CN111877222A - Gate system and control method of gate system - Google Patents
Gate system and control method of gate system Download PDFInfo
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- CN111877222A CN111877222A CN202010617164.4A CN202010617164A CN111877222A CN 111877222 A CN111877222 A CN 111877222A CN 202010617164 A CN202010617164 A CN 202010617164A CN 111877222 A CN111877222 A CN 111877222A
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- gate
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
- E01F13/06—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage by swinging into open position about a vertical or horizontal axis parallel to the road direction, i.e. swinging gates
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- G—PHYSICS
- 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
- G07C9/00—Individual registration on entry or exit
- G07C9/10—Movable barriers with registering means
- G07C9/15—Movable barriers with registering means with arrangements to prevent the passage of more than one individual at a time
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- Structural Engineering (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
- Time Recorders, Dirve Recorders, Access Control (AREA)
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Abstract
The present invention relates to a gate system and a control method of the gate system. A gate system, comprising: at least one gate; the laser radar is used for detecting people or objects in a preset area inside and outside the gate; a control unit that controls closing of the shutter based on detection information of the laser radar. Through above-mentioned floodgate machine system, can reduce the part quantity to reduce cable quantity, reduce cost.
Description
Technical Field
The present invention relates to an entrance/exit passage detection technique, and more particularly, to a gate system and a gate system control method for detecting the position of a person or an object entering/exiting a passage.
Background
In recent years, in an airport, a train station, a subway, a large-scale venue, a building, a community, a factory, a tourist area, or the like, in order to allow only a person having an access authority to enter, a gate system having an identity authentication function such as face scanning or certificate scanning is generally used. In order to detect a person or an object passing through a gate, the following detection method is known.
The way of detecting using a photoelectric switch is known. The photoelectric switch converts the input current into an optical signal on the transmitter to be emitted, and the receiver detects the target object according to the intensity or the existence of the received light. To ensure that a person standing anywhere within the gate passageway can be detected, a plurality of opto-electronic switches need to be arranged in a certain manner.
Furthermore, it is also known to use safety light barriers or light curtains for detection. The grating is composed of a set of transmitter and receiver, the transmitter transmits a set of infrared beams, the receiver includes a plurality of light sensors, if the object is between the transmitter and the receiver, the receiver can not receive the complete signal, and then the stop signal is sent to the monitored equipment. The light curtain comprises a light projector and a light receiver, wherein the light projector emits modulated infrared light which is received by the light receiver to form a protection net, and when an object enters the protection net and light rays are blocked by the object, the object is detected. Multiple light curtains/gratings may also be used to ensure that a person standing anywhere within the pathway can be detected.
Disclosure of Invention
As described above, according to the conventional technology, the photoelectric switch, the grating, and the light curtain used are provided as a pair of a transmitting unit and a receiving unit which are separate from each other. For example, in the case of using the photoelectric switches, since each group of the photoelectric switches is only one line beam, in order to accurately detect a person located in the passage, the photoelectric switches need to be disposed at a plurality of positions in the three-dimensional space of the passage, which requires a large number of the photoelectric switches and is costly. For example, in the case of using gratings, at least 4-5 gratings are needed for a set of two gates, which is relatively high in cost. Therefore, the conventional technologies using the photoelectric switch, the optical grating and the optical curtain have the problems of many connecting cables, high cost and the like. In addition, the layout design and installation of so many detection devices and their cables in a narrow passage space can be complicated.
In addition, in previous gate systems, a person may not have passed completely through the gate and the gate will automatically open and close, which may catch or hit a person or luggage. That is, the conventional gate does not recognize a person, a trunk, or the like in the door closing area, and thus, when the person passes the trunk while dragging, the person passes the trunk, the trunk is jammed, or when the person travels at a slow speed, the person is hit by the door.
The present invention provides a gate system and a control method of the gate system, which can solve at least one of the above problems.
In a first aspect of the present invention, there is provided a gate system comprising: at least one gate; the laser radar is used for detecting people or objects in a preset area inside and outside the gate; a control unit that controls closing of the shutter based on detection information of the laser radar.
According to the above, the number of components of the gate system can be reduced, thereby reducing wiring and cost.
In the gate system, the gate is installed on the gate body, and the laser radar is located under or above the gate body and the position where the first gate is installed.
