CN111897278B - Barrier gate control method and system based on radar - Google Patents
Barrier gate control method and system based on radar Download PDFInfo
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- CN111897278B CN111897278B CN202011065823.4A CN202011065823A CN111897278B CN 111897278 B CN111897278 B CN 111897278B CN 202011065823 A CN202011065823 A CN 202011065823A CN 111897278 B CN111897278 B CN 111897278B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
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Abstract
The invention provides a radar-based barrier gate control method which is used for controlling the lifting of a barrier gate. The barrier gate control method comprises the following steps: detecting a detection area by using a radar and acquiring an echo signal; judging whether a detection target exists in the echo signal; when a detection target exists in the echo signal, analyzing the echo signal and extracting a plurality of characteristic values; judging whether the detection target is a gate rod of the barrier according to the characteristic value; and controlling the lifting of the barrier gate according to the state of the barrier gate and the judgment result. The state of the barrier comprises a moving state and a static state. In addition, the invention also provides a barrier gate control system based on the radar. The technical scheme of the invention effectively solves the problem of false identification of the detection target by the barrier gate radar.
Description
Technical Field
The invention relates to the technical field of radar detection, in particular to a barrier gate control method and system based on radar.
Background
With the development of science and technology, parking systems are more and more intelligent. In a parking system, access control is a key link. In the access control, the gate machine usually utilizes a barrier radar to identify the access of vehicles, and controls the rise and fall of the barrier with a gate bar according to the identification result.
However, when the barrier radar recognizes the entrance and exit of the vehicle, the target data acquired by the barrier radar includes the data of the barrier bars in addition to the vehicle data because the barrier bars exist within the detection range of the barrier radar. The data of the barrier bars often cause misjudgment of the barrier radar, so that the control of the barrier is wrong.
Disclosure of Invention
The invention provides a barrier gate control method and system based on radar, which can accurately control a barrier gate.
In a first aspect, an embodiment of the present invention provides a barrier gate control method based on a radar, which is used for controlling the lifting of a barrier gate, and the barrier gate control method includes:
detecting a detection area by using a radar and acquiring an echo signal;
judging whether a detection target exists in the echo signal or not;
when a detection target exists in the echo signal, analyzing the echo signal and extracting a plurality of characteristic values;
judging whether the detection target is a gate bar of a barrier according to the characteristic value;
and controlling the lifting of the barrier according to the state of the barrier and the judgment result, wherein the state of the barrier comprises a motion state and a static state.
Optionally, the moving state includes a rod lifting state and a rod falling state, and controlling the lifting of the barrier gate according to the state of the barrier gate and the determination result specifically includes:
when the detection target is not a gate rod and the barrier is in a rod-falling state, controlling the barrier to lift a rod; or
And when the detection target is only the gate rod and the barrier is in a rod lifting state, controlling the barrier to drop.
Optionally, the motion state includes a rod lifting state and a rod falling state, the rest state includes a first position staying close to the ground and a second position staying far away from the ground, and the barrier gate control method further includes:
and when the detection target does not exist in the echo signal and the barrier gate is at the second position, controlling the barrier gate to drop the rod.
Optionally, the determining, according to the characteristic value, whether the detection target is a gate rail of a barrier includes:
acquiring a first reliability of the detection target according to the length;
obtaining a second reliability of the detection target according to the width;
calculating according to the first reliability and the second reliability to obtain a third reliability;
and judging whether the detection target is the gate rail according to the third credibility.
Optionally, analyzing the echo signal and extracting a plurality of feature values specifically includes:
processing the echo signals to form point cloud data;
acquiring coordinate values of each point in the point cloud data in a radar coordinate system, wherein the coordinate values comprise coordinate values of an x axis and coordinate values of a y axis;
taking the maximum value of the y-axis coordinate value in the point cloud data as the length of the detection target;
and taking the difference between the maximum value of the x-axis coordinate value and the minimum value of the x-axis coordinate value in the point cloud data as the width of the detection target.
Optionally, judging whether the detection target is a gate rail of a barrier according to the characteristic value further includes:
acquiring a fourth credibility about the detection target according to the variance of the y-axis coordinate value in the point cloud data;
calculating to obtain a fifth reliability according to the first reliability, the second reliability and the fourth reliability;
and judging whether the detection target is the gate rail according to the fifth credibility.
Optionally, judging whether the detection target is the gate rail according to the fifth reliability specifically includes:
judging whether the fifth credibility is a preset value or not;
when the fifth reliability is a preset value, identifying that the detection target is a fence rod;
and when the fifth credibility is not a preset value, identifying that the detection target is not the fence rod.
Optionally, the barrier gate control method further includes:
accumulating the times that the fifth reliability is a preset value;
judging whether the frequency of the fifth reliability being a preset value is equal to a first preset frequency or not;
when the number of times that the fifth reliability is a preset value is equal to a first preset number of times, identifying that the detection target is a fence rod;
and when the times that the fifth reliability is a preset value are not equal to the first preset times, identifying that the detection target is not the gate rod.
