Anti-battering and anti-misoperation gate-opening system and method

Abstract

The application discloses a kind of anti-smashing and anti-misoperation barrier gate systems and methods.The system includes: sensing module is set in the preset distance range of barrier gate, the first state information of target object perceived in the preset distance range region is sent to background server, anti-smashing and anti-misoperation module is installed at the case of barrier gate, the second state information of target object perceived in the preset distance range region, background server determines the control instruction of barrier gate based on the first state information, and sends control instruction to anti-smashing and anti-misoperation module, anti-smashing and anti-misoperation module determines the scene where target object is based on control instruction and second state information, in the case where it is determined that target object is in anti-smashing and anti-misoperation scene, target control instruction for lifting and lowering the support rod of barrier gate is determined based on control instruction and second state information, so that target object passes barrier gate or blocks target object to pass barrier gate.To avoid the problems of barrier gate misoperation and anti-smashing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a kind of anti-smashing anti-misoperation barrier gate system and method. BACKGROUND

[0002] In order to improve the operation efficiency of port, guarantee the safety of operation, more and more ports begin to change to unmanned. In the automatic driving scene of port, the barrier gate system applying vehicle-road cooperation technology plays an important role. The barrier gate system in automatic driving scene generally realizes the perception of target entering and exiting barrier gate through laser radar and camera, so as to automatically control the opening and closing of barrier gate, with high intelligence and automation. However, with the increase of port traffic and the influence of adverse weather conditions, the phenomenon of barrier gate rod smashing car and misoperation of barrier gate occurs from time to time. These phenomena affect the operation efficiency of port, and even cause economic loss. Therefore, improving the stability and safety of barrier gate system is an important problem.

[0003] The existing anti-smashing methods are generally ground inductor anti-smashing, infrared sensor anti-smashing and millimeter wave radar anti-smashing, etc. However, due to small sensing range or the influence of adverse weather, the above-mentioned schemes are prone to the problems of barrier gate misoperation and mis-smashing. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide an anti-smashing anti-misoperation barrier gate system and method to avoid barrier gate misoperation and anti-smashing.

[0005] The technical scheme of the present application is as follows:

[0006] In a first aspect, an anti-smashing anti-misoperation barrier gate system is provided, which comprises:

[0007] A perception module is arranged within a preset distance range of the barrier gate, for perceiving first state information of a target object in the preset distance range area, and sending the first state information to a background server,

[0008] An anti-smashing anti-misoperation module is installed at the case of the barrier gate, for perceiving second state information of the target object in the preset distance range area,

[0009] The background server is used for determining a control instruction of the barrier gate based on the first state information, and sending the control instruction to the anti-smashing anti-misoperation module,

[0010] The anti-smashing and anti-misoperation opening module is further configured to determine a scene in which the target object is located based on the control instruction and the second state information, and determine a target control instruction based on the control instruction and the second state information in a case where it is determined that the target object is in an anti-smashing and anti-misoperation opening scene, the target control instruction being used to control lifting and lowering of the support rod of the barrier gate to enable the target object to pass through the barrier gate or block the target object from passing through the barrier gate.

[0011] In a second aspect, an anti-smashing and anti-misoperation barrier gate method is provided, which applies the anti-smashing and anti-misoperation barrier gate system of the first aspect. The method comprises the following steps:

[0012] sending first state information of a target object in a preset distance range area of a barrier gate, which is sensed by a perception module, to a background server,

[0013] sensing second state information of the target object in the preset distance range area by an anti-smashing and anti-misoperation opening module,

[0014] sending, by the background server, a control instruction of the barrier gate determined according to the first state information to the anti-smashing and anti-misoperation opening module,

[0015] determining, by the anti-smashing and anti-misoperation opening module, a scene in which the target object is located based on the control instruction and the second state information, and determining a target control instruction based on the control instruction and the second state information in a case where it is determined that the target object is in an anti-smashing and anti-misoperation opening scene, the target control instruction being used to control lifting and lowering of the support rod of the barrier gate to enable the target object to pass through the barrier gate or block the target object from passing through the barrier gate.

[0016] In a third aspect, an electronic device is provided, which comprises a processor, a memory, and a program or instructions stored in the memory and executable on the processor, and the program or instructions are executed by the processor to implement the steps of the anti-smashing and anti-misoperation barrier gate method according to any of the embodiments of the present application.

[0017] In a fourth aspect, a readable storage medium is provided, which stores a program or instructions, and the program or instructions are executed by a processor to implement the steps of the anti-smashing and anti-misoperation barrier gate method according to any of the embodiments of the present application.

[0018] In a fifth aspect, a computer program product is provided, and instructions in the computer program product are executed by a processor of an electronic device to enable the electronic device to perform the steps of the anti-smashing and anti-misoperation barrier gate method according to any of the embodiments of the present application.

[0019] The embodiments of the present application provide at least the following beneficial effects:

[0020] In the anti-smashing and anti-misoperation opening barrier system provided by the embodiments of the present application, a sensing module is arranged in a preset distance range of a barrier, the sensing module can send first state information of a target object in the preset distance range to a background server, an anti-smashing and anti-misoperation opening module is arranged at a cabinet of the barrier, the anti-smashing and anti-misoperation opening module senses second state information of the target object in the preset distance range, the background server determines a control instruction of the barrier based on the first state information, and sends the control instruction to the anti-smashing and anti-misoperation opening module, the anti-smashing and anti-misoperation opening module determines a scene in which the target object is located based on the control instruction and the second state information, in a case where it is determined that the target object is in an anti-smashing and anti-misoperation opening scene, determines a target control instruction for lifting and lowering a supporting rod of the barrier based on the control instruction and the second state information, so as to make the target object pass through the barrier or block the target object from passing through the barrier. Compared with the prior art in which the control instruction of the barrier is determined based on the first state information sensed by the sensing module, the anti-smashing and anti-misoperation opening module is added in the embodiments of the present application, the anti-smashing and anti-misoperation opening module can further sense the second state information in the preset distance range, the control instruction of the barrier is determined based on the first state information and the second state information, and the control instruction obtained in this way is more accurate, the accuracy of the anti-misoperation opening and anti-smashing of the barrier is improved.

[0021] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings incorporated in the specification and forming a part of it illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application, but should not be construed as an undue limitation on the application.