In the above gate system, the control unit may determine whether or not a person or an object is present in a predetermined area inside and outside the gate based on detection information of the laser radar, and may control whether or not the gate is closed based on a result of the determination, and the control unit may control the gate to be closed only when it is determined that the person or the object is not present in the predetermined area inside and outside the gate based on the detection information of the laser radar in a state where the gate is opened.
According to the above, it is possible to prevent a person or an object passing through the shutter from being caught or caught by the shutter.
In the gate system, the control unit judges whether all people exist in the predetermined area inside and outside the gate according to the detection information of the laser radar, and determines that people trail the gate when judging that all people exist in the predetermined area inside and outside the gate.
According to the above, whether a person trails can be detected by the laser radar.
In foretell floodgate machine system, still include trailing detecting element, trailing detecting element contains first detecting element and second detecting element, first detecting element sets up in first the floodgate is outer the upper portion of floodgate body, second detecting element sets up in first the floodgate is outer the lower part of floodgate body, first detecting element with second detecting element is located the coplanar on perpendicular to ground, trailing detecting element sends detected signal for the control unit, the control unit is based on trailing detecting element's detected signal and laser radar's detection information judges whether someone trails.
According to the method, whether the person trails can be accurately judged through the trailing detection unit.
In the gate system, the gate system further comprises an alarm unit, and the control unit controls the alarm unit to output an alarm signal when the control unit judges that the person is at any time.
In the gate system described above, the gate includes a first gate and a second gate, and the predetermined section includes: a first predetermined area outside the first gate; a second predetermined region of a part between the first gate and the second gate and connected with the first gate; a third predetermined area including the entire area between the first barrier gate and the second barrier gate; contain first gate with the fourth predetermined area of the partial region outside all areas between the second banister gate and the second banister gate, lidar detects first predetermined area, second predetermined area, third predetermined area and fourth predetermined area, the control unit is based on lidar is right first to the detection information control in fourth predetermined area the closing of first gate and the closing of second banister gate.
In the gate system described above, the control unit controls the first gate to be closed when it is determined that no person or object is present in the first predetermined area and the second predetermined area based on the detection information in a state where the first gate is opened; the control unit controls the second barrier gate to be closed when it is determined that the fourth predetermined area has no person or object based on the detection information in a state where the second barrier gate is opened.
In a second aspect of the present invention, there is provided a control method of a gate system including at least one gate, a laser radar, and a control unit, the control method including: a detection step, wherein the laser radar detects people or objects in a preset area inside and outside the gate; a control step of controlling the closing of the gate based on the detection information of the laser radar.
In the above control method, the control step may determine whether or not a person or an object is present in a predetermined area inside and outside the shutter based on detection information of the laser radar, and may control whether or not the shutter is closed based on a result of the determination, and the control unit may control the shutter to be closed only when it is determined that the person or the object is not present in the predetermined area inside and outside the shutter based on the detection information of the laser radar in a state where the shutter is opened.
In the control method, in the control step, it is determined whether or not all the predetermined areas inside and outside the gate are occupied based on the detection information of the laser radar, and it is determined that someone trails when it is determined that all the predetermined areas inside and outside the gate are occupied.
In the above control method, the gate system further includes a trailing detection unit and a gate body installed with the gate, the trailing detection unit includes a first detection unit and a second detection unit, the first detection unit is disposed at an upper portion of the gate body outside the first gate, the second detection unit is disposed at a lower portion of the gate body outside the first gate, and the first detection unit and the second detection unit are located in a same plane perpendicular to the ground, and the control method further includes the following steps: the trailing detection unit sends a detection signal to the control unit, and the control unit judges whether a person trails or not based on the detection signal of the trailing detection unit and the detection information of the laser radar.
In the above control method, the gate includes a first gate and a second gate, and the predetermined area includes: a first predetermined area outside the first gate; a second predetermined region of a part between the first gate and the second gate and connected with the first gate; a third predetermined area including the entire area between the first barrier gate and the second barrier gate; the control unit controls the closing of the first gate and the closing of the second gate based on detection information of the first to fourth predetermined regions, wherein the detection information of the first to fourth predetermined regions is detected by the laser radar.
In the control method described above, in the control step, the control unit controls the first gate to be closed when it is determined that no person or object is present in the first predetermined area and the second predetermined area based on the detection information in a state where the first gate is opened; the control unit controls the second barrier gate to be closed when it is determined that the fourth predetermined area has no person or object based on the detection information in a state where the second barrier gate is opened.