Optionally, after obtaining the first reliability of the detection target according to the length, the barrier control method further includes:
judging whether the number of times of obtaining the first reliability is larger than a second preset number of times;
and when the number of times of acquiring the first reliability is less than or equal to a second preset number of times, detecting the detection area again by using the radar.
In a second aspect, an embodiment of the present invention provides a radar-based barrier gate control system, where the barrier gate control system includes a radar and a main control device electrically connected to the radar, and the main control device includes a processor and a memory, where the memory is used to store barrier gate control program instructions, and the processor is used to execute the barrier gate control program instructions to implement a radar-based barrier gate control method; the barrier gate control method comprises the following steps:
detecting a detection area by using a radar and acquiring an echo signal;
judging whether a detection target exists in the echo signal or not;
when a detection target exists in the echo signal, analyzing the echo signal and extracting a plurality of characteristic values;
judging whether the detection target is a gate bar of a barrier according to the characteristic value;
and controlling the lifting of the barrier according to the state of the barrier and the judgment result, wherein the state of the barrier comprises a motion state and a static state.
According to the radar-based barrier gate control method and system, the lifting of the barrier gate is controlled according to the state of the barrier gate and the result of judging whether the detection target is the gate rail of the barrier gate, so that the identification accuracy can be effectively improved, and the barrier gate can be accurately controlled.
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 structures shown in the drawings without creative efforts.
Fig. 1 is a flowchart of a barrier gate control method according to a first embodiment of the present invention.
Fig. 2 is a sub-flowchart of a barrier gate control method according to a first embodiment of the present invention.
Fig. 3 is a first sub-flowchart of a barrier gate control method according to a first embodiment of the present invention.
Fig. 4 is a second sub-flowchart of the barrier gate control method according to the first embodiment of the present invention.
Fig. 5 is a partial flowchart of a barrier gate control method according to a second embodiment of the present invention.
Fig. 6 is a partial flowchart of a barrier gate control method according to a third embodiment of the present invention.
Fig. 7 is a schematic view of an application scenario of the barrier gate control method according to the embodiment of the present invention.
Fig. 8 is a schematic diagram of a radar detection area in the application scenario shown in fig. 7.
Fig. 9 is a schematic diagram of the application scenario of fig. 7 with the barrier in the first position.
Fig. 10 is a schematic diagram of the application scenario of fig. 7 with the barrier in the second position.
Fig. 11 is a table showing the state change of the barrier in the application scenario shown in fig. 7.
Fig. 12 is a schematic internal structural diagram of a barrier gate control system according to an embodiment of the present invention.
DESCRIPTION OF SYMBOLS IN THE DRAWINGS
| Reference numerals | Name (R) | Reference numerals | Name (R) | |
| 1000 | Barrier |
300 | |
|
| 100 | |
400 | |
|
| 200 | |
500 | Road gate rod | |
| 210 | Processor with a memory having a plurality of |
600 | Railing rod | |
| 220 | |
700 | Vehicle with a steering wheel | |
| | Detection area | 800 | Pedestrian |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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 terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances, in other words that the embodiments described are to be practiced in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variation thereof, may also include other things, such as processes, methods, systems, articles, or apparatus that comprise a list of steps or elements is not necessarily limited to only those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such processes, methods, articles, or apparatus.
It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Please refer to fig. 1 and fig. 7 in combination, which are a flowchart of a barrier gate control method and a schematic diagram of an application scenario of the barrier gate control method according to a first embodiment of the present invention. The barrier control method based on the radar 100 may be applied to, but not limited to, an entrance and an exit of a parking lot, a residential area, etc., for controlling the elevation of a barrier provided at the entrance and the exit. Taking the application scenario shown in fig. 7 as an example, the current application scenario is an entrance of a parking lot, and a gate 400 and a barrier 300 (shown in fig. 9) electrically connected to the gate 400 are disposed at the entrance. The barrier gate 300 includes a barrier gate rod 500 and a gate bar 600 disposed on one side of the barrier gate rod 500 close to the ground. In this embodiment, the radar 100 is mounted to the gate 400 and faces the barrier gate bar 500. This application scenario will be described in detail below as an example. In the present embodiment, the radar 100 is a 79GHz millimeter wave radar, and the detection period of the radar 100 is 50 milliseconds. In some possible embodiments, the radar 100 may be a 24GHz millimeter wave radar or a 77GHz millimeter wave radar, which is not limited herein. The barrier gate control method provided by the first embodiment specifically includes the following steps.
And S102, detecting the detection area by using a radar and acquiring an echo signal. Specifically, the method controls the radar 100 to detect the detection area a using the main control device 200 electrically connected to the radar 100. When the radar 100 detects, electromagnetic waves are emitted outward. When an electromagnetic wave hits an object, the object reflects the electromagnetic wave to form an echo signal, and the echo signal is received by the radar 100. In this embodiment, the central axis direction of the detection area a of the radar 100 is the same as the installation direction of the barrier rod 500, the detection area a of the radar 100 has a certain horizontal azimuth, the farthest distance detected by the radar 100 is matched with the length of the barrier rod 500, and the detection area a is a sector symmetrically distributed on both sides of the barrier rod 500 (as shown in fig. 8). The horizontal azimuth of the detection area a and the farthest distance detected by the radar 100 may be set according to an actual scene, and are not limited herein. In the current application scenario, the length of the barrier bar 500 is 3 meters, and the farthest distance detected by the radar 100 is set to 3.5 meters.
