal-to-noise ratio;

in a specific implementation, the threshold obtaining module 16 may obtain a background noise threshold of the monitored area by using the background noise data and the signal-to-noise ratio, and preferably, the background noise threshold a is β [ X + (Y-Z) ] + V.

Specifically, in a first target object confirmation method according to an embodiment of the present invention, please refer to fig. 10 together, which provides a schematic structural diagram of an object confirmation module according to an embodiment of the present invention. As shown in fig. 10, the object confirmation module 11 may include:

the energy value acquisition unit 111 is configured to acquire a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within current detection time, and acquire a signal energy value of the monitoring area based on the sampling signal sequence;

in a specific implementation, the detection time is a preset sampling time period, for example: 20 milliseconds, the current detection time may be represented as a current sampling time period, the barrier control device 1 may control the radar sensor to transmit a radar beam to the monitoring area, and the radar beam is transmitted in the monitoring area regardless of whether a target object exists, the energy value obtaining unit 111 may collect a sampling signal sequence within the current detection time through AD (analog signal to digital signal) high-speed sampling, where the sampling signal sequence may include a preset number of sampling signals, for example: 10 frames, and the like, in an actual monitoring process, the energy value obtaining unit 111 may collect a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within a current detection time, and obtain a signal energy value of the monitoring area based on the sampling signal sequence, preferably, the energy value obtaining unit 111 collects the sampling signal sequence obtained by reflecting the radar beam in the monitoring area within the current detection time, the energy value obtaining unit 111 performs coherent accumulation processing on the sampling signal sequence to obtain a first signal sequence, performs dc blocking processing on the first signal sequence to obtain a second signal sequence, and performs windowing processing on the second signal sequence to obtain a third signal sequence, and the energy value obtaining unit 111 performs fourier transform processing on the third signal sequence to obtain a fourth signal sequence, and acquiring a power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence, acquiring a detection distance of the monitoring area by the energy value acquisition unit 111, acquiring a power spectrum frequency point included in the detection distance, and acquiring a signal energy value of the monitoring area according to the power spectrum sequence and the power spectrum frequency point.

Specifically, please refer to fig. 11, which provides a schematic structural diagram of the energy value obtaining unit according to an embodiment of the present invention. As shown in fig. 11, the energy value obtaining unit 111 may include:

the sequence acquisition subunit 1111 is configured to acquire a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within current detection time;

in specific implementation, the sequence acquisition subunit 1111 may acquire a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within the current detection time, where the sampling signal sequence is S_j(P) where j denotes any one of frames of the sampled signal in the sampled signal sequence, P denotes any one of the sampled points included in each frame of the sampled signal, and P denotes the number of the sampled points included in each frame of the sampled signal, each frame of the sampled signal may include S_j(0)、S_j(1)、…、S_j(p)、…、S_j(P-1), assuming that the detection time is set to 20 msec, the number of frames J of the sample signal acquired in the detection time is 10 frames, and the number of sample points P is 512 points, the 1 st frame sample signal may include S₁(0)、S₁(1)、……、S₁(511) And so on.

A signal processing subunit 1112, configured to perform coherent accumulation processing on the sampling signal sequence to obtain a first signal sequence, perform blocking processing on the first signal sequence to obtain a second signal sequence, and perform windowing processing on the second signal sequence to obtain a third signal sequence;

in a specific implementation, the signal processing sub-unit 1112 may perform coherent accumulation processing on the sampling signal sequence to obtainThe signal processing sub-unit 1112 may further perform coherent accumulation processing on corresponding sampling points between each frame of sampling signals in the sampling signal sequence to obtain a first signal sequence, where the sampling signal sequence is S according to the above example_j(p), the first signal sequence after the coherent integration processing is performed on the sampling signal sequence is S (p), and the coherent integration result of any sampling point p is S (p) ([ S:)₁(p)+S₂(p)+……+S_j(p)]Assuming that the frame number J is 10 frames, the coherent integration result of the 0 th sample point is S (0) ([ S ]₁(0)+S₂(0)+……+S₁₀(0)]And/10, and so on.