[0023] Figure 1 is a structural schematic diagram of a barrier system in the prior art,

[0024] Figure 2 is a structural schematic diagram of an anti-smashing and anti-misoperation opening barrier system provided by the first aspect of the present application,

[0025] Figure 3 is a schematic diagram of installation and working area of an anti-smashing and anti-misoperation opening module provided by the first aspect of the present application,

[0026] Figure 4 is a structural schematic diagram of an anti-smashing and anti-misoperation opening barrier system provided by the first aspect of the present application,

[0027] Figure 5is a flowchart of a method for preventing a barrier gate from being damaged and from being opened by mistake according to an embodiment of a second aspect of the present application,

[0028] Figure 6 is a schematic diagram of a correspondence relationship between a laser radar coordinate system and a millimeter wave radar coordinate system according to an embodiment of the second aspect of the present application,

[0029] Figure 7 is a schematic diagram of a region of interest for perception of a module for preventing a barrier gate from being damaged and from being opened by mistake according to an embodiment of the second aspect of the present application,

[0030] Figure 8 is a schematic diagram of a structure of an electronic device according to an embodiment of a third aspect of the present application. DETAILED DESCRIPTION

[0031] In order for those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings. It should be understood that the specific embodiments described herein are intended to explain the present application only, not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.

[0032] It should be noted that the terms "first", "second", and the like in the description, claims, and above-described drawings of the present application are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The implementation described in the following exemplary embodiments does not represent all implementations consistent with the present application. Rather, they are merely examples consistent with some aspects of the present application as detailed in the appended claims.

[0033] Before introducing the solutions of the present application, first introduce the background art of the present application:

[0034] The existing anti-throwing methods are generally ground inductor anti-throwing, infrared sensor anti-throwing, and millimeter wave radar anti-throwing. The ground inductor anti-throwing detects whether a vehicle exists by the change in oscillation frequency caused by the vehicle passing through, and has high detection accuracy for vehicles. The infrared sensor anti-throwing consists of an infrared emitter and an infrared receiver. When the infrared receiver cannot receive the infrared emitted by the emitter, it is considered that there is an object near the barrier gate, thereby preventing the barrier lever from hitting the vehicle. The conventional millimeter wave radar anti-throwing generally uses a single radar installed in or on the surface of the gate machine, which can identify pedestrians and vehicles in the area below the barrier lever and is not affected by weather conditions.

[0035] In the prior art, the following problems exist:

[0036] 1. The ground coil anti-smashing scheme is difficult to deploy and maintain, and cannot identify pedestrians and vehicles with high chassis or special materials. The infrared sensor scheme requires high installation precision, has a small sensing range, and is easily blocked, causing false opening. Traditional millimeter wave radar anti-smashing generally uses only a single radar, has a small sensing range, and unstable anti-smashing function.

[0037] 2. Existing barrier gate schemes generally only focus on the problem of barrier gate smashing vehicles, but barrier gate false opening also occurs. For example, when a non-target obstacle passes through the sensing range of the infrared sensor scheme and the millimeter wave radar scheme, false opening is likely to occur.

[0038] To solve the above problems, the existing barrier gate system based on vehicle-to-everything (V2X) information exchange is as shown in Figure 1 The barrier gate system 100 includes a perception module 110, a background server 120, a barrier gate upper computer 130, and a barrier gate 140.

[0039] Figure 1 The barrier gate system 100 in the prior art takes the perception result of V2X as input, i.e., the perception result of the perception module 110 as input, and then the background server 120 derives a control instruction according to the received perception information and sends the control instruction directly to the barrier gate upper computer 130. Finally, the barrier gate upper computer 130 controls the barrier gate 140 to act, and feeds back the current state information of the barrier gate 140 to the background server 120.

[0040] Figure 1 The opening and closing of the barrier gate 140 in the barrier gate system 100 in the prior art is mainly affected by the V2X perception result. Since there is a blind area for laser radar, when a target object (such as a vehicle) enters the blind area, the perception module may not be able to identify the target object. This brings the risk of the barrier rod smashing the vehicle. At the same time, even outside the blind area, the identification of a certain target object by the perception algorithm is not stable enough, which may also cause the barrier rod to smash the vehicle.

[0041] The perception algorithm of V2X is also affected to some extent under adverse weather conditions such as rain, snow, and fog. In foggy weather, there are many noise points in the data collected by the laser radar. At this time, the laser radar perception algorithm may misidentify the target object near the barrier gate. In rainy weather, due to road water and other reasons, the image perception algorithm may also misidentify. These phenomena will cause the barrier gate to be false opened.

[0042] To solve the above problems, the embodiment of the present application provides a kind of anti-throwing and anti-misoperation opening barrier gate system and method, the anti-throwing and anti-misoperation opening module is increased in the existing barrier gate system, the anti-throwing and anti-misoperation opening barrier gate system provided by the embodiment of the present application, including the sensing module of being set in the preset distance range of barrier gate, the first state information of target object in the sensing module can be perceived in the preset distance range region is sent to background server, anti-throwing and anti-misoperation opening module is installed at the case of barrier gate, the second state information of target object in the anti-throwing and anti-misoperation opening module is perceived in the preset distance range region, background server is based on first state information, determines the control instruction of barrier gate, and control instruction is sent to anti-throwing and anti-misoperation opening module, anti-throwing and anti-misoperation opening module is based on control instruction and second state information, determines the scene where target object is located, in the case where target object is in the anti-throwing and anti-misoperation opening scene, based on control instruction and second state information, determine the target control instruction for the lifting and the lowering of the support rod of barrier gate, to make target object pass through barrier gate or block target object to pass through barrier gate. Such as compared with the first state information perceived by sensing module in prior art to determine the control instruction of barrier gate, the anti-throwing and anti-misoperation opening module is increased in the embodiment of the present application, the second state information in the preset distance range region can be further perceived by the anti-throwing and anti-misoperation opening module, the control instruction of barrier gate is determined by combining first state information and second state information, so that the control instruction obtained is more accurate, prevents the misoperation opening and anti-throwing of barrier gate, and the accuracy of anti-misoperation opening and anti-throwing of barrier gate is improved.

[0043] The anti-throwing and anti-misoperation opening barrier gate system provided by the embodiment of the present application will be described in detail in combination with the drawings, specific examples and application scenarios.