And step S104, judging whether the detection target exists in the echo signal. Specifically, since the electromagnetic wave emitted by the radar 100 generates an echo signal when it hits an object, the method determines the echo signal by using the main control device 200. When the radar 100 is installed in the gate 400, a background area with respect to an installation scene needs to be set in the radar 100. That is, when no pedestrian, vehicle, or the like passes through in the installation scene, the radar 100 transmits electromagnetic waves to the detection area a and receives echo signals that form background information about the detection area a in the radar 100. When an object that is not present in the background region is present in the detection region a, information about the object is present in the echo signal received by the radar 100, that is, a detection target is present in the echo signal. Therefore, the radar 100 can determine whether or not the detection target exists in the echo signal based on the preset background region. In the present embodiment, when the background area is set in the radar 100, the barrier gate 300 is stationary at the second position (as shown in fig. 10) far from the ground. That is, when the barrier 300 is in the second position, the radar 100 does not determine the barrier 300 as the detection target. In some possible embodiments, when the background area is set in the radar 100, the barrier gate 300 may be stationary at a first position close to the ground, or may be located at other positions; the barrier gate 300 may not be included in the background region of the radar 100, which is not limited herein.
And step S106, when the detection target exists in the echo signal, analyzing the echo signal and extracting a plurality of characteristic values. Specifically, the method analyzes the echo signal using the main control device 200. In the present embodiment, the characteristic value includes the length and width of the detection target. In some possible embodiments, the characteristic value may further include a size of the detection target, an echo intensity, a metal reflection value, or the like. In the current application scenario, the barrier gate is in the second position, and there are a vehicle 700 passing through the entrance and the exit and moving in a direction away from the entrance and the exit, and a pedestrian 800 moving in a direction opposite to the movement direction of the vehicle 700 and toward the entrance and the exit in the detection area a, then there is a detection target in the echo signal.
Please refer to fig. 2, which is a sub-flowchart of a barrier gate control method according to a first embodiment of the present invention. Step S106 specifically includes the following steps.
Step S1061, processing the echo signal to form point cloud data. Specifically, the method processes the echo signal received by the radar 100 by using the main control device 200 to form point cloud data about the detection target. The point cloud data comprises a plurality of points corresponding to the outline of the detection target.
And step S1063, acquiring coordinate values of each point in the point cloud data in a radar coordinate system. Specifically, the method uses the main control device 200 to obtain the coordinate value of each point in the point cloud data in the radar coordinate system. That is, the main control apparatus 200 acquires the coordinate values of each point corresponding to the detection target outer contour. Wherein the coordinate values include coordinate values of an x-axis and coordinate values of a y-axis. In the current application scenario, the x-axis of the radar coordinate system is perpendicular to the central axis of the detection area a of the radar 100, that is, the x-axis is perpendicular to the barrier gate rod 500; the y-axis of the radar coordinate system coincides with the central axis of the detection area a of the radar 100, i.e. the y-axis coincides with the barrier rod 500 (as shown in fig. 8).
Step S1065, taking the maximum value of the y-axis coordinate value in the point cloud data as the length of the detection target. Specifically, the method uses the main control device 200 to obtain y-axis coordinate values of all points in the point cloud data, and uses the maximum value of the y-axis coordinate values as the length of the detection target. In the current application scenario, the detection targets are the vehicle 700 and the pedestrian 800. The perpendicular distance between the side of the vehicle 700 far away from the x-axis and the x-axis is 2.5 meters, and the length of the vehicle 700 in the radar coordinate system can be obtained according to the point cloud data of the vehicle 700, and is 2.5 meters. The vertical distance between the side of the pedestrian 800 far away from the x axis and the x axis is 3 meters, and the length of the pedestrian 800 in the radar coordinate system can be obtained according to the point cloud data of the pedestrian 800.
Step S1067, using the difference between the maximum value of the x-axis coordinate value and the minimum value of the x-axis coordinate value in the point cloud data as the width of the detection target. Specifically, the method uses the main control device 200 to obtain the coordinate values of the x axes of all the points in the point cloud data, selects the maximum value and the minimum value in the coordinate values of the x axes, and calculates the difference between the maximum value and the minimum value to be used as the width of the detection target. In the current application scenario, the detection targets are the vehicle 700 and the pedestrian 800. The width of the vehicle 700 in the radar coordinate system is 4 meters according to the point cloud data of the vehicle 700, and the width of the pedestrian 800 in the radar coordinate system is 0.3 meters according to the point cloud data of the pedestrian 800.
In the embodiment, the maximum value of the y-axis coordinate value in the point cloud data is selected as the length of the detection target, the maximum value and the minimum value of the x-axis coordinate value in the point cloud data are selected, and the difference between the maximum value and the minimum value is calculated as the width of the detection target, so that the calculation amount and the storage amount of the main control equipment are greatly reduced, and the calculation time is effectively shortened.
