Interference object detection method and reflective photoelectric sensor

Abstract

The present application provides an interference object detection method and a reflective photoelectric sensor, which relate to the field of access control. The method is applied to gates; the method includes: for a first sensor among multiple reflective photoelectric sensors, based on the light signal emitted and received by the first sensor, obtaining a detection histogram; when the gate body is detected in the detection histogram according to a preset time point, and an object is detected at a time point before the preset time point, it is determined that there is an interference object in the gate channel; the preset time point is the time point obtained by adding the time taken for the light signal to fly over a distance twice the width of the gate channel when the first sensor emits the light signal. The method is applicable to the process of controlling the gate to block or release, and is used to improve the accuracy of object detection in the gate channel.

Description

Technical Field

[0001] The present application relates to the field of access control, and in particular to an interference object detection method and a reflective photoelectric sensor. Background Art

[0002] A gate is a channel management device that blocks and releases people to allow only one person to pass through at a time. The gate can include two bodies on the left and right sides, and gates respectively arranged on the two bodies. The channel between the two bodies can be called a gate channel.

[0003] At present, in order to ensure that the gate of the gate machine is opened and closed at the correct time and to ensure the safety of the passers-by, it is necessary to perform target object detection on the passers-by in the gate machine channel.

[0004] However, under complex outdoor working conditions, the detection of target objects in the gate channel is easily affected by raindrops, snowflakes, fallen leaves, etc., resulting in misjudgment and causing abnormal operation of the gate. Summary of the invention

[0005] Based on the above technical problems, the present application provides an interference object detection method and a reflective photoelectric sensor. The method can detect interference objects in the gate channel according to the detection histogram detected by the reflective photoelectric sensor, with high accuracy and less prone to misjudgment.

[0006] In the first aspect, the present application provides an interference object detection method, which is applied to a gate; a plurality of reflective photoelectric sensors are arranged on the body of the gate; any one of the plurality of reflective photoelectric sensors is used to transmit and receive light signals in a direction perpendicular to the gate channel; the method comprises: for a first sensor among the plurality of reflective photoelectric sensors, a detection histogram is obtained based on the light signals transmitted and received by the first sensor; when the gate body is detected in the detection histogram according to a preset time point, and an object is detected at a time point before the preset time point, it is determined that there is an interfering object in the gate channel; the preset time point is the time point obtained after the moment when the first sensor transmits the light signal plus the time used for the light signal to fly over a distance twice the width of the gate channel.

[0007] Optionally, the method may also include: when a gate body is detected in the detection histogram according to a preset time point, and no object is detected at a time point before the preset time point, determining that there is no interfering object in the gate channel; when an object is detected at a time point before the preset time point, and the gate body is not detected at the preset time point, determining that there is a target object in the gate channel.

[0008] Optionally, before determining that there is an interfering object in the gate channel when the gate body is detected in the detection histogram according to a preset time point and an object is detected at a time point before the preset time point, the method also includes: determining whether the gate body and the object are detected according to the peaks in the detection histogram; when the peak appears at the preset time point, determining that the gate body is detected; when the peak appears at the time point before the preset time point, determining that the object is detected.

[0009] It should be understood that, compared with (valid) target objects such as human bodies or suitcases, invalid target objects such as raindrops, snowflakes and leaves are smaller in size (or smaller in volume) and cannot completely block the detection field of view of the reflective photoelectric sensor. Therefore, when interfering objects such as raindrops, snowflakes and leaves appear in the gate channel, the reflective photoelectric sensor can not only detect the existence of objects in the gate channel through the reflected part within a detection cycle, but also detect objects behind the objects in the detection direction (such as the gate body).

[0010] By using the interference object detection method provided in the present application, by judging whether the gate body is detected in the detection histogram at a preset time point, and when an object is detected at a time point before the preset time point, it can be determined that the light signal is reflected by a smaller object, that is, there is an interfering object in the gate channel, thereby improving the accuracy of object detection in the gate.

[0011] Optionally, the gate includes a first body and a second body, and a plurality of reflective photoelectric sensors are arranged on a side of the first body or the second body close to the gate passage, and are perpendicular to the travel direction of the gate passage and point to the gate body on the opposite side.

[0012] It should be understood that, compared with the current solution of the through-beam photoelectric sensor, the reflective photoelectric sensor provided by the present application only needs to be installed on one side of the gate body, which reduces the number of supporting auxiliary components and reduces the production cost of the gate compared with the through-beam photoelectric sensor. In addition, the reflective photoelectric sensor does not need to be aligned and debugged, which reduces the requirements for installation technology and improves installation efficiency.