[0044] Figure 2 It is a flowchart of the anti-throwing and anti-misoperation opening barrier gate system provided by the embodiment of the present application, and the anti-throwing and anti-misoperation opening barrier gate system 200 can include: sensing module 210, anti-throwing and anti-misoperation opening module 220, background server 230 and barrier gate 240.

[0045] The sensing module 210 is set in the preset distance range region of barrier gate, and is used for sensing the first state information of target object in the preset distance range region, and sending the first state information to the background server,

[0046] The anti-throwing and anti-misoperation opening module 220 is installed at the case of barrier gate, and is used for sensing the second state information of target object in the preset distance range region,

[0047] The background server 230 is used for determining the control instruction of barrier gate based on the first state information, and sending the control instruction to the anti-throwing and anti-misoperation opening module,

[0048] The anti-smashing and anti-misopening module 220 is further configured to determine a scene in which the target object is located based on the control instruction and the second state information, and determine a target control instruction based on the control instruction and the second state information in a case where it is determined that the target object is in an anti-smashing and anti-misopening scene, the target control instruction being used to control lifting and lowering of the support rod of the barrier gate 240 to enable the target object to pass through the barrier gate or block the target object from passing through the barrier gate.

[0049] The perception module can specifically be a module configured to perceive the first state information of the target object, and the perception module can include a laser radar and a camera.

[0050] The preset distance range region can be a certain distance range of the barrier gate, for example, can be a 20-meter distance range of the barrier gate.

[0051] The target object can be an object to pass through the barrier gate, for example, can be a vehicle, specifically can be a manned truck, or an unmanned truck, and the like, which is not limited herein.

[0052] The first state information is state information of the target object, in a case where the perception module includes a laser radar and a camera, the first state information can include first position information of the target object in the preset distance range region, first heading information of the target object in the preset distance range region, and type information of the target object in a laser radar coordinate system. The first position information can be position information of the target object in the preset distance range region. The first heading information can be whether the target object is to drive out of the barrier gate or to drive into the barrier gate. The type information of the target object can be whether the target object is a manned truck or an unmanned truck.

[0053] The background server can be a device configured to determine the control instruction of the barrier gate according to the first state information, for example, can be a central processing unit, an integrated circuit chip, or the like.

[0054] The control instruction can be an instruction used to control the barrier gate, specifically can be an instruction used to control lifting or lowering of the barrier gate.

[0055] The anti-smashing and anti-misopening module can be arranged at a case of the barrier gate, and the installation of the anti-smashing and anti-misopening module can be as shown in Figure 3 The anti-smashing and anti-misopening module 220 can be arranged on the surface of the support rod on both sides of the case of the barrier gate (not shown in the figure), and is fixed to the ground base through the support rod. The installation height of the anti-smashing and anti-misopening module 220 can be 50-60 cm away from the ground base.

[0056] In some embodiments of the present application, the anti-smashing and anti-misopening module can include two millimeter wave radars, and the two millimeter wave radars are respectively arranged on both sides of the case of the barrier gate, as shown in Figure 3 Each barrier gate has two barrier gates, Figure 3The barrier 10 and the barrier 20 in FIG. 1 correspond to two support rods, such as Figure 3 The support rod 11 and the support rod 12 in FIG. 1 correspond to two support rods, each of which can be installed with a millimeter wave radar.

[0057] In some embodiments of the present application, the two millimeter wave radars include a first millimeter wave radar and a second millimeter wave radar, and the corresponding preset distance range area includes a first area and a second area, which can be the range perceived by the first millimeter wave radar and the second millimeter wave radar after entering the barrier, respectively. As shown in Figure 3 The perception range of the first millimeter wave radar is the first area 251 on the side of entering the barrier, and the perception range of the second millimeter wave radar is the second area 252 on the side of driving out of the barrier, and the first area 251 and the second area 252 do not overlap.

[0058] In an embodiment of the present application, the anti-smashing and anti-misopening module includes two millimeter wave radars, which include a first millimeter wave radar and a second millimeter wave radar, the perception range of the first millimeter wave radar is the first area 251 on the side of entering the barrier, and the perception range of the second millimeter wave radar is the second area 252 on the side of driving out of the barrier, and the first area 251 and the second area 252 do not overlap. Since the millimeter wave radar can not be affected by weather conditions, and the millimeter wave radars are respectively deployed on both sides of the barrier, the perception range of the scheme of the embodiment of the present application is larger than that of the traditional scheme of deploying only one millimeter wave radar, and the scheme of the embodiment of the present application can not be affected by weather conditions, and the accuracy of anti-smashing and anti-misopening is improved.

[0059] In some embodiments of the present application, the anti-smashing and anti-misopening module can be used to perceive the second state information of the target object in the preset distance range area. The second state information here can be the state information of the target object perceived by the anti-smashing and anti-misopening module.

[0060] In some embodiments of the present application, the anti-smashing and anti-misopening module can determine the scene in which the target object is located according to the control instruction determined by the background server and the second state information, and if it is determined that the target object is in an anti-smashing and anti-misopening scene, the target control instruction is determined according to the control instruction and the second state information, so as to control the lifting and lowering of the support rod of the barrier based on the target control instruction.

[0061] The target control instruction can be the instruction finally used to control the lifting and lowering of the support rod of the barrier.

[0062] In some embodiments of the present application, the condition for determining that the target object is in the anti-smashing and anti-misopening scene is:

[0063] (1) Confirming the anti-smashing mode opening condition

[0064] 1. The target control instruction of the last barrier is open, and the target control instruction of the current barrier is closed, that is, the target control instruction of the barrier changes from open to closed.

[0065] 2. There is a target object in the millimeter wave radar anti-smashing area (i.e. the preset distance range area) at the entrance or exit of the barrier.

[0066] (2) Confirm the anti-misopening mode opening condition

[0067] 1. The background server notifies the anti-smashing and anti-misopening module that it is currently in a harsh weather condition (such as rain, fog, and snow, etc.)

[0068] 2. The target control instruction of the last barrier is closed, and the target control instruction of the current barrier is open, that is, the target control instruction of the barrier changes from closed to open.

[0069] 3. There is no target object in the millimeter wave radar anti-smashing area (i.e. the preset distance range area) at the entrance or exit of the barrier.