Referring to fig. 1 again, in step S108, it is determined whether the detected object is a gate bar of a barrier according to the feature value. Specifically, the method determines whether the detection target is the barrier rod 600 of the barrier 300 by using the main control apparatus 200 according to the length and width of the detection target.
Please refer to fig. 3, which is a first sub-flowchart of a barrier gate control method according to a first embodiment of the present invention. Step S108 specifically includes the following steps.
Step S1081, a first reliability regarding the detection target is acquired from the length. Specifically, the present method determines whether the length of the detection target is greater than a first threshold value using the main control device 200. When the length of the detection target is greater than the first threshold value, confirming that the probability that the detection target is the gate rail 600 is high, and taking the first numerical value as a first credibility; when the length of the detection target is less than or equal to the first threshold value, the probability that the detection target is the gate rail 600 is determined to be small, and then the second value is taken as the first reliability. Wherein the first value is greater than the second value. That is, the first confidence is used to judge the probability that the detection target is the balustrade 600. When the first reliability is high, the probability that the detection target is the gate bar 600 is high; when the first reliability is small, the probability that the detection target is the balustrade 600 is small. In this embodiment, the first threshold is the length of the barrier bar 500 minus the length of 0.5 meters; the first value is 3 and the second value is 0. In some possible embodiments, the first threshold may be the length of the barrier bar 500 minus the length of 0.4 meter, 0.6 meter or 1 meter, and the first threshold may also be set according to actual situations; the first value and the second value may be other values, but the first value is greater than the second value, and is not limited herein. In the current application scenario, the length of the barrier bar 500 is 3 meters, and the first threshold is 2.5 meters. Since the length of the vehicle 700 in the radar coordinate system is 2.5 meters, which is equal to the first threshold, the probability of confirming that the vehicle 700 is the balustrade 600 is small, and the first confidence level of the vehicle 700 is 0. Since the length of the pedestrian 800 in the radar coordinate system is 3 meters and is greater than the first threshold value, the probability of confirming that the pedestrian 800 is the gate rail 600 is high, and the first confidence level of the pedestrian 800 is 3.
Step S1083, a second reliability regarding the detection target is acquired from the width. Specifically, the present method determines whether the width of the detection target is smaller than the second threshold value using the main control apparatus 200. When the width of the detection target is smaller than the second threshold value, the probability that the detection target is the gate rail 600 is determined to be high, and then the third value is used as a second reliability; when the width of the detection target is greater than or equal to the second threshold value, it is determined that the probability that the detection target is the gate bar 600 is small, and the fourth value is taken as the second reliability. Wherein the third value is greater than the fourth value. That is, the second confidence is used to judge the probability that the detection target is the balustrade 600. When the second reliability is high, the probability that the detection target is the gate bar 600 is high; when the second reliability is small, the probability that the detection target is the balustrade 600 is small. In this embodiment, the second threshold is adapted to the thickness of the balustrade 600, which is 0.3 m; the third value is 3 as the first value, and the fourth value is 0 as the second value. In this embodiment, the third value is the same as the first value, which means that the accuracy of determining whether the detection target is the gate bar 600 by the length or the width is the same; the fourth numerical value is the same as the second numerical value, indicating that the accuracy of judging whether the detection target is the balustrade 600 by the length or the width is the same. In some possible embodiments, the second threshold may be 0.2 meter or 0.1 meter, and the second threshold may also be set according to an actual scenario; the third value may be different from the first value, the fourth value may be different from the second value, but the third value is greater than the fourth value, which is not limited herein. In the current application scenario, since the width of the vehicle 700 in the radar coordinate system is 4 meters and is greater than the second threshold, the probability of confirming that the vehicle 700 is the railing 600 is small, and the second reliability of the vehicle 700 is 0. Since the width of the pedestrian 800 in the radar coordinate system is 0.3 m, which is equal to the second threshold value, the probability of confirming that the pedestrian 800 is the gate rail 600 is small, and the second reliability of the pedestrian 800 is 0.
And step S1085, calculating to obtain a third reliability according to the first reliability and the second reliability. Specifically, the method calculates the third reliability by using the main control device 200. In this embodiment, the first reliability and the second reliability are summed to obtain a third reliability. In some possible embodiments, the first confidence level and the second confidence level may be multiplied or obtained by other operation methods, which are not limited herein. In the current application scenario, the third confidence level of the vehicle 700 is 0 and the third confidence level of the pedestrian 800 is 3.
And step S1087, judging whether the detection target is a railing rod according to the third credibility. Specifically, the method determines whether the third reliability is a set value using the main control device 200. When the third reliability is a set value, the detection target is the gate bar 600; when the third reliability is not the set value, the detection target is not the balustrade 600. In the present embodiment, the set value is the sum of the first value and the third value, i.e., the set value is 6. In the current application scenario, if the third confidence level of the vehicle 700 is not the set value, the vehicle 700 is not the balustrade 600; the third confidence level of the pedestrian 800 is not the set value, and the pedestrian 800 is not the balustrade 600.