[0013] Optionally, the gate includes a first body and a second body, and a plurality of reflective photoelectric sensors are respectively arranged on one side of the first body and the second body close to the gate passage, and the first body and the second body are each provided with at least one reflective photoelectric sensor; the reflective photoelectric sensors arranged on the first body and the second body are perpendicular to the travel direction of the gate passage and point to the gate body on the opposite side.

[0014] Optionally, the reflective photoelectric sensor array is arranged on the first body and the second body; and the reflective photoelectric sensors arranged in array on the first body and the second body point to the reflective photoelectric sensors on the opposite gate body.

[0015] Optionally, the reflective photoelectric sensor comprises a direct measurement time of flight DTOF sensor.

[0016] In one possible implementation, for a first sensor among multiple reflective photoelectric sensors, a detection data statistical graph is obtained based on the light signal emitted and received by the first sensor, including: for a first sensor among multiple reflective photoelectric sensors, based on the light signal emitted and received by the first sensor according to a preset detection period, determining a detection histogram corresponding to each detection period.

[0017] In a second aspect, the present application provides a reflective photoelectric sensor, which includes: an optical signal processor, a light source device, and a receiving optical system. The optical signal processor is used to control the light source device to send an optical signal. The light source device is used to transmit an optical signal. The receiving optical system is used to receive a reflected light signal that is reflected back from an object after the light signal emitted by the light source device is reflected, and send the reflected light signal to the optical signal processor. The optical signal processor is also used to receive the reflected light signal sent by the receiving optical system, and obtain a detection histogram according to the time when the light source device transmits the light signal and the time when the reflected light signal is received, so that when the gate machine equipped with the reflective photoelectric sensor detects the gate machine body in the detection histogram according to a preset time point, and detects an object at a time point before the preset time point, it determines that there is an interfering object in the gate machine channel; the preset time point is the time point obtained after the time when the light source device transmits the light signal plus the time used for the light signal to fly over a distance twice the width of the gate machine channel.

[0018] In a third aspect, the present application provides an interference object detection device, which includes various modules used in the method described in the first aspect.

[0019] In a fourth aspect, the present application provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the steps of the related method described in the first aspect above to implement the method described in the first aspect above.

[0020] In a fifth aspect, the present application provides a gate, which includes: a processor and a memory; the memory stores instructions executable by the processor; when the processor is configured to execute the instructions, the gate implements the method described in the first aspect above.

[0021] In a sixth aspect, the present application provides a computer-readable storage medium, which includes: computer software instructions; when the computer software instructions are executed in an electronic device, the electronic device implements the method described in the first aspect above.

[0022] In a seventh aspect, the present application provides a chip comprising a processor and an interface, wherein the processor is coupled to a memory through the interface, and when the processor executes a computer program in the memory or an electronic device executes instructions, the method described in the first aspect above is executed.

[0023] The beneficial effects of the second to seventh aspects mentioned above can be referred to the first aspect and will not be elaborated on again. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the gate channel;

[0025] Figure 2 A schematic diagram of the structure of the gate provided in the embodiment of the present application;

[0026] Figure 3 Another structural schematic diagram of a gate provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of another structure of a gate provided in an embodiment of the present application;

[0028] Figure 5 A schematic diagram of another structure of a gate provided in an embodiment of the present application;

[0029] Figure 6 A schematic diagram of the structure of a reflective photoelectric sensor 201 provided in an embodiment of the present application;

[0030] Figure 7 A schematic diagram of a flow chart of an interference object detection method provided in an embodiment of the present application;

[0031] Figure 8 A detection histogram provided in an embodiment of the present application;

[0032] Fig. 9 Another detection histogram provided in an embodiment of the present application;

[0033] Fig.10 Another detection histogram provided in an embodiment of the present application;

[0034] Fig.11 A schematic diagram of the composition of an interference object detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In the following, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", or "third", etc. may explicitly or implicitly include one or more of the features.

[0036] A turnstile is a channel management device that blocks and releases passage to allow only one person to pass at a time. Figure 1 This is a schematic diagram of the gate channel. Figure 1 As shown, the gate machine channels may include 5, and each gate machine channel may correspond to the bodies of the left and right gate machines. Figure 1 The left side machine body of channel 1 (also referred to as the right side machine body of channel 2) and the right side machine body of channel 1 are taken as examples. The left side machine body of channel 1 and the right side machine body of channel 1 can be provided with gates respectively. Figure 1 The wing gate is shown as an example. Optionally, the gate can also be a swing gate, a turnstile, a straight gate, a translation gate or a three-roller gate, etc., which is not limited in the embodiment of the present application. The right body of channel 1 can also be provided with authority detection devices such as a face recognition device and an access card sensing area.

[0037] At present, in order to ensure that the gate of the gate machine is opened and closed at the correct time and to ensure the safety of the passers-by, it is necessary to perform target object detection on the passers-by in the gate machine channel.

