A mobile gate safety detection control system and method

Abstract

The present application relates to the field of intelligent control technology, and provides a mobile gate safety detection control system and method. The photoelectric detection module emits a conical light beam through a grating sensor to detect the existence of objects in the gate detection area and generate a detection signal. The gate detection area has several central axes of the conical light beams, which improves the safety of the mobile gate during use; the gate control module triggers the gate execution mechanism to move left and right in the horizontal direction according to the detection signal, controls the switch state of the gate, and ensures that the mobile gate can stop or reverse movement in time when a foreign object is detected to prevent accidents; the control feedback module monitors the execution state of the gate execution mechanism and generates a feedback signal, thereby helping the control system to understand the current execution state of the gate execution mechanism, and make corresponding adjustments, and continuously optimize the gate control module and the photoelectric detection module; the power management module provides power supply for gate control.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a mobile gate safety detection control system and method. Background Art

[0002] At present, gates, as a channel management device for closed spaces, are widely used in passage control ranging from various self-service devices to various public places. However, due to factors such as irregular operation of personnel, sudden breakage and scattering of passing objects, or different passing speeds, there is a potential for gates to clamp passing people or objects during the automatic opening and closing process, resulting in adverse situations such as personal injury or property damage, affecting the physical and mental health of people or the normal operation of equipment.

[0003] For the conventional safety detection methods of gates, taking a vertically placed horizontally moving gate as an example, there are usually three types of gate anti-pinch safety devices: ① A switch driven by a mechanical pushing structure is set in the door gap of a single-sided door or a double-sided door, ② A photoelectric switch with multiple vertically evenly distributed horizontal detection gratings is set in the door gap of a single-sided door or a double-sided door, ③ A motor operation abnormality detection circuit is added to the motion motor controller of the single-sided door or the double-sided door.

[0004] Of the three types of detection methods mentioned above, methods ① and ③ both rely on physical force contact, so there is a potential for gate operation obstruction or damage to personnel and materials. Although method ② is accurate, due to the detection method, there is a fixed detection blind spot, which has the potential for gate operation obstruction or damage to personnel and materials. The above three solutions ①, ②, and ③ lack the function of helping the control system understand the current status and make corresponding adjustments, and constantly monitor the gate opening and closing movement status to realize the feedback mechanism of the detection system and the automatic optimization and adjustment function.

[0005] Existing grating detection solutions will produce different responses due to strain changes caused by unstable power supply voltage, damaged communication cables or improper grating settings, temperature, and operating environment, resulting in nonlinear errors. Strong electromagnetic fields, vibrations or extreme temperatures may affect the performance of the grating. Due to the influence of its own mechanical life and operating environment, the micro-switch will have delayed response or failure after long-term use. In addition, it is difficult to install in a small space and is prone to detection blind spots.

[0006] In this regard, the present application provides a grating sensor detection method set at a small range of the door margin, and the method can effectively reduce the delay caused by environmental factors or micro-switches, quickly and accurately detect the object to be detected, and provide a small range detection of the door margin to feedback to realize the anti-pinch function, thereby ensuring the safety of the door margin.

[0007] For example, the Chinese patent application with publication number CN116880344A discloses a control system for closing and final alignment of a miter gate, which includes a door gap detection device installed on two miter gates, automatically collects real-time door gap state detection data of the closing and final alignment of the miter gate, and transmits the real-time door gap state detection data as feedback information to the ship lock PLC control system through a data line. The PLC controller uses a control algorithm to compile an operation program, compares the real-time door gap state detection data with the door gap target value data, and converts the error data obtained after the comparison into the angle error of the two miter gates when they are respectively away from the closing and final door gap target value. According to the angle error and the control algorithm of the movement relationship of the opening and closing mechanism of the miter gate, the PLC controller calculates and obtains the remaining driving time before the driving mechanism drives the miter gate to close and stop in the closing and final alignment. A closed-loop control circuit is formed to realize direct real-time control of the door gap target value of the closing and final alignment of the miter gate, so as to achieve continuous and stable accuracy of the closing and final alignment of the closing and final alignment of the miter gate.

[0008] For example, the Chinese patent with the authorization announcement number CN107450462B discloses a control method for the closing and final alignment of a miter gate. The door gap detection device installed on the two miter gates automatically collects the real-time door gap state detection data of the closing and final alignment of the miter gates. The real-time door gap state detection data is transmitted to the ship lock PLC control system through the data line as feedback information. The PLC controller uses the control algorithm to compile the operation program, compares the real-time door gap state detection data with the door gap target value data, and converts the error data obtained after the comparison into the angle error of the two miter gates when they are respectively away from the closing and final door gap target value. According to the angle error and the control algorithm of the motion relationship of the opening and closing mechanism of the miter gate, the PLC controller calculates and obtains the remaining driving time before the driving mechanism drives the miter gate to close and stop the closing and final alignment. The control method forms a closed-loop control circuit, realizes the direct real-time control of the door gap target value of the closing and final alignment of the miter gate, and achieves the continuous and stable accuracy of the closing and final alignment of the closing and final alignment of the miter gate.