[0070] Opening the anti-smashing mode will modify the target control instruction closed by the background server to the target control instruction open, and opening the anti-misopening mode means modifying the target control instruction open to the target control instruction closed. Therefore, the anti-smashing and anti-misopening module needs to notify the background server that the current scene triggers the anti-smashing or anti-misopening mode while continuously issuing the fused target control instruction to the barrier host computer.

[0071] Compared with the prior art which determines the control instruction of the barrier only by the first state information perceived by the perception module, the embodiment of the present application adds an anti-smashing and anti-misopening module, which can further perceive the second state information in the preset distance range area, and determine the control instruction of the barrier by combining the first state information and the second state information. The control instruction obtained in this way is more accurate, preventing the misopening and anti-smashing of the barrier, and improving the accuracy of the anti-misopening and anti-smashing of the barrier.

[0072] In some embodiments of the present application, the perception module specifically perceives the first state information of the target object by the following way:

[0073] The laser radar is used to perceive the position information of the target object in the preset distance range area, the type information of the target object, and the first heading information,

[0074] The camera is used to obtain the image information of the target object, and determine the type information and the position information of the target object based on the image information,

[0075] The processor is configured to fuse position information of the target object sensed by the laser radar and position information of the target object determined by the camera to obtain first position information of the target object, and fuse type information of the target object sensed by the laser radar and type information of the target object determined by the camera to obtain target type information of the target object.

[0076] The first position information can be position information of the target object finally determined by the laser radar.

[0077] The first heading information can be heading information of the determined target object.

[0078] The target type information can be final type information of the target object obtained by fusing type information of the target object determined by the laser radar and type information of the target object determined by the camera.

[0079] In some embodiments of the present application, when the target object enters the preset distance range area of the barrier gate, the laser radar arranged in the preset distance range area of the barrier gate can sense position information, type information and first heading information of the target object.

[0080] The camera can be used to acquire image information of the target object in real time, and then the type information of the target object can be determined according to the image information. In addition, according to the position of the target object in the image information, the laser radar sensed position information of the target object and the camera determined position information of the target object are fused by the processor to obtain first position information of the target object, and the laser radar sensed type information of the target object and the camera determined type information of the target object are fused to obtain target type information of the target object. This is because the position information of the target object acquired by the laser radar is more accurate, and the type information of the target object acquired by the camera is more accurate. After fusing the position information acquired by the laser radar and the position information acquired by the camera through a fusion algorithm, more accurate position information (i.e. first position information) can be obtained. After fusing the type information acquired by the laser radar and the type information acquired by the camera through a fusion algorithm, more accurate type information (i.e. target type information, i.e. determining whether the target object is a truck or a small passenger car, or a pedestrian, etc.) can be obtained.

[0081] In some embodiments of the present application, when fusing the type information acquired by the laser radar and the type information acquired by the camera through a fusion algorithm, the fusion can be based on a Kalman filter, or the fusion can be based on other fusion algorithms, which are not limited here. Any algorithm that can fuse the type information acquired by the laser radar and the type information acquired by the camera through a fusion algorithm belongs to the protection scope of the embodiments of the present application.

[0082] In some embodiments of the present application, when determining the type information of the target object according to the image information acquired by the camera, feature detection can be performed on the acquired image information. Specifically, the position of the target object in the image information can be detected first, and then the feature information of the target object at the position can be acquired. The type of the target object can be determined according to the feature information. For example, if the target object is a container truck, feature detection is performed on the image information, the area where the target object is located in the image information is found first, and then the target object in the area is detected. When the target object in the image information is detected to have feature information corresponding to a container truck, it can be determined that the target object is a container truck.

[0083] It should be noted that when detecting the type information of the target object by using the image information, a feature detection algorithm can be used, or a feature detection model can be used, and the present application is not limited in this regard. Any method that can be used to perform feature detection on image information is within the scope of protection of the embodiments of the present application.

[0084] In some embodiments of the present application, when determining the position information of the target object according to the image information acquired by the camera, the position of the target object in the image can be acquired first, and then the position information of the target object can be calculated by using a depth calculation algorithm according to the camera parameters of the camera.

[0085] In the embodiments of the present application, the position information of the target object within the preset distance range region, the type information of the target object, and the first heading information of the target object are perceived by the laser radar, the image information of the target object is acquired by using the camera, the type information and the position information of the target object are determined based on the image information, the position information of the target object perceived by the laser radar and the position information of the target object determined by the camera are fused by the processor to obtain the first position information of the target object, and the type information of the target object perceived by the laser radar and the type information of the target object determined by the camera are fused to obtain the target type information of the target object. In this way, the first state information of the target object can be accurately acquired.

[0086] In some embodiments of the present application, in order to accurately control the lifting and lowering of the support rod of the barrier gate, the anti-smashing and anti-misoperation barrier gate system described above can further include an upper computer configured to receive the target control instruction sent by the anti-smashing and anti-misoperation module and control the lifting and lowering of the support rod of the barrier gate based on the target control instruction.

[0087] In the embodiments of the present application, the anti-smashing and anti-misoperation module sends the target control instruction to the upper computer, and the upper computer controls the lifting and lowering of the support rod of the barrier gate based on the target control instruction. In this way, the lifting and lowering of the support rod of the barrier gate can be accurately controlled.

[0088] In some embodiments of the present application, in order to more clearly understand the anti-smashing and anti-misoperation opening barrier system provided by the embodiments of the present application, another implementation manner of the anti-smashing and anti-misoperation opening barrier system is also provided, as shown in Figure 4 The anti-smashing and anti-misoperation opening barrier system can include a perception module 410, an anti-smashing and anti-misoperation opening module 420, a background server 430, an upper computer 440, and a barrier 450. The specific working process of the anti-smashing and anti-misoperation opening barrier system is as follows:

[0089] 1. The V2X system first obtains the data of the target object in the environment (i.e., the first state information) through the perception module, and transmits the fused perception result to the background server. The sensor in the perception module can be a combination of one or more of a radar and a camera.

[0090] The radar can be a laser radar, a millimeter wave radar, etc. The camera can be a monocular camera, a binocular camera, and a depth camera, etc.

[0091] 2. After the background server obtains the perception result of the V2X system, the barrier control instruction is obtained according to the perception result. The control instruction is sent to the anti-smashing and anti-misoperation opening module of the V2X system.