[0038] For example, when the gate is letting a person pass, there may be other people, children, or suitcases traveling with the person. In this case, the gate can detect target objects in the gate channel. When a target object is detected, it can be considered that someone has passed through the gate channel, and the gate can be kept in the release state. After no target object is detected, the gate will be switched to the blocking state to prevent the gate from pinching people, thereby ensuring the safety of people passing through the gate channel.

[0039] For another example, in some scenarios with a higher level of security verification, personnel need to conduct legitimacy verification when entering or leaving a certain area through the gate channel (for example, using the above-mentioned face recognition device for identity verification or using the access card to verify access rights in the above-mentioned access card sensing area). However, in some scenarios with a lower level of security verification, such as residential communities, residents only need to conduct legitimacy verification when entering the community. When residents leave the community, the gate can detect target objects in the gate channel. When a target object is detected, it can be considered that a resident needs to leave the community at this time, and the gate can be directly controlled to release.

[0040] However, under complex outdoor working conditions, the detection of target objects in the gate channel is easily affected by raindrops, snowflakes, fallen leaves, etc., resulting in misjudgment and causing abnormal operation of the gate.

[0041] In addition, the detection of target objects currently used in gate channels usually uses a through-beam photoelectric sensor. The through-beam photoelectric sensor consists of a transmitter and a receiver installed in pairs. The transmitter and the receiver are respectively arranged in the gate body on the left and right sides. The transmitter can transmit light signals and the receiver can receive light signals transmitted by the transmitter. When there is an object in the gate channel that blocks the light signal transmitted by the transmitter, that is, the receiver cannot receive the light signal transmitted by the transmitter, it can be considered that a person has passed through the gate channel, thereby realizing the detection of the target object.

[0042] However, usually a gate channel often needs to be installed with multiple sets of transmitting ends and receiving ends (for example, 6 to 30 sets, etc.), and multiple sets of transmitting ends and receiving ends require that a corresponding number of cables and power supply and other auxiliary components must be installed in the gate body. In addition, the transmitting end and the receiving end need to be accurately aligned and debugged during installation to ensure that the receiving end can receive the optical signal emitted by the transmitting end.

[0043] On this basis, the embodiments of the present application provide an interference object detection method, device, equipment and storage medium, which can detect target objects in the gate channel according to the detection data statistics chart measured by the reflective photoelectric sensor, and eliminate the influence of invalid target objects such as raindrops, snowflakes and fallen leaves according to the number of measured distances, thereby improving the accuracy of target object detection and ensuring the normal operation of the gate.

[0044] The following is an introduction with reference to the accompanying drawings.

[0045] Figure 2 This is a schematic diagram of the structure of the gate provided in the embodiment of the present application. Figure 2 As shown, the gate may include a first body 101 ( Figure 2 The left side of the machine body is shown as an example), the second machine body 102 ( Figure 2 The right side of the body is shown as an example), the gate 103 (as mentioned above, the gate can include multiple types, and the swing gate is shown here as an example), the gate channel 104 between the first body 101 and the second body 102, and a plurality of reflective photoelectric sensors 201 arranged on the side of the first body 101 close to the gate channel 104, and the plurality of reflective photoelectric sensors 201 are perpendicular to the gate channel direction (or the passing direction of the gate channel) and point to the opposite gate body.

[0046] It should be noted that Figure 2 In the example, the multiple reflective photoelectric sensors 201 are all disposed on the first body 101 . The multiple reflective photoelectric sensors 201 may also be all disposed on the second body 102 .

[0047] The first body 101 and the second body 102 can be used to carry other components constituting the gate (such as the gate 103 and a plurality of reflective photoelectric sensors 201 , etc.).

[0048] The gate 103 may include a release (or open) and a blocking (or closed) state. For example, the gate may further include a controller, a drive motor, and a deceleration mechanism. The controller may control the drive motor to rotate forward or reverse, the gate may be connected to the drive motor via the deceleration mechanism, and the controller may control the drive motor to rotate forward or reverse to drive the gate to open or close using the deceleration mechanism.

[0049] The reflective photoelectric sensor 201 is used to transmit and receive light signals in a direction perpendicular to the gate passage 104. For example, the reflective photoelectric sensor 201 can transmit light signals in a direction perpendicular to the gate passage 104 and receive light signals reflected by an object.

[0050] It should be understood that, compared with the current solution of the opposite-beam photoelectric sensor, the reflective photoelectric sensor 201 provided in the embodiment of the present application only needs to be set on one side of the gate body, which reduces the number of supporting auxiliary components and reduces the production cost of the gate compared with the opposite-beam photoelectric sensor. In addition, the reflective photoelectric sensor 201 does not need to be aligned and debugged, which reduces the requirements for installation technology and improves installation efficiency.