[0009] The above patents have the problem raised by this background technology: the above two patents do not solve the problem of how to detect whether there is an object through a small-sized grating sensor to control the opening and closing state of the gate, and monitor the feedback to optimize the object existence judgment and control method. Summary of the invention

[0010] In view of the deficiencies in the prior art, the present application provides a mobile gate safety detection control system and method.

[0011] In a first aspect, the present application provides a mobile gate safety detection and control system, the system comprising: a photoelectric detection module, a gate control module, a control feedback module and a power management module;

[0012] The photoelectric detection module is used to detect the existence of objects in the gate detection area by emitting a conical light beam through a grating sensor and generate a detection signal. The gate detection area has a central axis of several conical light beams;

[0013] The gate control module is used to trigger the gate execution motion mechanism to move left and right in the horizontal direction according to the detection signal, and control the switch state of the gate;

[0014] The control feedback module is used to monitor the execution state of the gate execution motion mechanism, generate a feedback signal, and optimize the gate control module and the photoelectric detection module according to the feedback signal;

[0015] The power management module is used to provide power supply for gate control.

[0016] As an optional implementation, the photoelectric detection module further includes:

[0017] The object existence probability is comprehensively generated according to the motion delay of the gate, the representation and recognition of the object and the motion state of the object, and the object existence threshold is configured. The object existence probability is compared with the object existence threshold to obtain the object existence in the gate detection area. If the object existence probability is less than or equal to the object existence threshold, there is no object in the gate detection area, and the generated detection signal is that there is no object.

[0018] If the object existence probability is greater than the object existence threshold, there is an object in the gate detection area, and the generated detection signal is that the object exists.

[0019] As an optional implementation, the logic for generating the object existence probability includes:

[0020] The motion delay probability is determined according to the motion delay of the gate, the accurate recognition probability is determined according to the representation and recognition of the object, and the encounter and collision probability is determined according to the motion state of the object. The reverse influence values ​​of the motion delay probability, the accurate recognition probability and the encounter and collision probability are determined respectively, and exponential penalty operations are performed on the reverse influence values ​​of the motion delay probability and the encounter and collision probability respectively, and the average is obtained by adding them together with the reverse influence value of the accurate recognition probability. The average reverse influence value is adjusted to obtain the object existence probability.

[0021] As an optional implementation, the sub-logic for determining the motion delay probability includes:

[0022] Obtain the current position of the object, the current position of the gate, the gate closing speed and the gate delay time, obtain the position difference by subtracting the current position of the object from the current position of the gate, compare the position difference with the gate closing speed to obtain the time difference of the object reaching the gate, and obtain the motion delay probability based on the difference between the time difference of the object reaching the gate and the gate delay time;

[0023] The sub-logic for determining the probability of accurate recognition includes:

[0024] Obtain the brightness and hue components of the object and the background, calculate the brightness contrast and chromaticity contrast of the object and the background, configure the weight coefficients of the brightness contrast and chromaticity contrast, and obtain the accurate recognition probability through weighted method.

[0025] As an optional implementation manner, the sub-logic for determining the encounter collision probability includes:

[0026] Predict the motion displacement of the object, obtain the initial distance between the gate closing position and the object and the current speed of the object, compare the motion displacement of the object and the initial distance between the gate closing position and the object to get the position judgment result, compare the current speed of the object with the gate closing speed to get the speed judgment result, and combine the position judgment result and speed judgment result to get the encounter collision probability.

[0027] As an optional implementation manner, the function expression of the encounter collision probability is as follows:

[0028] ;

[0029] In the formula, represents the probability of encounter collision, Represents the displacement of an object. represents the initial distance between the gate closing position and the object, Indicates the current speed of the object. Indicates the gate closing speed, Indicates the time the object stays in the gate detection area.

[0030] As an optional implementation, when the detection signal indicates that an object exists, the gate is triggered to execute a motion mechanism to control the switch state of the gate. The logic of triggering the gate to execute the motion mechanism includes:

[0031] The gate control mode is obtained based on the position judgment result and speed judgment result. and , then the control mode of the gate is interrupted closing;

[0032] like and , then the control mode of the gate is normally closed;

[0033] like and , then the control mode of the gate is deceleration closing;

[0034] like and , the control mode of the gate is reverse movement.

[0035] In a second aspect, the present application provides a mobile gate safety detection control method, the method comprising: S1, emitting a conical light beam through a grating sensor to detect the existence of an object in a gate detection area, generating a detection signal, the gate detection area having a plurality of central axes of the conical light beams;

[0036] S2, triggering the gate execution motion mechanism to move left and right in the horizontal direction according to the detection signal to control the switch state of the gate;

[0037] S3. Monitor the execution status of the gate execution motion mechanism, generate a feedback signal, and optimize the gate control module and the photoelectric detection module according to the feedback signal.

