CN108230502A - A kind of banister control method and its equipment, storage medium, electronic equipment - Google Patents
A kind of banister control method and its equipment, storage medium, electronic equipment Download PDFInfo
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- CN108230502A CN108230502A CN201711478686.5A CN201711478686A CN108230502A CN 108230502 A CN108230502 A CN 108230502A CN 201711478686 A CN201711478686 A CN 201711478686A CN 108230502 A CN108230502 A CN 108230502A
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- 238000000034 method Methods 0.000 title claims abstract description 80
- 108010076504 Protein Sorting Signals Proteins 0.000 claims abstract description 297
- 238000012544 monitoring process Methods 0.000 claims abstract description 262
- 238000001514 detection method Methods 0.000 claims description 91
- 238000001228 spectrum Methods 0.000 claims description 72
- 238000012545 processing Methods 0.000 claims description 52
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- 238000012806 monitoring device Methods 0.000 description 7
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
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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 embodiment of the present invention discloses a kind of banister control method and its equipment, storage medium, electronic equipment, and applied to comprising in the monitoring region including banister, wherein method includes the following steps：The sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time determines the monitoring region memory in target object according to the sampled signal sequence；To the sampled signal sequence, corresponding signal energy data carry out matching treatment, to identify the object type of the target object；The restrictor bar of the banister is controlled according to the object type that identification obtains.Using the present invention, the damage to carriageway surfacing can be avoided on the basis of realization automatically controls banister, influence of the natural environment to equipment is reduced, promotes the accuracy controlled banister, ensure that the anti-of banister pounds function.
Description
Technical field
The present invention relates to electronic technology field more particularly to a kind of banister control method and its equipment, storage medium, electronics
Equipment.
Background technology
Banister is the parking field device for applying in parking lot control vehicles while passing, when clearance vehicle, can control banister
Restrictor bar rise, and when vehicle pass-through after, the restrictor bar of banister can control to fall, existing banister is generally using the side of ground induction coil
Formula carries out vehicle automatic identification, however coil needs to be embedded under carriageway surfacing, therefore in installation or when safeguarding, easily due to vehicle
Road surface construction and cause parking lot for a long time can not use, meanwhile, coil is easily by the natural environments such as cold snap, saline and alkaline
It influences, affects the accuracy controlled banister, and then be easy to cause banister and there is a situation where accidentally to pound.
Invention content
The embodiment of the present invention provides a kind of banister control method and its equipment, storage medium, electronic equipment, can realize
The damage avoided on the basis of banister to carriageway surfacing is automatically controlled, influence of the natural environment to equipment is reduced, is promoted to banister
The accuracy of control ensures that the anti-of banister pounds function.
First aspect of the embodiment of the present invention provides a kind of banister control method, applied to including the monitoring section including banister
In domain, it may include：
The sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time, root
Determine the monitoring region memory in target object according to the sampled signal sequence；
To the sampled signal sequence, corresponding signal energy data carry out matching treatment, to identify the target object
Object type；
The restrictor bar of the banister is controlled according to the object type that identification obtains.
Second aspect of the embodiment of the present invention provides a kind of banister control device, applied to including the monitoring section including banister
In domain, it may include：
Object confirms module, for being reflected to obtain to radar beam in acquisition monitoring region in current sensing time
Sampled signal sequence, according to the sampled signal sequence determine it is described monitoring region memory in target object；
Type identification module carries out matching treatment for signal energy data corresponding to the sampled signal sequence, with
Identify the object type of the target object；
Restrictor bar control module, the object type for being obtained according to identification control the restrictor bar of the banister.
The third aspect of the embodiment of the present invention provides a kind of computer storage media, and the computer storage media is stored with
A plurality of instruction, described instruction are suitable for being loaded as processor and performing the method and step shown in above-mentioned first aspect.
Fourth aspect of the embodiment of the present invention provides electronic equipment, including：Processor and memory；Wherein, the storage
Device is stored with computer program, and the computer program is suitable for being loaded by the processor and performing following steps：
The sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time, root
Determine the monitoring region memory in target object according to the sampled signal sequence；
To the sampled signal sequence, corresponding signal energy data carry out matching treatment, to identify the target object
Object type；
The restrictor bar of banister is controlled according to the object type that identification obtains.
In embodiments of the present invention, the sampled signal sequence in monitoring region is acquired by way of radar beam, with true
The fixed monitoring region memory is in target object and identifies the type of the target object, and then according to practical target object type
The restrictor bar of banister is controlled, realizes the process for automatically controlling restrictor bar, while radar beam is suitable for various natural environments
In, reduce influence of the natural environment to monitoring device, improve the accuracy controlled banister, ensure that the anti-of banister pounds work(
Energy.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow diagram of banister control method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of another banister control method provided in an embodiment of the present invention；
Fig. 3 is the flow diagram that a kind of snr value provided in an embodiment of the present invention obtains；
Fig. 4 is the flow diagram that a kind of signal energy value provided in an embodiment of the present invention obtains；
Fig. 5 is a kind of example schematic of banister control provided in an embodiment of the present invention；
Fig. 6 is the example schematic of another banister control provided in an embodiment of the present invention；
Fig. 7 is a kind of structure diagram of banister control device provided in an embodiment of the present invention；
Fig. 8 is the structure diagram of another banister control device provided in an embodiment of the present invention；
Fig. 9 is the structure diagram of signal-to-noise ratio acquisition module provided in an embodiment of the present invention；
Figure 10 is the structure diagram that a kind of object provided in an embodiment of the present invention confirms module；
Figure 11 is the structure diagram of energy value acquiring unit provided in an embodiment of the present invention；
Figure 12 is the structure diagram that another object provided in an embodiment of the present invention confirms module；
Figure 13 is the structure diagram of a kind of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
Banister control method provided in an embodiment of the present invention can be applied to the vehicle pass-throughs sluice gate such as highway, parking lot
Scene in, such as：Banister control device acquires in current sensing time to radar beam reflect in monitoring region
The sampled signal sequence arrived determines the monitoring region memory in target object, the banister according to the sampled signal sequence
To the sampled signal sequence, corresponding signal energy data carry out matching treatment to control device, to identify the target object
Object type, the banister control device control the restrictor bar of the banister according to the object type that identification obtains.Pass through
The mode of radar beam acquires the sampled signal sequence in monitoring region, with determine the monitoring region memory in target object and
It identifies the type of the target object, and then the restrictor bar of banister is controlled according to practical target object type, realize certainly
The process of dynamic control restrictor bar, while radar beam reduces natural environment to monitoring device suitable for various natural environments
It influences, improves the accuracy controlled banister, ensure that the anti-of banister pounds function.
The present embodiments relate to banister control device can be collection radar sensor, arithmetic unit, processor, banister control
The banister monitor terminal of the one such as device processed.
Below in conjunction with attached drawing 1- attached drawings 4, describe in detail to banister control method provided in an embodiment of the present invention.
Fig. 1 is referred to, for an embodiment of the present invention provides a kind of flow diagrams of banister control method.As shown in Figure 1,
The embodiment of the present invention the method may include following steps S101- steps S103.
S101, the sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time
Row determine the monitoring region memory in target object according to the sampled signal sequence；
Radar beam is sent out in monitoring region specifically, banister control device can acquire in current sensing time
The sampled signal sequence penetrated, the detection time are a preset sampling time section, such as：20 milliseconds etc., institute
Current sampling time section can be expressed as by stating current sensing time, the banister control device can with control radar sensor to
The monitoring field emission radar beam in the monitoring region regardless of whether there are target object, can carry out radar beam
Transmitting, the banister control device can acquire the current inspection by AD (analog signal is converted to digital signal) high-speed sampling
The sampled signal sequence in the time is surveyed, the sampled signal sequence can include the sampled signal of preset quantity, such as：10 frames
It can be determined Deng, the banister control device according to the sampled signal sequence in the monitoring region with the presence or absence of object
Body, it is to be understood that the target object can include any objects such as pedestrian, vehicle.
S102, to the sampled signal sequence, corresponding signal energy data carry out matching treatment, to identify the target
The object type of object；
Specifically, the banister control device can the corresponding signal energy data progress to the sampled signal sequence
With processing, it is preferred that the banister control device can be pre-established with the buffering area of actual measurement energy datum acquisition, for storing
The target object is from monitoring region is entered to the signal energy data for leaving the monitoring entire envelope in region, the banister control
Control equipment can obtain pulse width values, energy peak and the sampled energy of the target object based on the sampled signal sequence
At least one of value sequence signal energy data, it is to be understood that the banister control device can be in advance for difference
The object type of object is trained, to extract the corresponding energy reference data of the object type of different objects, the energy base
Quasi- data can pulse width a reference value corresponding with signal energy data, energy peak a reference value and energy value sequence reference
Value.
The banister control device may be used energy reference data and carry out matching treatment to the signal energy data, with
Identify the object type of the target object, the object type includes pedestrian's type and type of vehicle, by identifying object
The object type of body can realize the control of restrictor bar according to accurate control logic.
S103 controls the restrictor bar of the banister according to the object type that identification obtains；
Specifically, after identification obtains the object type of target object, the banister control device can be according to identifying
To object type the restrictor bar of the banister is controlled, it is preferred that when the restrictor bar of the banister is in opening, and knows
When the object type not obtained is pedestrian's type, the restrictor bar of the banister is controlled to keep it turned on action, the opening is used for
The state of unlatching that the restrictor bar of the banister has been triggered by artificial or other induction modes is represented, at the restrictor bar of the banister
In opening, and when the obtained object type of identification is type of vehicle, need further detect target object at this time in far
State from the banister is in the state close to the banister, if detecting, the target object is in close to the road
The state of lock controls the restrictor bar of the banister to keep it turned on action；If detecting, the target object is in far from the banister
State, control the banister restrictor bar perform closing motion.And when the restrictor bar of the banister performs closing motion, and identifies
When the object type arrived is pedestrian's type, the restrictor bar of the banister is controlled to be transferred to execution breakdown action, when the restrictor bar of the banister
When performing closing motion, and identifying obtained object type as type of vehicle, need further to detect target object in separate
The state of the banister is in the state close to the banister, if detecting, the target object is in close to the banister
State, control the banister restrictor bar perform breakdown action；If detecting, the target object is in far from the banister
State controls the restrictor bar of the banister to keep performing closing motion.Such as：During restrictor bar performs closing motion, recognize
Region is monitored there are target object, and when target object is pedestrian's type or type of vehicle, the restrictor bar is controlled to perform unlatching
Action；When restrictor bar is in opening, region is monitored there are target object, and target object is type of vehicle when recognizing,
In the state for sailing out of the monitoring region, then the restrictor bar is controlled to perform closing motion etc..
In embodiments of the present invention, the sampled signal sequence in monitoring region is acquired by way of radar beam, with true
The fixed monitoring region memory is in target object and identifies the type of the target object, and then according to practical target object type
The restrictor bar of banister is controlled, realizes the process for automatically controlling restrictor bar, while radar beam is suitable for various natural environments
In, reduce influence of the natural environment to monitoring device, improve the accuracy controlled banister, ensure that the anti-of banister pounds work(
Energy.
Fig. 2 is referred to, is the flow diagram an embodiment of the present invention provides another banister control method.Such as Fig. 2 institutes
Show, the embodiment of the present invention the method may include following steps S201- steps S212.
In the mode confirmed in the first target object of the embodiment of the present invention, step S201- steps S206 is referred to.