[0051] Optionally, a plurality of reflective photoelectric sensors 201 may be respectively arranged on one side of the first body 101 and the second body 102 close to the gate passage 104, and the first body 101 and the second body 102 are each provided with at least one reflective photoelectric sensor 201, and the reflective photoelectric sensors 201 arranged on the first body 101 and the second body 102 are perpendicular to the passage direction of the gate passage 104 and point to the gate body on the opposite side. Exemplarily, Figure 3 Another structural schematic diagram of the gate provided in the embodiment of the present application. Figure 3 As shown, with the plane where the gate 103 is located as the boundary, multiple reflective photoelectric sensors 201 can be divided into two groups and are respectively arranged on the first body 101 and the second body 102. One group of reflective photoelectric sensors 201 arranged on the first body 101 is located on one side of the gate 103, and the other group of reflective photoelectric sensors 201 arranged on the second body 102 is located on the other side of the gate 103.

[0052] For example, Figure 4 This is another structural schematic diagram of a gate provided in an embodiment of the present application. Figure 4 As shown, a plurality of reflective photoelectric sensors 201 may be alternately disposed on the first body 101 and the second body 102 one by one. Figure 4Taking the direction indicated by the arrow on the right side of the gate as the gate passage direction (or the passage direction of the gate) as an example, the first reflective photoelectric sensor 201 is arranged on the first body 101, the second reflective photoelectric sensor 201 is arranged on the second body 102, the third reflective photoelectric sensor 201 is arranged on the first body 101, ..., the third to last reflective photoelectric sensor 201 is arranged on the first body 101, the second to last reflective photoelectric sensor 201 is arranged on the second body 102, and the first to last reflective photoelectric sensor 201 is arranged on the first body 101.

[0053] Optionally, multiple reflective photoelectric sensors 201 can also be respectively set on the first body 101 and the second body 102 in a one-to-one correspondence between the setting positions, or in other words, the reflective photoelectric sensors 201 are arranged in an array on the first body 101 and the second body 102, and the reflective photoelectric sensors 201 arranged in an array on the first body 101 and the second body 102 point to the reflective photoelectric sensors 201 on the opposite side gate body.

[0054] For example, Figure 5 Another structural schematic diagram of a gate provided in an embodiment of the present application is as follows: Figure 5 As shown, reflective photoelectric sensors 201 can be provided on both the upper and lower sides of the gate 103. Taking the direction indicated by the arrow on the right side of the gate as the gate channel direction (or the passing direction) as an example, the first reflective photoelectric sensor 201 provided on the first body 101 and the first reflective photoelectric sensor 201 provided on the second body 102 are on the same first horizontal plane, and the first horizontal plane is parallel to the plane where the gate is located; the second reflective photoelectric sensor 201 provided on the first body 101 and the second reflective photoelectric sensor 201 provided on the second body 102 are on the same second horizontal plane, and the second horizontal plane is parallel to the plane where the gate is located; ...; and so on.

[0055] Optionally, the reflective photosensor 201 may be a reflective direct time of flight (DTOF) sensor based on single photon counting.

[0056] For example, Figure 6 Schematic diagram of the structure of the reflective photoelectric sensor 201 provided in the embodiment of the present application. Figure 6 As shown, the reflective photoelectric sensor 201 may include: an optical signal processor 2011, a power supply unit 2012, a light source driving unit 2013, a light source device 2014, a transmitting optical system 2015, and a receiving optical system 2016, etc.

[0057] Among them, the optical signal processor 2011 may include a single photon avalanche photodiode (SPAD) detector. The area where the SPAD detector is located can also be called a SPAD sensitive area. When a single photon hits the SPAD sensitive area, an electrical signal can be generated. The SPAD detection device can be a single SPAD, or a SPAD array including multiple SPADs, or a silicon photomultiplier (SiPM) device, etc. The embodiment of the present application is not limited to this.

[0058] Optionally, the optical signal processor 2011 may be specifically implemented as a system on chip (SOC).

[0059] The optical signal processor 2011 is used to send a trigger signal to the light source driving unit 2013; receive the object 202 ( Figure 6 According to the time when the light source device 2014 emits the light signal and the time when the reflected light signal is received, a statistical graph of the detection data is obtained.

[0060] Optionally, the optical signal processor 2011 may include a detection control unit, and the optical signal processor 2011 may specifically send a trigger signal to the light source driving unit 2013 through the detection control unit.