According to the invention, at least the detection components are reduced, thereby reducing the connecting cables and reducing the cost. In addition, according to the above, the present invention can also prevent a person or an object from being caught or caught by the closing of the shutter when the person or the object does not completely pass through.
Drawings
Fig. 1 is a schematic diagram showing a configuration of a gate system according to a first embodiment of the present invention;
fig. 2 is a schematic top view of a gate system according to a first embodiment;
fig. 3 is a block diagram of a gate system according to the first embodiment;
fig. 4 is a schematic diagram of division of a detection area of the gate system relating to the first embodiment;
FIG. 5 is a flow chart showing the control unit controlling the gate closing;
FIG. 6 is a flowchart showing actions when the control unit performs anti-trail detection;
fig. 7 is a schematic view showing a gate system having two gates according to a second embodiment;
FIG. 8 is a schematic diagram showing the division of the detection zone of a gate system with two gates
FIG. 9 is a flowchart showing the closing control of a first gate of a gate system having a two-way gate;
FIG. 10 is a flowchart showing the control of the closing of the second-passage shutter;
fig. 11 is a flowchart showing the control unit simultaneously performing the anti-pinch control and the trailing detection control.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
Hereinafter, a gate system and a gate system control method according to the present invention will be described with reference to the drawings.
The following describes in detail a schematic configuration of the gate system according to the first embodiment.
Fig. 1 is a schematic diagram showing a configuration of a gate system according to a first embodiment of the present invention. As shown in fig. 1, taking a gate system in a subway as an example, the gate system 100 includes: a gate 1, a gate body 2 and a gate passage 3. The gate 1 is installed on the gate body 2. The channel clamped by the left and right gate bodies 2 is a gate channel 3.
On the entry side of the gate system 100, a credential information collecting unit may be provided to collect information on a document carried by a passer, such as text information and/or picture information. The certificate can be any certificate such as tickets of trains, air tickets and the like, identity cards, passports and the like. The credential information collection unit may be, for example, an image scanning device that scans a credential to obtain information. In addition, the credential information acquisition unit can also be a card reader, and information is read through card insertion. For example, the gate 1 may be opened in the case where the credential information is successfully verified.
Fig. 2 is a schematic top view of a gate system according to a first embodiment. Referring to fig. 1 and 2, the gate system 100 further includes a laser radar 4. The laser radar 4 is mounted on the gate body 2 and located right below the gate 1. Since the laser radar 4 performs planar scanning, the laser radar needs to be arranged at a position where the scanning area of the laser radar is ensured to be a horizontal plane. In addition, it is also necessary to ensure that no equipment protrusion exists in the scanning area of the laser radar, so that the scanning result of the radar is not affected. In this embodiment, for example, the radar is disposed at a position of about 10cm from the ground. By arranging the laser radar at this height, it can be ensured that children passing through can also be detected, and in addition, it is also ensured that objects carried by people, such as luggage cases, having a height of not more than 90cm, can also be detected. The detection of the lidar will be described in detail later.
According to the above, the laser radar is used for replacing the conventional photoelectric switch, the grating, the light curtain and the like, and the detection of all the areas of the channel can be realized only by one laser radar without arranging a plurality of groups of detection equipment, so that the required detection equipment is few, the wiring is few, the cost is low, and the radar detection accuracy is high.
Fig. 3 is a block diagram of a gate system according to the first embodiment. The gate system 100 further comprises a control unit 5. The control unit 5 may be installed inside the gate body 2 or may be provided physically independently of the gate body 2. The control unit 5 may be provided as a whole, or may be provided in a distributed manner in different devices or components.
The control unit 5 may be a personal computer, a single chip microcomputer, or the like, and may include, for example, a CPU (Central processing unit), a ROM (Read Only Memory) in which programs and various data are stored, and a RAM (Random Access Memory) used as a work area of the CPU. The CPU executes a program stored in the ROM or the storage section. The control unit 5 may be implemented by a Programmable integrated circuit such as an asic (application specific integrated circuit), an FPGA (Field-Programmable Gate Array), or the like.