[0038] In a third aspect, an optional implementation of the present application further provides a computer device, a memory and a processor, wherein the memory is used to store instructions; the processor is used to execute the instructions, so that the computer device executes the above-mentioned second aspect.

[0039] In a fourth aspect, an optional implementation of the present application further provides a computer-readable storage medium having a computer program stored thereon, and the computer program executes the above-mentioned second aspect when executed.

[0040] Compared with the prior art, the beneficial effects of the present application are as follows: a conical light beam is emitted by a grating sensor to detect the presence of an object in the gate detection area and generate a detection signal. The gate detection area has several central axes of the conical light beams, which helps to prevent objects from being clamped or damaged, thereby improving the safety of the mobile gate during use; the gate control module triggers the gate execution mechanism to move left and right in the horizontal direction according to the detection signal, controls the opening and closing state of the gate, ensures that the mobile gate can stop or reverse movement in time when a foreign object is detected, prevents accidents, and enhances the reliability of the control system; the control feedback module monitors the execution state of the gate execution mechanism, generates a feedback signal, and optimizes the gate control module and the photoelectric detection module according to the feedback signal, making the control system more intelligent. and high efficiency; the power management module provides power supply for gate control and provides stable power supply for the entire control system, ensuring that each module can work normally, thereby ensuring the overall stability of the control system; the control system can complete specific gate control settings through a variety of modes according to different usage scenarios and needs. This flexibility enables the control system to adapt to various complex working environments; the control system realizes a true non-destructive detection and anti-pinch function, that is, it completes safety detection and gate control without damaging objects, which is especially important for protecting objects passing through mobile gates; whether it is a one-way opening and closing gate or a opposite opening and closing gate, the control system can meet the user's ultimate safety requirements without specific restrictions, providing a good user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0042] Figure 1 A schematic diagram of a gate detection structure of a mobile gate safety detection control system provided in an embodiment of the present application;

[0043] Figure 2 A system structure diagram of a mobile gate safety detection and control system provided in an embodiment of the present application;

[0044] Figure 3 An object presence determination logic diagram of a mobile gate safety detection control system provided in an embodiment of the present application;

[0045] Figure 4 A sub-logic diagram for determining the probability of encounter and collision of a mobile gate safety detection and control system provided in an embodiment of the present application;

[0046] Figure 5 A method flow chart of a mobile gate safety detection and control method provided in an embodiment of the present application.

[0047] Reference numerals:

[0048] 1. Gate; 2. Grating sensor; 3. Slide rail; 4. Passage area; 5. Conical light beam; 6. Central axis. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application are clearly and completely described below in conjunction with the drawings in the specification. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0050] Example 1

[0051] A system of a mobile gate safety detection control system comprises a photoelectric detection module, which emits a conical light beam through a grating sensor to detect the existence of an object in a gate detection area and generate a detection signal.

[0052] In an embodiment of the present application, a detection method for a grating sensor disposed at a small range of door margins is provided, which is applied to a photoelectric detection module to achieve small-size installation of the grating sensor.

[0053] By fully combining the structure and movement space of the original gate with this method, the grating sensor can be set on the gate (that is, at the two ends of the sliding rail near the closing edge of the original gate), or outside the gate. The gate detection area has the central axis of several conical light beams (usually parallel to the gate closing position and a few millimeters away from the gate closing position), thus avoiding the object detection blind area. Since the grating sensor is installed outside the gate passage area, it is small in size and the installation position is not affected by the gate appearance characteristics and moving parts, which also reduces the installation complexity. It also ensures that the grating sensor is stable and reliable and is not affected by the outside world, so that objects of different materials, representations and types can be detected by the grating sensor (for example, glass objects will be missed in the traditional detection method, resulting in the gate being unable to achieve true switch state control). During the operation of the gate, if an object enters the gate detection area, it is determined that the object exists, thereby controlling the switch state of the gate, improving the effectiveness, reliability and stability of object detection, and achieving a truly safe non-destructive detection anti-pinch function.

[0054] For example, the fixed positions of the grating sensor 2 at both ends of the gate closing position are determined according to the size of the gate 1 and the positions of the movable components such as the slide rail 3 in actual operation. The position can be set at the inner and outer sides of the gate closing position close to the slide rail 3 on the premise that it does not affect the movement of the gate 1 (wherein the movement direction of the gate refers to Figure 1 The arrow at the middle gate 1 points to the left and right), and the exposed appearance of the gate 1 in the passage area 4 is not changed as much as possible. At the same time, the central axis 6 of the conical light beam 5 emitted by the grating sensor 2 is close to the gate closing position (see the gate detection structure diagram, such as Figure 1 As shown in the figure, the setting distance from the central axis 6 of the conical light beam 5 to the gate closing position depends on the size of the grating sensor 2 and the delayed response speed of the gate movement stopping. It can control the switching state of the gate 1 to detect that the user is using the passage area 4 of the gate 1. As long as the user does not get too close to the edge of the gate or stay at the edge of the gate, which will cause the movement of the gate 1 to be blocked and other behaviors that harm the user, it will not affect the user's use or the normal operation of the gate 1.