S201, acquisition monitors the sample signal sequence reflected in region radar beam, according to the sample
Signal sequence obtains the sample energy value sequence in the monitoring region；
Specifically, banister control device can in advance calculate the ambient noise threshold value in the monitoring region, specifically
, the banister control device can acquire the sample signal sequence reflected in monitoring region radar beam, and
The sample energy value sequence in region, the sample in the sample energy value sequence are monitored according to the sample signal retrieval
This energy value can be pre-stored in the data buffer area of preset quantity, and the specific mode for calculating energy value may refer to following
The calculating process of signal energy value, herein without repeating.
S202 obtains the background noise data in the monitoring region according to the sample energy value sequence, and according to described
The snr value in region is monitored described in sample signal retrieval；
Specifically, the banister control device can obtain the sample mean of the sample energy value sequence, sample most
Big value, sample minimum and sample root-mean-square value, by the sample mean, sample maximum, sample minimum and sample
This root-mean-square value is determined as the background noise data in the monitoring region, and the banister control device can obtain the monitoring section
The initial signal reflection intensity values in domain, and according to the initial signal reflection intensity values and the sample of the sample signal sequence
Amplitude spectrum obtains the noise signal reflection intensity values in the monitoring region, and the banister control device can be according to the initial letter
Number reflection intensity values and the noise signal reflection intensity values obtain the snr value in the monitoring region.
Further, please also refer to Fig. 3, for an embodiment of the present invention provides the flow diagrams that snr value obtains.
As shown in figure 3, the flow includes：
S2021 obtains sample mean, sample maximum, sample minimum and the sample of the sample energy value sequence
The sample mean, sample maximum, sample minimum and sample root-mean-square value are determined as the prison by this root-mean-square value
Survey the background noise data in region；
Specifically, the banister control device can obtain the back of the body in the monitoring region according to the sample energy value sequence
Scape noise data, the background noise data can include the sample mean of the sample energy value sequence, sample maximum,
Sample minimum and sample root-mean-square value etc., it is assumed that the energy value of any single acquisition is Gn, and the data buffer area
Quantity is N points, then illustrates to need to obtain the sample energy value that n times measure, then sample mean X=(G0+G1+…+Gn+…+
GN-1)/N, sample maximum Y=Max (Gn), sample minimum Z=Min (Gn), sample root-mean-square value is：
Preferably, when the quantity of the data buffer area is, then illustrate the sample for needing to obtain 1024 measurements at 1024
This energy value, then sample mean X=(G0+G1+…+Gn+…+G1023)/1024, sample maximum Y=Max (Gn), sample
Minimum value Z=Min (Gn), sample root-mean-square value is：
The banister control device can further by the sample mean, sample maximum, sample minimum and
Sample root-mean-square value is determined as the background noise data in the monitoring region.
S2022 obtains the initial signal reflection intensity values in the monitoring region, and according to the initial signal reflected intensity
The sample magnitude of value and sample signal sequence spectrum obtains the noise signal reflection intensity values in the monitoring region；
Specifically, the banister control device can obtain the initial signal reflection intensity values in the monitoring region, it is described
Initial signal reflection intensity values are specially the useful signal reflection intensity values in the monitoring region, it is to be understood that assuming that
In the frequency of the maximum amplitude value of frequency domain amplitude spectrum it is F when measuring the simple target object in the monitoring area, single harmonic component
Frequency is fixed f0, F is the integral multiple of f, then the initial signal reflection intensity values can be M0=M ((F/f0)-1)+M
((F/f0))+M((F/f0)+1), the banister control device is believed according to the initial signal reflection intensity values and the sample
The noise signal reflection intensity values that the sample magnitude spectrum of number sequence obtains the monitoring region obtain the noise in the monitoring region
Signal reflex intensity value, the sample magnitude spectrum is above-mentioned frequency domain amplitude spectrum, it is assumed that the sample magnitude spectrum is M (i), wherein i
Represent the frequency point in sample magnitude spectrum, the length of entire sample magnitude spectrum may include P=512 frequency point, then the noise signal
Emissive porwer value can be：
S2023 obtains the monitoring according to the initial signal reflection intensity values and the noise signal reflection intensity values
The snr value in region；
Specifically, the banister control device can be further according to the initial signal reflection intensity values and the noise
Signal reflex intensity value obtains the snr value in the monitoring region, the snr value β=M0/N0。
S203 obtains the ambient noise thresholding in the monitoring region using the background noise data and the snr value
Value；
Specifically, the banister control device may be used described in the background noise data and snr value acquisition
Monitor the ambient noise threshold value in region, it is preferred that ambient noise threshold value A=β [X+ (Y-Z)]+V.
S204, the sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time
Row obtain the signal energy value in the monitoring region based on the sampled signal sequence；
Specifically, the detection time is a preset sampling time section, such as：It is 20 milliseconds etc., described current
Detection time can be expressed as current sampling time section, and the banister control device can be with control radar sensor to the monitoring
Field emission radar beam in the monitoring region regardless of whether there are target object, can emit radar beam, institute
The current sensing time can be acquired by AD (analog signal is converted to digital signal) high-speed sampling by stating banister control device
Interior sampled signal sequence, the sampled signal sequence can include the sampled signal of preset quantity, such as：10 frames etc., in reality
In the monitoring process on border, the banister control device can be acquired in current sensing time monitoring region in radar beam into
The sampled signal sequence that row reflection obtains obtains the signal energy value in the monitoring region based on the sampled signal sequence, excellent
Choosing, the banister control device acquires in current sensing time to be adopted in monitoring region to what radar beam was reflected
Sample signal sequence, the banister control device carry out the sampled signal sequence coherent and add up processing to obtain the first signal sequence
Row carry out first signal sequence blocking processing to obtain second signal sequence, and the second signal sequence are carried out
To obtain third signal sequence, the banister control device carries out at Fourier transform the third signal sequence for windowing process
It manages to obtain fourth signal sequence, and the corresponding power spectrum sequence of the sampled signal sequence according to the fourth signal retrieval
Row, the banister control device obtain the detection range in the monitoring region, obtain the power spectrum frequency that the detection range includes
Point, and the signal energy value for monitoring region is obtained according to the power spectrum sequence and the power spectrum frequency point.
Further, it is that an embodiment of the present invention provides the flow signals that signal energy value obtains please also refer to Fig. 4
Figure.As shown in figure 4, the flow includes：
S2041, the sampled signal reflected in acquisition monitoring region radar beam in current sensing time
Sequence；
Specifically, the banister control device can be acquired in current sensing time monitoring region in radar beam into
The sampled signal sequence that row reflection obtains, the sampled signal sequence are Sj(p), wherein j represents to sample in sampled signal sequence
Any frame in the frame number of signal, p represent that, per any one sampled point in the sampled point included in frame sampling signal, P represents every
The quantity of the sampled point included in frame sampling signal then can include S per frame sampling signalj(0)、Sj(1)、…、Sj(p)、…、
Sj(P-1), it is assumed that detection time is set as 20 milliseconds, the frame number J=10 frames of the sampled signal obtained in detection time, sampled point
P=512 points are counted, then the 1st frame sampling signal can include S1(0)、S1(1)、……、S1(511), and so on.
S2042 carries out the sampled signal sequence coherent and adds up processing to obtain the first signal sequence, to described first
Signal sequence carries out blocking processing to obtain second signal sequence, and carries out windowing process to the second signal sequence to obtain
Third signal sequence；
Specifically, the banister control device, which can carry out the sampled signal sequence coherent, add up processing to obtain the
One signal sequence, further, the banister control device can between in the sampled signal sequence per frame sampling signal phase
The sampled point answered, which carries out coherent, to be added up to handle, to obtain the first signal sequence, according to the example above, sampled signal sequence Sj
(p), coherent is carried out to the sampled signal sequence add up that treated the first signal sequence is S (p), then any sampled point p
Coherent accumulated result is S (p)=[S1(p)+S2(p)+……+Sj(p)]/J, it is assumed that frame number J=10 frames, then the 0th sampled point
Coherent accumulated result is S (0)=[S1(0)+S2(0)+……+S10(0)]/10, and so on.
The banister control device can carry out first signal sequence blocking processing to obtain second signal sequence,
Further, the banister control device can obtain the average value of first signal sequence, and according to first signal
The average value of sequence and first signal sequence obtain the second signal sequence, according to the example above, the first signal sequence
S (p) is classified as, it is S ' (p) that blocking treated second signal sequence is carried out to first signal sequence, then first signal
The average value of sequence for S (x)=[S (0)+S (1)+...+S (p)+...+S (P-1)]/P, then any sampled point p blocking processing knot
Fruit is S ' (p)=S (p)-S (x), it is assumed that sampled point number P=512 points, then the average value of the first signal sequence is S (x)=[S
(0)+S (1)+...+S (511)] the blocking handling result of/the 512, the 0th sampled point is S ' (0)=S (0)-S (x), with such
It pushes away.
The banister control device carries out the second signal sequence windowing process to obtain third signal sequence, into one
Step, the banister control device can call window function to carry out windowing process, the window function to the second signal sequence
For：
Then for 0 to any sampled point p in the range of (P-1), windowing process result is Sw (p)=S ' (p) * h (p),
Assuming that sampled point number P=512 points, then the windowing process result of the 0th sampled point is Sw (0)=S ' (0) * h (0), with such
It pushes away.
S2043 carries out the third signal sequence Fourier transform processing to obtain fourth signal sequence, and according to institute
State the corresponding power spectrum sequence of sampled signal sequence described in fourth signal retrieval；
Specifically, the banister control device can carry out Fourier transform processing to obtain to the third signal sequence
Fourth signal sequence, it is preferred that the banister control device can carry out the third signal sequence after windowing process fast
Fast Fourier transform (Fast, Fourler Transformation, FFT) handles to obtain fourth signal sequence, the third
In signal sequence the Fourier transform processing result of any sampled point be X (p)=FFT [Sw (p), P], the banister control device
Can according to the fourth signal retrieval the corresponding power spectrum sequence of sampled signal sequence, the banister control device
Can the corresponding amplitude spectral sequence of the sampled signal sequence according to the fourth signal retrieval and power spectrum sequence, it is described
Amplitude spectral sequence is above-mentioned frequency domain amplitude spectrum, it is assumed that the amplitude spectral sequence is M (p), and power spectrum sequence is O (p), wherein p tables
Show the frequency point in amplitude spectral sequence, i.e. sampled point, then the banister control device can obtain any in fourth signal sequence adopt
The corresponding Fourier transform results of sampling point, and obtain the real part X in the Fourier transform resultsR(p) and imaginary part XI(p), by described in
Real part XR(p) and imaginary part XI(p) root value is determined as the range value of the sampled point, by the real part XR(p) and imaginary part XI(p)
Quadratic sum be determined as the performance number of the sampled point, specific formula for calculation is：
O (p)=XR 2(p)+XI 2(p)
S2044 obtains the detection range in the monitoring region, obtains the power spectrum frequency point that the detection range includes, and
The signal energy value in the monitoring region is obtained according to the power spectrum sequence and the power spectrum frequency point；
Specifically, the banister control device can obtain it is described monitoring region detection range, obtain it is described detection away from
From comprising power spectrum frequency point, and obtain according to the power spectrum sequence and the power spectrum frequency point signal in the monitoring region
Energy value, due to detection range R, the modulating bandwidth △ f of radar beam and the tune of radar beam in the known monitoring region
Cycle T processed can obtain formula：
Wherein, c0It represents the light velocity, being returned to what radar beam was reflected in region may be monitored by the formula
The frequency f of wave signalD, due to known single harmonic component frequency f0, then the points of the corresponding power spectrum frequency points of detection range R can be obtained
Number L=fD/f0, signal energy value G=O (the 0)+O (1) in monitoring region that the current sensing time obtains+...+O (L).