The signal processing subunit 1112 may obtain an average value of the first signal sequence, and obtain the second signal sequence according to the average value of the first signal sequence and the first signal sequence, where the first signal sequence is S (P), the second signal sequence after the first signal sequence is subjected to the dc-blocking processing is S '(P), the average value of the first signal sequence is S (x) ([ S (0) + S (1) + … + S (P)) + … + S (P-1) ]/P, and the dc-blocking processing result of any sampling point P is S' (P) ═ S (P) — (x), and the average value of the first signal sequence is S511 ([ S (x) ("S (0) + S (1) + S (26) + S (P) — S (x)), and the number P ═ 512 points are assumed, the average value of the first signal sequence is S (511) (" S (0) + S (1) + S (… … + S (P) — S (x) — S (P) (/ 512) The result of the thinning processing at the 0 th sampling point is S' (0) S (0) to S (x), and so on.

The signal processing sub-unit 1112 performs windowing on the second signal sequence to obtain a third signal sequence, and further, the signal processing sub-unit 1112 may call a window function to perform windowing on the second signal sequence, where the window function is:

A power spectrum obtaining subunit 1113, configured to perform fourier transform processing on the third signal sequence to obtain a fourth signal sequence, and obtain a power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence;

in a specific implementation, the power spectrum acquiring sub-unit 1113 may perform fourier transform processing on the third signal sequence to acquire a fourth signal sequence, and preferably, the power spectrum acquiring sub-unit 1113 may perform FFT processing on the windowed third signal sequence to acquire a fourth signal sequence, where the fourier transform processing result of any sampling point in the third signal sequence is x (P) -FFT [ sw (P) >, P ═ FFT ] and P >]The power spectrum acquiring subunit 1113 may acquire the power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence, and the power spectrum acquiring subunit 1113 may acquire the amplitude spectrum sequence and the power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence, where the amplitude spectrum sequence is the frequency domain amplitude spectrum, and if the amplitude spectrum sequence is m (p) and the power spectrum sequence is o (p), where p represents a frequency point in the amplitude spectrum sequence, that is, a sampling point, and the power spectrum acquiring subunit 1113 may acquire a fourier transform result corresponding to any sampling point in the fourth signal sequence and acquire a real part X in the fourier transform result_R(p) and imaginary part X_I(p) converting the real part X_R(p) and imaginary part X_IDetermining the square root value of (p) as the amplitude value of the sampling point, and determining the real part X_R(p) and imaginary part X_IAnd (p) determining the square sum of the power values of the sampling points, wherein the specific calculation formula is as follows:

O(p)＝X_R ²(p)+X_I ²(p)

an energy value obtaining subunit 1114, configured to obtain a detection distance of the monitored area, obtain a power spectrum frequency point included in the detection distance, and obtain a signal energy value of the monitored area according to the power spectrum sequence and the power spectrum frequency point;

in specific implementation, the energy value obtaining subunit 1114 may obtain the detection distance of the monitoring region, obtain the power spectrum frequency point included in the detection distance, and obtain the signal energy value of the monitoring region according to the power spectrum sequence and the power spectrum frequency point, where a formula may be obtained because it is known that the detection distance R of the monitoring region, the bandwidth Δ f of the radar beam, and the modulation period T of the radar beam:

An average value obtaining unit 112, configured to obtain a sampling energy value sequence including the signal energy values acquired at a plurality of consecutive detection times, and calculate a sampling average value of the sampling energy value sequence;

in a specific implementation, the average value obtaining unit 112 may obtain a sampling energy value sequence including the signal energy values collected in a plurality of detection times, and calculate a sampling average value of the sampling energy value sequence, and it is understood that the average value obtaining unit 112 may obtain a plurality of signal energy values collected in consecutive detection times, for example: the detection time is 20 ms, and the total reserved time period for monitoring the monitoring area is 1 s, the average value obtaining unit 112 may obtain 50 signal energy values within the total time period, and calculate a sampling average value of the 50 signal energy values.