[0061] Optionally, the optical signal processor 2011 may also include a time digital converter (TDC), and the optical signal processor 2011 may specifically record the time when the light source device 2014 transmits the optical signal and the time when the reflected optical signal is received through the TDC; and obtain a detection data statistical graph according to the time when the light source device 2014 transmits the optical signal and the time when the reflected optical signal is received. The process of the TDC recording the time when the light source device 2014 transmits the optical signal and the time when the optical signal processor 2011 receives the reflected optical signal can also be understood as a process of photon event timestamp recording.

[0062] The power supply unit 2012 can be specifically implemented as a combination of AC power + transformer, or a combination of battery + transformer, etc., which is not limited in the embodiments of the present application.

[0063] The power supply unit 2012 is used to supply power to the optical signal processor 2011 and the light source driving unit 2013 .

[0064] The light source driving unit 2013 may receive a trigger signal sent by the optical signal processor 2011 , and drive the light source device 2014 to emit a light signal 2017 in response to the trigger signal.

[0065] The light source device 2014 may be an edge emitting laser diode (EEL) device, a vertical-cavity surface-emitting laser (VCSEL) device, or a light-emitting diode (LED) device, etc. The present application embodiment does not limit this.

[0066] The optical signal 2017 emitted by the light source device 2014 can be emitted after being shaped by the transmitting optical system 2015, reflected by the object, returned to the receiving optical system 2016, and collected by the receiving optical system 2016 to the SPAD sensitive area of ​​the optical signal processor 2011 to form a time-correlated single-photon counting (TCSPC) signal.

[0067] Optionally, the optical signal processor 2011 may further include a statistical graph processing unit, and the optical signal processor 2011 may generate a detection histogram specifically through the statistical graph processing unit according to the TCSPC signal and the time when the light source device 2014 emits the optical signal recorded by TDC and the time when the optical signal processor 2011 receives the reflected optical signal.

[0068] It should be noted that the optical signal processor 2011, the power supply unit 2012, the light source driving unit 2013, and the light source device 2014 can be specifically implemented as a highly integrated chip, or completely separate functional units, or partially integrated and partially separated functional units, etc. This embodiment of the application does not limit this.

[0069] In some possible embodiments, the gate machine may further include a controller, a memory, a communication line, a communication interface, and the like.

[0070] A controller is used to execute instructions stored in the memory to implement the interference object detection method provided in the following embodiments of the present application. The controller can be a central processing unit (CPU), a general-purpose processor network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The controller can also be any other device with processing functions, such as a circuit, a device, or a software module, which is not limited in the embodiments of the present application.

[0071] The memory is used to store instructions. For example, the instruction may be a computer program. Optionally, the memory may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage devices, etc., and the embodiments of the present application are not limited to this.

[0072] It should be noted that the memory can exist independently of the controller or can be integrated with the controller. The memory can be located inside the gate or outside the gate, which is not limited in the embodiment of the present application.

[0073] The communication line is used to transmit information between the various components included in the gate (such as the above-mentioned reflective photoelectric sensor 201 and the controller, etc.).

[0074] A communication interface is used to communicate with other devices (such as the above-mentioned face recognition device) or other communication networks. The other communication network can be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The communication interface can be a module, circuit, transceiver or any device that can achieve communication.

[0075] In some other possible embodiments, the controller, memory, communication line and communication interface may also be arranged in other electronic devices independent of the gate, and the other electronic devices may be connected to the gate via a wired network or a wireless network. For example, the other electronic device may be an electronic device with computing and processing functions such as a computer or a server. Among them, the server may be a single server, or it may be a server cluster composed of multiple servers. In some implementations, the server cluster may also be a distributed cluster. Optionally, the server may also be implemented on a cloud platform, for example, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, and a multi-cloud, or any combination thereof.

[0076] The interference object detection method provided in the embodiments of the present application is described below with reference to the accompanying drawings.

[0077] Figure 7 Schematic diagram of the flow of the interference object detection method provided in the embodiment of the present application. Optionally, the method can be Figures 2 to 6 Any of the gate machines having a plurality of reflective photoelectric sensors disposed on the gate machine body or the controller in the gate machine is executed, such as Figure 7 As shown, the method may include S101 to S102.

[0078] S101 . For a first sensor among a plurality of reflective photoelectric sensors, a detection histogram is obtained based on a light signal emitted and received by the first sensor of the reflective photoelectric sensor.

[0079] The light signal received by the first sensor may be a light signal reflected by an object. The object may be the first body 101, the second body 102, a human body, a suitcase, raindrops, snowflakes, fallen leaves, etc. The raindrops, snowflakes, fallen leaves, etc. to be detected in this application may be referred to as interference objects. The human body and the suitcase may be referred to as target objects.

[0080] Optionally, the above S101 may further specifically include: for a first sensor among the multiple reflective photoelectric sensors, based on the light signal emitted and received by the first sensor according to a preset detection period, determining a detection histogram corresponding to each detection period.