S205 obtains the sampled energy value included including the signal energy value of continuous multiple detection time acquisitions
Sequence calculates the sample mean of the sampled energy value sequence；
Specifically, the banister control device can obtain multiple detection times acquisitions comprising the signal energy
Sampled energy value sequence including value calculates the sample mean of the sampled energy value sequence, it is to be understood that the road
Lock control device can obtain multiple signal energy values that continuous detection time is acquired, such as：Detection time is 20 milliseconds,
The reserved total duration being monitored to the monitoring region is 1 second, then the banister control device can be in the total duration
50 signal energy values are obtained, and calculate the sample mean of this 50 signal energy values.
Certainly, in order to prevent the shake of mutant target or critical ambient noise threshold value and caused by false target it is pre-
It surveys, it is therefore desirable to set a detection cycle, the detection cycle can include multiple continuous detection times, for example, described
Detection cycle is 100 milliseconds, and a detection time is 20 milliseconds, then 5 signal energy values can be obtained in the detection cycle,
The banister control device can obtain letter of the median as the detection cycle in 5 signal energy values of the continuous sampling
Number energy value, and so on, 10 signal energy values can be got in total duration, and calculate this 10 signal energy values
Sample mean.
Preferably, the banister control device may be used First Input First Output (First Input First Output,
FIFO mode) calculates the sample mean.
S206 when the sample mean is more than the ambient noise threshold value, determines that the monitoring region memory exists
Target object；
Specifically, after sample mean is got, the banister control device can further use ambient noise
Threshold value matches the sample mean, described when the sample mean is more than the ambient noise threshold value
Banister control device can determine the monitoring region memory in target object.
In the mode confirmed in second of target object of the embodiment of the present invention, step S207- steps S210 is referred to.
S207, the sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time
Row obtain the differential signal of neighbouring sample signal in the sampled signal sequence, to generate differential signal sequence；
Specifically, the banister control device can be acquired in current sensing time monitoring region in radar beam into
The sampled signal sequence that row reflection obtains obtains the differential signal of neighbouring sample signal in the sampled signal sequence, with generation
Differential signal sequence, it is to be understood that the sampled signal sequence is Sj(p), wherein j represents to sample in sampled signal sequence
Any frame in the frame number of signal, p represent that, per any one sampled point in the sampled point included in frame sampling signal, P represents every
The quantity of the sampled point included in frame sampling signal then can include S per frame sampling signalj(0)、Sj(1)、…、Sj(p)、…、
Sj(P-1), it is assumed that detection time is set as 20 milliseconds, the frame number J=10 frames of the sampled signal obtained in detection time, sampled point
P=512 points are counted, then the 1st frame sampling signal can include S1(0)、S1(1)、……、S1(511), and so on.
The banister control device can subtract each other adjacent two frame samplings signal or multiframe sampled signal, to obtain difference letter
Number sequence, by taking adjacent two frame as an example, differential signal sequence T (p)=Sj+1(p)-Sj(p)。
S208 is filtered to obtain time-domain signal sequence the differential signal sequence, and obtains the time domain
The mean-square value of signal sequence；
Specifically, the banister control device can be filtered the differential signal sequence to obtain time domain letter
Number sequence, it is to be understood that filtering parameter sequence can be preset, the quantity of the filtering parameter in the filtering parameter sequence
It can be set according to actual scene, the banister control device can carry out at FIR filtering differential signal sequence
Reason, it is assumed that the quantity of filtering parameter be u, then in the time-domain signal sequence any sampled point time-domain signal energy for U (p)=
C0*T(p)+C1*T(p-1)+……+Cu-1*T(p-50+1).Since minimum monitoring distance is corresponding in the known monitoring region
Echo frequency is fl, the corresponding echo frequency of maximum monitoring distance is fh, the acquisition frequency of the echo-signal of original radar beam reflection
Rate is fs, then can be according to fl、fhAnd fsThe filtering parameter sequence is calculated.
The banister control device can obtain the mean-square value of the time-domain signal sequence, the mean-square value Xrms2=[U
(0)2+U(1)2+……+U(P-1)2]/P。
S209 obtains the mean-square value sequence for including the mean-square value of continuous multiple detection time acquisitions, calculates institute
State the variance yields of mean-square value sequence；
Specifically, the banister control device can obtain continuous multiple detection times acquisitions comprising described square
The mean-square value sequence of value calculates the variance yields of the mean-square value sequence, it is to be understood that the banister control device can obtain
Multiple mean-square values that continuous detection time is acquired are taken, such as：Detection time is 20 milliseconds, reserved to the monitoring region
The total duration being monitored is 1 second, then the banister control device can obtain 50 mean-square values in the total duration, and calculate
The variance yields of this 50 mean-square values.
Certainly, in order to prevent the shake of mutant target or critical ambient noise threshold value and caused by false target it is pre-
It surveys, it is therefore desirable to set a detection cycle, the detection cycle can include multiple continuous detection times, for example, described
Detection cycle is 100 milliseconds, and a detection time is 20 milliseconds, then 5 mean-square values can be obtained in the detection cycle, described
Banister control device can obtain mean-square value of the median as the detection cycle in 5 mean-square values of the continuous sampling, with
This analogizes, and 10 mean-square values can be got in total duration, and calculate the variance yields of this 10 mean-square values.
Preferably, the banister control device may be used the mode of FIFO and the variance yields calculated.
S210 when the variance yields is more than predetermined threshold value, determines the monitoring region memory in target object；
Specifically, after variance yields is got, the banister control device can be further using predetermined threshold value to institute
It states variance yields to be matched, when the variance yields is more than the predetermined threshold value, the banister control device can determine described
Region memory is monitored in target object, the predetermined threshold value is preferably 0.
It should be noted that the first realization method whether there is target object using background method to monitoring in region
Judged, it is suitable for the monitoring of static target, second of realization method using frame difference method in monitoring region whether
There are target objects to be judged, it is suitable for the monitoring of fine motion target, two kinds of realization methods may be used in the embodiment of the present invention
Any region to monitoring in judge with the presence or absence of target object, can also be simultaneously using two kinds of realization methods while right
Monitoring is judged in region with the presence or absence of target object, can specifically be selected according to actual use scene, it is possible to understand that
, at the same time using two kinds of realization methods when, mainly judge to monitor that there are targets in region in one of the implementation manners
During object, you can determine that there are target objects in the currently monitored region.The target object can include pedestrian, vehicle etc. and appoint
One object.
S211, to the sampled signal sequence, corresponding signal energy data carry out matching treatment, to identify the target
The object type of object；
Specifically, the banister control device can the corresponding signal energy data progress to the sampled signal sequence
With processing, it is preferred that the banister control device can be pre-established with the buffering area of actual measurement energy datum acquisition, for storing
The target object is from monitoring region is entered to the signal energy data for leaving the monitoring entire envelope in region, the banister control
Control equipment can obtain pulse width values, energy peak and the sampled energy of the target object based on the sampled signal sequence
At least one of value sequence signal energy data, it is to be understood that the banister control device can be in advance for difference
The object type of object is trained, to extract the corresponding energy reference data of the object type of different objects, the energy base
Quasi- data can pulse width a reference value corresponding with signal energy data, energy peak a reference value and energy value sequence reference
Value.
The banister control device may be used energy reference data and carry out matching treatment to the signal energy data, with
Identify the object type of the target object, the object type includes pedestrian's type and type of vehicle, by identifying object
The object type of body can realize the control of restrictor bar according to accurate control logic.
S212 controls the restrictor bar of the banister according to the object type that identification obtains；
Specifically, after identification obtains the object type of target object, the banister control device can be according to identifying
To object type the restrictor bar of the banister is controlled, it is preferred that when the restrictor bar of the banister is in opening, and knows
When the object type not obtained is pedestrian's type, the restrictor bar of the banister is controlled to keep it turned on action, the opening is used for
The state of unlatching that the restrictor bar of the banister has been triggered by artificial or other induction modes is represented, at the restrictor bar of the banister
In opening, and when the obtained object type of identification is type of vehicle, need further detect target object at this time in far
State from the banister is in the state close to the banister, if detecting, the target object is in close to the road
The state of lock controls the restrictor bar of the banister to keep it turned on action；If detecting, the target object is in far from the banister
State, control the banister restrictor bar perform closing motion.And when the restrictor bar of the banister performs closing motion, and identifies
When the object type arrived is pedestrian's type, the restrictor bar of the banister is controlled to be transferred to execution breakdown action, when the restrictor bar of the banister
When performing closing motion, and identifying obtained object type as type of vehicle, need further to detect target object in separate
The state of the banister is in the state close to the banister, if detecting, the target object is in close to the banister
State, control the banister restrictor bar perform breakdown action；If detecting, the target object is in far from the banister
State controls the restrictor bar of the banister to keep performing closing motion.Such as：During restrictor bar performs closing motion, recognize
Region is monitored there are target object, and when target object is pedestrian's type or type of vehicle, the restrictor bar is controlled to perform unlatching
Action；When restrictor bar is in opening, region is monitored there are target object, and target object is type of vehicle when recognizing,
In the state for sailing out of the monitoring region, then the restrictor bar is controlled to perform closing motion etc..
In embodiments of the present invention, the sampled signal sequence in monitoring region is acquired by way of radar beam, with true
The fixed monitoring region memory is in target object and identifies the type of the target object, and then according to practical target object type
The restrictor bar of banister is controlled, realizes the process for automatically controlling restrictor bar, while radar beam is suitable for various natural environments
In, reduce influence of the natural environment to monitoring device, improve the accuracy controlled banister, ensure that the anti-of banister pounds work(
Energy；By way of combining background method and frame difference method, more accurately the target object for monitoring region can be judged, into
And more effectively improve the accuracy controlled banister.
Below in conjunction with Fig. 5 and the specific implementation environments of Fig. 6 two to banister control method provided in an embodiment of the present invention
It is introduced.
Fig. 5 is referred to, for an embodiment of the present invention provides the example schematics that a kind of banister controls.It is as shown in figure 5, described
Anti- pound including monitoring region is specifically as follows comprising banister monitors region, and it is when vehicle pounds monitoring section into anti-to perform logic
During domain, the restrictor bar that banister is triggered by artificial or other induction modes performs breakdown action, after restrictor bar is opened, when vehicle drive into it is anti-
When pounding monitoring area, carry out target object monitoring by internal processing algorithms and judge to pass through object type as vehicle, this time gating
Bar performs closing motion, when restrictor bar does not completely close, continues monitoring and prevents pounding whether monitoring area has pedestrian or vehicle, if there is row
People or other vehicles, which are trailed, to be entered, and restrictor bar performs urgent breakdown action, otherwise restrictor bar performs closing motion；Alternatively, restrictor bar is opened
Qi Hou, into when preventing pounding monitoring area, carries out target object detection by internal processing algorithms and sentences when there is pedestrian prior to vehicle
Open close object type of crossing is pedestrian, and restrictor bar keeps it turned on action at this time, until after vehicle is by the region, it is dynamic that restrictor bar performs closing
Make, when restrictor bar does not completely close, radar continues that monitoring is anti-to pound whether monitoring area has pedestrian or vehicle, if having pedestrian or other
Vehicle, which is trailed, to be entered, and restrictor bar performs urgent breakdown action, otherwise restrictor bar performs closing motion.