Of course, in order to prevent the prediction of the false target caused by the sudden change of the target or the jitter of the threshold value of the critical background noise, it is necessary to set a detection period, where the detection period may include a plurality of consecutive detection times, for example, the detection period is 100 milliseconds, and one detection time is 20 milliseconds, then 5 signal energy values may be obtained in the detection period, the average value obtaining unit 112 may obtain a median value from the continuously sampled 5 signal energy values as the signal energy value of the detection period, and so on, obtain 10 signal energy values in the total duration, and calculate the sampling average value of the 10 signal energy values.

Preferably, the average value obtaining unit 112 may calculate the sample average value in a FIFO manner.

A first object confirming unit 113, configured to determine that a target object exists in the monitored area when the sampling average value is greater than the background noise threshold value;

in a specific implementation, after obtaining the sampling average value, the first object determining unit 113 may further match the sampling average value with a background noise threshold value, and when the sampling average value is greater than the background noise threshold value, the first object determining unit 113 may determine that a target object exists in the monitored area.

Optionally, in a second target object confirmation method according to the embodiment of the present invention, please refer to fig. 12 together, which provides a schematic structural diagram of another object confirmation module according to the embodiment of the present invention. As shown in fig. 12, the object confirmation module 11 may include:

a differential signal obtaining unit 114, configured to collect a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within current detection time, and obtain a differential signal of an adjacent sampling signal in the sampling signal sequence to generate a differential signal sequence;

in a specific implementation, the differential signal obtaining unit 114 may collect a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within current detection time, and obtain adjacent sampling signals in the sampling signal sequenceThe differential signal of the signal to generate a differential signal sequence, it being understood that the sampling signal sequence is S_j(P) where j denotes any one of frames of the sampled signal in the sampled signal sequence, P denotes any one of the sampled points included in each frame of the sampled signal, and P denotes the number of the sampled points included in each frame of the sampled signal, each frame of the sampled signal may include S_j(0)、S_j(1)、…、S_j(p)、…、S_j(P-1), assuming that the detection time is set to 20 msec, the number of frames J of the sample signal acquired in the detection time is 10 frames, and the number of sample points P is 512 points, the 1 st frame sample signal may include S₁(0)、S₁(1)、……、S₁(511) And so on.

The differential signal obtaining unit 114 may subtract two or more adjacent frames of sampling signals to obtain a differential signal sequence, for example, the differential signal sequence t (p) ═ S_j+1(p)-S_j(p)。

A time domain signal processing unit 115, configured to perform filtering processing on the differential signal sequence to obtain a differential signal sequence, and obtain a mean square value of the differential signal sequence;

in a specific implementation, the time domain signal processing unit 115 may perform filtering processing on the differential signal sequence to obtain a time domain signal sequence, it can be understood that a filtering parameter sequence may be preset, the number of filtering parameters in the filtering parameter sequence may be set according to actual scene needs, the time domain signal processing unit 115 may perform FIR filtering processing on the differential signal sequence, and assuming that the number of the filtering parameters is u, the time domain signal energy of any sampling point in the time domain signal sequence is u (p) ═ C₀*T(p)+C₁*T(p-1)+……+C_u-1T (p-50+ 1). The echo frequency corresponding to the minimum monitoring distance in the monitoring area is known to be f_lThe echo frequency corresponding to the maximum monitoring distance is f_hThe collection frequency of the echo signal reflected by the original radar beam is f_sThen can be according to f_l、f_hAnd f_sAnd calculating to obtain the filtering parameter sequence.