The control unit 5 receives the collected information from the access voucher collecting unit and also receives the detection information from the laser radar 4. The control unit 5 compares the received collected information with information stored in a memory inside or outside the gate system to determine whether the pedestrian can pass through, thereby controlling whether the gate 1 can be opened. The control unit 5 determines the position of the pedestrian using the detection information of the laser radar 4, and controls the closing of the gate 1.
Next, the control of the gate closing by the detection of the laser radar 4 will be described.
Fig. 4 is a schematic diagram of division of the detection area of the gate system according to the first embodiment. The gate system 1 is divided into a zone Z1 and a zone Z2 by a gate 1, and a laserThe radar 4 may scan the zone Z1 and the zone Z2, respectively. For example, the laser radar 4 scans the zone Z1 at a range of 0 to 90 degrees and the zone Z2 at a range of 90 to 180 degrees, respectively. The laser radar 4 transmits detection information for detecting the zone Z1 and the zone Z2 to the control unit 5. The laser radar 4 is, for example, a switching value laser radar. The laser radar 4 scans the zone Z1 and the zone Z2, and outputs detection information for determining whether or not a person is present, which is a boolean quantity, to the control unit 5. Using R as the resultant detection informationZ1And RZ2And (4) showing. RZ1Or RZ2When it is "1", R represents a person or an objectZ1Or RZ2A "0" indicates that there is no person or object.
The shutter 1 is kept in a closed state in a state where no person passes through. The control unit 5, upon receiving the collection information of the certificate collection unit, opens the gate 1 when determining that the pedestrian should be allowed to pass. At the same time, the laser radar 4 also starts to work, scanning the position where the pedestrian is located. When the pedestrian passes through the gate 1 and is in the zone Z1, and the laser radar scans the zone Z1, the detection information, i.e., R, is output to the control unit 5Z1＝1、RZ2When R is received, the control unit 5 sets 0Z1、RZ2In the case of (3), it is determined that a person or an object is present in the zone Z1, and the shutter 1 is kept in the open state. When the pedestrian passes through the zone Z1 to be in the zone Z2, the laser radar 4 scans the zone Z1 and the zone Z2, and acquires R Z10 and R Z21, and sends it to the control unit 5. Upon receiving the detection information, the control unit 5 determines that there is no person in the zone Z1 and a person or an object in the zone Z2, and continues to maintain the state where the shutter 1 is opened. Here, the area Z2 may be provided according to the opening range of the shutter 1 when opened and closed, and the holding area Z2 may be equal to or larger than the opening range of the shutter 1 when opened and closed. The laser radar 4 continuously scans, and when the pedestrian leaves the area Z2, the detection results of the laser radar 4 for detecting the area Z1 and the area Z2 are respectively R Z10 and RZ2And sends the detection result to the control unit 5 as 0. When the control unit 5 determines that neither of the zone Z1 and the zone Z2 has a person based on the received detection information, it controls the shutter 1 to close the shutterAnd (5) closing.
In addition, when the pedestrian enters the zone Z2 through the gate 1 while the trunk is still in the zone Z1 while the pedestrian carries the trunk, the result of the laser radar 4 detecting the zone Z1 and the zone Z2 is R Z11 and R Z21 and sent to the control unit 5. The control unit 5 determines that a person or an object is present in both the zone Z1 and the zone Z2 based on the detection information of the laser radar 4, and thus maintains the open state of the shutter 1. When the pedestrian leaves zone Z2 while the luggage case is still in zone Z2, the result of lidar 4 detecting zone Z1 and zone Z2 is R Z10 and R Z21 and sent to the control unit 5. The control unit 5 determines that the zone Z1 has no person or object based on the detection information of the laser radar 4, but the open state of the shutter 1 is maintained because the person or object is present in all of the zones Z2. Until the luggage leaves the zone Z2, in a state where neither the zone Z1 nor the zone Z2 is occupied, the results of the laser radar 4 detecting the zone Z1 and the zone Z2 are R respectivelyZ10 and RZ2And sends the detection result to the control unit 5 as 0. When the control unit 5 determines that neither zone Z1 nor zone Z2 has a person or an object, it controls the shutter 1 to close.
Through the above, the laser radar 4 detects, and the control unit 5 controls the closing of the gate 1 according to the detection result of the laser radar 4, so that the situation that a person or an object is pinched or touched due to the fact that the person or the object is in the opening and closing range of the closed gate is avoided.