Fig. 6 is referred to, for an embodiment of the present invention provides the example schematics that another banister controls.As shown in fig. 6, institute
State monitoring region specifically can monitor region including triggering monitoring region and comprising anti-pound including banister, the triggering monitoring
Region is in the anti-monitoring region pounded before monitoring region according to vehicle heading, for monitoring whether that there are vehicles in advance to road
Lock direction, which is sailed, to be come, and it is when vehicle enters triggering monitoring area to perform logic, and system has mesh by internal processing algorithms judgement
Mark vehicle enters triggering monitoring area, triggers restrictor bar at this time and opens.When vehicle enter it is anti-pound monitoring region when, by it is artificial or its
He performs breakdown action by the restrictor bar of induction mode triggering banister, after restrictor bar is opened, when vehicle, which drives into, to be prevented pounding monitoring area, passes through
Internal processing algorithms carry out target object monitoring and judge to pass through object type as vehicle, and restrictor bar performs closing motion at this time,
When restrictor bar does not completely close, continue monitoring and prevent pounding whether monitoring area has pedestrian or vehicle, if thering are pedestrian or other vehicles to trail
Into restrictor bar performs urgent breakdown action, otherwise restrictor bar performs closing motion；Alternatively, restrictor bar open after, when have pedestrian prior to
Vehicle carries out target object detection by internal processing algorithms and judges through object type to go into when preventing pounding monitoring area
People, restrictor bar keeps it turned on action at this time, until after vehicle is by the region, restrictor bar execution closing motion does not close completely in restrictor bar
When closing, radar, which continues monitoring, to be prevented pounding whether monitoring area has pedestrian or vehicle, if thering are pedestrian or other vehicles to trail and enter, restrictor bar
Urgent breakdown action is performed, otherwise restrictor bar performs closing motion.
It should be noted that above-mentioned internal processing algorithms are specifically as follows background method in embodiment illustrated in fig. 2 and frame is poor
Method, the processing procedure of specific algorithm can be according to the specific descriptions of embodiment illustrated in fig. 2, herein without repeating.
Below in conjunction with attached drawing 7- attached drawings 12, describe in detail to banister control device provided in an embodiment of the present invention.
It should be noted that the banister control device shown in attached drawing 7- attached drawings 12, for performing Fig. 1-embodiment illustrated in fig. 4 of the present invention
Method for convenience of description, illustrates only and does not disclose, please join with the relevant part of the embodiment of the present invention, particular technique details
According to Fig. 1 of the present invention-embodiment shown in Fig. 4.
Fig. 7 is referred to, for an embodiment of the present invention provides a kind of structure diagrams of banister control device.As shown in fig. 7,
The banister control device 10 of the embodiment of the present invention can include：Object confirms module 11, type identification module 12 and restrictor bar
Control module 13.
Object confirms module 11, for radar beam reflect in acquisition monitoring region in current sensing time
The sampled signal sequence arrived determines the monitoring region memory in target object according to the sampled signal sequence；
In the specific implementation, the object confirms that module 11 can be acquired in monitoring region in current sensing time to radar
The sampled signal sequence that wave beam is emitted, the detection time are a preset sampling time section, such as：20
Millisecond etc., the current sensing time can be expressed as current sampling time section, and the banister control device 1 can control thunder
It, can be to thunder in the monitoring region regardless of whether there are target object up to sensor to the monitoring field emission radar beam
Emitted up to wave beam, the object confirms that module 11 can be adopted by AD (analog signal is converted to digital signal) high-speed sampling
Collect the sampled signal sequence in the current sensing time, the sampling that the sampled signal sequence can include preset quantity is believed
Number, such as：10 frames etc., the object confirm that module 11 can determine to be in the monitoring region according to the sampled signal sequence
No there are target objects, it is to be understood that the target object can include any objects such as pedestrian, vehicle.
Type identification module 12 carries out matching treatment for signal energy data corresponding to the sampled signal sequence,
To identify the object type of the target object；
In the specific implementation, the type identification module 12 can to the sampled signal sequence corresponding signal energy data
Carrying out matching treatment, it is preferred that the banister control device 1 can be pre-established with the buffering area of actual measurement energy datum acquisition,
For storing the target object from monitoring region is entered to the signal energy data for leaving the monitoring entire envelope in region, institute
State type identification module 12 can be obtained based on the sampled signal sequence pulse width values, the energy peak of the target object with
And at least one of sampled energy value sequence signal energy data, it is to be understood that the banister control device 1 can be pre-
First it is trained for the object type of different objects, to extract the corresponding energy reference data of the object type of different objects,
The energy reference data can pulse width a reference value corresponding with signal energy data, energy peak a reference value and energy
Value sequence a reference value.
The type identification module 12 may be used energy reference data and carry out matching treatment to the signal energy data,
To identify the object type of the target object, the object type includes pedestrian's type and type of vehicle, by identifying target
The object type of object can realize the control of restrictor bar according to accurate control logic.
Restrictor bar control module 13, the object type for being obtained according to identification control the restrictor bar of the banister；
In the specific implementation, after identification obtains the object type of target object, the restrictor bar control module 13 can basis
Identify that obtained object type controls the restrictor bar of the banister, it is preferred that when the restrictor bar of the banister is in opening state
State, and when the obtained object type of identification is pedestrian's type, the restrictor bar of the banister is controlled to keep it turned on action, the opening state
State is for representing the state of unlatching that the restrictor bar of the banister has been triggered by artificial or other induction modes, when the banister
Restrictor bar is in opening, and when the obtained object type of identification is type of vehicle, needs further to detect target object at this time
The state close to the banister is in the state far from the banister, the target object is in close if detecting
The state of the banister controls the restrictor bar of the banister to keep it turned on action；If detecting, the target object is in far from institute
The state of banister is stated, the restrictor bar of the banister is controlled to perform closing motion.And when the restrictor bar execution closing motion of the banister, and
When identifying obtained object type as pedestrian's type, the restrictor bar of the banister is controlled to be transferred to execution breakdown action, when the banister
Restrictor bar perform closing motion, and when the obtained object type of identification is type of vehicle, need further to detect at target object
The state close to the banister is in the state far from the banister, the target object is in close to institute if detecting
The state of banister is stated, the restrictor bar of the banister is controlled to perform breakdown action；If detecting, the target object is in far from described
The state of banister controls the restrictor bar of the banister to keep performing closing motion.Such as：During restrictor bar performs closing motion,
Monitoring region is recognized there are target object, and when target object is pedestrian's type or type of vehicle, the restrictor bar is controlled to hold
Row breakdown action；When restrictor bar is in opening, region is monitored there are target object, and target object is vehicle when recognizing
Type in the state for sailing out of the monitoring region, then controls the restrictor bar to perform closing motion etc..
In embodiments of the present invention, the sampled signal sequence in monitoring region is acquired by way of radar beam, with true
The fixed monitoring region memory is in target object and identifies the type of the target object, and then according to practical target object type
The restrictor bar of banister is controlled, realizes the process for automatically controlling restrictor bar, while radar beam is suitable for various natural environments
In, reduce influence of the natural environment to monitoring device, improve the accuracy controlled banister, ensure that the anti-of banister pounds work(
Energy.
Fig. 8 is referred to, for an embodiment of the present invention provides a kind of structure diagrams of banister control device.As shown in figure 8,
The banister control device 10 of the embodiment of the present invention can include：Object confirms module 11, type identification module 12, restrictor bar control
Molding block 13, sample sequence acquisition module 14, signal-to-noise ratio acquisition module 15 and threshold value acquisition module 16.
Sample sequence acquisition module 14, for acquiring the sample signal reflected in monitoring region radar beam
Sequence monitors the sample energy value sequence in region according to the sample signal retrieval；
In the specific implementation, the sample sequence acquisition module 14 can be in advance to the ambient noise threshold value in the monitoring region
It is calculated, radar beam reflect in monitoring region specifically, the sample sequence acquisition module 14 can acquire
The sample signal sequence arrived, and according to the sample signal retrieval monitor region sample energy value sequence, it is described
Sample energy value in sample energy value sequence can be pre-stored in the data buffer area of preset quantity, specifically calculate energy
The mode of value may refer to the calculating process of following signal energy values, herein without repeating.
Signal-to-noise ratio acquisition module 15, for obtaining the ambient noise in the monitoring region according to the sample energy value sequence
Data, and according to the sample signal retrieval monitor region snr value；
In the specific implementation, the signal-to-noise ratio acquisition module 15 can obtain the sample mean of the sample energy value sequence
Value, sample maximum, sample minimum and sample root-mean-square value, the sample mean, sample maximum, sample is minimum
Value and sample root-mean-square value are determined as the background noise data in the monitoring region, and the signal-to-noise ratio acquisition module 15 can obtain
The initial signal reflection intensity values in the monitoring region are taken, and are believed according to the initial signal reflection intensity values and the sample
The sample magnitude spectrum of number sequence obtains the noise signal reflection intensity values in the monitoring region, and the signal-to-noise ratio acquisition module 15 can
To obtain the signal-to-noise ratio in the monitoring region according to the initial signal reflection intensity values and the noise signal reflection intensity values
Value.
It is the structure diagram an embodiment of the present invention provides signal-to-noise ratio acquisition module specifically, please also refer to Fig. 9.
As shown in figure 9, the signal-to-noise ratio acquisition module 15 can include：
Noise data acquiring unit 151, for obtaining the sample mean of the sample energy value sequence, Sample Maximal
Value, sample minimum and sample root-mean-square value, by the sample mean, sample maximum, sample minimum and sample
Root-mean-square value is determined as the background noise data in the monitoring region；
In the specific implementation, the noise data acquiring unit 151 can be according to obtaining the sample energy value sequence
The background noise data in region is monitored, the background noise data can include the sample mean of the sample energy value sequence
Value, sample maximum, sample minimum and sample root-mean-square value etc., it is assumed that the energy value of any single acquisition is Gn, and institute
The quantity for stating data buffer area is N points, then illustrates to need to obtain the sample energy value that n times measure, then sample mean X=
(G0+G1+…+Gn+…+GN-1)/N, sample maximum Y=Max (Gn), sample minimum Z=Min (Gn), sample root-mean-square value
For：
Preferably, when the quantity of the data buffer area is, then illustrate the sample for needing to obtain 1024 measurements at 1024
This energy value, then sample mean X=(G0+G1+…+Gn+…+G1023)/1024, sample maximum Y=Max (Gn), sample
Minimum value Z=Min (Gn), sample root-mean-square value is：
The noise data acquiring unit 151 can be further minimum by the sample mean, sample maximum, sample
Value and sample root-mean-square value are determined as the background noise data in the monitoring region.