[0092] 3. After the anti-smashing and anti-misoperation opening module receives the control instruction of the background server, it first comprehensively judges whether to start the anti-smashing or anti-misoperation opening mode according to the control instruction of the background server and the perception results of the two millimeter wave radars. Then the fused control instruction (i.e., the target control instruction) is sent to the barrier upper computer, and if the anti-smashing or anti-misoperation opening mode is started, the mode information of the anti-smashing and anti-misoperation opening module is informed to the background server.

[0093] 4. After the upper computer receives the control instruction, the barrier action is controlled according to the barrier interface, and the state information of the barrier is sent to the background server in a periodic + event (barrier state change or more than 10s of sending instruction failure to the barrier) manner.

[0094] 5. When the V2X system fails, the background controls the barrier action through a backup link.

[0095] Based on the same inventive concept as the anti-smashing and anti-misoperation opening barrier system described above, the present application also provides an anti-smashing and anti-misoperation opening barrier method. The anti-smashing and anti-misoperation opening barrier method provided by the embodiments of the present application will be described in detail below. Figure 5 The anti-smashing and anti-misoperation opening barrier method provided by the embodiments of the present application will be described in detail below.

[0096] Figure 5 is a flowchart of an anti-smashing and anti-misoperation opening barrier method provided by the embodiments of the present application. The execution subject of the anti-smashing and anti-misoperation opening barrier method can be the anti-smashing and anti-misoperation opening barrier system in the above embodiments.

[0097] It should be noted that the same terms in the embodiments of the present application as in the above embodiments have the same term explanation as in the above embodiments, which will not be repeated here.

[0098] As Figure 5 indicated, the method for preventing the barrier from being opened by mistake and being attacked provided by the embodiments of the present application can include steps 510-540.

[0099] Step 510, sending first state information of a target object in a preset distance range area of the barrier perceived by a perception module to a background server.

[0100] Step 520, perceiving second state information of the target object in the preset distance range area by a barrier opening prevention module.

[0101] Step 530, sending a control instruction of the barrier determined according to the first state information by the background server to the barrier opening prevention module.

[0102] Step 540, determining a scene where the target object is located by the barrier opening prevention module according to the control instruction and the second state information, and in a case where the target object is determined to be in a barrier opening prevention scene, determining a target control instruction for controlling the lifting and lowering of a support rod of the barrier according to the control instruction and the second state information, so as to make the target object pass through the barrier or block the target object from passing through the barrier.

[0103] In the embodiments of the present application, the first state information of the target object in the preset distance range area perceived by the perception module is sent to the background server, the second state information of the target object in the preset distance range area is perceived by the barrier opening prevention module, the control instruction of the barrier is determined by the background server based on the first state information, and the control instruction is sent to the barrier opening prevention module, the target object is determined to be in a scene by the barrier opening prevention module according to the control instruction and the second state information, and in a case where the target object is determined to be in a barrier opening prevention scene, a target control instruction for controlling the lifting and lowering of the support rod of the barrier is determined according to the control instruction and the second state information, so as to make the target object pass through the barrier or block the target object from passing through the barrier. Compared with the prior art in which only the first state information perceived by the perception module is used to determine the control instruction of the barrier, the embodiments of the present application add the barrier opening prevention module, which can further perceive the second state information in the preset distance range area, and determine the control instruction of the barrier by combining the first state information and the second state information, so that the control instruction obtained is more accurate, the barrier opening prevention module prevents the barrier from being opened by mistake and being attacked, and the accuracy of the barrier opening prevention module is improved.

[0104] In some embodiments of the present application, the perception module comprises a laser radar, the anti-smashing and anti-misoperation opening module comprises two millimeter wave radars, and the second state information comprises second position information of the target object within a preset distance range region in a first coordinate system corresponding to the millimeter wave radars.

[0105] The first coordinate system can be a coordinate system corresponding to the millimeter wave radars.

[0106] The second position information can be position information of the target object in the first coordinate system.

[0107] In order to accurately determine the target control instruction, after step 520, the anti-smashing and anti-misoperation opening method described above can further comprise:

[0108] The anti-smashing and anti-misoperation opening module converts the second position information in the first coordinate system into third position information of the target object in a second coordinate system corresponding to the laser radar,

[0109] Step 540 can specifically comprise:

[0110] The anti-smashing and anti-misoperation opening module determines a scene in which the target object is located according to the control instruction and the third position information,

[0111] In a case where it is determined that the target object is in the anti-smashing and anti-misoperation opening scene, the anti-smashing and anti-misoperation opening module determines the target control instruction based on the control instruction and the third position information.

[0112] The second coordinate system can be a coordinate system corresponding to the laser radar, and the coordinate system coincides with the world coordinate system.

[0113] The third position information can be position information after the second position information is converted into the second coordinate system.

[0114] In some embodiments of the present application, the coordinate system of the millimeter wave radar is not the same as the coordinate system of the laser radar, so after obtaining the second position information of the target object in the coordinate system of the millimeter wave radar, it is necessary to convert it into the coordinate system of the laser radar, so that the converted position information can be combined with the first state information obtained by the laser radar to determine the conversion relationship between the coordinate system of the laser radar and the coordinate system of the millimeter wave radar, convert the second position information in the coordinate system of the millimeter wave radar into the coordinate system of the laser radar to obtain the third position information, and then determine the target control instruction according to the third position information.

[0115] In the embodiments of the present application, the second position information in the first coordinate system is converted into third position information of the target object in the second coordinate system corresponding to the laser radar by the anti-smashing and anti-misoperation opening module, and then the anti-smashing and anti-misoperation opening module determines the scene where the target object is located according to the control instruction and the third position information. In the case that the target object is determined to be in the anti-smashing and anti-misoperation opening scene, the target control instruction is determined based on the control instruction and the third position information. In this way, the accurate target control instruction can be obtained.

[0116] In some embodiments of the present application, in order to accurately convert the second position information into the laser radar coordinate system, the anti-smashing and anti-misoperation opening module converts the second position information in the first coordinate system into third position information of the target object in the second coordinate system corresponding to the laser radar. Specifically, it can include:

[0117] obtaining a global positioning system (GPS) coordinate corresponding to the second position information,

[0118] calculating the GPS coordinate and the second position information to obtain a conversion matrix between the first coordinate system and the second coordinate system,

[0119] determining third position information of the second position information in the second coordinate system based on the conversion matrix and the second position information.