Optionally, the gate system 1 in the above embodiment may further include a trailing detection device. As shown in fig. 2, the gate system 100 also includes two sets of opto-electronic switches 6 with trailing detection functionality. Two sets of photoelectric switches 6 are located outside the gate. One set of photoelectric switches is provided on the upper part of the gate body 2 outside the gate 1, and the other set of photoelectric switches is provided on the lower part of the gate body 2 outside the gate 1. The installation position of the photoelectric switch 6 can be set appropriately according to the height range of a person. The two groups of photoelectric switches 6 are arranged in the same plane vertical to the ground. Each group of photoelectric switches 6 comprises a transmitter and a receiver which are respectively arranged at the left side and the right side of the channel. Under the condition that no person passes through the device, the infrared signal sent by the transmitter can be received by the receiver; when someone passes through the device, the infrared signal emitted by the emitter is blocked, and the receiver cannot receive the signal. At this time, the photoelectric switch 6 feeds back a human or object passing signal to the control unit 5. Under the condition that the transmitters of the upper and lower groups of photoelectric switches all send signals and the receivers do not receive the signals, the signals output by the photoelectric switches are changed from 0 to 1, and people can be judged to follow. The control unit 5 determines whether signals are received from both the upper and lower groups of photoelectric switches 6, based on the signals received from the photoelectric switches 6. In the case where signals are received from both sets of the photoelectric switches 6, the control unit 5 determines that someone has passed. It is also determined whether there is a person or an object in zone Z2 based on the information received from laser radar 4. When the control unit receives signals from the two sets of photoelectric switches and determines that there is a person or an object in the zone Z2, it determines that there is a tail.
The reason why the upper and lower sets of photoelectric switches are provided is that if only one set of photoelectric switches is provided at the lower part, the luggage case pulled by a passing pedestrian may be erroneously determined as trailing; if only one set of photoelectric switches is provided on the upper side, it is possible to erroneously determine that a long piece of luggage carried on the back of a pedestrian is trailing. Therefore, according to the structure of the embodiment in which the upper and lower sets of photoelectric switches are provided, the accuracy of trailing detection can be improved.
The gate system 1 further comprises an alarm unit 7. And when the control unit 5 judges that the person is followed, the control unit 7 is controlled to send out an alarm signal. The alarm unit 7 can prompt relevant personnel in a sound mode, a light mode and the like.
Next, a method of the control unit 5 for controlling the closing of the shutter will be described in detail. Fig. 5 is a flowchart showing the control unit controlling the gate closing. After the shutter 1 is opened, the control unit 5 operates as follows.
In step S1, the control unit 5 receives the detection information acquired by the detection region Z1 and the region Z2 from the laser radar 4. In step S2, the control unit 5 determines whether there is a person or an object in any one of the zone Z1 and the zone Z2 based on the detection information. If it is determined that there is a person or an object in both of the zone Z1 and the zone Z2, the process proceeds to step S3. In step S3, the control unit 5 controls to maintain the open state of the shutter 1. Then, the process returns to step S1. In step S4, the control unit 5 controls to close the shutter 1 in a case where it is determined that neither the zone Z1 nor the zone Z2 has a person or an object.
By the control of the control unit 5, a person or an object can be prevented from being caught or knocked when passing through the gate.
Fig. 6 is a flowchart showing an action when the control unit performs the anti-tailing detection. The gate system 100 described above may also have an anti-trailing function. In the state where the shutter 1 is opened, the control unit 5 operates as follows.
In step S11, the control unit 5 receives the detection information acquired by the detection region Z1 and the region Z2 from the laser radar 4 and receives the detection signal from the photoelectric switch 6.
In step S12, the control unit 5 determines whether a person or an object is detected in both the zone Z1 and the zone Z2 based on the detection information. If yes, the process proceeds to step S13. In step S13, the control unit 5 determines whether or not there is a trailing based on the signal received from the photoelectric switch 6. If yes, it is determined that someone trails, and the process proceeds to S14. In step S14, the control unit 5 controls to output an alarm signal. If no, the process returns to step S11.
By the above, the control unit 5 can determine whether or not there is a tail based on the detection information received from the laser radar and the signal detected from the tail prevention device. The control unit 5 can control the alarm device to output an alarm signal when detecting that a person is trailing.
The above description has been given taking a gate system of one gate as an example. The following description will be made by taking a gate system having two gates as an example.