Intensity value acquiring unit 152, for obtaining the initial signal reflection intensity values in the monitoring region, and according to described
Initial signal reflection intensity values and the sample magnitude of sample signal sequence spectrum obtain the noise signal in the monitoring region
Reflection intensity values；
In the specific implementation, the initial signal reflection that the intensity value acquiring unit 152 can obtain the monitoring region is strong
Angle value, the initial signal reflection intensity values are specially the useful signal reflection intensity values in the monitoring region, it is possible to understand that
Be, it is assumed that in the frequency of the maximum amplitude value of frequency domain amplitude spectrum be F when measuring the simple target object in the monitoring area,
Single harmonic component frequency is fixed f0, F is the integral multiple of f, then the initial signal reflection intensity values can be M0=M ((F/
f0)-1)+M((F/f0))+M((F/f0)+1), the intensity value acquiring unit 152 according to the initial signal reflection intensity values with
And the sample magnitude spectrum of the sample signal sequence obtains the noise signal reflection intensity values acquisition prison in the monitoring region
The noise signal reflection intensity values in region are surveyed, the sample magnitude spectrum is above-mentioned frequency domain amplitude spectrum, it is assumed that the sample magnitude spectrum
The frequency point in sample magnitude spectrum is represented for M (i), wherein i, and the length of entire sample magnitude spectrum may include P=512 frequency point, then
The noise signal emissive porwer value can be：
Signal-to-noise ratio acquiring unit 153 is strong for being reflected according to the initial signal reflection intensity values and the noise signal
Angle value obtains the snr value in the monitoring region；
In the specific implementation, the signal-to-noise ratio acquiring unit 153 can be further according to the initial signal reflection intensity values
The snr value in the monitoring region, the snr value β=M are obtained with the noise signal reflection intensity values0/N0。
Threshold value acquisition module 16, for obtaining the monitoring section using the background noise data and the snr value
The ambient noise threshold value in domain；
In the specific implementation, the background noise data and the snr value may be used in the threshold value acquisition module 16
Obtain the ambient noise threshold value in the monitoring region, it is preferred that ambient noise threshold value A=β [X+ (Y-Z)]+V.
Object confirms module 11, for radar beam reflect in acquisition monitoring region in current sensing time
The sampled signal sequence arrived determines the monitoring region memory in target object according to the sampled signal sequence；
In the specific implementation, the object confirms that module 11 can be acquired in monitoring region in current sensing time to radar
The sampled signal sequence that wave beam is emitted, the detection time are a preset sampling time section, such as：20
Millisecond etc., the current sensing time can be expressed as current sampling time section, and the banister control device 1 can control thunder
It, can be to thunder in the monitoring region regardless of whether there are target object up to sensor to the monitoring field emission radar beam
Emitted up to wave beam, the object confirms that module 11 can be adopted by AD (analog signal is converted to digital signal) high-speed sampling
Collect the sampled signal sequence in the current sensing time, the sampling that the sampled signal sequence can include preset quantity is believed
Number, such as：10 frames etc., the object confirm that module 11 can determine to be in the monitoring region according to the sampled signal sequence
No there are target objects, it is to be understood that the target object can include any objects such as pedestrian, vehicle.
Specifically, in the mode of the first target object confirmation of the embodiment of the present invention, please also refer to Figure 10, for this
Inventive embodiments provide the structure diagram that a kind of object confirms module.As shown in Figure 10, the object confirms that module 11 can
To include：
Energy value acquiring unit 111, it is anti-for being carried out in acquisition monitoring region to radar beam in current sensing time
The sampled signal sequence penetrated obtains the signal energy value in the monitoring region based on the sampled signal sequence；
In the specific implementation, the detection time is a preset sampling time section, such as：It is 20 milliseconds etc., described
Current sensing time can be expressed as current sampling time section, the banister control device 1 can with control radar sensor to
The monitoring field emission radar beam in the monitoring region regardless of whether there are target object, can carry out radar beam
Transmitting, the energy value acquiring unit 111 can be by described in the acquisitions of AD (analog signal is converted to digital signal) high-speed sampling
Sampled signal sequence in current sensing time, the sampled signal sequence can include the sampled signal of preset quantity, such as：
10 frames etc., in practical monitoring process, the energy value acquiring unit 111 can acquire monitoring section in current sensing time
The sampled signal sequence reflected in domain radar beam obtains the monitoring region based on the sampled signal sequence
Signal energy value, it is preferred that the energy value acquiring unit 111 acquired in current sensing time monitoring region in radar
The sampled signal sequence that wave beam is reflected, the energy value acquiring unit 111 carry out phase to the sampled signal sequence
The accumulative processing of ginseng carries out first signal sequence blocking processing to obtain second signal sequence to obtain the first signal sequence
Row, and windowing process is carried out to obtain third signal sequence to the second signal sequence, the energy value acquiring unit 111 is right
The third signal sequence carries out Fourier transform processing to obtain fourth signal sequence, and is obtained according to the fourth signal sequence
The corresponding power spectrum sequence of the sampled signal sequence is taken, the energy value acquiring unit 111 obtains the spy in the monitoring region
Ranging is from obtaining the power spectrum frequency point that the detection range includes, and according to the power spectrum sequence and the power spectrum frequency point
Obtain the signal energy value in the monitoring region.
It is the structure diagram an embodiment of the present invention provides energy value acquiring unit specifically, please also refer to Figure 11.
As shown in figure 11, the energy value acquiring unit 111 can include：
Sequence acquisition subelement 1111, it is anti-for being carried out in acquisition monitoring region to radar beam in current sensing time
The sampled signal sequence penetrated；
In the specific implementation, the sequence acquisition subelement 1111 can be acquired in current sensing time monitoring region in it is right
The sampled signal sequence that radar beam is reflected, the sampled signal sequence are Sj(p), wherein j represents sampled signal
Any frame in sequence in the frame number of sampled signal, p are represented per any one sampling in the sampled point included in frame sampling signal
Point, P represent that per the quantity of sampled point included in frame sampling signal, then S can be included per frame sampling signalj(0)、Sj(1)、…、
Sj(p)、…、Sj(P-1), it is assumed that detection time is set as 20 milliseconds, the frame number J=10 of the sampled signal obtained in detection time
Frame, sampling number P=512 points, then the 1st frame sampling signal can include S1(0)、S1(1)、……、S1(511), and so on.
Signal processing subelement 1112 adds up to handle to obtain the first letter for carrying out the sampled signal sequence coherent
Number sequence carries out first signal sequence blocking processing to obtain second signal sequence, and to the second signal sequence
Windowing process is carried out to obtain third signal sequence；
Add up to locate in the specific implementation, the signal processing subelement 1112 can carry out coherent to the sampled signal sequence
Reason is to obtain the first signal sequence, and further, the signal processing subelement 1112 can be in the sampled signal sequence
Coherent is carried out per sampled point corresponding between frame sampling signal to add up to handle, and to obtain the first signal sequence, according to the example above, is adopted
Sample signal sequence is Sj(p), coherent is carried out to the sampled signal sequence to add up that treated the first signal sequence is S (p), then
The coherent accumulated result of any sampled point p is S (p)=[S1(p)+S2(p)+……+Sj(p)]/J, it is assumed that frame number J=10 frames, then
The coherent accumulated result of 0th sampled point is S (0)=[S1(0)+S2(0)+……+S10(0)]/10, and so on.
The signal processing subelement 1112 can carry out first signal sequence blocking processing to obtain the second letter
Number sequence, further, the signal processing subelement 1112 can obtain the average value of first signal sequence, and according to
The average value of first signal sequence and first signal sequence obtain the second signal sequence, according to above-mentioned act
Example, the first signal sequence are S (p), and it is S ' (p) that blocking treated second signal sequence is carried out to first signal sequence,
Then the average value of first signal sequence for S (x)=[S (0)+S (1)+...+S (p)+...+S (P-1)]/P, then any sampling
The blocking handling result of point p is S ' (p)=S (p)-S (x), it is assumed that sampled point number P=512 points, then the first signal sequence is flat
Mean value is that the blocking handling result of S (x)=[S (0)+S (1)+...+S (511)]/the 512, the 0th sampled point is S ' (0)=S
(0)-S (x), and so on.
The signal processing subelement 1112 carries out windowing process to obtain third signal sequence to the second signal sequence
Row, further, the signal processing subelement 1112 can call window function to carry out at adding window the second signal sequence
Reason, the window function are：
Then for 0 to any sampled point p in the range of (P-1), windowing process result is Sw (p)=S ' (p) * h (p),
Assuming that sampled point number P=512 points, then the windowing process result of the 0th sampled point is Sw (0)=S ' (0) * h (0), with such
It pushes away.
Power spectrum obtains subelement 1113, for carrying out Fourier transform processing to the third signal sequence to obtain the
Four signal sequences, and the corresponding power spectrum sequence of sampled signal sequence according to the fourth signal retrieval；
In the specific implementation, the power spectrum, which obtains subelement 1113, to carry out Fourier change to the third signal sequence
Processing is changed to obtain fourth signal sequence, it is preferred that the power spectrum obtains subelement 1113 can be to the institute after windowing process
It states third signal sequence and carries out FFT processing to obtain fourth signal sequence, Fu of any sampled point in the third signal sequence
Vertical leaf transformation handling result is X (p)=FFT [Sw (p), P], and the power spectrum obtains subelement 1113 can be according to the described 4th
Signal sequence obtains the corresponding power spectrum sequence of the sampled signal sequence, and the power spectrum obtains subelement 1113 can basis
The corresponding amplitude spectral sequence of sampled signal sequence described in the fourth signal retrieval and power spectrum sequence, the amplitude spectrum sequence
It is classified as above-mentioned frequency domain amplitude spectrum, it is assumed that the amplitude spectral sequence is M (p), and power spectrum sequence is O (p), and wherein p represents amplitude spectrum
Frequency point in sequence, i.e. sampled point, then the power spectrum, which obtains subelement 1113, can obtain any in fourth signal sequence adopt
The corresponding Fourier transform results of sampling point, and obtain the real part X in the Fourier transform resultsR(p) and imaginary part XI(p), by described in
Real part XR(p) and imaginary part XI(p) root value is determined as the range value of the sampled point, by the real part XR(p) and imaginary part XI(p)
Quadratic sum be determined as the performance number of the sampled point, specific formula for calculation is：
O (p)=XR 2(p)+XI 2(p)
Energy value obtains subelement 1114, for obtaining the detection range in the monitoring region, obtains the detection range
Comprising power spectrum frequency point, and obtain according to the power spectrum sequence and the power spectrum frequency point signal energy in the monitoring region
Magnitude；
In the specific implementation, the energy value, which obtains subelement 1114, can obtain the detection range in the monitoring region, obtain
The power spectrum frequency point that the detection range includes is taken, and the prison is obtained according to the power spectrum sequence and the power spectrum frequency point
Survey the signal energy value in region, due to the known monitoring detection range R in region, radar beam modulating bandwidth △ f and
T modulation period of radar beam, can obtain formula：
Wherein, c0It represents the light velocity, being returned to what radar beam was reflected in region may be monitored by the formula
The frequency f of wave signalD, due to known single harmonic component frequency f0, then the points of the corresponding power spectrum frequency points of detection range R can be obtained
Number L=fD/f0, signal energy value G=O (the 0)+O (1) in monitoring region that the current sensing time obtains+...+O (L).
Average value acquiring unit 112, for obtain continuous multiple detection times acquisitions comprising the signal energy
Sampled energy value sequence including value calculates the sample mean of the sampled energy value sequence；
In the specific implementation, the average value acquiring unit 112 can obtain multiple detection times acquisitions comprising institute
The sampled energy value sequence including signal energy value is stated, calculates the sample mean of the sampled energy value sequence, it is possible to understand that
, the average value acquiring unit 112 can obtain multiple signal energy values that continuous detection time is acquired, such as：
Detection time is 20 milliseconds, and the reserved total duration being monitored to the monitoring region is 1 second, then the average value obtains single
Member 112 can obtain 50 signal energy values, and calculate the sample mean of this 50 signal energy values in the total duration.