[0055] Example 2

[0056] like Figure 2 As shown, a system structure diagram of a mobile gate safety detection and control system is provided for an embodiment of the present application. The system also includes a gate control module, a control feedback module and a power management module.

[0057] Among them, the photoelectric detection module also includes obtaining the existence of the object in the gate detection area according to the comparison between the object existence probability and the object existence threshold.

[0058] like Figure 3As shown, the object existence probability is comprehensively generated according to the movement delay of the gate, the representation and recognition of the object and the movement state of the object, and the object existence threshold is configured. The object existence probability is compared with the object existence threshold to obtain the object existence in the gate detection area. If the object existence probability is less than or equal to the object existence threshold, there is no object in the gate detection area, and the generated detection signal is that there is no object.

[0059] If the object existence probability is greater than the object existence threshold, there is an object in the gate detection area, and the generated detection signal is that the object exists.

[0060] It should be understood that the movement delay of the gate may affect whether the object is detected in time. If the object has entered the gate detection area before the gate closes, the object is considered to exist; the movement state of the object will also affect whether the object is detected in time. When the gate is closed, if the object is located in an area at a certain distance from the closing edge, it may affect whether the object is detected. If the object is far enough away from the closing edge, the gate may not trigger the detection of the object's existence. If the object's movement state causes the object to meet the gate when it is closed, or stay in the gate detection area, the object is considered to exist; at the same time, the surface features of the object are affected by environmental factors such as light and the contrast with the background is not obvious, which may also affect the detection of the object's existence. This method can significantly improve the detection accuracy of dynamic objects, especially in complex or uncertain environmental conditions.

[0061] The generation logic of object existence probability includes:

[0062] The motion delay probability is determined according to the motion delay of the gate, the accurate recognition probability is determined according to the representation and recognition of the object, and the encounter and collision probability is determined according to the motion state of the object. The reverse influence values ​​of the motion delay probability, the accurate recognition probability and the encounter and collision probability are determined respectively, and exponential penalty operations are performed on the reverse influence values ​​of the motion delay probability and the encounter and collision probability respectively, and the average is obtained by adding them together with the reverse influence value of the accurate recognition probability. The average reverse influence value is adjusted to obtain the object existence probability.

[0063] It should be understood that the gate movement delay reflects the speed of the control system response. The longer the gate movement delay, the more likely the object will be when the gate reaches the closing edge (such as Figure 1When the gate 1 moves to the right, it will eventually contact the closing edge on the right. This contact process is the process of the gate 1 reaching the closing edge; and the grating sensor 2 is arranged at both ends close to the slide rail 3, that is, near the closing edge. When the gate 1 reaches the closing edge, the grating sensor 2 can detect the position change of the gate 1, thereby judging whether the gate 1 is completely closed), and may have changed its position, affecting the judgment of the existence of the object; the motion state of the object can reflect the probability of the object encountering the gate, which may affect the judgment of the existence of the object; the representation and recognition of the object reflects whether it can distinguish between the object and the background, which may affect the judgment of the existence of the object.

[0064] Specifying the probability of motion delay , Accurate recognition probability and the probability of encounter collision The value range is between 0 and 1; the motion delay probability refers to the probability of motion delay of the gate. The larger the value of the motion delay probability, the lower the possibility of the existence of the object; the accurate recognition probability refers to the accuracy of the representation and recognition of the object. The larger the value of the accurate recognition probability, the higher the possibility of the existence of the object; the encounter collision probability refers to the possibility of a collision between the object and the gate. The larger the value of the encounter collision probability, the lower the possibility of the existence of the object.

[0065] It should be understood that in order to reduce the interference of these three factors on the accurate existence of objects through subsequent quantitative calculation and analysis methods when the motion delay probability, accurate recognition probability and encounter collision probability have undesirable values ​​(for example, the motion delay probability increases, the accurate recognition probability decreases and the encounter collision probability increases), it is necessary to first determine the reverse influence values ​​of the motion delay probability, the accurate recognition probability and the encounter collision probability. , and The reverse impact value is obtained by subtracting the value of each factor (motion delay probability, accurate recognition probability, and encounter collision probability) from 1. That is, when the value of the motion delay probability increases, the adverse effect on the judgment of the object's existence will increase, thereby reducing the existence of the object. At this time, the reverse impact value of the motion delay probability decreases; when the value of the motion delay probability decreases, the adverse effect on the judgment of the object's existence will decrease, thereby increasing the existence of the object, and the possibility of the object passing is greater. At this time, the reverse impact value of the motion delay probability increases; when the value of the accurate recognition probability decreases, it means that there is a large error in the control system's judgment of the representation, and the possibility of error increases, thereby affecting the judgment of the object's existence. At this time, its reverse impact value increases. The increase in the reverse impact value reflects the greater uncertainty caused by the recognition error; when the value of the accurate recognition probability increases, it means that the control system's judgment on the representation is more accurate, which in turn increases the existence of the object, and its reverse impact value decreases at this time; when the value of the encounter collision probability decreases, it means that the possibility of a collision between the gate and the object is low, that is, the object is unlikely to collide with the gate, resulting in a decrease in the adverse effect of the object's existence judgment, and then increases the object's existence, and its reverse impact value increases at this time; when the value of the encounter collision probability increases, the possibility of a collision between the gate and the object increases, resulting in an increase in the adverse effect of the object's existence judgment, and then reduces the object's existence, and its reverse impact value will decrease at this time.