[0081] The detection period may be preset by the management personnel, for example, the detection period is 0.1 second, 0.5 second or 1 second, etc. The embodiment of the present application does not limit the specific duration of the detection period.

[0082] For example, in detection cycle 1, each of the multiple reflective photoelectric sensors simultaneously emits a light signal, receives a light signal reflected by an object, and determines the detection histogram according to the time of emitting the light signal and the time of receiving the reflected light signal.

[0083] For example, Figure 8 A detection histogram is provided in the embodiment of the present application. Figure 8 As shown, from t0 to t n Taking a detection cycle as an example, assuming that there is no object in the gate channel, the light signal emitted by the reflective photoelectric sensor can fly across the width of a gate channel, reach the gate body on the opposite side, be reflected by the gate body on the opposite side, fly across the width of a gate channel again, return to the reflective photoelectric sensor, and record the photon event. The time it takes for the light signal to fly twice the width of the gate channel is Figure 8 t in TC0-t0.

[0084] S102: When a gate body is detected in the detection histogram according to a preset time point, and an object is detected at a time point before the preset time point, it is determined that an interfering object exists in the gate channel.

[0085] The preset time point is the time point obtained by adding the time taken for the light signal to fly over a distance twice the width of the gate channel to the time point when the light signal is emitted. Figure 8 Taking the detection histogram shown in FIG. 1 as an example, the preset time point can be understood as the above t TC0 .

[0086] Optionally, before the above S102, the method may further include: determining whether the gate body and the object are detected based on the peaks in the detection histogram; when a peak appears at a preset time point, determining that the gate body is detected; when a peak appears at a time point before the preset time point, determining that the aforementioned object is detected.

[0087] For example, Fig. 9 Another detection histogram provided in the embodiment of the present application. Fig. 9 As shown, the same as t0 to t n Taking a detection cycle as an example, assuming that the preset time point t TC0 A peak appears at the preset time point t TC0 Before( Fig. 9 China TC1 As an example, a peak appears, that is, a part of the light signal is reflected back to the reflective photoelectric sensor on the way to the opposite gate body. TC1 Another part of the light signal continues to fly to the opposite gate body, and the other part of the light signal is reflected by the opposite gate body and reflected back to the reflective photoelectric sensor. TC0 A wave crest was also formed.

[0088] It should be understood that, compared with (valid) target objects such as human bodies or suitcases, invalid target objects such as raindrops, snowflakes and leaves are smaller in size (or smaller in volume) and cannot completely block the detection field of view of the reflective photoelectric sensor. Therefore, when interfering objects such as raindrops, snowflakes and leaves appear in the gate channel, the reflective photoelectric sensor can not only detect the existence of objects in the gate channel through the reflected part within a detection cycle, but also detect objects behind the objects in the detection direction (such as the gate body).

[0089] By using the interference object detection method provided in the present application, by judging whether the gate body is detected in the detection histogram at a preset time point, and when an object is detected at a time point before the preset time point, it can be determined that the light signal is reflected by a smaller object, that is, there is an interfering object in the gate channel, thereby improving the accuracy of object detection in the gate.

[0090] Optionally, the method may further include: when the gate body is detected in the detection histogram according to a preset time point and no object is detected at a time point before the preset time point, determining that there is no interfering object in the gate channel.

[0091] For example, the detection histogram of the possible implementation method described above can be as described above. Figure 8 As shown, no further description is given here.

[0092] Optionally, the method may further include: when an object is detected at a time point before a preset time point, and the gate body is not detected at the preset time point, determining that the target object exists in the gate channel.

[0093] For example, Fig.10 Another detection histogram provided in the embodiment of the present application. Fig.10 As shown, the same as t0 to t n Taking a detection cycle as an example, assuming that the preset time point t TC0 There is no peak at the preset time point t TC0 Before( Fig. 9 China TC1 As shown in the figure, a peak appears (shown as an example), that is, the light signal is reflected back to the reflective photoelectric sensor on the way to the opposite gate body, so it can be determined that there is a target object in the gate channel.

[0094] In some possible embodiments, before the above S102, the method may further include: obtaining a preset time point.

[0095] In a possible implementation, a preset time point is preset in the gate machine or the controller.

[0096] Optionally, the gate machine or controller can preset the preset time point by receiving the preset time point input by the management personnel.

[0097] In another possible implementation, as described above, the photoelectric reflective sensor may be a DTOF sensor, and the gate or control may calculate the preset time point by measuring the width of the gate channel.

[0098] Optionally, the gate or controller can subtract the time of transmitting the light signal from the time of receiving the light signal to obtain the flight time of the light signal, and calculate the width of the gate channel based on the flight time and the speed of light; calculate the reference flight time of the light signal when there is no object in the gate channel based on the width of the gate channel and the speed of light; and obtain the preset time point based on the time when the light signal is emitted at the beginning of each detection cycle and the reference flight time.