Fig. 7 is a schematic view showing a gate system having two gates according to a second embodiment. The only difference in structure compared to the one-way-gate system 1 described above is that the gate system 10 includes a first-way gate 11 and a second-way gate 21, and the laser radar is mounted directly below or above the first-way gate 11 of the gate body. The other structures are the same as those of the gate system 1, and detailed description thereof is omitted here. The gate system 10 is configured such that the first gate 11 and the second gate 12 are closed in a non-operating state and cannot be opened simultaneously in a normal operating state. Additionally, the direction of traffic of the gate system 10 is unidirectional, irreversible, or long dwell time.
In the control of the control unit, as compared with the first embodiment, not only the person or object passing through the first gate but also the person or object passing through the second gate is subjected to the anti-pinch control.
Fig. 8 is a schematic diagram showing the division of the detection zone of the gate system with two gates. The predetermined area inside and outside the gate includes: a zone Z11 outside the first gate; a region Z12 between the first gate and the second gate and contacting the first gate; a zone Z13 which is connected with the zone Z12 and the second gate between the first gate and the second gate; zone Z14 outside the second barrier gate. To prevent people or objects from being caught or hit by the gate, the first gate 11 is closed only in the case where neither zone Z11 nor zone Z12 on the inside or outside of the first gate is occupied by people or objects. The second gate 12 is closed only in the case where neither zone Z13 nor zone Z14 inside or outside the second gate is occupied by a person or an object.
In the detection of the laser radar, the following regions are detected: zone Z11, zone Z12, zone Z23 comprising zone Z12 and zone Z13, zone Z24 comprising zone Z12 and zone Z13, and zone Z14.
In the gate system 10 with two gates, personnel identification or security check work can be performed generally in the zone Z23. Therefore, only one pedestrian can enter in zone Z23.
And the laser radar sequentially and alternately detects the two modes. In the first mode, the lidar detects zone Z11, zone Z12, zone Z23; in the second mode, the laser radar detects zone Z12, zone 23, zone Z24. The lidar sends the detection result to the control unit 5.
During the anti-pinch control, the control unit 5 operates as follows.
Fig. 9 is a flowchart showing the closing control of the first gate of the gate system having the two-way gate.
In step S21, control unit 5 receives the detection information from laser radar 4. Specifically, the control unit 5 receives the detection information R acquired by the detection zone Z11 and the zones Z12, Z23, and Z24 from the laser radar 4Z11、RZ12、RZ23And RZ24. In step S22, it is determined whether or not R is presentZ110 and R Z120. If yes in step S22, control is performed to close the first gate 11. In the case where the determination is no in step S22, control is performed to maintain the open state of the first gate 11, and the process returns to step S21.
After the first gate 11 is closed, the closing control of the second gate is continued. Fig. 10 is a flowchart showing the control of the closing of the second-lane gate. Steps S31 to S34 are substantially the same as steps S21 to S24 of fig. 9, except that in the case of determining whether the second gate 12 is closed, it is necessary to determine whether the zone Z13 and the zone Z14 are empty. Therefore, in step S32, R is judgedZ24Whether or not it is equal to 0. At RZ24In the case of 0, it is indicated that none of the zone Z12, the zone Z13, and the zone Z14 has a person, and the person does not get caught or hit even if the second barrier gate is closed.
In the process of preventing the trailing, the operation is the same as that of a gate system having a single gate, and thus, a detailed description thereof is omitted.
According to the above gate system having the two gates, it is possible to prevent a person or an object from being caught or touched by the gate. In addition, the anti-tailing function can be achieved.
In the above-described embodiments, the gate is described by taking as an example a swing-open type gate, i.e., a gate which is parallel to the passage when the gate is opened and perpendicular to the passage when the gate is closed, thereby blocking the passage. The invention is also applicable to retractable gates, which retract inside the body when opened, such as subway gates. The range of the zone Z2 can be appropriately shortened when a retractable gate is used, as compared with a swing-type shutter. The region Z2 is preferably set to a distance of not less than 10cm in the traveling direction.
In the above embodiment, the first gate is opened by taking the example of successful comparison of the certificate information as an example, but the first gate may be opened by triggering the first gate through no abnormality in the security detection, or the first gate may be opened by triggering the certificate information and the security detection simultaneously through the first gate, or the like, and the embodiment is not limited herein.