Certainly, in order to prevent the shake of mutant target or critical ambient noise threshold value and caused by false target it is pre-
It surveys, it is therefore desirable to set a detection cycle, the detection cycle can include multiple continuous detection times, for example, described
Detection cycle is 100 milliseconds, and a detection time is 20 milliseconds, then 5 signal energy values can be obtained in the detection cycle,
The average value acquiring unit 112 can obtain median as detection week in 5 signal energy values of the continuous sampling
The signal energy value of phase, and so on, 10 signal energy values can be got in total duration, and calculate this 10 signal energy
The sample mean of magnitude.
Preferably, the average value acquiring unit 112 may be used the mode of FIFO and the sample mean counted
It calculates.
First object confirmation unit 113, for when the sample mean is more than the ambient noise threshold value, determining
The monitoring region memory is in target object；
In the specific implementation, after sample mean is got, the first object confirmation unit 113 can be adopted further
The sample mean is matched with ambient noise threshold value, when the sample mean is more than the ambient noise thresholding
During value, the first object confirmation unit 113 can determine the monitoring region memory in target object.
Optionally, in the mode confirmed in second of target object of the embodiment of the present invention, please also refer to Figure 12, for this
Inventive embodiments provide the structure diagram that another object confirms module.As shown in figure 12, the object confirms module 11
It can include：
Differential signal acquiring unit 114, for being carried out in acquisition monitoring region to radar beam in current sensing time
Obtained sampled signal sequence is reflected, the differential signal of neighbouring sample signal in the sampled signal sequence is obtained, to generate difference
Sub-signal sequence；
In the specific implementation, the differential signal acquiring unit 114 can be acquired in current sensing time in monitoring region
To the sampled signal sequence that radar beam is reflected, the difference of neighbouring sample signal in the sampled signal sequence is obtained
Signal, to generate differential signal sequence, it is to be understood that the sampled signal sequence is Sj(p), wherein j represents sampling letter
Any frame in number sequence in the frame number of sampled signal, p represent to adopt per any one in the sampled point included in frame sampling signal
Sampling point, P represent that per the quantity of sampled point included in frame sampling signal, then S can be included per frame sampling signalj(0)、Sj
(1)、…、Sj(p)、…、Sj(P-1), it is assumed that detection time is set as 20 milliseconds, the frame of the sampled signal obtained in detection time
Number J=10 frames, sampling number P=512 points, then the 1st frame sampling signal can include S1(0)、S1(1)、……、S1(511), with
This analogizes.
The differential signal acquiring unit 114 can subtract each other adjacent two frame samplings signal or multiframe sampled signal, with
To differential signal sequence, by taking adjacent two frame as an example, differential signal sequence T (p)=Sj+1(p)-Sj(p)。
Signal procesing in time domain unit 115, for being filtered to obtain differential signal to the differential signal sequence
Sequence, and obtain the mean-square value of the differential signal sequence；
In the specific implementation, the signal procesing in time domain unit 115 can be filtered the differential signal sequence
To obtain time-domain signal sequence, it is to be understood that filtering parameter sequence can be preset, the filter in the filtering parameter sequence
The quantity of wave parameter can be set according to actual scene, and the signal procesing in time domain unit 115 can believe difference
Number sequence carries out FIR filtering process, it is assumed that the quantity of filtering parameter is u, then any sampled point in the time-domain signal sequence
Time-domain signal energy is U (p)=C0*T(p)+C1*T(p-1)+……+Cu-1*T(p-50+1).Due to the known monitoring region
The corresponding echo frequency of middle minimum monitoring distance is fl, the corresponding echo frequency of maximum monitoring distance is fh, original radar beam is anti-
The frequency acquisition for the echo-signal penetrated is fs, then can be according to fl、fhAnd fsThe filtering parameter sequence is calculated.
The signal procesing in time domain unit 115 can obtain the mean-square value of the time-domain signal sequence, the mean-square value
Xrms2=[U (0)2+U(1)2+……+U(P-1)2]/P。
Mean-square value series processing unit 116, it is described square for obtaining including for continuous multiple detection time acquisitions
The mean-square value sequence of value calculates the variance yields of the mean-square value sequence；
In the specific implementation, the mean-square value series processing unit 116 can obtain continuous multiple detection time acquisitions
The mean-square value sequence for including the mean-square value, calculate the variance yields of the mean-square value sequence, it is to be understood that described square
Value sequence processing unit 116 can obtain multiple mean-square values that continuous detection time is acquired, such as：Detection time is 20 millis
Second, reserved is 1 second to the monitoring total duration that is monitored of region, then the mean-square value series processing unit 116 can be with
50 mean-square values are obtained in the total duration, and calculate the variance yields of this 50 mean-square values.
Certainly, in order to prevent the shake of mutant target or critical ambient noise threshold value and caused by false target it is pre-
It surveys, it is therefore desirable to set a detection cycle, the detection cycle can include multiple continuous detection times, for example, described
Detection cycle is 100 milliseconds, and a detection time is 20 milliseconds, then 5 mean-square values can be obtained in the detection cycle, described
Mean-square value series processing unit 116 can obtain median as the detection cycle in 5 mean-square values of the continuous sampling
Mean-square value, and so on, 10 mean-square values can be got in total duration, and calculate the variance yields of this 10 mean-square values.
Preferably, the mode that FIFO may be used in the mean-square value series processing unit 116 counts the variance yields
It calculates.
Second object confirmation unit 117, for when the variance yields is more than predetermined threshold value, determining in the monitoring region
There are target objects；
In the specific implementation, after variance yields is got, the second object confirmation unit 117 can be further using pre-
If threshold value matches the variance yields, when the variance yields is more than the predetermined threshold value, the second object confirmation form
Member 117 can determine the monitoring region memory in target object, and the predetermined threshold value is preferably 0.
It should be noted that the first realization method whether there is target object using background method to monitoring in region
Judged, it is suitable for the monitoring of static target, second of realization method using frame difference method in monitoring region whether
There are target objects to be judged, it is suitable for the monitoring of fine motion target, two kinds of realization methods may be used in the embodiment of the present invention
Any region to monitoring in judge with the presence or absence of target object, can also be simultaneously using two kinds of realization methods while right
Monitoring is judged in region with the presence or absence of target object, can specifically be selected according to actual use scene, it is possible to understand that
, at the same time using two kinds of realization methods when, mainly judge to monitor that there are targets in region in one of the implementation manners
During object, you can determine that there are target objects in the currently monitored region.The target object can include pedestrian, vehicle etc. and appoint
One object.
Type identification module 12 carries out matching treatment for signal energy data corresponding to the sampled signal sequence,
To identify the object type of the target object；
In the specific implementation, the type identification module 12 can to the sampled signal sequence corresponding signal energy data
Carrying out matching treatment, it is preferred that the type identification module 12 can be pre-established with the buffering area of actual measurement energy datum acquisition,
For storing the target object from monitoring region is entered to the signal energy data for leaving the monitoring entire envelope in region, institute
State type identification module 12 can be obtained based on the sampled signal sequence pulse width values, the energy peak of the target object with
And at least one of sampled energy value sequence signal energy data, it is to be understood that the type identification module 12 can be with
It is trained in advance for the object type of different objects, to extract the corresponding energy reference number of the object type of different objects
According to, energy reference data can pulse width a reference value corresponding with signal energy data, energy peak a reference value and
Energy value sequence reference value.
The type identification module 12 may be used energy reference data and carry out matching treatment to the signal energy data,
To identify the object type of the target object, the object type includes pedestrian's type and type of vehicle, by identifying target
The object type of object can realize the control of restrictor bar according to accurate control logic.
Restrictor bar control module 13, the object type for being obtained according to identification control the restrictor bar of the banister；
In the specific implementation, after identification obtains the object type of target object, the restrictor bar control module 13 can basis
Identify that obtained object type controls the restrictor bar of the banister, it is preferred that when the restrictor bar of the banister is in opening state
State, and when the obtained object type of identification is pedestrian's type, the restrictor bar of the banister is controlled to keep it turned on action, the opening state
State is for representing the state of unlatching that the restrictor bar of the banister has been triggered by artificial or other induction modes, when the banister
Restrictor bar is in opening, and when the obtained object type of identification is type of vehicle, needs further to detect target object at this time
The state close to the banister is in the state far from the banister, the target object is in close if detecting
The state of the banister controls the restrictor bar of the banister to keep it turned on action；If detecting, the target object is in far from institute
The state of banister is stated, the restrictor bar of the banister is controlled to perform closing motion.And when the restrictor bar execution closing motion of the banister, and
When identifying obtained object type as pedestrian's type, the restrictor bar of the banister is controlled to be transferred to execution breakdown action, when the banister
Restrictor bar perform closing motion, and when the obtained object type of identification is type of vehicle, need further to detect at target object
The state close to the banister is in the state far from the banister, the target object is in close to institute if detecting
The state of banister is stated, the restrictor bar of the banister is controlled to perform breakdown action；If detecting, the target object is in far from described
The state of banister controls the restrictor bar of the banister to keep performing closing motion.Such as：During restrictor bar performs closing motion,
Monitoring region is recognized there are target object, and when target object is pedestrian's type or type of vehicle, the restrictor bar is controlled to hold
Row breakdown action；When restrictor bar is in opening, region is monitored there are target object, and target object is vehicle when recognizing
Type in the state for sailing out of the monitoring region, then controls the restrictor bar to perform closing motion etc..
In embodiments of the present invention, the sampled signal sequence in monitoring region is acquired by way of radar beam, with true
The fixed monitoring region memory is in target object and identifies the type of the target object, and then according to practical target object type
The restrictor bar of banister is controlled, realizes the process for automatically controlling restrictor bar, while radar beam is suitable for various natural environments
In, reduce influence of the natural environment to monitoring device, improve the accuracy controlled banister, ensure that the anti-of banister pounds work(
Energy；By way of combining background method and frame difference method, more accurately the target object for monitoring region can be judged, into
And more effectively improve the accuracy controlled banister.
The embodiment of the present invention additionally provides a kind of computer storage media, and the computer storage media can be stored with more
Item instructs, and described instruction is suitable for being loaded by processor and being performed such as the method and step of above-mentioned Fig. 1-embodiment illustrated in fig. 4, specifically holds
Row process may refer to illustrating for Fig. 1-embodiment illustrated in fig. 4, herein without repeating.
Figure 13 is referred to, is the structure diagram an embodiment of the present invention provides a kind of electronic equipment.As shown in figure 13, institute
Stating electronic equipment 1000 can include：At least one radar sensor 1001, at least one wave filter 1002, at least one processing
Device 1003, such as CPU, at least one arithmetic unit 1004, at least one network interface 1008, user interface 1006, memory
1009, at least one communication bus 1005.Wherein, communication bus 1005 is used to implement the connection communication between these components.Its
In, user interface 1006 can include display screen (Display), and optional user interface 1006 can also connect including the wired of standard
Mouth, wireless interface.Network interface 1008 can optionally include standard wireline interface and wireless interface (such as WI-FI interfaces).It deposits
Reservoir 1009 can be high-speed RAM memory or non-labile memory (non-volatile memory), example
Such as at least one magnetic disk storage.Memory 1009 optionally can also be at least one aforementioned processor 1003 of being located remotely from
Storage device.As shown in figure 13, as in a kind of memory 1009 of computer storage media can include operating system, network
Communication module, Subscriber Interface Module SIM and banister control application program.