[0120] In some embodiments of the present application, the second position information and the global positioning system (GPS) coordinate corresponding to the second position information can be obtained by the following method:

[0121] (1) Prepare a measuring instrument based on real-time kinematic (RTK) carrier phase difference technology and an angle reflector to ensure that the millimeter wave radar visualization tool operates normally.

[0122] (2) Place the RTK measuring instrument directly above the millimeter wave radar to obtain the GPS coordinates of the two millimeter wave radar installation positions.

[0123] (3) Place the angle reflector at any position within the perception range of the millimeter wave radar, then find the angle reflector in the millimeter wave radar visualization tool, obtain and record the coordinates of the position, and finally place the RTK at the center point of the angle reflector and record the GPS coordinates of this position. Since the laser radar has a larger perception range and includes the perception range of the millimeter wave radar, as long as the calibration data is collected within the millimeter wave radar range, the calibration data is collected within the millimeter wave radar range.

[0124] (4) Input the collected coordinates in the millimeter wave radar coordinate system and the corresponding GPS coordinates into the calibration algorithm to calculate the conversion matrix between the two.

[0125] (5)Finally, the second position information in the second coordinate system is determined based on the conversion matrix and the second position information.

[0126] In some embodiments of the present application, in order to ensure the accuracy of the conversion matrix of the lidar coordinate system and the millimeter wave radar coordinate system, after step (4), the GPS coordinates at the millimeter wave radar installation position in step (2) can be converted to the millimeter wave radar coordinate system to verify the accuracy of the calibration matrix. If the accuracy is less than a set threshold (set according to the needs of actual application), the above calibration process is re-performed.

[0127] In some embodiments of the present application, in order to further ensure the accuracy of the conversion matrix of the lidar coordinate system and the millimeter wave radar coordinate system, multiple sets of millimeter wave radar coordinate system coordinates and corresponding GPS coordinates can be obtained, that is, after step (3), step (3) can be repeatedly performed, and each millimeter wave radar can obtain multiple sets of millimeter wave radar coordinate system coordinates and corresponding GPS coordinates, and the calibration data is uniformly distributed in the sensing range of the millimeter wave radar.

[0128] In some embodiments of the present application, when selecting calibration data, data points should be avoided as much as possible to ensure the diversity of calibration data and improve the accuracy of calibration.

[0129] In an embodiment of the present application, the global positioning system (GPS) coordinates corresponding to the second position information are obtained, and then the GPS coordinates and the second position information are calculated to obtain the conversion matrix between the first coordinate system and the second coordinate system. Based on the conversion matrix and the second position information, the third position information of the second position information in the second coordinate system is determined, so that the third position information can be accurately obtained.

[0130] In some embodiments of the present application, in order to accurately determine the conversion matrix, the calculation of the GPS coordinates and the second position information to obtain the conversion matrix between the first coordinate system and the second coordinate system can specifically include:

[0131] converting the GPS coordinates to the second coordinate system to obtain first coordinate information of the GPS coordinates in the second coordinate system,

[0132] determining the conversion matrix between the first coordinate system and the second coordinate system according to the first coordinate information and the second position information.

[0133] The first coordinate information can be coordinate information of the GPS coordinates in the second coordinate system obtained after the GPS coordinates are converted to the second coordinate system.

[0134] In the embodiments of the present application, the GPS coordinates are converted to the second coordinate system to obtain first coordinate information of the GPS coordinates in the second coordinate system, and a conversion matrix between the first coordinate system and the second coordinate system is determined according to the first coordinate information and the second position information, so that the conversion matrix between the first coordinate system and the second coordinate system can be accurately determined.

[0135] In some embodiments of the present application, in order to accurately determine the first coordinate information, the GPS coordinates are converted to the second coordinate system to obtain the first coordinate information of the GPS coordinates in the second coordinate system, which can specifically include:

[0136] The GPS coordinates are converted to the second coordinate system to obtain the first coordinate information of the GPS coordinates in the second coordinate system based on the following formula (1):

[0137]

[0138]

[0139] wherein (X, Y) is the first coordinate information, lon_r is the longitude of the GPS coordinates, lat_r is the latitude of the GPS coordinates, lon_l is the longitude of the origin of the second coordinate system, lat_l is the latitude of the origin of the second coordinate system, a is the length of the long semi-axis of the earth, and a is the geodetic latitude.

[0140] In some embodiments of the present application, the conversion matrix between the first coordinate system and the second coordinate system can be determined according to the first coordinate information and the second position information, which can specifically include:

[0141] Reference Figure 6 The conversion matrix between the first coordinate system and the second coordinate system can be determined according to the first coordinate information and the second position information based on the following formula (2):

[0142]

[0143]

[0144] wherein (X, Y) is the first coordinate information, (x, y) is the second position information, A is the position information of the target object at the first time in the second coordinate system, B is the position information of the target object at the second time in the second coordinate system, is a vector between the position information of the target object at the first time and the position information of the target object at the second time in the second coordinate system, and AB is a distance between the position information of the target object at the first time and the position information of the target object at the second time in the second coordinate system, is a vector between the position information of the target object at the first time and the position information of the target object at the second time in the first coordinate system, ab is a distance between the position information of the target object at the first time and the position information of the target object at the second time in the first coordinate system, and θ is an included angle of the vector composed of A and B between the first coordinate system and the second coordinate system, d x , d y is a conversion matrix.

[0145] The first time can be a certain time when the target object travels in the preset range region.

[0146] The second time can be another time when the target object travels in the preset range region, the first time and the second time are different, and the second time is greater than the first time.

[0147] After the rotation transformation relationship between the two coordinate systems is obtained, the translation transformation relationship d x , d y can be obtained by formula (2).

[0148] If a vector is calculated for every two points of the collected calibration points, each vector can calibrate a group of θ, d x , d y . For multiple sets of results, an optimization algorithm such as average value calculation and least square method can be used to obtain the final conversion matrix.