[0099] Optionally, the relationship between the distance between the object and the reflective photoelectric sensor, the time of emitting the light signal, and the time of receiving the light signal may satisfy the following formula (1).

[0100]

[0101] In formula (1), D represents the distance between the object and the reflective photoelectric sensor. T2 represents the time when the light signal is received. T1 represents the time when the light signal is emitted. c represents the speed of light, which can be 3×10 8 Meters per second.

[0102] In some embodiments, in the above scenario of preventing the gate from pinching people or residents from leaving the community, the gate machine or controller can also control the gate to close after the above S102.

[0103] In other embodiments, in the above-mentioned scenario of preventing the gate from pinching people or residents from leaving the community, the gate or controller can also control the gate to open after determining that there is a target object in the gate channel.

[0104] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. It should be easy to realize that the technical goals in this field are combined with the units and algorithm steps of each example described in the embodiments disclosed in this article, and the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical goals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0105] In an exemplary embodiment, the embodiment of the present application also provides an interference object detection device, which can be applied to the above-mentioned gate machine, and a plurality of reflective photoelectric sensors are arranged on the body of the gate machine; any one of the plurality of reflective photoelectric sensors is used to detect the distance between the object and any one of the reflective photoelectric sensors in a direction perpendicular to the gate machine channel. Fig.11 This is a schematic diagram of the composition of the interference object detection device provided in the embodiment of the present application. Fig.11As shown, the device may include an acquisition module 1101 and a processing module 1102 .

[0106] The acquisition module 1101 is used to acquire a detection histogram for a first sensor among the multiple reflective photoelectric sensors based on the light signal emitted and received by the first sensor.

[0107] Processing module 1102 is used to determine that there is an interfering object in the gate channel when a gate body is detected in the detection histogram according to a preset time point and an object is detected at a time point before the preset time point; the preset time point is the time point obtained by adding the time taken for the light signal to fly over a distance twice the width of the gate channel.

[0108] In some possible embodiments, the processing module 1102 is also used to determine that there is no interfering object in the gate channel when the gate body is detected in the detection histogram according to a preset time point and no object is detected at a time point before the preset time point; when an object is detected at a time point before the preset time point and the gate body is not detected at the preset time point, determine that there is a target object in the gate channel.

[0109] In some other possible embodiments, the processing module 1102 is also used to determine whether the gate body and the object are detected according to the peaks in the detection histogram before determining that there is an interfering object in the gate channel when the gate body is detected in the detection histogram according to a preset time point and an object is detected at a time point before the preset time point; when the peak appears at the preset time point, it is determined that the gate body is detected; when the peak appears at the time point before the preset time point, it is determined that the object is detected.

[0110] In some other possible embodiments, the processing module 1102 is specifically configured to determine, for a first sensor among the multiple reflective photoelectric sensors, a detection histogram corresponding to each detection period based on the light signal emitted and received by the first sensor according to a preset detection period.

[0111] In some other possible embodiments, the gate includes a first body and a second body, and a plurality of reflective photoelectric sensors are arranged on one side of the first body or the second body close to the gate passage, and are perpendicular to the travel direction of the gate passage and point to the gate body on the opposite side.

[0112] In some other possible embodiments, the gate includes a first body and a second body, and a plurality of reflective photoelectric sensors are respectively arranged on one side of the first body and the second body close to the gate passage, and the first body and the second body are each provided with at least one reflective photoelectric sensor; the reflective photoelectric sensors arranged on the first body and the second body are perpendicular to the travel direction of the gate passage and point to the gate body on the opposite side.

[0113] In some other possible embodiments, the reflective photoelectric sensor array is arranged on the first body and the second body; and the reflective photoelectric sensors arranged in array on the first body and the second body point to the reflective photoelectric sensors on the opposite gate bodies.

[0114] In some further possible embodiments, the reflective photoelectric sensor includes a direct measurement time of flight DTOF sensor.

[0115] It should be noted that Fig.11 The division of modules in the example is schematic and is only a logical function division. There may be other division methods in actual implementation. For example, two or more functions may be integrated into one processing module. The above integrated modules may be implemented in the form of hardware or software function modules.

[0116] In an exemplary embodiment, the embodiment of the present application also provides a computer-readable storage medium, including computer-executable instructions, which, when executed on an electronic device (ie, the gate or controller mentioned above), enables the electronic device to execute any one of the methods provided in the above embodiments.

[0117] In an exemplary embodiment, the embodiment of the present application further provides a computer program product including computer-executable instructions, which, when executed on an electronic device, enables the electronic device to execute any one of the methods provided in the above embodiments.