In the electronic equipment 1000 shown in Figure 13, user interface 1006 is mainly used for providing to the user the interface of input,
Such as show the environment in the currently monitored region, obtain artificial restrictor bar control instruction input by user etc.；Network interface 1008 is main
For with background server into row data communication, for the currently monitored environmental data of real-time report etc.；And processor 1003 can
For the banister stored in memory 1009 is called to control application program, and specifically perform following operate：
The radar beam of radar sensor 1001 is reflected to obtain in acquisition monitoring region in current sensing time
Sampled signal sequence, according to the sampled signal sequence determine it is described monitoring region memory in target object；
To the sampled signal sequence, corresponding signal energy data carry out matching treatment, to identify the target object
Object type；
The restrictor bar of the banister is controlled according to the object type that identification obtains.
In one embodiment, in execution, the acquisition in current sensing time monitors in region to thunder the processor 1001
The sampled signal sequence reflected up to the radar beam of sensor 1001, according to determining the sampled signal sequence
Region memory is monitored before target object, also performs following operate：
The sample signal sequence reflected in acquisition monitoring region the radar beam of radar sensor 1001, root
According to the sample energy value sequence that region is monitored described in the sample signal retrieval；
Arithmetic unit 1004 is controlled to obtain the background noise data in the monitoring region according to the sample energy value sequence, and
The snr value in region is monitored according to the sample signal retrieval；
Arithmetic unit 1004 is controlled to obtain the back of the body in the monitoring region using the background noise data and the snr value
Scape noise threshold.
In one embodiment, the processor 1001 is being performed according to the sample energy value sequence acquisition monitoring
The background noise data in region, and specifically held during the snr value in monitoring region according to the sample signal retrieval
Row is following to be operated：
Obtain sample mean, sample maximum, sample minimum and the sample standard deviation side of the sample energy value sequence
The sample mean, sample maximum, sample minimum and sample root-mean-square value are determined as the monitoring region by root
Background noise data；
Control arithmetic unit 1004 obtains the initial signal reflection intensity values in the monitoring region, and according to the initial signal
Reflection intensity values and the sample magnitude of sample signal sequence spectrum obtain the noise signal reflected intensity in the monitoring region
Value；
Arithmetic unit 1004 is controlled to be obtained according to the initial signal reflection intensity values and the noise signal reflection intensity values
The snr value in the monitoring region.
In one embodiment, in execution, the acquisition in current sensing time monitors in region to thunder the processor 1001
The sampled signal sequence reflected up to the radar beam of sensor 1001, according to determining the sampled signal sequence
Region memory is monitored in target object, it is specific to perform following operate：
The radar beam of radar sensor 1001 is reflected to obtain in acquisition monitoring region in current sensing time
Sampled signal sequence, control arithmetic unit 1004 based on the sampled signal sequence obtain it is described monitoring region signal energy
Value；
Control arithmetic unit 1004 obtain continuous multiple detection times acquisitions comprising including the signal energy value
Sampled energy value sequence calculates the sample mean of the sampled energy value sequence；
When the sample mean is more than the ambient noise threshold value, determine the monitoring region memory in object
Body.
In one embodiment, in execution, the acquisition in current sensing time monitors in region to thunder the processor 1001
The sampled signal sequence reflected up to the radar beam of sensor 1001, based on described in sampled signal sequence acquisition
It is specific to perform following operate when monitoring the signal energy value in region：
The radar beam of radar sensor 1001 is reflected to obtain in acquisition monitoring region in current sensing time
Sampled signal sequence；
Control arithmetic unit 1004 carries out the sampled signal sequence coherent and adds up processing to obtain the first signal sequence, right
First signal sequence carries out blocking processing to obtain second signal sequence, and the second signal sequence is carried out at adding window
It manages to obtain third signal sequence；
Arithmetic unit 1004 is controlled to carry out Fourier transform processing to the third signal sequence to obtain fourth signal sequence,
And the corresponding power spectrum sequence of sampled signal sequence according to the fourth signal retrieval；
Control arithmetic unit 1004 obtains the detection range in the monitoring region, obtains the power spectrum that the detection range includes
Frequency point, and the signal energy value for monitoring region is obtained according to the power spectrum sequence and the power spectrum frequency point.
In one embodiment, in execution, the acquisition in current sensing time monitors in region to thunder the processor 1001
The sampled signal sequence reflected up to the radar beam of sensor 1001, according to determining the sampled signal sequence
Region memory is monitored in target object, it is specific to perform following operate：
The sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time, is obtained
The differential signal of neighbouring sample signal in the sampled signal sequence is taken, to generate differential signal sequence；
Control wave filter 1002 is filtered to obtain time-domain signal sequence, and obtain the differential signal sequence
The mean-square value of the time-domain signal sequence；
Control arithmetic unit 1004 obtains the mean-square value sequence for including the mean-square value of continuous multiple detection time acquisitions
Row calculate the variance yields of the mean-square value sequence；
When the variance yields is more than predetermined threshold value, determine the monitoring region memory in target object.
In one embodiment, the processor 1001 is performing to the sampled signal sequence corresponding signal energy number
It is specific to perform following operate during identifying the object type of the target object according to carrying out matching treatment：
It obtains in the sampled signal sequence respective pulses width value, energy peak and sampled energy value sequence at least
A kind of signal energy data, and matching treatment is carried out to the signal energy data using energy reference data, with described in identification
The object type of target object.
In one embodiment, the processor 1001 is performing the object type obtained according to identification to the banister
It is specific to perform following operate when restrictor bar is controlled：
When the restrictor bar of the banister is in opening, and identifies obtained object type as pedestrian's type, institute is controlled
The restrictor bar for stating banister keeps it turned on action；
When the restrictor bar of the banister is in opening, and identifies obtained object type as type of vehicle, if detection
The state close to the banister is in the target object, the restrictor bar of the banister is controlled to keep it turned on action；
When the restrictor bar of the banister is in opening, and identifies obtained object type as type of vehicle, if detection
The state far from the banister is in the target object, the restrictor bar of the banister is controlled to perform closing motion.
In one embodiment, the processor 1001 is performing the object type obtained according to identification to the banister
It is specific to perform following operate when restrictor bar is controlled：
When the restrictor bar of the banister performs closing motion, and identifies obtained object type as pedestrian's type, institute is controlled
The restrictor bar for stating banister performs breakdown action；
When the restrictor bar of the banister performs closing motion, and identifies obtained object type as type of vehicle, if detection
The state close to the banister is in the target object, the restrictor bar of the banister is controlled to perform breakdown action；
When the restrictor bar of the banister performs closing motion, and identifies obtained object type as type of vehicle, if detection
The state far from the banister is in the target object, the restrictor bar of the banister is controlled to keep performing closing motion.
In embodiments of the present invention, the sampled signal sequence in monitoring region is acquired by way of radar beam, with true
The fixed monitoring region memory is in target object and identifies the type of the target object, and then according to practical target object type
The restrictor bar of banister is controlled, realizes the process for automatically controlling restrictor bar, while radar beam is suitable for various natural environments
In, reduce influence of the natural environment to monitoring device, improve the accuracy controlled banister, ensure that the anti-of banister pounds work(
Energy；By way of combining background method and frame difference method, more accurately the target object for monitoring region can be judged, into
And more effectively improve the accuracy controlled banister.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer read/write memory medium
In, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent variations made according to the claims of the present invention, is still within the scope of the present invention.
Claims (20)
1. a kind of banister control method, applied to comprising in the monitoring region including banister, which is characterized in that including：
The sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time, according to institute
Stating sampled signal sequence determines the monitoring region memory in target object；
To the sampled signal sequence, corresponding signal energy data carry out matching treatment, to identify the object of the target object
Type；
The restrictor bar of the banister is controlled according to the object type that identification obtains.
It is 2. according to the method described in claim 1, it is characterized in that, described right in acquisition monitoring region in current sensing time
The sampled signal sequence that radar beam is reflected determines that the monitoring region memory exists according to the sampled signal sequence
Before target object, further include：
The sample signal sequence reflected in acquisition monitoring region radar beam, is obtained according to the sample signal sequence
Take the sample energy value sequence in the monitoring region；
The background noise data in the monitoring region is obtained according to the sample energy value sequence, and according to the sample signal sequence
Row obtain the snr value in the monitoring region；
The ambient noise threshold value in the monitoring region is obtained using the background noise data and the snr value.
3. according to the method described in claim 2, it is characterized in that, described obtain the prison according to the sample energy value sequence
The background noise data in region is surveyed, and the snr value in region is monitored according to the sample signal retrieval, including：
Sample mean, sample maximum, sample minimum and the sample root-mean-square value of the sample energy value sequence are obtained,
The sample mean, sample maximum, sample minimum and sample root-mean-square value are determined as to the back of the body in the monitoring region
Scape noise data；
The initial signal reflection intensity values in the monitoring region are obtained, and according to initial signal reflection intensity values and described
The sample magnitude spectrum of sample signal sequence obtains the noise signal reflection intensity values in the monitoring region；
The noise in the monitoring region is obtained according to the initial signal reflection intensity values and the noise signal reflection intensity values
Ratio.
It is 4. according to the method described in claim 2, it is characterized in that, described right in acquisition monitoring region in current sensing time
The sampled signal sequence that radar beam is reflected determines that the monitoring region memory exists according to the sampled signal sequence
Target object, including：
The sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time, based on institute
State the signal energy value that sampled signal sequence obtains the monitoring region；
The sampled energy value sequence included including the signal energy value of continuous multiple detection time acquisitions is obtained, is calculated
The sample mean of the sampled energy value sequence；
When the sample mean is more than the ambient noise threshold value, determine the monitoring region memory in target object.
It is 5. according to the method described in claim 4, it is characterized in that, described right in acquisition monitoring region in current sensing time
The sampled signal sequence that radar beam is reflected obtains the signal in the monitoring region based on the sampled signal sequence
Energy value, including：
The sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time；
To the sampled signal sequence carry out coherent add up processing to obtain the first signal sequence, to first signal sequence into
The processing of row blocking carries out windowing process to obtain third signal sequence to obtain second signal sequence to the second signal sequence
Row；
Fourier transform processing is carried out to the third signal sequence to obtain fourth signal sequence, and according to the fourth signal
The corresponding power spectrum sequence of sampled signal sequence described in retrieval；
The detection range in the monitoring region is obtained, obtains the power spectrum frequency point that the detection range includes, and according to the work(
Rate spectral sequence and the power spectrum frequency point obtain the signal energy value in the monitoring region.
It is 6. according to the method described in claim 1, it is characterized in that, described right in acquisition monitoring region in current sensing time
The sampled signal sequence that radar beam is reflected determines that the monitoring region memory exists according to the sampled signal sequence
Target object, including：
The sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time, obtains institute
The differential signal of neighbouring sample signal in sampled signal sequence is stated, to generate differential signal sequence；
The differential signal sequence is filtered to obtain time-domain signal sequence, and obtains the time-domain signal sequence
Mean-square value；
The mean-square value sequence for including the mean-square value of continuous multiple detection time acquisitions is obtained, calculates the mean-square value sequence
The variance yields of row；
When the variance yields is more than predetermined threshold value, determine the monitoring region memory in target object.
It is 7. according to the method described in claim 1, it is characterized in that, described to the corresponding signal energy of the sampled signal sequence
Data carry out matching treatment, to identify the object type of the target object, including：
Obtain at least one of the sampled signal sequence respective pulses width value, energy peak and sampled energy value sequence
Signal energy data, and matching treatment is carried out to the signal energy data using energy reference data, to identify the target
The object type of object.