The time domain signal processing unit 115 may obtain a mean square value of the time domain signal sequence, where the mean square value Xrms2 ═ U (0)²+U(1)²+……+U(P-1)²]/P。

A mean square value sequence processing unit 116, configured to obtain a mean square value sequence including the mean square value and acquired at multiple consecutive detection times, and calculate a variance value of the mean square value sequence;

in a specific implementation, the mean square value sequence processing unit 116 may obtain a mean square value sequence including the mean square value and acquired in a plurality of consecutive detection times, and calculate a variance value of the mean square value sequence, and it can be understood that the mean square value sequence processing unit 116 may obtain a plurality of mean square values acquired in a plurality of consecutive detection times, for example: the detection time is 20 ms, and the total reserved time for monitoring the monitoring area is 1 s, then the mean square value sequence processing unit 116 may obtain 50 mean square values in the total time, and calculate the variance value of the 50 mean square values.

Certainly, in order to prevent the prediction of the false target caused by the sudden change of the target or the jitter of the threshold of the critical background noise, a detection period needs to be set, where the detection period may include a plurality of consecutive detection times, for example, the detection period is 100 milliseconds, and one detection time is 20 milliseconds, then 5 mean square values may be obtained in the detection period, the mean square value sequence processing unit 116 may obtain median values from the continuously sampled 5 mean square values as the mean square values of the detection period, and so on, 10 mean square values may be obtained in the total duration, and the variance values of the 10 mean square values are calculated.

Preferably, the mean square sequence processing unit 116 may calculate the variance value in a FIFO manner.

A second object confirming unit 117, configured to determine that a target object exists in the monitored area when the variance value is greater than a preset threshold;

in a specific implementation, after the variance value is obtained, the second object determining unit 117 may further match the variance value by using a preset threshold, and when the variance value is greater than the preset threshold, the second object determining unit 117 may determine that a target object exists in the monitored area, where the preset threshold is preferably 0.

in a specific implementation, the type identifying module 12 may perform matching processing on the signal energy data corresponding to the sampling signal sequence, preferably, the type identifying module 12 may be pre-established with a buffer for acquiring measured energy data, which is used to store the signal energy data of the target object from entering the monitoring area to leaving the entire envelope of the monitoring area, the type identifying module 12 may obtain at least one signal energy data of a pulse width value, an energy peak value, and a sampling energy value sequence of the target object based on the sampling signal sequence, it is understood that the type identifying module 12 may be pre-trained on object types of different objects to extract energy reference data corresponding to object types of different objects, where the energy reference data may be a pulse width reference value, a pulse width reference, An energy peak reference value and an energy value sequence reference value.

An embodiment of the present invention further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, where the instructions are suitable for being loaded by a processor and executing the method steps in the embodiments shown in fig. 1 to 4, and a specific execution process may refer to specific descriptions of the embodiments shown in fig. 1 to 4, which are not described herein again.

Fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 13, the electronic device 1000 may include: at least one radar sensor 1001, at least one filter 1002, at least one processor 1003, e.g., a CPU, at least one operator 1004, at least one network interface 1008, a user interface 1006, a memory 1009, at least one communication bus 1005. A communication bus 1005 is used, among other things, to enable connective communication between these components. The user interface 1006 may include a Display screen (Display), and the optional user interface 1006 may also include a standard wired interface or a wireless interface. The network interface 1008 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1009 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 1009 may optionally be at least one storage device located remotely from the processor 1003. As shown in fig. 13, the memory 1009, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a barrier control application program.

In the electronic device 1000 shown in fig. 13, the user interface 1006 is mainly used for providing an interface for a user to input, such as displaying the environment of the current monitoring area, acquiring a manual brake lever control command input by the user, and the like; the network interface 1008 is mainly used for data communication with a background server, and reporting currently monitored environmental data in real time; the processor 1003 may be configured to call the barrier control application stored in the memory 1009, and specifically perform the following operations:

collecting a sampling signal sequence obtained by reflecting a radar beam of a radar sensor 1001 in a monitoring area within the current detection time, and determining that a target object exists in the monitoring area according to the sampling signal sequence;