In some possible embodiments, the main control apparatus 200 may determine whether the detection target is the gate bar 600 of the barrier 300 according to one of the size, the echo intensity, or the metal reflection value of the detection target, and the main control apparatus 200 may also determine whether the detection target is the gate bar 600 of the barrier 300 according to any several or all of the length, the width, the size, the echo intensity, or the metal reflection value of the detection target, which is not limited herein.
In the above embodiment, the length and the width of the detection target are selected to determine whether the detection target is a railing rod, and only whether the length is greater than the first threshold and whether the width is greater than the second threshold are determined, and the reliability of the detection target is obtained according to the corresponding determination result, so that the purpose of rapidly determining the detection target can be achieved. In addition, the calculation amount of the main control equipment is greatly reduced by the mode of summing the first credibility and the second credibility, and the judgment time is shortened while the detection target is accurately identified.
Referring to fig. 1 again, in step S110, the lifting of the barrier is controlled according to the state of the barrier and the judgment result. Specifically, the method controls the elevation of the barrier gate 300 by using the main control device 200 according to the state and judgment result of the barrier gate 300. The state of the barrier gate 300 includes a moving state and a static state. The motion states include a rod-lifting state and a rod-dropping state, and the rest state includes a first position (shown in fig. 9) staying close to the ground and a second position (shown in fig. 10) staying far away from the ground. The lever-up state is a process in which the barrier gate 300 moves from the first position to the second position, and the lever-down state is a process in which the barrier gate 300 moves from the second position to the first position. In the present embodiment, the main control apparatus 200 controls the bar dropping of the barrier gate 300, that is, the barrier gate 300 changes from the bar-up state to the bar-down state, and the barrier gate 300 changes from the second position to the bar-down state; or when the barrier gate 300 is in the lever-down state, the main control apparatus 200 controls the barrier gate 300 to become the lever-up state. In some possible embodiments, the main control device 200 may also control the raising of the bar of the barrier gate 300, that is, the barrier gate 300 changes from the first position to the raising state, which is not limited herein. In the current application scenario, the barrier gate 300 is in a static state and at the second position, the detection target is not the gate bar 600, so the main control device 200 does not change the state of the barrier gate 300, and the barrier gate 300 still keeps the static state.
Please refer to fig. 11, which is a table showing the state change of the barrier according to an embodiment of the present invention. And when the detection target does not exist in the echo signal and the barrier gate 300 is in the second position, controlling the barrier gate 300 to drop. That is, when the barrier 300 is in the second position, no detection target is detected in the detection area a, and the main control apparatus 200 controls the barrier 300 to become the bar falling state. Taking the current application scenario as an example, the barrier gate 300 is in the second position while the vehicle 700 is driving through the detection area a. When the vehicle 700 exits the detection area a but the pedestrian 800 has not entered the detection area a, the radar 100 detects that there is no detection target in the detection area a, and the main control device 200 controls the barrier gate 300 to become the bar-falling state.
When the detection target is not the gate bar 600 and the barrier 300 is in the rod-down state, the barrier 300 is controlled to raise the rod. That is, when the barrier gate 300 is in the rod falling process, a detection target occurs in the detection area a, and the detection target is not the gate bar 600, the main control apparatus 200 controls the barrier gate 300 to become the rod-up state. Taking the current application scenario as an example, in the process of dropping the bar of the barrier gate 300, the pedestrian 800 walks into the detection area a and is detected by the radar 100 as not being the gate bar 600, and then the main control device 200 controls the barrier gate 300 to become the bar-lifting state.
When the detection target is only the gate bar 600 and the barrier gate 300 is in the rod-up state, the barrier gate 300 is controlled to drop. That is, when the barrier gate 300 is in the rod raising process, only the barrier rod 600 is detected in the detection area a, and the main control apparatus 200 controls the barrier gate 300 to be in the rod falling state. Taking the current application scenario as an example, during the rod lifting process of the barrier gate 300, the pedestrian 800 walks through the detection area a, that is, the pedestrian 800 is not in the range of the detection area a, and the radar 100 only detects the gate rod 600, then the main control device 200 controls the barrier gate 300 to become the rod falling state.
When the barrier gate 300 is at the first position, the radar 100 detects the detection area a, and detects that the detection target is the barrier rod 600. At this time, the main control device 200 does not change the state of the barrier 300, and the barrier 300 is still in a stationary state. When the barrier gate 300 is in the first position and the radar 100 detects that the other detection target is not the gate pole 600, the main control apparatus 200 does not yet change the state of the barrier gate 300. When the barrier gate 300 is in the rod-up state or in the second position and the detection target is not the gate bar 600, the main control apparatus 200 does not change the state of the barrier gate 300. When the barrier gate 300 is in the rod falling state and the detection target is only the barrier rod 600, the main control apparatus 200 does not change the state of the barrier gate 300.
In the above embodiment, by determining whether the detection target is a barrier rod and controlling the lifting of the barrier according to the state of the barrier and the determination result, the situation that a vehicle is hit or a pedestrian is hit due to no detection of other vehicles or pedestrians during the rod falling process of the barrier can be effectively prevented. Whether the detection target is a railing rod or not is judged only according to the length and the width of the detection target, and the detection target can be identified and judged quickly and effectively. In addition, the barrier can be prevented from being interfered by the echo of the moving barrier through detecting the barrier, the barrier is judged as a detection target by mistake, and the phenomenon that the barrier is lifted when the rod is to be dropped occurs in the control process.