[0149] In some embodiments of the present application, in order to save computing power, after the anti-smashing and anti-misoperation opening module converts the second position information into the third position information of the target object in the second coordinate system corresponding to the laser radar in the first coordinate system, the anti-smashing and anti-misoperation opening method mentioned above can further include:

[0150] filtering in a preset distance range region to obtain a region of interest,

[0151] Step 540 can specifically include:

[0152] Based on the control instruction and the third position information in the region of interest, the anti-smashing and anti-misoperation opening module determines the scene in which the target object is located, and in the case that the target object is determined to be in the anti-smashing and anti-misoperation opening scene, the control instruction is determined based on the control instruction and the third position information in the region of interest.

[0153] In some embodiments of the present application, after the conversion matrix converts the target position from the millimeter wave radar coordinate system to the laser radar coordinate system, in order to eliminate the interference of the target object outside the region of interest on the millimeter wave radar perception, the target object outside the region of interest also needs to be filtered. It should be noted that the size, shape and number of the region of interest are set according to the specific application scene, which is not limited here.

[0154] The following example uses a typical port scenario, such as... Figure 7 As shown, two areas of interest are set up near the barrier gate, one of which is the anti-smashing detection zone 61 (in... Figure 7 The other area is the anti-false opening detection zone 62 (represented by solid lines in the middle). Figure 7 (Represented by dashed lines). The anti-smashing detection zone 61 can detect zones 611 and 612. Detection zone 611 can be a preset distance on the side entering the barrier gate (e.g., 5 meters), and detection zone 612 can be a preset distance on the side exiting the barrier gate (e.g., 3 meters). The width of detection zone 61 is the same as the lane width. The anti-accidental opening detection zone 62 is on the side entering the barrier gate, with a length of up to 12 meters and a width also the same as the lane width. All regions of interest are defined in the world coordinate system (LiDAR coordinate system).

[0155] The anti-smashing and anti-accidental opening module uses algorithms to determine in real time whether the location of the target object transmitted by the millimeter-wave radar is within the region of interest, and filters out target objects that are not within the region of interest, thus saving computing power and improving computing efficiency.

[0156] In some embodiments of this application, since the target objects include manned and unmanned trucks, in order to improve the integration and commonality of manned and unmanned trucks, manned truck channels and unmanned truck channels can be pre-planned in this application embodiment. Then, according to the determined target object type information, the target object is controlled to pass through the channel corresponding to its type information. In this way, manned and unmanned trucks are effectively isolated, and the integration and commonality of manned and unmanned trucks are realized.

[0157] Based on the same inventive concept, embodiments of this application also provide an electronic device.

[0158] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 8 As shown, the electronic device may include a processor 801 and a memory 802 storing computer programs or instructions.

[0159] Specifically, the processor 801 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of the present invention.

[0160] The memory 802 can include mass storage for data or instructions. As an example and not by way of limitation, the memory 802 can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc (e.g., a compact disc (CD) or a digital versatile disc (DVD)), a solid-state drive (SSD), a USB drive, or a combination of two or more of these. Where appropriate, the memory 802 can include removable or non-removable (or fixed) media, where appropriate. The memory 802 can be internal or external to the integrated gateway disaster recovery device. In particular embodiments, the memory 802 is non-volatile, solid-state memory. The memory can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums, optical storage mediums, flash memory devices, electrical, optical, or other physically tangible / moφhological memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to cause the operations described above as being provided by embodiments of the method for preventing a smash and error opening barrier.

[0161] The processor 801 implements any of the above-described methods for preventing a smash and error opening barrier by reading and executing computer program instructions stored in the memory 802.

[0162] In one example, the electronic device also includes a communication interface 803 and a bus 810. As shown, the processor 801, the memory 802, and the communication interface 803 are connected by the bus 810 and complete communication therebetween. Figure 8

[0163] The communication interface 803 is mainly used to realize the communication between the modules, devices, units and / or devices in the embodiments of the present application.

[0164] ​Bus 810 includes a hardware, software, or both that couples components of electronic device to each other. As an example and not by way of limitation, bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or another suitable bus or a combination of two or more of these. Where appropriate, bus 810 can include one or more buses. Although this embodiment describes and shows a particular bus, this embodiment contemplates any suitable bus or interconnect.

[0165] The electronic device can execute the anti-smashing and anti-misoperation method for opening a gate according to the embodiments of the present application, thereby realizing the anti-smashing and anti-misoperation method for opening a gate described in the above embodiments.

[0166] In addition, in combination with the anti-smashing and anti-misoperation method for opening a gate in the above embodiments, the embodiments of the present application can provide a readable storage medium for implementation. The readable storage medium has program instructions stored thereon, and the program instructions are executed by a processor to realize any one of the anti-smashing and anti-misoperation methods for opening a gate in the above embodiments.

[0167] It needs to be made clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0168] The functions noted in the description of the structural block diagrams above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, functional cards, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium, or transmitted over a transmission medium or communication link by a data signal embodied in a carrier wave. A "machine-readable medium" includes any medium that can store or transfer information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like. The code segments can be downloaded via computer networks such as the Internet, intranets, and the like.

[0169] It is also important to note that the examples described herein can be implemented in a variety of systems, including and / or incorporating software, firmware, hardware, and / or circuitry. Also, the present application can be implemented as a system-on-chip (SOC) where each block of the described architecture is implemented in a single chip. Further, it is important to note that, as used herein, the term "exemplary" is used in the sense of serving as an example, rather than serving as a representative.

[0170] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. Alternatively, computer program implemented steps can be implemented by special purpose logic circuitry, e.g., an FPGA or an ASIC, or by a combination of special purpose logic circuitry and computer hardware. Those skilled in the art will recognize that the present application is not limited to the above-described embodiments, and that various modifications and changes can be made thereto without departing from the scope of the present application. For example, the above-described embodiments can be implemented in hardware or software, or a combination of both hardware and software. Further, the above-described embodiments can be implemented in a single computer system or in a distribution of computer systems at various locations, which are interconnected by a communication network.