In the above embodiment, the laser radar 4 is mounted on the gate body 2 directly below the gate 1. However, the installation position of the laser radar 4 is not limited to this, and may be installed directly above the gate 1 in the gate body 2.
In addition, the terms "directly below" and "directly above" in the above embodiments are not limited in a strict sense, and may be within a range of allowable deviation below or above the shutter.
In the above embodiment, the laser radar 4 has been described by taking as an example a switching value laser radar that outputs a boolean value "0" indicating that no person passes through, depending on the presence or absence of a person or an object in the detection area; "1" indicates that someone is passing. However, the laser radar is not limited to the switching value laser radar, and may be a measurement type laser radar. The measurement type lidar detects scan data in all of the respective divided areas. Through calculation of the fed back distance values, the cross-sectional range and the number of the detection targets in the area can be identified. The measuring laser radar can reduce the scanning period of the radar, more quickly locate the position of a pedestrian or an object and identify the shape of a detected target.
In the case of using a measurement type laser radar, a trailing detection device may not be provided. The contour shape of a detection target in a detection area is judged by directly utilizing data fed back by the measurement type laser radar, and whether two persons exist in the area inside and outside the gate or not is judged. Judging that a person trails under the condition that the measuring laser radar detects two persons; when only one person is detected, it is determined that no person is trailing.
In the above embodiment, the trailing detection device is provided on the gate body, but a mounting device for trailing detection may be separately provided outside the gate.
In the above embodiment, the following detection device is described by taking a photoelectric switch as an example, but the following detection device is not limited to this, and may be a light curtain, a laser radar, or another detection device.
In the above embodiment, the first detection unit and the second detection unit are located in the same plane perpendicular to the ground, but this is not a strict limitation as long as the passing person can be detected at the same time, allowing a slight deviation.
In the above embodiment, the anti-pinch control and the trailing detection control of the control unit are determined separately, but may be determined simultaneously. Fig. 11 is a flowchart showing the control unit simultaneously performing the anti-pinch control and the trailing detection control. In step S41, control unit 5 receives detection information from laser radar 4 and a detection signal from the photoelectric switch. In step S42, the control unit 5 determines whether a person or an object is detected in both the zone Z1 and the zone Z2 based on the reception detection information. If yes, the process proceeds to step S43. If the determination is no, the process proceeds to step S45. In step S43, it is determined whether or not a person trails based on the detection signal received from the photoelectric switch 6. If yes, the process proceeds to step S44, and the control unit 5 controls the alarm unit 7 to issue an alarm signal. If no, the process returns to step S41. In step S46, it is determined whether or not a person or an object is not detected in both of the zone Z0 and the zone Z1 based on the detection information from the laser radar, and if it is determined that the result is yes, the process proceeds to step S46. If no, the process returns to step S41. In step S46, the control unit 5 controls to close the shutter 1 or the first shutter 11. By the above, the control unit 5 performs control, and can perform anti-pinch determination and trailing detection at the same time.
In the above embodiments, the respective embodiments in which the control unit controls the gate to be closed and the trailing detection are shown, but the present invention is not limited to this as long as the presence or absence of a person or an object in a predetermined area inside or outside the gate can be detected, and is not limited to the above steps. The above embodiments may be combined with and replaced with each other as appropriate.
Although the embodiments and specific examples of the present invention have been described above with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (14)
1. A gate system, comprising:
at least one gate;
the laser radar is used for detecting people or objects in a preset area inside and outside the gate;
a control unit that controls closing of the shutter based on detection information of the laser radar.
2. The gate system of claim 1,
comprises a gate body, a gate valve,
the gate is arranged on the gate body,
the laser radar is located under or above the position of the gate body, where the first gate is installed.
3. The gate system of claim 1,
the control unit determines whether a person or an object is present in a predetermined area inside and outside the shutter based on detection information of the laser radar, and controls whether the shutter is closed according to a result of the determination,
the control unit controls the shutter to close only when it is determined that no person or object is present in a predetermined area inside and outside the shutter based on the detection information of the laser radar in a state where the shutter is open.
4. The gate system of claim 1,
the control unit judges whether people exist in the preset area inside and outside the gate according to the detection information of the laser radar,
and determining that people trail when the door is judged to be in the preset area inside and outside the door.