8. according to the method described in claim 1, it is characterized in that, the object type obtained according to identification is to the banister
Restrictor bar controlled, including：
When the restrictor bar of the banister is in opening, and identifies obtained object type as pedestrian's type, the road is controlled
The restrictor bar of lock keeps it turned on action；
When the restrictor bar of the banister is in opening, and identifies obtained object type as type of vehicle, if detecting institute
The state that target object is in the close banister is stated, the restrictor bar of the banister is controlled to keep it turned on action；
When the restrictor bar of the banister is in opening, and identifies obtained object type as type of vehicle, if detecting institute
It states target object and is in the state far from the banister, the restrictor bar of the banister is controlled to perform closing motion.
9. according to the method described in claim 1, it is characterized in that, the object type obtained according to identification is to the banister
Restrictor bar controlled, including：
When the restrictor bar of the banister performs closing motion, and identifies obtained object type as pedestrian's type, the road is controlled
The restrictor bar of lock performs breakdown action；
When the restrictor bar of the banister performs closing motion, and identifies obtained object type as type of vehicle, if detecting institute
The state that target object is in the close banister is stated, the restrictor bar of the banister is controlled to perform breakdown action；
When the restrictor bar of the banister performs closing motion, and identifies obtained object type as type of vehicle, if detecting institute
It states target object and is in the state far from the banister, the restrictor bar of the banister is controlled to keep performing closing motion.
10. a kind of banister control device, applied to comprising in the monitoring region including banister, which is characterized in that including：
Object confirms module, for being adopted in acquisition monitoring region to what radar beam was reflected in current sensing time
Sample signal sequence determines the monitoring region memory in target object according to the sampled signal sequence；
Type identification module carries out matching treatment, with identification for signal energy data corresponding to the sampled signal sequence
The object type of the target object；
Restrictor bar control module, the object type for being obtained according to identification control the restrictor bar of the banister.
11. equipment according to claim 10, which is characterized in that further include：
Sample sequence acquisition module, for acquiring the sample signal sequence reflected in monitoring region radar beam,
The sample energy value sequence in region is monitored according to the sample signal retrieval；
Signal-to-noise ratio acquisition module, for obtaining the background noise data in the monitoring region according to the sample energy value sequence,
And the snr value in region is monitored according to the sample signal retrieval；
Threshold value acquisition module, for obtaining the back of the body in the monitoring region using the background noise data and the snr value
Scape noise threshold.
12. equipment according to claim 11, which is characterized in that the signal-to-noise ratio acquisition module includes：
Noise data acquiring unit, for obtaining the sample mean of the sample energy value sequence, sample maximum, sample most
Small value and sample root-mean-square value, the sample mean, sample maximum, sample minimum and sample root-mean-square value is true
It is set to the background noise data in the monitoring region；
Intensity value acquiring unit, for obtaining the initial signal reflection intensity values in the monitoring region, and according to the initial letter
The noise signal reflection that number reflection intensity values and the sample magnitude of sample signal sequence spectrum obtain the monitoring region is strong
Angle value；
Signal-to-noise ratio acquiring unit, for according to the initial signal reflection intensity values and noise signal reflection intensity values acquisition
The snr value in the monitoring region.
13. equipment according to claim 11, which is characterized in that the object confirms that module includes：
Energy value acquiring unit, for what is reflected in acquisition monitoring region radar beam in current sensing time
Sampled signal sequence obtains the signal energy value in the monitoring region based on the sampled signal sequence；
Average value acquiring unit, for obtain continuous multiple detection times acquisitions comprising including the signal energy value
Sampled energy value sequence calculates the sample mean of the sampled energy value sequence；
First object confirmation unit, for when the sample mean is more than the ambient noise threshold value, determining the prison
There are target objects in survey region.
14. equipment according to claim 13, which is characterized in that the energy value acquiring unit includes：
Sequence acquisition subelement, for what is reflected in acquisition monitoring region radar beam in current sensing time
Sampled signal sequence；
Signal processing subelement adds up processing to obtain the first signal sequence for carrying out coherent to the sampled signal sequence,
Blocking processing is carried out to first signal sequence to obtain second signal sequence, and adding window is carried out to the second signal sequence
It handles to obtain third signal sequence；
Power spectrum obtains subelement, for obtaining fourth signal sequence to third signal sequence progress Fourier transform processing
Row, and the corresponding power spectrum sequence of sampled signal sequence according to the fourth signal retrieval；
Energy value obtains subelement, for obtaining the detection range in the monitoring region, obtains the work(that the detection range includes
Rate composes frequency point, and the signal energy value in the monitoring region is obtained according to the power spectrum sequence and the power spectrum frequency point.
15. equipment according to claim 10, which is characterized in that the object confirms that module includes：
Differential signal acquiring unit, for being reflected to obtain to radar beam in acquisition monitoring region in current sensing time
Sampled signal sequence, the differential signal of neighbouring sample signal in the sampled signal sequence is obtained, to generate differential signal sequence
Row；
Signal procesing in time domain unit, for being filtered the differential signal sequence to obtain differential signal sequence, and
Obtain the mean-square value of the differential signal sequence；
Mean-square value series processing unit, for obtaining the square comprising the mean-square value of continuous multiple detection time acquisitions
Value sequence calculates the variance yields of the mean-square value sequence；
Second object confirmation unit, for when the variance yields is more than predetermined threshold value, determining the monitoring region memory in mesh
Mark object.
16. equipment according to claim 10, which is characterized in that the type identification module is specifically used for adopting described in acquisition
At least one of sample signal sequence respective pulses width value, energy peak and sampled energy value sequence signal energy data,
And matching treatment is carried out to the signal energy data using energy reference data, to identify the object type of the target object
Type.
17. equipment according to claim 10, which is characterized in that the restrictor bar control module is specifically used for：
When the restrictor bar of the banister is in opening, and identifies obtained object type as pedestrian's type, the road is controlled
The restrictor bar of lock keeps it turned on action；
When the restrictor bar of the banister is in opening, and identifies obtained object type as type of vehicle, if detecting institute
The state that target object is in the close banister is stated, the restrictor bar of the banister is controlled to keep it turned on action；
When the restrictor bar of the banister is in opening, and identifies obtained object type as type of vehicle, if detecting institute
It states target object and is in the state far from the banister, the restrictor bar of the banister is controlled to perform closing motion.
18. equipment according to claim 10, which is characterized in that the restrictor bar control module is specifically used for：
When the restrictor bar of the banister performs closing motion, and identifies obtained object type as pedestrian's type, the road is controlled
The restrictor bar of lock performs breakdown action；
When the restrictor bar of the banister performs closing motion, and identifies obtained object type as type of vehicle, if detecting institute
The state that target object is in the close banister is stated, the restrictor bar of the banister is controlled to perform breakdown action；
When the restrictor bar of the banister performs closing motion, and identifies obtained object type as type of vehicle, if detecting institute
It states target object and is in the state far from the banister, the restrictor bar of the banister is controlled to keep performing closing motion.
19. a kind of computer storage media, which is characterized in that the computer storage media is stored with a plurality of instruction, the finger
It enables and is suitable for being loaded by processor and being performed such as the method and step of claim 1~9 any one.
20. a kind of electronic equipment, which is characterized in that including：Processor and memory；Wherein, the memory is stored with calculating
Machine program, the computer program are suitable for being loaded by the processor and performing following steps：
The sampled signal sequence reflected in acquisition monitoring region radar beam in current sensing time, according to institute
Stating sampled signal sequence determines the monitoring region memory in target object；
To the sampled signal sequence, corresponding signal energy data carry out matching treatment, to identify the object of the target object
Type；
The restrictor bar of banister is controlled according to the object type that identification obtains.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711478686.5A CN108230502B (en) | 2017-12-29 | 2017-12-29 | Barrier gate control method and device, storage medium and electronic device |
| PCT/CN2018/074643 WO2019127820A1 (en) | 2017-12-29 | 2018-01-31 | Boom barrier control method and device thereof, storage medium and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711478686.5A CN108230502B (en) | 2017-12-29 | 2017-12-29 | Barrier gate control method and device, storage medium and electronic device |
Publications (2)
| Publication Number | Publication Date |
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| CN108230502A true CN108230502A (en) | 2018-06-29 |
| CN108230502B CN108230502B (en) | 2021-01-19 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711478686.5A Expired - Fee Related CN108230502B (en) | 2017-12-29 | 2017-12-29 | Barrier gate control method and device, storage medium and electronic device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108230502B (en) |
| WO (1) | WO2019127820A1 (en) |
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| CN109597058A (en) * | 2018-12-21 | 2019-04-09 | 上海科勒电子科技有限公司 | Method for microwave measurement, electronic equipment and the storage medium of induction tap |
| CN109640341A (en) * | 2018-12-25 | 2019-04-16 | 全球能源互联网研究院有限公司 | The processing method and electronic equipment of signal interference |
| CN109633571A (en) * | 2018-12-18 | 2019-04-16 | 长沙莫之比智能科技有限公司 | A kind of 77GHz millimeter wave gate cracking protection radar signal processing device |
| CN109784479A (en) * | 2019-01-16 | 2019-05-21 | 上海西井信息科技有限公司 | Restrictor bar neural network based is anti-to pound method, system, equipment and storage medium |
| CN109917714A (en) * | 2019-03-27 | 2019-06-21 | 森思泰克河北科技有限公司 | Banister control method and device |
| CN109932702A (en) * | 2019-04-03 | 2019-06-25 | 森思泰克河北科技有限公司 | Banister control method and banister radar |
| CN111897278A (en) * | 2020-09-30 | 2020-11-06 | 深圳电目科技有限公司 | Barrier gate control method and system based on radar |
| CN112216001A (en) * | 2020-09-22 | 2021-01-12 | 深圳电目科技有限公司 | Access control method and system based on radar |
| CN112262383A (en) * | 2019-09-30 | 2021-01-22 | 深圳市大疆创新科技有限公司 | Radar signal processing method, microwave radar, system and storage medium |
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| CN109597058A (en) * | 2018-12-21 | 2019-04-09 | 上海科勒电子科技有限公司 | Method for microwave measurement, electronic equipment and the storage medium of induction tap |
| CN109640341A (en) * | 2018-12-25 | 2019-04-16 | 全球能源互联网研究院有限公司 | The processing method and electronic equipment of signal interference |
| CN109784479A (en) * | 2019-01-16 | 2019-05-21 | 上海西井信息科技有限公司 | Restrictor bar neural network based is anti-to pound method, system, equipment and storage medium |
| CN109917714A (en) * | 2019-03-27 | 2019-06-21 | 森思泰克河北科技有限公司 | Banister control method and device |
| CN109932702A (en) * | 2019-04-03 | 2019-06-25 | 森思泰克河北科技有限公司 | Banister control method and banister radar |
| CN112262383A (en) * | 2019-09-30 | 2021-01-22 | 深圳市大疆创新科技有限公司 | Radar signal processing method, microwave radar, system and storage medium |
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| CN112216001A (en) * | 2020-09-22 | 2021-01-12 | 深圳电目科技有限公司 | Access control method and system based on radar |
| CN111897278A (en) * | 2020-09-30 | 2020-11-06 | 深圳电目科技有限公司 | Barrier gate control method and system based on radar |
| CN115565261A (en) * | 2022-12-01 | 2023-01-03 | 杭州立方控股股份有限公司 | Double-barrier parking management system |
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| Publication number | Publication date |
|---|---|
| CN108230502B (en) | 2021-01-19 |
| WO2019127820A1 (en) | 2019-07-04 |
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