[0066] It should be understood that in order to strengthen the penalty for the worse factors, an exponential penalty operation is introduced to perform exponential penalty operations on the reverse impact values ​​of the motion delay probability and the encounter collision probability. The effect of the exponential penalty operation is that when the motion delay probability When increasing, will increase, making the penalty caused by motion delay more severe, thus ensuring that the probability of object existence will decrease significantly when the probability of motion delay increases, and when the probability of motion delay increases When decreasing, will decrease, thus ensuring that the probability of the object existing will increase significantly when the probability of motion delay decreases; similarly, when the probability of encounter collision When the probability of encounter and collision decreases, the probability of object existence will decrease significantly; and when the reverse impact value of accurate recognition probability is added together and averaged, the average reverse impact value of these three factors is obtained. The average value here reflects the average adverse effect of all factors. If any one of the three factors, namely, motion delay probability, accurate recognition probability and encounter collision probability, is poor, it will lower the overall object existence judgment ability.

[0067] It should be understood that adjusting the average reverse impact value to obtain the object existence probability means subtracting the average reverse impact value from 1 to obtain the object existence probability As the quality of any factor deteriorates (such as increased probability of motion delay, decreased probability of accurate recognition, and increased probability of encounter collision), the probability of accurate recognition generally increases. Reduce (the reverse impact value of the probability of accurate identification) Increase) on the average reverse impact value The impact of the increase is more significant, because the decrease in the probability of accurate recognition means an increase in the uncertainty of object judgment, which will increase the negative effect of the overall object existence, thereby increasing the probability of object existence. The value of decreases, that is, the possibility of the existence of the object decreases, thereby avoiding misjudgment. On the contrary, if all factors perform well, the possibility of the existence of the object is higher, making the judgment of the existence of the object more conservative and cautious.

[0068] The sub-logic to determine the probability of motion delay includes:

[0069] The current position of the object, the current position of the gate, the gate closing speed and the gate delay time are obtained. The position difference is obtained by subtracting the current position of the object from the current position of the gate. The position difference is compared with the gate closing speed to obtain the time difference for the object to reach the gate. The motion delay probability is obtained based on the difference between the time difference for the object to reach the gate and the gate delay time.

[0070] Specifically, the position difference is the current position of the object Current location of the gate Obtained by subtraction; the time difference of the object arriving at the gate It refers to the time difference required for an object to reach the gate closing position, which is calculated by comparing the position difference with the gate closing speed. By comparing the values, if the time difference of the object reaching the gate is small, it means that when the object approaches the gate closing position, the gate delay time may not be enough for the gate to close completely, resulting in gate movement delay; the movement delay probability ,in Represents the gate delay time. If the gate delay time is too long, the gate cannot be closed before the object arrives, and the motion delay probability The max function in the formula ensures that the value of the motion delay probability is between 0 and 1. Even if the time difference between the object arriving at the gate and the gate delay time is very large, it will not lead to a negative probability value.

[0071] By dynamically calculating the probability of the gate's movement delay (motion delay probability) through the above sub-logic, the photoelectric detection module can accurately quantify the gate's movement delay.

[0072] The sub-logic to determine the probability of accurate recognition includes:

[0073] Obtain the brightness and hue components of the object and the background, calculate the brightness contrast and chromaticity contrast of the object and the background, configure the weight coefficients of the brightness contrast and chromaticity contrast, and obtain the accurate recognition probability through weighted method.

[0074] Specifically, the brightness component of the object is extracted through the YCbCr color space The brightness component of the background , extract the hue component of the object through the HSL color space Hue component with background , the function expression of the brightness contrast between the object and the background is as follows:

[0075] ;

[0076] In the formula, Indicates the brightness contrast between the object and the background. Represents the brightness component of the object, Represents the brightness component of the background.

[0077] It should be noted that the brightness contrast between the object and the background The larger the value, the stronger the brightness contrast, which means the easier it is to represent and identify the object.

[0078] The function expression of the chromaticity contrast between the object and the background is as follows:

[0079] ;

[0080] In the formula, Indicates the chromaticity contrast between the object and the background. Represents the hue component of the object. Indicates the hue component of the background.

[0081] It should be noted that the chromaticity contrast between the object and the background The larger the value, the more obvious the color difference between the object and the background, which means that the object is easier to represent and identify.