5. The gate system of claim 2,
also comprises a trailing detection unit which is used for detecting the trailing,
the trailing detection unit comprises a first detection unit and a second detection unit,
the first detection unit is arranged at the upper part of the gate body outside the first gate,
the second detection unit is arranged at the lower part of the gate body outside the first gate,
the first detection unit and the second detection unit are positioned in the same plane vertical to the ground,
the trailing detection unit sends a detection signal to the control unit,
the control unit judges whether a person trails based on the detection signal of the trailing detection unit and the detection information of the laser radar.
6. The gate system of claim 4 or 5,
the device also comprises an alarm unit which is used for alarming,
and the control unit controls the alarm unit to output an alarm signal when judging that the person is at any time.
7. The gate system according to any of the claims 1 to 5,
the gate comprises a first gate and a second gate,
the predetermined area includes: a first predetermined area outside the first gate; a second predetermined region of a part between the first gate and the second gate and connected with the first gate; a third predetermined area including the entire area between the first barrier gate and the second barrier gate; a fourth predetermined region including the entire region between the first gate and the second gate and a partial region outside the second gate,
the lidar detecting the first predetermined area, the second predetermined area, a third predetermined area, and the fourth predetermined area,
the control unit controls the closing of the first-way gate and the closing of the second-way gate based on detection information of the laser radar on the first to fourth predetermined regions.
8. The gate system of claim 7,
when the first gate is in an open state, the control unit controls the first gate to be closed when the first preset area and the second preset area are judged to be free of people or objects based on the detection information;
the control unit controls the second barrier gate to be closed when it is determined that the fourth predetermined area has no person or object based on the detection information in a state where the second barrier gate is opened.
9. A control method of a gate system is characterized in that,
the gate system comprises at least one gate, a laser radar and a control unit,
the control method comprises the following steps:
a detection step, wherein the laser radar detects people or objects in a preset area inside and outside the gate;
a control step of controlling the closing of the gate based on the detection information of the laser radar.
10. The method of controlling a gate system of claim 9,
in the control step, it is determined whether a person or an object is present in a predetermined area inside and outside the shutter based on detection information of the laser radar, and whether the shutter is closed is controlled according to a result of the determination,
the control unit controls the shutter to close only when it is determined that no person or object is present in a predetermined area inside and outside the shutter based on the detection information of the laser radar in a state where the shutter is open.
11. The method of controlling a gate system of claim 9,
in the control step, whether people exist in the preset area inside and outside the gate is judged according to the detection information of the laser radar,
and determining that people trail when the door is judged to be in the preset area inside and outside the door.
12. The method of controlling a gate system of claim 9,
the gate system also comprises a trailing detection unit and a gate body provided with the gate,
the trailing detection unit comprises a first detection unit and a second detection unit,
the first detection unit is arranged at the upper part of the gate body outside the first gate,
the second detection unit is arranged at the lower part of the gate body outside the first gate,
the first detection unit and the second detection unit are positioned in the same plane vertical to the ground,
the control method further comprises the following steps:
the trailing detection unit sends a detection signal to the control unit,
the control unit judges whether a person trails based on the detection signal of the trailing detection unit and the detection information of the laser radar.
13. The method of controlling a gate system of claim 9,
the gate comprises a first gate and a second gate,
the predetermined area includes: a first predetermined area outside the first gate; a second predetermined region of a part between the first gate and the second gate and connected with the first gate; a third predetermined area including the entire area between the first barrier gate and the second barrier gate; a fourth predetermined region including the entire region between the first gate and the second gate and a partial region outside the second gate,
in the detecting step, the laser radar detects the first predetermined area, the second predetermined area, a third predetermined area, and the fourth predetermined area,
in the controlling step, the control unit controls the closing of the first lane gate and the closing of the second lane gate based on detection information of the laser radar on the first to fourth predetermined regions.
14. The method of controlling a gate system of claim 13,
in the step of controlling,
when the first gate is in an open state, the control unit controls the first gate to be closed when the first preset area and the second preset area are judged to be free of people or objects based on the detection information;
the control unit controls the second barrier gate to be closed when it is determined that the fourth predetermined area has no person or object based on the detection information in a state where the second barrier gate is opened.
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| CN202010617164.4A CN111877222A (en) | 2020-06-30 | 2020-06-30 | Gate system and control method of gate system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010617164.4A CN111877222A (en) | 2020-06-30 | 2020-06-30 | Gate system and control method of gate system |
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