Please refer to fig. 4, which is a second sub-flowchart of the barrier gate control method according to the first embodiment of the present invention. The second sub-flow differs from the first sub-flow in that the second sub-flow further includes the following steps.
Step S301, a fourth credibility about the detection target is obtained according to the variance of the y-axis coordinate value in the point cloud data. Specifically, the method calculates the variance from the y-axis coordinate values of all points in the point cloud data by using the main control device 200, and determines whether the variance is smaller than a third threshold. When the variance is smaller than the third threshold, it is determined that the probability that the detection target is the gate bar 600 is high, and the fifth numerical value is used as a fourth reliability; when the variance is greater than or equal to the third threshold, it is determined that the probability that the detection target is the fence rod 600 is small, and the sixth value is taken as the fourth reliability. Wherein the fifth value is greater than the fourth value. That is, the fourth confidence is used to judge the probability that the detection target is the balustrade 600. When the fourth reliability is high, the probability that the detection target is the gate bar 600 is high; when the fourth reliability is small, the probability that the detection target is the balustrade 600 is small. In the present embodiment, the third threshold is 0.25; the fifth value is 4, the sixth value is 0 as the second value, wherein the fifth value is greater than the first value and the third value, respectively. In this embodiment, the fifth numerical value is greater than the first numerical value and the third numerical value, respectively, indicating that the accuracy of determining the detection target as the balustrade 600 by the variance of the y-axis coordinate values is greater than the accuracy of determining the detection target as the balustrade 600 by the length or the width. The sixth numerical value is the same as the second numerical value, and indicates that the accuracy of determining that the detection target is the balustrade 600 by the variance of the y-axis coordinate value, the length, or the width is the same. In some possible embodiments, the third threshold may be 0.2 or 0.3, and the third threshold may also be set according to an actual scenario; the fifth value may be the same as the first value, and the sixth value may be different from the second value, but the fifth value is greater than the sixth value, which is not limited herein.
When only the railings 600 are located in the detection target, the railings 600 are regularly distributed, and the railings 600 are completely located in the detection area a, so that the y-axis coordinate values of the railings 600 have a certain distribution rule, and the variance is small. When the detection target includes the balustrade 600 and other objects, or only other objects in the detection target, the variance is large because the combination of the balustrade 600 and other objects or other objects are not regular objects, or other objects may not be completely within the detection area a, and the y-axis coordinate values of the combination of the balustrade 600 and other objects or other objects do not have a distribution rule. In the current application scenario, the detection targets are the vehicle 700 and the pedestrian 800, since the vehicle 700 is partially located in the detection area a and partially located outside the detection area a, the pedestrian 800 is an irregular object, and the y-axis coordinate values of the vehicle 700 and the pedestrian 800 are not regularly distributed, the variances of the vehicle 700 and the pedestrian 800 are both greater than the third threshold. Therefore, the fourth reliability of the vehicle 700 is 0, and the fourth reliability of the pedestrian 800 is 0.
Step S303, a fifth reliability is calculated according to the first reliability, the second reliability, and the fourth reliability. Specifically, the method calculates the fifth reliability by using the main control device 200. In this embodiment, the first reliability, the second reliability, and the fourth reliability are summed to obtain a fifth reliability. In some possible embodiments, the first confidence level, the second confidence level, and the fourth confidence level may be multiplied or obtained by other operation methods, which are not limited herein. In the current application scenario, the fifth confidence level of the vehicle 700 is 0 and the fifth confidence level of the pedestrian 800 is 3.
Step S305, judging whether the detection target is a railing rod according to the fifth credibility. Specifically, the method determines whether the fifth reliability is a preset value by using the main control device 200. When the fifth reliability is a preset value, the detection target is identified as the gate bar 600. When the fifth reliability is not the preset value, it is recognized that the detection target is not the balustrade 600. In the present embodiment, the preset value is the sum of the first value, the third value and the fifth value, i.e. the preset value is 10. In the current application scenario, if the fifth reliability of the vehicle 700 is not the preset value, the vehicle 700 is not the balustrade 600; the fifth confidence level of the pedestrian 800 is not a preset value, and the pedestrian 800 is not the balustrade 600.
In the above embodiment, the judgment of the variance of the y-axis coordinate value is added, and whether the detection target is a railing rod is judged according to the length, the width and the variance of the y-axis coordinate value of the detection target. Since the variance is a hash used to evaluate a set of data, the bars of the fence rod are just evenly distributed, so that the y-axis coordinate value of the fence rod has a certain distribution rule. Whether the detection target is the fence rod or not is judged by using the variance, and whether the detection target is the fence rod or not can be identified more accurately. In addition, the first reliability, the second reliability and the fourth reliability are summed, so that the calculated amount of the main control equipment is greatly reduced, the detection target is accurately identified, and the judgment time is shortened.
Please refer to fig. 5, which is a partial flowchart of a barrier gate control method according to a second embodiment of the present invention. The difference between the barrier control method provided by the second embodiment and the barrier control method provided by the first embodiment is that after step S1081 is executed, the barrier control method provided by the second embodiment further includes the following steps.