[0082] The function expression of accurate recognition probability is as follows:

[0083] ;

[0084] In the formula, represents the probability of accurate recognition, represents the weight coefficient of brightness contrast, Indicates the brightness contrast between the object and the background. Represents the weight coefficient of chromaticity contrast, Indicates the chromaticity contrast between the object and the background.

[0085] It should be noted that the probability of accurate identification The value range is between 0 and 1. When it is close to 1, it means that there is a strong difference in brightness and chromaticity between the object and the background, indicating that the recognition accuracy is very high, and the object and the background are easy to distinguish. When it is close to 0, it means that the difference in brightness and chromaticity between the object and the background is small, indicating that the recognition accuracy is low and the object and the background are difficult to distinguish; the weight coefficient of brightness contrast and the weight coefficient of chromaticity contrast The value range is between 0 and 1 and satisfies , usually , because brightness contrast is more important in the representation and recognition of objects.

[0086] The accuracy rate (accurate recognition probability) of the representation and recognition of the object is dynamically calculated through the above sub-logic, which can accurately reflect the representation and recognition ability of the photoelectric detection module for the object.

[0087] The sub-logic for determining the probability of encounter collision is as follows Figure 4 As shown, specifically including:

[0088] Predict the motion displacement of the object, obtain the initial distance between the gate closing position and the object and the current speed of the object, compare the motion displacement of the object and the initial distance between the gate closing position and the object to get the position judgment result, compare the current speed of the object with the gate closing speed to get the speed judgment result, and combine the position judgment result and speed judgment result to get the encounter collision probability.

[0089] The functional expression of the encounter collision probability is as follows:

[0090] ;

[0091] In the formula, represents the probability of encounter collision, Represents the displacement of an object. represents the initial distance between the gate closing position and the object, Indicates the current speed of the object. Indicates the gate closing speed, Indicates the time the object stays in the gate detection area.

[0092] It should be noted that the probability of encounter collision The value range is between 0 and 1; the displacement of the object Predicted by the acceleration formula, assuming that the object's motion is uniformly accelerated linear motion, then ,in represents the acceleration of the object, It represents the time it takes for an object to move to the gate detection area (the average time it takes for the same type of object to move to the gate detection area under similar acceleration and initial velocity conditions in the past). The estimated value of the object movement displacement will affect whether the object collides with the gate. If the object movement displacement exceeds the initial distance between the gate closing position and the object, the probability of the object meeting the gate will increase; the initial distance between the gate closing position and the object The smaller the gate is, the greater the probability of the gate meeting the object. If the object is far away from the gate, the probability of the object meeting the gate is lower. Generally, it is a set constant; the time an object stays in the gate detection area Refers to the time that an object stays in the gate detection area, including the time the object is stationary in the gate detection area (The average time for an object to remain stationary after reaching the gate detection area is calculated by simulating multiple tests. estimated value) and the time it takes for the object to move to the gate detection area ,and , the longer the residence time, the greater the possibility of the object encountering the gate.

[0093] Specifically, the object motion displacement (the object's motion state) is predicted by the acceleration formula. If the object motion displacement has exceeded the gate closing position, and the object's current speed is greater than or equal to the gate closing speed, in this case, the probability of the object meeting the gate (the probability of encountering collision) is 1; if the object motion displacement is not enough to approach the gate closing position, and the object's current speed is less than the gate closing speed, in this case, the probability of the object colliding with the gate (the probability of encountering collision) is low, and the ratio of the object's residence time in the gate detection area to the object's current speed is used to calculate the probability of the object colliding with the gate (the probability of encountering collision); if the object motion displacement is not enough to approach the gate closing position, but the object's current speed is greater than or equal to the gate closing speed, in this case, the object may quickly approach the gate closing position, so the ratio of the object's current speed to the sum of the object's current speed and the gate closing speed is used to obtain the probability of the object colliding with the gate (the probability of encountering collision); if the object motion displacement has exceeded the gate closing position, but the object's current speed is less than the gate closing speed, in this case, the probability of the object colliding with the gate (the probability of encountering collision) is low, but it may still occur, so the average of the two is calculated.

[0094] The probability of an object meeting a gate (encounter collision probability) is dynamically calculated through the above sub-logic, which can accurately reflect the detection capability of the photoelectric detection module on whether an object collides with a gate.

[0095] The gate control module is used to trigger the gate execution motion mechanism to move left and right in the horizontal direction according to the detection signal, thereby controlling the opening and closing state of the gate.

[0096] When the detection signal indicates that an object exists, the gate actuator moves horizontally to the left and right to control the gate's opening and closing state. The gate control strategy includes:

[0097] The gate control mode is obtained based on the position judgment result and speed judgment result. and , then the control mode of the gate is interrupted closing;

[0098] like and , then the control mode of the gate is normally closed;

[0099] like and , then the control mode of the gate is deceleration closing;

[0100] like and , the control mode of the gate is reverse movement.