In one embodiment, before the processor 1001 acquires a sampling signal sequence obtained by reflecting a radar beam of the radar sensor 1001 in a monitoring area within a current detection time and determines that a target object exists in the monitoring area according to the sampling signal sequence, the following operations are further performed:

collecting a sample signal sequence obtained by reflecting a radar beam of a radar sensor 1001 in a monitoring area, and acquiring a sample energy value sequence of the monitoring area according to the sample signal sequence;

the control arithmetic unit 1004 acquires the background noise data of the monitoring area according to the sample energy value sequence, and acquires the signal-to-noise ratio value of the monitoring area according to the sample signal sequence;

the control operator 1004 obtains a background noise threshold value of the monitored area using the background noise data and the signal-to-noise ratio value.

In one embodiment, when the processor 1001 obtains the background noise data of the monitored area according to the sample energy value sequence and obtains the signal-to-noise ratio value of the monitored area according to the sample signal sequence, it specifically performs the following operations:

acquiring a sample average value, a sample maximum value, a sample minimum value and a sample root mean square value of the sample energy value sequence, and determining the sample average value, the sample maximum value, the sample minimum value and the sample root mean square value as background noise data of the monitoring area;

the control arithmetic unit 1004 acquires an initial signal reflection intensity value of the monitoring area, and acquires a noise signal reflection intensity value of the monitoring area according to the initial signal reflection intensity value and a sample magnitude spectrum of the sample signal sequence;

the control arithmetic unit 1004 obtains the signal-to-noise ratio of the monitored area according to the initial signal reflection intensity value and the noise signal reflection intensity value.

In one embodiment, when the processor 1001 acquires a sampling signal sequence obtained by reflecting a radar beam of the radar sensor 1001 in a monitoring area within current detection time and determines that a target object exists in the monitoring area according to the sampling signal sequence, the following operations are specifically performed:

collecting a sampling signal sequence obtained by reflecting a radar beam of a radar sensor 1001 in a monitoring area within current detection time, and controlling an arithmetic unit 1004 to obtain a signal energy value of the monitoring area based on the sampling signal sequence;

the control arithmetic unit 1004 acquires a sampling energy value sequence containing the signal energy values acquired at a plurality of continuous detection times, and calculates a sampling average value of the sampling energy value sequence;

and when the sampling average value is larger than the background noise threshold value, determining that a target object exists in the monitored area.

In an embodiment, when the processor 1001 acquires a sampling signal sequence obtained by reflecting a radar beam of the radar sensor 1001 in a monitoring area within a current detection time and acquires a signal energy value of the monitoring area based on the sampling signal sequence, the following operations are specifically performed:

collecting a sampling signal sequence obtained by reflecting a radar beam of a radar sensor 1001 in a monitoring area within the current detection time;

the control arithmetic unit 1004 performs coherent accumulation processing on the sampling signal sequence to obtain a first signal sequence, performs blocking processing on the first signal sequence to obtain a second signal sequence, and performs windowing processing on the second signal sequence to obtain a third signal sequence;

the control arithmetic unit 1004 performs fourier transform processing on the third signal sequence to obtain a fourth signal sequence, and obtains a power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence;

the control arithmetic unit 1004 acquires the detection distance of the monitoring area, acquires the power spectrum frequency point contained in the detection distance, and acquires the signal energy value of the monitoring area according to the power spectrum sequence and the power spectrum frequency point.

collecting a sampling signal sequence obtained by reflecting a radar beam in a monitoring area within the current detection time, and obtaining a differential signal of adjacent sampling signals in the sampling signal sequence to generate a differential signal sequence;

the control filter 1002 performs filtering processing on the differential signal sequence to obtain a time domain signal sequence, and obtains a mean square value of the time domain signal sequence;

the control arithmetic unit 1004 acquires a mean square value sequence which is acquired by a plurality of continuous detection times and contains the mean square value, and calculates a variance value of the mean square value sequence;

and when the variance value is larger than a preset threshold value, determining that a target object exists in the monitoring area.