Step S201, determining whether the number of times of obtaining the first reliability is greater than a second preset number of times. Specifically, the method calculates the number of times of obtaining the first reliability by using the main control device 200, and determines whether the number of times is greater than a second preset number of times. That is, the method needs to accumulate the number of data with the first reliability and determine whether the accumulated number of data with the first reliability satisfies the condition. In this embodiment, the second predetermined number of times is 10 times. In some possible embodiments, the second preset number may be 15 or 20, and the second preset number may also be set according to an actual application scenario, and is not limited herein.
And step S203, when the number of times of acquiring the first reliability is less than or equal to a second preset number of times, detecting the detection area again by using the radar. Specifically, when the number of times of acquiring the first reliability is less than or equal to a second preset number of times, step S102 is executed; when the number of times of acquiring the first reliability is greater than the second preset number of times, step S1083 is executed. That is, after data of more than 10 first degrees of confidence are cumulatively acquired, the second degree of confidence is acquired.
Other steps of the barrier gate control method provided in the second embodiment are substantially the same as those provided in the first embodiment, and are not described herein again.
In the above embodiment, the number of times of judging the length of the detection target is increased by obtaining the first reliability of the second preset number of times, so that the result of identifying whether the detection target is a railing rod is more accurate.
Please refer to fig. 6, which is a partial flowchart of a barrier gate control method according to a third embodiment of the present invention. The difference between the barrier control method provided in the third embodiment and the barrier control method provided in the second embodiment is that the barrier control method provided in the third embodiment further includes the following steps.
In step S401, the number of times that the fifth reliability is a preset value is accumulated. Specifically, the method accumulates the number of times that the fifth reliability is the preset value, using the main control apparatus 200. That is, the method needs to accumulate the number of data with the fifth reliability as the preset value, and determine whether the number of data with the fifth reliability as the preset value meets the condition.
In step S403, it is determined whether the number of times that the fifth reliability is the preset value is equal to the first preset number of times. Specifically, the method determines whether the number of times that the fifth reliability is the preset value is greater than the first preset number of times by using the main control device 200. In this embodiment, the first predetermined number of times is 5 times. In some possible embodiments, the first preset number may be 10, 8, or 3, and the first preset number may also be set according to an actual application scenario, and is not limited herein.
In step S405, when the number of times that the fifth reliability is the preset value is equal to the first preset number of times, the detection target is identified as the gate rod. Specifically, when the main control apparatus 200 determines that the number of times that the fifth reliability is the preset value is equal to the first preset number of times, that is, the number of times is 5 times, the detection target is identified as the balustrade.
In step S407, when the number of times that the fifth degree of feasibility is the preset value is not equal to the first preset number of times, it is recognized that the detection target is not the balustrade. Specifically, when the main control apparatus 200 determines that the number of times that the fifth reliability is the preset value is not equal to the first preset number of times, that is, the number of times is not 5 times, it is recognized that the detection target is not the balustrade.
Other steps of the barrier gate control method provided in the third embodiment are substantially the same as those provided in the second embodiment, and are not described herein again.
In the above embodiment, the number of times that the detection target meets the preset condition is increased by accumulating the number of times that the fifth reliability is the preset value, so that the accurate control of the barrier gate can be realized while the identification accuracy is effectively improved.
Please refer to fig. 12, which is a schematic diagram of an internal structure of a barrier gate control system according to an embodiment of the present invention. The radar-based barrier control system 1000 may be, but is not limited to, installed at an entrance of a parking lot, a residential area, etc., for controlling the elevation of an entrance barrier. The barrier gate control system 1000 includes a radar 100, and a main control device 200 electrically connected to the radar 100. When the barrier gate control system 1000 is installed at the doorway, the radar 100 may be installed at a side of the gate machine 400 facing the barrier gate; the main control device 200 is electrically connected to the barrier gate, and is used for controlling the lifting of the barrier gate. The main control device 200 may be provided separately from the radar 100, or may be an integrated device integrated with the radar 100.
In the present embodiment, the main control apparatus 200 includes a processor 210, and a memory 220. The memory 220 is used for storing barrier control program instructions, and the processor 210 is used for executing the barrier control program instructions to implement the radar-based barrier control method as described above.
In some embodiments, the processor 210 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data Processing chip, and is configured to execute the access control program instructions stored in the memory 220.
The memory 220 includes at least one type of readable storage medium including flash memory, hard disks, multimedia cards, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disks, optical disks, etc. The memory 220 may be an internal storage unit of the computer device, such as a hard disk of the computer device, in some embodiments. The memory 220 may also be a storage device of an external computer device in other embodiments, such as a plug-in hard disk provided on the computer device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and so on. Further, the memory 220 may also include both internal storage units of the computer device and external storage devices. The memory 220 may be used not only to store application software installed in the computer device and various types of data, such as codes implementing a radar-based access control method, etc., but also to temporarily store data that has been output or is to be output.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the invention are brought about in whole or in part when the computer program instructions are loaded and executed on a computer. The computer apparatus may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the unit is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that the above-mentioned numbers of the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A barrier gate control method based on radar is used for controlling the lifting of a barrier gate, and is characterized by comprising the following steps:
detecting a detection area by using a radar and acquiring an echo signal;
judging whether a detection target exists in the echo signal or not;
when a detection target exists in the echo signal, analyzing the echo signal and extracting a plurality of characteristic values;
judging whether the detection target is a gate bar of a barrier according to the characteristic value;
and controlling the lifting of the barrier according to the state of the barrier and the judgment result, wherein the state of the barrier comprises a motion state and a static state.