[0101] If the object's movement displacement has exceeded the gate closing position, and the object's current speed is greater than or equal to the gate closing speed, continuing to close the gate will collide with the object. The gate should stop closing immediately to avoid collision. If collision is inevitable, the control system triggers a warning notification to inform the operator to take corresponding measures; if the object's movement displacement is not enough to approach the gate closing position, and the object's current speed is less than the gate closing speed, it means that there is enough time for the gate to close without collision. Since the object cannot approach the gate and the object's speed is slow, the gate can continue to close normally without any additional intervention; if the object's movement displacement is not enough to approach the gate closing position, but the object's current speed is greater than or equal to the gate closing speed, due to The object is moving at a fast speed. Although the object will not approach the gate immediately, in order to prevent a sudden collision, the system should consider slowing down the gate closing speed, maintaining a certain safety margin, and continue to monitor the movement of the object and remain vigilant. If the object speed changes, the control system should make further adjustments based on the actual situation; if the object's movement displacement has exceeded the gate closing position, but the object's current speed is less than the gate closing speed, the object's speed is slow and there is still time to readjust the gate's movement. The control system should open the gate in the opposite direction to avoid collision with the object, and continue to monitor the object's movement state to ensure that the object does not suddenly accelerate and approach the gate. If the object begins to accelerate, the control system can adjust the movement speed of the gate's actuator.

[0102] The control feedback module is used to monitor the execution status of the gate actuator mechanism and generate feedback signals to help the control system understand the current execution status of the gate actuator mechanism and make corresponding adjustments to optimize the gate control module and the photoelectric detection module.

[0103] Monitor the execution status of the gate actuator and generate feedback signals, which include successful gate control and unsuccessful gate control. When the gate control is unsuccessful, optimize the gate control module and the photoelectric detection module.

[0104] The gate execution motion mechanism controls the opening and closing state of the gate. If the gate does not collide with the object, it means that the gate control is successful. If the collision is not successfully avoided, it means that the gate control is unsuccessful. Or the opening and closing state of the gate is not strictly executed according to the gate control module to drive the gate execution motion mechanism. This situation also means that the gate control is unsuccessful.

[0105] The torque or load information generated during the gate control process is used to feedback the resistance or obstacles encountered during the operation of the gate. Excessive load may mean that the gate is stuck or in an abnormal state. The feedback signal can help adjust the motion state of the gate's actuator to prevent damage to the gate and objects.

[0106] By adjusting the gate's opening and closing speed, delay, and working cycle, the motion state of the gate's actuator can be optimized, and the accuracy, safety, and reliability of the operation can be improved.

[0107] The photoelectric detection module is optimized by adjusting the time when the object reaches the gate. The kinematic formula is used to calculate the time when the object reaches the gate. The relative position of the object and the gate is expressed as the initial distance between the gate closing position and the object. (that is, the initial distance between the object's initial position before movement and the gate's closing position) and the object's movement displacement The current position of the gate is expressed as the product of the gate closing speed and the gate closing time. Here, it is necessary to calculate the time when the object reaches the gate (that is, the time when the object reaches the gate closing position and the gate closes), that is, it is necessary to find the time when the relative distance between the object and the gate is zero (that is, the relative position of the object and the gate is equal to the current position of the gate), that is, , It represents the time when the object reaches the gate. By solving the quadratic equation and selecting the positive time solution as the valid solution, it is possible to more accurately calculate whether the object can reach the gate closing position before the gate closes, providing a more accurate method for detecting the existence of the object.

[0108] The power management module is used to provide power supply for gate control.

[0109] It should be understood that considering the reliability, safety and efficiency of the gate, a stable and continuous power supply needs to be provided, with necessary protection mechanisms.

[0110] The power management module provides a stable voltage for the control system to ensure the normal operation of the gate. When the main power fails or there is a sudden power outage, it automatically switches to UPS power supply mode to ensure that the gate can operate normally. At the same time, the power management module has an overload protection function and adopts a low-power design to reduce the standby power consumption of the power management module.

[0111] Example 3

[0112] like Figure 5 As shown, a method flow chart of a mobile gate safety detection control method is provided for an embodiment of the present application, and the method includes:

[0113] S1, emitting a conical light beam through a grating sensor to detect the existence of an object in the gate detection area and generate a detection signal, wherein the gate detection area has a central axis of several conical light beams;

[0114] S2, triggering the gate execution motion mechanism to move left and right in the horizontal direction according to the detection signal to control the switch state of the gate;

[0115] S3. Monitor the execution status of the gate execution motion mechanism, generate a feedback signal, and optimize the gate control module and the photoelectric detection module according to the feedback signal.

[0116] Since the principle of solving the problem by the method in the embodiment of the present application is similar to that of the system described above in the embodiment of the present application, the implementation of the method refers to the implementation of the system, and the repeated parts will not be repeated.