[0171] The above merely describes specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, module and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein again. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A method of preventing a vandal from opening a gate by mistake, characterized in that, The method comprises: sending first state information of a target object in a preset distance range area of a barrier gate perceived by a perception module to a background server, perceiving second state information of the target object in the preset distance range area based on a anti-smashing and anti-misoperation opening module, sending a control instruction of the barrier gate determined according to the first state information to the anti-smashing and anti-misoperation opening module based on the background server, determining a target control instruction based on the control instruction and the second state information in a case where it is determined that the target object is in an anti-smashing and anti-misoperation opening scene, the target control instruction being used to control lifting and lowering of a support rod of the barrier gate to make the target object pass through the barrier gate or block the target object from passing through the barrier gate based on the control instruction and the second state information according to the anti-smashing and anti-misoperation opening module, the perception module comprises a laser radar, the anti-smashing and anti-misoperation opening module comprises two millimeter wave radars, and the second state information comprises second position information of the target object in the preset distance range area in a first coordinate system corresponding to the millimeter wave radars, after the perceiving of the second state information of the target object in the preset distance range area based on the anti-smashing and anti-misoperation opening module, the method further comprises: converting the second position information in the first coordinate system into third position information of the target object in a second coordinate system corresponding to the laser radar based on the anti-smashing and anti-misoperation opening module, the determining of the target object scene based on the control instruction and the second state information according to the anti-smashing and anti-misoperation opening module, and the determining of the target control instruction based on the control instruction and the second state information in a case where it is determined that the target object is in an anti-smashing and anti-misoperation opening scene, comprising: determining the target object scene based on the control instruction and the third position information according to the anti-smashing and anti-misoperation opening module, and determining the target control instruction based on the control instruction and the third position information in a case where it is determined that the target object is in an anti-smashing and anti-misoperation opening scene.

2. The method of claim 1, wherein, the converting of the second position information in the first coordinate system into the third position information of the target object in the second coordinate system corresponding to the laser radar based on the anti-smashing and anti-misoperation opening module, comprising: obtaining a global positioning system (GPS) coordinate corresponding to the second position information, calculating the GPS coordinate and the second position information to obtain a conversion matrix between the first coordinate system and the second coordinate system, determining the third position information of the second position information in the second coordinate system based on the conversion matrix and the second position information.

3. The method of claim 2, wherein, the calculating of the GPS coordinate and the second position information to obtain the conversion matrix between the first coordinate system and the second coordinate system, comprising: converting the GPS coordinate to the second coordinate system to obtain first coordinate information of the GPS coordinate in the second coordinate system, According to the first coordinate information and the second position information, a conversion matrix between the first coordinate system and the second coordinate system is determined.

4. The method of claim 3, wherein, The conversion of the GPS coordinate into the second coordinate system to obtain the first coordinate information of the GPS coordinate in the second coordinate system comprises: The conversion of the GPS coordinate into the second coordinate system to obtain the first coordinate information of the GPS coordinate in the second coordinate system comprises: ， ， ， wherein, is the first coordinate information, is a longitude of the GPS coordinate, is a latitude of the GPS coordinate, is a longitude of the origin of the second coordinate system, is a latitude of the origin of the second coordinate system, is an earth semi-major axis length, is a geodetic latitude.

5. The method of claim 3, wherein, The conversion of the GPS coordinate into the second coordinate system to obtain the first coordinate information of the GPS coordinate in the second coordinate system comprises: The conversion of the GPS coordinate into the second coordinate system to obtain the first coordinate information of the GPS coordinate in the second coordinate system comprises: ， ， wherein, is the first coordinate information of the target object at the first time point in the first coordinate system, is the second coordinate information of the target object at the first time point in the second coordinate system, A is the first coordinate information of the target object at the first time point in the second coordinate system, B is the second coordinate information of the target object at the second time point in the second coordinate system, is a vector between the first coordinate information and the second coordinate information of the target object in the second coordinate system, is a distance between the first coordinate information and the second coordinate information of the target object in the second coordinate system, a is the first coordinate information of the target object at the first time point in the first coordinate system, b is the second coordinate information of the target object at the second time point in the first coordinate system, is a vector between the first coordinate information and the second coordinate information of the target object in the first coordinate system, is a distance between the first coordinate information and the second coordinate information of the target object in the first coordinate system, is an included angle between the vector composed of A and B in the first coordinate system and the second coordinate system, is the conversion matrix.

6. A vandal-resistant, tamper-resistant gate opening system, characterized by, The system is used for executing the method for preventing the anti-riot and anti-misoperation barrier gate according to any one of claims 1-5, and the system comprises: A perception module is arranged in a preset distance range area of the barrier gate, and is used for perceiving first state information of a target object in the preset distance range area and sending the first state information to a background server, An anti-riot and anti-misoperation opening module is installed at a case of the barrier gate, and is used for perceiving second state information of the target object in the preset distance range area, The background server is used for determining a control instruction of the barrier gate based on the first state information, and sending the control instruction to the anti-riot and anti-misoperation opening module, The anti-riot and anti-misoperation opening module is further used for determining a scene where the target object is located based on the control instruction and the second state information, and determining a target control instruction based on the control instruction and the second state information in a case that the target object is determined to be in an anti-riot and anti-misoperation opening scene, the target control instruction being used for controlling lifting and lowering of a support rod of the barrier gate to make the target object pass through the barrier gate or block the target object from passing through the barrier gate.

7. The system of claim 6, wherein, The perception module comprises a laser radar, a camera and a processor, the first state information comprises first position information of the target object in the preset distance range area, first heading information of the target object in the preset distance range area and type information of the target object in a laser radar coordinate system, The laser radar is used for perceiving position information of the target object in the preset distance range area, type information of the target object and first heading information, The camera is used for acquiring image information of the target object and determining type information and position information of the target object based on the image information, The processor is used for fusing the position information of the target object perceived by the laser radar and the position information of the target object determined by the camera to obtain the first position information of the target object, and fusing the type information of the target object perceived by the laser radar and the type information of the target object determined by the camera to obtain target type information of the target object.

8. The system of claim 6, wherein, The anti-smashing and anti-misoperation opening module comprises two millimeter wave radars, the two millimeter wave radars are respectively installed on two sides of a machine box of the barrier gate, the two millimeter wave radars comprise a first millimeter wave radar and a second millimeter wave radar, a sensing range of the first millimeter wave radar is a first area on one side of the barrier gate, a sensing range of the second millimeter wave radar is a second area on one side of the barrier gate, the first area and the second area do not coincide, and the preset distance range area comprises the first area and the second area.

9. The system of claim 6, wherein, The system further comprises: An upper computer, which is configured to receive the target control instruction sent by the anti-smashing and anti-misoperation opening module, and control lifting and lowering of a support rod of the barrier gate based on the target control instruction.

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