2. The radar-based barrier gate control method according to claim 1, wherein the motion state includes a rod-up state and a rod-down state, and controlling the barrier gate to ascend or descend according to the state of the barrier gate and the determination result specifically includes:
when the detection target is not a gate rod and the barrier is in a rod-falling state, controlling the barrier to lift a rod; or
And when the detection target is only the gate rod and the barrier is in a rod lifting state, controlling the barrier to drop.
3. The radar-based barrier control method of claim 1, wherein the motion states include a rod-up state and a rod-down state, and the rest state includes a first position staying close to the ground and a second position staying away from the ground, the barrier control method further comprising:
and when the detection target does not exist in the echo signal and the barrier gate is at the second position, controlling the barrier gate to drop the rod.
4. The radar-based barrier gate control method according to claim 1, wherein the characteristic value includes a length and a width of the detection target, and the determining whether the detection target is a barrier bar of a barrier gate according to the characteristic value specifically includes:
acquiring a first reliability of the detection target according to the length;
obtaining a second reliability of the detection target according to the width;
calculating according to the first reliability and the second reliability to obtain a third reliability;
and judging whether the detection target is the gate rail according to the third credibility.
5. The radar-based barrier gate control method according to claim 4, wherein analyzing the echo signal and extracting a plurality of feature values specifically comprises:
processing the echo signals to form point cloud data;
acquiring coordinate values of each point in the point cloud data in a radar coordinate system, wherein the coordinate values comprise coordinate values of an x axis and coordinate values of a y axis;
taking the maximum value of the y-axis coordinate value in the point cloud data as the length of the detection target;
and taking the difference between the maximum value of the x-axis coordinate value and the minimum value of the x-axis coordinate value in the point cloud data as the width of the detection target.
6. The radar-based barrier gate control method according to claim 5, wherein judging whether the detection target is a gate rail of a barrier gate according to the characteristic value further comprises:
acquiring a fourth credibility about the detection target according to the variance of the y-axis coordinate value in the point cloud data;
calculating to obtain a fifth reliability according to the first reliability, the second reliability and the fourth reliability;
and judging whether the detection target is the gate rail according to the fifth credibility.
7. The radar-based barrier gate control method of claim 6, wherein judging whether the detection target is the gate bar according to the fifth confidence level specifically comprises:
judging whether the fifth credibility is a preset value or not;
when the fifth reliability is a preset value, identifying that the detection target is a fence rod;
and when the fifth credibility is not a preset value, identifying that the detection target is not the fence rod.
8. The radar-based barrier control method of claim 7, wherein the barrier control method further comprises:
accumulating the times that the fifth reliability is a preset value;
judging whether the frequency of the fifth reliability being a preset value is equal to a first preset frequency or not;
when the number of times that the fifth reliability is a preset value is equal to a first preset number of times, identifying that the detection target is a fence rod;
and when the times that the fifth reliability is a preset value are not equal to the first preset times, identifying that the detection target is not the gate rod.
9. The radar-based barrier control method according to claim 4, wherein after acquiring the first reliability on the detection target according to the length, the barrier control method further comprises:
judging whether the number of times of obtaining the first reliability is larger than a second preset number of times;
and when the number of times of acquiring the first reliability is less than or equal to a second preset number of times, detecting the detection area again by using the radar.
10. A radar-based barrier control system, comprising a radar, and a main control device electrically connected to the radar, wherein the main control device comprises a processor and a memory, wherein the memory is used for storing barrier control program instructions, and the processor is used for executing the barrier control program instructions to realize the radar-based barrier control method according to any one of claims 1 to 9.
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| CN117092609B (en) * | 2023-10-13 | 2024-01-09 | 长沙莫之比智能科技有限公司 | Banister anti-smashing method and device, computer equipment and storage medium |
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| CN106199573B (en) * | 2016-07-11 | 2019-10-18 | 芜湖森思泰克智能科技有限公司 | Radar is mounted laterally for banister control |
| CN108230502B (en) * | 2017-12-29 | 2021-01-19 | 小儒技术（深圳）有限公司 | Barrier gate control method and device, storage medium and electronic device |
| CN109917714B (en) * | 2019-03-27 | 2020-11-10 | 森思泰克河北科技有限公司 | Barrier gate control method and device |
| CN109932702B (en) * | 2019-04-03 | 2021-07-30 | 森思泰克河北科技有限公司 | Barrier gate control method and barrier gate radar |
| CN111485514B (en) * | 2020-04-27 | 2021-12-17 | 浙江大华技术股份有限公司 | Anti-smashing control method applied to barrier gate, storage medium and detector |
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