[0117] Example 4

[0118] In this embodiment, a computer device is provided, including a memory and a processor, wherein the memory is used to store instructions, and the processor is used to execute the instructions, so that the computer device executes the steps in the above method embodiment.

[0119] Example 5

[0120] In this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed, the steps in the above method embodiment are implemented.

[0121] The computer-readable storage medium includes: a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and other media for storing program codes.

[0122] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the method described above can refer to the corresponding process in the aforementioned system embodiment, and will not be repeated here.

[0123] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0124] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application, which should be included in the scope of the claims of the present application.

Claims

1. A mobile gate safety detection and control system, characterized in that: include: Photoelectric detection module, gate control module, control feedback module and power management module; The photoelectric detection module is used to detect the existence of objects in the gate detection area by emitting a conical light beam through a grating sensor and generate a detection signal. The gate detection area has a central axis of several conical light beams; The photoelectric detection module also includes: The object existence probability is comprehensively generated according to the motion delay of the gate, the representation and recognition of the object and the motion state of the object, and the object existence threshold is configured. The object existence probability is compared with the object existence threshold to obtain the object existence in the gate detection area. If the object existence probability is less than or equal to the object existence threshold, there is no object in the gate detection area, and the generated detection signal is that there is no object. If the object existence probability is greater than the object existence threshold, then there is an object in the gate detection area, and the generated detection signal is that there is an object; The generation logic of the object existence probability includes: Determine the motion delay probability according to the motion delay of the gate, determine the accurate recognition probability according to the representation recognition of the object, determine the encounter and collision probability according to the motion state of the object, determine the reverse influence values ​​of the motion delay probability, the accurate recognition probability and the encounter and collision probability respectively, perform exponential penalty operations on the reverse influence values ​​of the motion delay probability and the encounter and collision probability respectively, add them together with the reverse influence value of the accurate recognition probability and calculate the average to obtain the average reverse influence value, and adjust the average reverse influence value to obtain the object existence probability; The gate control module is used to trigger the gate execution motion mechanism to move left and right in the horizontal direction according to the detection signal, and control the switch state of the gate; The control feedback module is used to monitor the execution state of the gate execution motion mechanism, generate a feedback signal, and optimize the gate control module and the photoelectric detection module according to the feedback signal; The power management module is used to provide power supply for gate control.

2. The system according to claim 1, characterized in that: The sub-logic of determining the motion delay probability includes: Obtain the current position of the object, the current position of the gate, the gate closing speed and the gate delay time, obtain the position difference by subtracting the current position of the object from the current position of the gate, compare the position difference with the gate closing speed to obtain the time difference of the object reaching the gate, and obtain the motion delay probability based on the difference between the time difference of the object reaching the gate and the gate delay time; The sub-logic for determining the probability of accurate recognition includes: Obtain the brightness and hue components of the object and the background, calculate the brightness contrast and chromaticity contrast of the object and the background, configure the weight coefficients of the brightness contrast and chromaticity contrast, and obtain the accurate recognition probability through weighted method.

3. The system according to claim 2, characterized in that: The sub-logic of determining the encounter collision probability includes: Predict the motion displacement of the object, obtain the initial distance between the gate closing position and the object and the current speed of the object, compare the motion displacement of the object and the initial distance between the gate closing position and the object to get the position judgment result, compare the current speed of the object with the gate closing speed to get the speed judgment result, and combine the position judgment result and speed judgment result to get the encounter collision probability.

4. The system according to claim 3, characterized in that: The functional expression of the encounter collision probability is as follows: ； In the formula, represents the probability of encounter collision, Represents the displacement of an object. represents the initial distance between the gate closing position and the object, Indicates the current speed of the object. Indicates the gate closing speed, Indicates the time the object stays in the gate detection area.

5. The system according to claim 4, characterized in that: When the detection signal indicates that an object exists, the gate is triggered to execute the motion mechanism to control the gate's switch state. The logic of triggering the gate to execute the motion mechanism includes: The gate control mode is obtained based on the position judgment result and speed judgment result. and , then the control mode of the gate is interrupted closing; like and , then the control mode of the gate is normally closed; like and , then the control mode of the gate is deceleration closing; like and , the control mode of the gate is reverse movement.

6. A mobile gate safety detection control method, implemented based on a mobile gate safety detection control system according to any one of claims 1 to 5, characterized in that: include: S1, emitting a conical light beam through a grating sensor to detect the existence of an object in the gate detection area and generate a detection signal, wherein the gate detection area has a central axis of several conical light beams; S2, triggering the gate execution motion mechanism to move left and right in the horizontal direction according to the detection signal to control the switch state of the gate; S3. Monitor the execution status of the gate execution motion mechanism, generate a feedback signal, and optimize the gate control module and the photoelectric detection module according to the feedback signal.

7. A computer device, characterized in that: include: A memory for storing instructions; The processor is used to execute the instructions so that the computer device implements the mobile gate safety detection and control method as described in claim 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, a mobile gate safety detection and control method as described in claim 6 is implemented.

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