[0118] In an exemplary embodiment, the embodiment of the present application also provides a chip, including: a processor and an interface, the processor is coupled to a memory through the interface, and when the processor executes a computer program in the memory or an electronic device executes instructions, any one of the methods provided in the above embodiments is executed.

[0119] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer-executable instructions. When the computer-executable instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer-executable instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer-executable instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with the medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0120] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0121] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0122] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for detecting an interfering object, characterized in that: The method is applied to a gate; a plurality of reflective photoelectric sensors are arranged on the body of the gate; any one of the plurality of reflective photoelectric sensors is used to emit and receive light signals in a direction perpendicular to the gate channel; The plurality of reflective photoelectric sensors include a first sensor; the method includes: acquiring a detection histogram based on the light signals emitted and received by the first sensor; When a peak appears in the detection histogram at a preset time point, it is determined that the gate body is detected; When a peak appears in the detection histogram at a time point before the preset time point, it is determined that an object is detected; When a gate body is detected in the detection histogram according to a preset time point, and an object is detected at a time point before the preset time point, it is determined that there is an interfering object in the gate channel; the preset time point is the time point obtained by adding the time when the first sensor emits the light signal plus the time taken for the light signal to fly over a distance twice the width of the gate channel.

2. The method according to claim 1, characterized in that The method further comprises: When a gate body is detected in the detection histogram according to a preset time point, and no object is detected at a time point before the preset time point, it is determined that there is no interfering object in the gate channel; When an object is detected at a time point before the preset time point, and the gate body is not detected at the preset time point, it is determined that the target object exists in the gate channel.

3. The method according to claim 1, characterized in that Before determining that there is an interfering object in the gate channel when a gate body is detected in the detection histogram according to a preset time point and an object is detected at a time point before the preset time point, the method further includes: According to the peaks in the detection histogram, it is determined whether the gate body and the object are detected.

4. The method according to claim 1, characterized in that: The acquiring of a detection histogram based on the optical signal emitted and received by the first sensor comprises: For a first sensor among the plurality of reflective photoelectric sensors, based on the light signal emitted and received by the first sensor according to a preset detection period, a detection histogram corresponding to each detection period is determined.

5. The method according to claim 1, characterized in that The gate includes a first body and a second body, and the multiple reflective photoelectric sensors are arranged on a side of the first body or the second body close to the gate passage, and are perpendicular to the passage direction of the gate passage and point to the gate body on the opposite side.

6. The method according to claim 1, characterized in that The gate includes a first body and a second body, and the multiple reflective photoelectric sensors are respectively arranged on the first body and the second body on one side close to the gate passage, and the first body and the second body are each provided with at least one reflective photoelectric sensor; the reflective photoelectric sensors arranged on the first body and the second body are perpendicular to the passing direction of the gate passage and point to the gate body on the opposite side.

7. The method according to claim 6, characterized in that The reflective photoelectric sensor array is arranged on the first body and the second body; and the reflective photoelectric sensors arranged in array on the first body and the second body point to the reflective photoelectric sensors on the opposite gate body.

8. The method according to any one of claims 1 to 7, characterized in that: The reflective photoelectric sensor includes a direct measurement time of flight DTOF sensor.

9. A reflective photoelectric sensor, characterized in that: The reflective photoelectric sensor comprises: an optical signal processor, a light source device and a receiving optical system; The optical signal processor is used to control the optical source device to send an optical signal; The light source device is used to emit a light signal; The receiving optical system is used to receive a reflected light signal of the light signal emitted by the light source device and reflected by an object, and send the reflected light signal to the optical signal processor; The optical signal processor is also used to receive the reflected light signal sent by the receiving optical system, and obtain a detection histogram according to the moment when the light source device emits the light signal and the moment when the reflected light signal is received, so that when the detection histogram of the gate installed with the reflective photoelectric sensor has a peak at a preset time point, it is determined that the gate body is detected; when the detection histogram has a peak at a time point before the preset time point, it is determined that an object is detected; when the gate body is detected in the detection histogram according to the preset time point, and an object is detected at a time point before the preset time point, it is determined that there is an interfering object in the gate channel; the preset time point is the time point obtained by adding the time taken for the light signal to fly over a distance twice the width of the gate channel.

10. A gate machine, characterized in that: The gate machine includes a memory and a processor; The memory stores instructions executable by the processor; When the processor is configured to execute the instructions, the gate implements the method according to any one of claims 1 to 8.

11. A computer storage medium, characterized in that: The computer-readable storage medium includes: computer software instructions; When the computer software instructions are executed in an electronic device, the electronic device is enabled to implement the method according to any one of claims 1 to 8.

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