In one embodiment, when performing matching processing on the signal energy data corresponding to the sampling signal sequence to identify the object type of the target object, the processor 1001 specifically performs the following operations:

and acquiring at least one signal energy data of a pulse width value, an energy peak value and a sampling energy value sequence corresponding to the sampling signal sequence, and performing matching processing on the signal energy data by adopting energy reference data to identify the object type of the target object.

In one embodiment, the processor 1001, when performing the control of the bar of the barrier according to the identified object type, specifically performs the following operations:

when the gate rod of the barrier gate is in an open state and the recognized object type is a pedestrian type, controlling the gate rod of the barrier gate to keep opening;

when the gate rod of the barrier gate is in an opening state and the recognized object type is the vehicle type, if the target object is detected to be in a state close to the barrier gate, controlling the gate rod of the barrier gate to keep opening;

and when the gate rod of the barrier gate is in an opening state and the recognized object type is the vehicle type, if the target object is detected to be in a state far away from the barrier gate, controlling the gate rod of the barrier gate to execute a closing action.

when the gate rod of the barrier gate executes closing action and the identified object type is the pedestrian type, controlling the gate rod of the barrier gate to execute opening action;

when the gate rod of the barrier gate executes closing action and the recognized object type is the vehicle type, if the target object is detected to be in a state close to the barrier gate, the gate rod of the barrier gate is controlled to execute opening action;

and when the brake lever of the barrier gate executes closing action and the recognized object type is the vehicle type, if the target object is detected to be in a state of being far away from the barrier gate, controlling the brake lever of the barrier gate to keep executing closing action.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims

1. A barrier gate control method is applied to a monitoring area including a barrier gate, and is characterized by comprising the following steps:

filtering the differential signal sequence to obtain a time domain signal sequence, and obtaining a mean square value of the time domain signal sequence;

acquiring a mean square value sequence which contains the mean square value and is acquired by a plurality of continuous detection times, and calculating a variance value of the mean square value sequence;

acquiring a signal energy value of the monitoring area based on the sampling signal sequence;

acquiring a sampling energy value sequence which is acquired by a plurality of continuous detection times and contains the signal energy value, and calculating a sampling average value of the sampling energy value sequence;

when the variance value is larger than a preset threshold value or the sampling average value is larger than a background noise threshold value of the monitoring area, determining that a target object exists in the monitoring area;

performing matching processing on the signal energy data corresponding to the sampling signal sequence to identify the object type of the target object; the object types of the target object include a pedestrian object type and a vehicle object type;

2. The method of claim 1, further comprising:

acquiring a sample signal sequence obtained by reflecting a radar beam in a monitoring area, and acquiring a sample energy value sequence of the monitoring area according to the sample signal sequence;

acquiring background noise data of the monitoring area according to the sample energy value sequence, and acquiring a signal-to-noise ratio value of the monitoring area according to the sample signal sequence;

and acquiring the background noise threshold value of the monitoring area by adopting the background noise data and the signal-to-noise ratio value.

3. The method of claim 2, wherein obtaining background noise data for the monitored region from the sequence of sample energy values and obtaining signal-to-noise values for the monitored region from the sequence of sample signals comprises:

acquiring an initial signal reflection intensity value of the monitoring area, and acquiring a noise signal reflection intensity value of the monitoring area according to the initial signal reflection intensity value and a sample amplitude spectrum of the sample signal sequence;

and acquiring the signal-to-noise ratio of the monitoring area according to the initial signal reflection intensity value and the noise signal reflection intensity value.

4. The method of claim 1, wherein said obtaining a signal energy value for the monitored region based on the sequence of sampled signals comprises:

performing coherent accumulation processing on the sampling signal sequence to obtain a first signal sequence, performing blocking processing on the first signal sequence to obtain a second signal sequence, and performing windowing processing on the second signal sequence to obtain a third signal sequence;

performing Fourier transform processing on the third signal sequence to obtain a fourth signal sequence, and obtaining a power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence;

and acquiring the detection distance of the monitoring area, acquiring a power spectrum frequency point contained in the detection distance, and acquiring a signal energy value of the monitoring area according to the power spectrum sequence and the power spectrum frequency point.

5. The method of claim 1, wherein the matching the signal energy data corresponding to the sequence of sampled signals to identify the object type of the target object comprises:

6. The method of claim 1, wherein controlling a brake bar of the barrier according to the identified object type comprises:

7. The method of claim 1, wherein controlling a brake bar of the barrier according to the identified object type comprises:

8. A barrier gate control device is applied to a monitoring area including a barrier gate, and is characterized by comprising:

the brake bar control module is used for controlling the brake bar of the barrier gate according to the identified object type;

wherein the object confirmation module is specifically configured to:

collecting a sampling signal sequence obtained by reflecting the radar wave beam in the monitoring area within the current detection time, and acquiring a differential signal of an adjacent sampling signal in the sampling signal sequence to generate a differential signal sequence;

and when the variance value is larger than a preset threshold value or the sampling average value is larger than a background noise threshold value of the monitoring area, determining that a target object exists in the monitoring area.

9. The apparatus of claim 8, further comprising:

the system comprises a sample sequence acquisition module, a data acquisition module and a data processing module, wherein the sample sequence acquisition module is used for acquiring a sample signal sequence obtained by reflecting a radar beam in a monitoring area and acquiring a sample energy value sequence of the monitoring area according to the sample signal sequence;

a signal-to-noise ratio acquisition module, configured to acquire background noise data of the monitored area according to the sample energy value sequence, and acquire a signal-to-noise ratio value of the monitored area according to the sample signal sequence;

a threshold value obtaining module, configured to obtain the background noise threshold value of the monitored area by using the background noise data and the signal-to-noise ratio.

10. The apparatus of claim 9, wherein the signal-to-noise ratio acquisition module comprises:

the noise data acquisition unit is used for acquiring a sample average value, a sample maximum value, a sample minimum value and a sample root mean square value of the sample energy value sequence, and determining the sample average value, the sample maximum value, the sample minimum value and the sample root mean square value as the background noise data of the monitoring area;

an intensity value obtaining unit, configured to obtain an initial signal reflection intensity value of the monitoring area, and obtain a noise signal reflection intensity value of the monitoring area according to the initial signal reflection intensity value and a sample magnitude spectrum of the sample signal sequence;

and the signal-to-noise ratio acquisition unit is used for acquiring the signal-to-noise ratio of the monitoring area according to the initial signal reflection intensity value and the noise signal reflection intensity value.

11. The apparatus of claim 8, wherein the object confirmation module comprises:

the signal processing subunit is configured to perform coherent accumulation processing on the sampling signal sequence to obtain a first signal sequence, perform blocking processing on the first signal sequence to obtain a second signal sequence, and perform windowing processing on the second signal sequence to obtain a third signal sequence;

the power spectrum acquisition subunit is configured to perform fourier transform processing on the third signal sequence to acquire a fourth signal sequence, and acquire a power spectrum sequence corresponding to the sampling signal sequence according to the fourth signal sequence;

and the energy value acquisition subunit is used for acquiring the detection distance of the monitoring area, acquiring the power spectrum frequency point contained in the detection distance, and acquiring the signal energy value of the monitoring area according to the power spectrum sequence and the power spectrum frequency point.

12. The apparatus according to claim 8, wherein the type identification module is specifically configured to obtain at least one signal energy data of a pulse width value, an energy peak value, and a sampling energy value sequence corresponding to the sampling signal sequence, and perform matching processing on the signal energy data by using energy reference data to identify the object type of the target object.

13. The apparatus of claim 8, wherein the brake lever control module is specifically configured to:

14. The apparatus of claim 8, wherein the brake lever control module is specifically configured to:

15. A computer storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to carry out the method steps according to any one of claims 1 to 7.

16. An electronic device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the steps of: