Barrier gate anti-smashing control system and method

Abstract

The invention discloses a barrier gate anti-smashing control system and method, and relates to the technical field of barrier gates, the barrier gate anti-smashing control system comprises a ground sensing module, an execution module and a processing module, the ground sensing module comprises a plurality of sensing units, the plurality of sensing units form a detection network, and when a vehicle passes, the tire width, the tire spacing and the running path of the vehicle are detected, and the detection network is used for detecting the running path of the vehicle; generating a corresponding detection data set; a detection data set generated by the first group of ground sensing modules in contact with the vehicle is a comparison set I, and a detection data set generated by the second group of ground sensing modules is a comparison set II; and the processing module collects and compares the comparison set I and the comparison set II, and generates a corresponding operation instruction based on a comparison result. Geometric parameters and dynamic characteristics of various vehicles are sensed, an accurate path model is generated by fitting driving track points of the vehicles, and the opening and closing states of the barrier gate can be adjusted in real time by combining dynamic detection data of the vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of barrier gates, and in particular to a barrier gate anti-smashing control system and method. Background Art

[0002] The gate, also known as a vehicle blocker, is a channel entrance and exit management device specially used to restrict the travel of motor vehicles on the road. It is now widely used in highway toll stations and parking lot systems to manage vehicle channels and to manage the entry and exit of vehicles.

[0003] The existing control technologies for barriers usually include ground sensing module detection, infrared light curtain assistance, camera and video analysis, and lidar detection. Among them, the ground sensing module is the most common detection equipment, which senses the metal signal of the vehicle through the induction coil buried in the ground. When a vehicle passes through, the ground sensing module can determine whether the vehicle is at a critical position of the barrier, thereby determining whether the barrier is opened or closed.

[0004] After searching, a Chinese patent (publication number: CN103810495B) discloses a barrier gate safety anti-smashing method and device, which includes: obtaining the current image features of the target area, the target area is the target area of ​​the barrier gate base; performing scale-invariant feature transformation SIFT feature point matching on the current image features and the background image features, if the SIFT feature points that fail to match are greater than the first threshold, the barrier gate controller is instructed to stop the barrier gate movement; the background image features are the image features of the target of the barrier gate base, and the background image features include: each SIFT feature point in the target area, and the feature vector corresponding to the SIFT feature point.

[0005] In the prior art, a single ground sensing module has weak detection and judgment capabilities and limited ability to detect abnormal vehicle behavior, which may cause the gate to be mistakenly closed, resulting in a vehicle smashing accident. Therefore, the present invention proposes a gate anti-smashing control system and method. Summary of the invention

[0006] The object of the present invention is to provide a gate anti-smashing control system and method to solve the problems mentioned in the above background technology.

[0007] The present invention can be implemented by the following technical scheme: a gate anti-smashing control system, including a ground sensing module, an execution module and a processing module;

[0008] The two groups of ground sensing modules are respectively arranged on both sides of the gate pole body and buried in the ground. When a vehicle passes through the gate pole body, it passes over a group of ground sensing modules in the corresponding direction.

[0009] The driving direction of the vehicle is from the first group of ground sensing modules to the second group of ground sensing modules;

[0010] The ground sensing module includes a plurality of sensing units, which form a detection network. When a vehicle passes by, the tire width, tire spacing and driving path of the vehicle are detected, and a corresponding detection data set is generated;

[0011] The detection data set generated by the first group of ground sensing modules that first contact the vehicle is the comparison set I, and the detection data set generated by the second group of ground sensing modules is the comparison set II;

[0012] The processing module collects and compares the comparison set I and the comparison set II, and generates corresponding operation instructions based on the comparison results;

[0013] The execution module shown controls the gate rod to open when the first group of ground sensing modules detects a vehicle passing by, and subsequently controls the gate rod to close based on the operation instructions, thereby achieving dynamic response and avoiding malfunctions caused by fixed logic.

[0014] A further technical improvement of the present invention is that when a vehicle passes by, the detection network detects the total number of sensing units n triggered s and the detection width d of each sensing unit s , calculate the tire width, the calculation formula is:

[0015] W=n s ×d s , W is the width of a single tire;

[0016] At the same time, the first group of ground sensing modules records the farthest sensing unit position triggered by the left and right tires on the front side of the vehicle, and uses the formula: D = |x R -x L |Calculate the tire spacing between the two wheels;

[0017] Among them, x R and x L The positions of the sensing units triggered by the left tire and the right tire respectively;

[0018] Furthermore, the first group of ground sensing modules generates a corresponding driving path based on the order and positions of the left tire and the right tire triggering sensing units.

[0019] A further technical improvement of the present invention is that the first group of ground sensing modules generates a corresponding driving path based on the order and position of the left tire and the right tire triggering sensing unit, including the steps of:

[0020] K1, record the position of the sensing unit;

[0021] In the detection network, each sensing unit has a fixed position coordinate;

[0022] When a vehicle passes by, the sensing unit is triggered, and the system records the triggering sequence and its corresponding position;

[0023] K2, trigger time record;

[0024] Record the time when the vehicle triggers each sensing unit;

[0025] Determine the direction and order of vehicle movement through time sequence;

[0026] K3, trajectory point generation;

[0027] According to the position and time of the triggered sensing unit, a set of trajectory points passed by the vehicle is generated:

[0028] K4, path fitting;

[0029] Fit the trajectory point set to the actual path of the vehicle and generate a continuous curve to describe the vehicle's driving trajectory;

[0030] When detecting the driving path, it includes curvature detection, deviation detection and direction detection;

[0031] If all conditions are met, the path is normal;

[0032] Otherwise, the path is marked as abnormal and the barrier is kept in the lifted state.

[0033] A further technical improvement of the present invention is that after the first group of ground sensing modules detects the tire width, tire spacing and moving path, the detection data set is sent to the second group of ground sensing modules on the other side of the execution module;

[0034] When the left tire and the right tire at the rear of the vehicle pass through the first group of ground sensing modules, the first group of ground sensing modules detects data corresponding to the left tire and the right tire at the rear based on the detection data set.

[0035] A further technical improvement of the present invention is that: the first set of ground sensing modules detects the moving speed of the rear tire of the vehicle when it passes by, and transmits it to the processing module;

[0036] The processing module generates corresponding movement logic based on the movement speed of the rear tire of the vehicle;

[0037] Movement logic includes smooth movement of the vehicle, or non-smooth movement of the vehicle within a specified range, including acceleration and deceleration;

[0038] The second set of ground sensing modules respectively identifies the moving speed of the front and rear tires of the vehicle when the front and rear tires of the vehicle pass by, and transmits it to the processing module;

[0039] The processing module compares the moving speeds of the front and rear tires of the vehicle identified by the second group of ground sensing modules with the moving logic. After the comparison is passed, a "close the rod" operation instruction is sent to the execution module.

[0040] A further technical improvement of the present invention is that: after receiving the detection data set, the second group of ground sensing modules marks it as a "tentative" state;

[0041] After detecting that the front and rear tires of the vehicle match, the first group of ground sensing modules sends a "confirmation" message to the second group of ground sensing modules. The second group of ground sensing modules changes the detection data set marked as "tentative" status to "in use" status, which is used for detecting the corresponding data of the vehicle when the corresponding vehicle passes by.

[0042] A further technical improvement of the present invention is that: each ground sensing module is preset with a vehicle moving direction based on the set position and the driving direction allowed by the road;

[0043] The detection network records the order and time difference of vehicles triggering the sensing units when the vehicles pass by;

[0044] The ground sensing module determines whether the actual moving direction of the vehicle is the same as the preset moving direction of the vehicle based on the triggering sequence of the sensing units, and transmits the determination result to the processing module;

[0045] If the judgment result is the same, the processing module controls the execution module to work normally;

[0046] If the judgment result is different, the processing module controls the execution of the action of keeping the bar lifted or immediately lifting the bar;

[0047] The specific steps are:

[0048] When a vehicle passes by, the ground sensing module records the triggering order of the sensing units: S = {s1, s2, ... sn}, where si is the number of the i-th sensing unit;

[0049] The ground sensing module records the triggering time t of the sensing unit i , and by the formula: P = sign (t i+1 -t i );

[0050] Among them, t i is the time when the i-th sensing unit is triggered by the vehicle, t i+1 Indicates the time when the i+1th sensing unit is triggered by the vehicle;

[0051] Therefore, t i+1 -t i The time difference between vehicles triggering adjacent sensing units;

[0052] Sign is a mathematical symbol function, which is defined as: Used to determine whether the time difference is positive or negative;

[0053] When sign(t i+1 -t i)>0, the sensing unit near the entrance t i will be triggered first, and then the t in the exit direction i+1 When triggered, it means that the vehicle's moving direction is consistent with the preset direction;

[0054] When sign(t i+1 -t i )<0, the induction unit t i+1 The sensor unit t in the entrance direction is triggered first. i When triggered, it means that the vehicle's moving direction is opposite to the preset direction;

[0055] When sign(t i+1 -t i ) = 0, the triggering time of the two sensing units is the same, indicating that the vehicle is stationary or stopped.

[0056] The present invention also discloses a gate anti-smashing control method, which comprises the following steps:

[0057] S1. Distribute two sets of ground sensing modules on both sides of the gate pole and set the driving direction;

[0058] S2, when the front wheel of the vehicle passes, the first group of ground sensing modules along the driving direction detects the tire width, tire spacing and driving path of the vehicle, generates a corresponding detection data set, and transmits the detection data set to the second group of ground sensing modules;

[0059] S3, when the rear wheels of the vehicle pass by, the first group of ground sensing modules detects the tire width, tire spacing and driving path of the rear wheels of the vehicle, and matches them with the corresponding detection data set. After the match is successful, the detection data set in the second group of ground sensing modules is activated;

[0060] S4, the second group of ground sensing modules compares the tire width, tire spacing and driving path of the vehicle when it passes by;

[0061] S5. Based on the comparison result, the processing module generates corresponding operation instructions.

[0062] Compared with the prior art, the present invention has the following beneficial effects:

[0063] The present invention utilizes the detection network in the ground sensing module to sense the geometric parameters and dynamic characteristics of various vehicles, and generates an accurate path model by fitting the vehicle's driving trajectory points, and combines the width and spacing correction parameters to achieve high-precision adaptation to complex scenes. In addition, by combining the dynamic detection data of the vehicle, the gate can adjust the opening and closing state in real time to avoid malfunctions caused by static logic. When the vehicle has not completely passed or has abnormal behavior, the system can keep the bar lifted to prevent the occurrence of vehicle smashing accidents.

[0064] By upgrading the detection logic of the ground sensing module, there is no need to introduce additional hardware equipment, which significantly improves the system function within the cost control range. At the same time, the ground sensing module is buried in the ground, has strong anti-interference ability and low maintenance requirements. Compared with optical or video sensors, the system is more stable and adaptable to harsh environments.

[0065] In summary, through dynamic judgment of path and speed, it is possible to accurately identify whether the vehicle has completely passed through the barrier, thus avoiding car-smashing accidents caused by misjudgment of the traditional system. When abnormal vehicle behavior is detected, the system will actively keep the barrier in the lifted state to avoid safety hazards to pedestrians or equipment caused by misoperation of the barrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0067] Figure 1 The present invention is a flow chart of a barrier gate anti-smashing control method. DETAILED DESCRIPTION

[0068] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0069] Example 1

[0070] See also Figure 1 As shown, the present invention provides a gate anti-smashing control system, including a ground sensing module, an execution module and a processing module;

[0071] The two groups of ground sensing modules are respectively arranged on both sides of the gate pole body and buried in the ground. When a vehicle passes through the gate pole body, it passes over a group of ground sensing modules in the corresponding direction.

[0072] The driving direction of the vehicle is from the first group of ground sensing modules to the second group of ground sensing modules;

[0073] The ground sensing module includes a plurality of sensing units, which form a detection network. The accuracy of the detection network increases with the increase in the number of sensing units. When a vehicle passes by, the tire width, tire spacing and driving path of the vehicle are detected, and a corresponding detection data set is generated;

[0074] When a vehicle passes by, the detection network triggers the total number of sensing units n s and the detection width d of each sensing unit s , calculate the tire width, the calculation formula is:

[0075] W=n s ×d s, W is the width of a single tire, and additional values ​​are set between the widths of each tire to increase the value of W, so as to avoid misjudgment of the subsequent system due to inconsistent tire sizes;

[0076] At the same time, the first group of ground sensing modules records the farthest sensing unit position triggered by the left and right tires on the front side of the vehicle, and uses the formula: D = |x R -x L |Calculate the tire spacing between the two wheels;

[0077] Among them, x R and x L The positions of the sensing units triggered by the left tire and the right tire respectively;

[0078] And, the first group of ground sensing modules is based on the width and spacing of the left tire and the right tire, through the formula:

[0079] y r =f(x)+β1×W+β2×D+β3×D, and obtain the path trajectory;

[0080] Among them, f(x) is the basic path equation, which is f(x) = a × x + b, which is applicable to the scenario where the vehicle passes in a straight line;

[0081] a is the curvature coefficient, which is used to describe the curvature and direction of the trajectory;

[0082] b is the slope coefficient, which is used to determine the linear trend of the trajectory and represents the overall direction of the vehicle path;

[0083] c is the initial position, indicating the initial longitudinal position of the vehicle;

[0084] The specific values ​​of a, b and c are obtained by fitting the vehicle's driving trajectory points {(x i ,y i )} data is calculated, x i is the lateral position of the vehicle in the detection network, y i is the longitudinal position of the vehicle in the detection network;

[0085] β1 is the width correction coefficient, which is used to adjust the lateral deviation of the track;

[0086] β2 is the spacing correction coefficient, which is used to adjust the path curvature;

[0087] β3 is the interaction correction coefficient, which is used to capture the impact of the nonlinear relationship between width and spacing on the trajectory;

[0088] The detection data set generated by the first group of ground sensing modules that first contact the vehicle is the comparison set I, and the detection data set generated by the second group of ground sensing modules is the comparison set II;

[0089] After the first set of ground sensing modules detects the tire width, tire spacing and moving path, the detection data set is sent to the second set of ground sensing modules on the other side of the execution module;

[0090] When the left tire and the right tire at the rear of the vehicle pass through the first group of ground sensing modules, the first group of ground sensing modules detects data corresponding to the left tire and the right tire at the rear based on the detection data set;

[0091] The first set of ground sensing modules detects the moving speed of the rear tire of the vehicle when it passes by, and transmits it to the processing module;

[0092] The processing module generates corresponding movement logic based on the movement speed of the rear tire of the vehicle;

[0093] Movement logic includes smooth movement of the vehicle, or non-smooth movement of the vehicle within a specified range, including acceleration and deceleration;

[0094] The second set of ground sensing modules respectively identifies the moving speed of the front and rear tires of the vehicle when the front and rear tires of the vehicle pass by, and transmits it to the processing module;

[0095] The processing module compares the moving speed of the front and rear tires of the vehicle identified by the second group of ground sensing modules with the moving logic, and after the comparison is passed, sends a "close the rod" operation instruction to the execution module;

[0096] The processing module collects and compares the comparison set I and the comparison set II, and generates corresponding operation instructions based on the comparison results;

[0097] The execution module shown controls the gate rod to open when the first group of ground sensing modules detects the passing of a vehicle, and subsequently controls the gate rod to close based on the operation instructions, thereby achieving dynamic response and avoiding malfunctions caused by fixed logic;

[0098] Each ground sensing module is preset with a vehicle movement direction based on the set position and the direction of vehicle travel allowed by the road;

[0099] The detection network records the order and time difference of vehicles triggering the sensing units when the vehicles pass by;

[0100] The ground sensing module determines whether the actual moving direction of the vehicle is the same as the preset moving direction of the vehicle based on the triggering sequence of the sensing units, and transmits the determination result to the processing module;

[0101] If the judgment result is the same, the processing module controls the execution module to work normally;

[0102] If the judgment result is different, the processing module controls the execution of the action of keeping the bar lifted or immediately lifting the bar;

[0103] The specific steps are:

[0104] When a vehicle passes by, the ground sensing module records the triggering order of the sensing units: S = {s1, s2, ... sn}, where si is the number of the i-th sensing unit;

[0105] The ground sensing module records the triggering time t of the sensing unit i , and by the formula: P = sign (t i+1 -t i );

[0106] Among them, t i is the time when the i-th sensing unit is triggered by the vehicle, t i+1 Indicates the time when the i+1th sensing unit is triggered by the vehicle;

[0107] Therefore, t i+1 -t i The time difference between vehicles triggering adjacent sensing units;

[0108] Sign is a mathematical symbol function, which is defined as: Used to determine whether the time difference is positive or negative;

[0109] When sign(t i+1 -t i )>0, the sensing unit near the entrance t i will be triggered first, and then the t in the exit direction i+1 When triggered, it means that the vehicle's moving direction is consistent with the preset direction;

[0110] When sign(t i+1 -t i )<0, the induction unit t i+1 The sensor unit t in the entrance direction is triggered first. i When triggered, it means that the vehicle's moving direction is opposite to the preset direction;

[0111] When sign(t i+1 -t i ) = 0, the triggering time of the two sensing units is the same, indicating that the vehicle is stationary or stopped.

[0112] Example 2

[0113] A gate anti-smashing control system, comprising a ground sensing module, an execution module and a processing module;

[0114] The two groups of ground sensing modules are respectively arranged on both sides of the gate pole body and buried in the ground. When a vehicle passes through the gate pole body, it passes over a group of ground sensing modules in the corresponding direction.

[0115] The driving direction of the vehicle is from the first group of ground sensing modules to the second group of ground sensing modules;

[0116] The ground sensing module includes a plurality of sensing units, which form a detection network. When a vehicle passes by, the tire width, tire spacing and driving path of the vehicle are detected, and a corresponding detection data set is generated;

[0117] When a vehicle passes by, the detection network triggers the total number of sensing units n s and the detection width d of each sensing unit s , calculate the tire width, the calculation formula is:

[0118] W=n s ×d s , W is the width of a single tire;

[0119] At the same time, the first group of ground sensing modules records the farthest sensing unit position triggered by the left and right tires on the front side of the vehicle, and uses the formula: D = |x R -x L |Calculate the tire spacing between two wheels;

[0120] Among them, x R and x L The positions of the sensing units triggered by the left tire and the right tire respectively;

[0121] Furthermore, in this embodiment, the method for generating a driving path includes:

[0122] K1, record the position of the sensing unit;

[0123] In the detection network, each sensing unit has a fixed position coordinate: (x i ,y i );

[0124] When a vehicle passes by, the sensing unit is triggered and the system records the trigger sequence i and its corresponding position (x i ,y i );

[0125] K2, trigger time record;

[0126] Record the time t when the vehicle triggers each sensing unit i ;

[0127] Through the time sequence t1, t2, ...t n Determine the direction and order of vehicle movement;

[0128] K3, trajectory point generation;

[0129] According to the position and time of the triggered sensing unit, a set of trajectory points passed by the vehicle is generated:

[0130] G={(x1,y1),(x2,y2),...(xn ,y n )};

[0131] K4, path fitting;

[0132] The actual path of the vehicle is fitted using the least squares method, and its accuracy increases with the number and density of sensing units;

[0133]

[0134] y i is the longitudinal coordinate of the i-th sensing unit;

[0135] x i To correspond to the horizontal coordinate, through f(x) = a × x 2 +b×x+c realizes trajectory fitting;

[0136] ω i is the trajectory weight, the weight of the points earlier in time is lower, and the weight of the points later in time is higher;

[0137] Among them, t max The time when the vehicle last triggered the unit;

[0138] It represents the sum of the trigger time differences of all sensing units and is used for normalization so that the sum of the weights is 1;

[0139] When detecting the driving path, it includes curvature detection, deviation detection and direction detection;

[0140] If all conditions are met, the path is normal;

[0141] Otherwise, the marking path is abnormal and the gate is kept in the lifted state;

[0142] The detection data set generated by the first group of ground sensing modules that first contact the vehicle is the comparison set I, and the detection data set generated by the second group of ground sensing modules is the comparison set II;

[0143] The processing module collects and compares the comparison set I and the comparison set II, and generates corresponding operation instructions based on the comparison results;

[0144] The execution module shown controls the gate rod to open when the first group of ground sensing modules detects the passing of a vehicle, and subsequently controls the gate rod to close based on the operation instructions, thereby achieving dynamic response and avoiding malfunctions caused by fixed logic;

[0145] After the first group of ground sensing modules detects the tire width, tire spacing and moving path, the detection data set is sent to the second group of ground sensing modules on the other side of the execution module. After receiving the detection data set, the second group of ground sensing modules marks it as a "tentative" state;

[0146] When the left tire and the right tire at the rear of the vehicle pass through the first group of ground sensing modules, the first group of ground sensing modules detects data corresponding to the left tire and the right tire at the rear based on the detection data set;

[0147] After detecting that the front and rear tires of the vehicle match, the first group of ground sensing modules sends a "confirmation" message to the second group of ground sensing modules, and the second group of ground sensing modules changes the detection data set marked as "tentative" to "use" status, which is used for subsequent detection of the corresponding data of the vehicle when the corresponding vehicle passes by;

[0148] The first set of ground sensing modules detects the moving speed of the rear tire of the vehicle when it passes by, and transmits it to the processing module;

[0149] The processing module generates corresponding movement logic based on the movement speed of the rear tire of the vehicle;

[0150] Movement logic includes smooth movement of the vehicle, or non-smooth movement of the vehicle within a specified range, including acceleration and deceleration;

[0151] The second set of ground sensing modules respectively identifies the moving speed of the front and rear tires of the vehicle when the front tire of the vehicle passes by, and transmits it to the processing module;

[0152] The processing module compares the moving speed of the front and rear tires of the vehicle identified by the second group of ground sensing modules with the moving logic, and after the comparison is passed, sends a "close the rod" operation instruction to the execution module;

[0153] Each ground sensing module is preset with a vehicle movement direction based on the set position and the direction of vehicle travel allowed by the road;

[0154] The detection network records the order and time difference of vehicles triggering the sensing units when the vehicles pass by;

[0155] The ground sensing module determines whether the actual moving direction of the vehicle is the same as the preset moving direction of the vehicle based on the triggering sequence of the sensing units, and transmits the determination result to the processing module;

[0156] If the judgment result is the same, the processing module controls the execution module to work normally;

[0157] If the judgment result is different, the processing module controls the execution of the action of keeping the bar lifted or immediately lifting the bar;

[0158] The specific steps are:

[0159] When a vehicle passes by, the ground sensing module records the triggering order of the sensing units: S = {s1, s2, ... sn}, where si is the number of the i-th sensing unit;

[0160] The ground sensing module records the triggering time t of the sensing unit i , and by the formula: P = sign (t i+1 -t i );

[0161] Among them, t i is the time when the i-th sensing unit is triggered by the vehicle, t i+1 Indicates the time when the i+1th sensing unit is triggered by the vehicle;

[0162] Therefore, t i+1 -t i The time difference between vehicles triggering adjacent sensing units;

[0163] Sign is a mathematical symbol function, which is defined as: Used to determine whether the time difference is positive or negative;

[0164] When sign(t i+1 -t i )>0, the sensing unit near the entrance t i will be triggered first, and then the t in the exit direction i+1 When triggered, it means that the vehicle's moving direction is consistent with the preset direction;

[0165] When sign(t i+1 -t i )<0, the induction unit t i+1 The sensor unit t in the entrance direction is triggered first. i When triggered, it means that the vehicle's moving direction is opposite to the preset direction;

[0166] When sign(t i+1 -t i ) = 0, the triggering time of the two sensing units is the same, indicating that the vehicle is stationary or stopped.

[0167] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A gate anti-smashing control system, comprising a ground sensing module, an execution module and a processing module, wherein two groups of ground sensing modules are respectively arranged on both sides of the gate rod body, and characterized in that: The ground sensing module includes a plurality of sensing units, which form a detection network. When a vehicle passes by, the tire width, tire spacing and driving path of the vehicle are detected, and a corresponding detection data set is generated; The detection data set generated by the first group of ground sensing modules that first contact the vehicle is the comparison set I, and the detection data set generated by the second group of ground sensing modules is the comparison set II; The processing module collects and compares the comparison set I and the comparison set II, and generates corresponding operation instructions based on the comparison results; The execution module shown controls the gate rod body to open when the first group of ground sensing modules detects that a vehicle has passed, and subsequently controls the gate rod body to close based on an operation instruction.

2. A gate anti-smashing control system according to claim 1, characterized in that: When a vehicle passes by, the detection network calculates the tire width based on the total number of triggered sensing units and the detection width of each sensing unit; At the same time, the first set of ground sensing modules records the farthest sensing unit position triggered by the left and right tires on the front side of the vehicle, and calculates the tire spacing between the two wheels; Furthermore, the first group of ground sensing modules generates a corresponding driving path based on the order and positions of the left tire and the right tire triggering sensing units.

3. A gate anti-smashing control system according to claim 2, characterized in that: The method for generating a driving path comprises the steps of: K1, record the position of the sensing unit; In the detection network, each sensing unit has a fixed position coordinate; When a vehicle passes by, the sensing unit is triggered, and the system records the triggering sequence and its corresponding position; K2, trigger time record; Record the time when the vehicle triggers each sensing unit; Determine the direction and order of vehicle movement through time sequence; K3, trajectory point generation; According to the position and time of the triggered sensing unit, a set of trajectory points passed by the vehicle is generated: K4, path fitting; Fit the set of trajectory points to the actual path of the vehicle.

4. A gate anti-smashing control system according to claim 3, characterized in that: When detecting the driving path, it includes curvature detection, deviation detection and direction detection; If all conditions are met, the path is normal; Otherwise, the path is marked as abnormal and the barrier is kept in the lifted state.

5. A gate anti-smashing control system according to claim 3, characterized in that: After the first set of ground sensing modules detects the tire width, tire spacing and moving path, the detection data set is sent to the second set of ground sensing modules on the other side of the execution module; When the left tire and the right tire at the rear of the vehicle pass through the first group of ground sensing modules, the first group of ground sensing modules detects data corresponding to the left tire and the right tire at the rear based on the detection data set.

6. A barrier gate anti-smashing control system according to claim 5, characterized in that: The first set of ground sensing modules detects the moving speed of the rear tire of the vehicle when it passes by, and transmits it to the processing module; The processing module generates corresponding movement logic based on the movement speed of the rear tire of the vehicle; The second set of ground sensing modules respectively identifies the moving speed of the front and rear tires of the vehicle when the front and rear tires of the vehicle pass by, and transmits it to the processing module; The processing module compares the moving speed of the front and rear tires of the vehicle identified by the second group of ground sensing modules with the moving logic. After the comparison is passed, the processing module sends a "close the rod" operation instruction to the execution module.

7. A barrier gate anti-smashing control system according to claim 6, characterized in that: After receiving the detection data set, the second group of ground sensing modules marks it as "tentative" status; After detecting that the front and rear tires of the vehicle match, the first group of ground sensing modules sends a "confirmation" message to the second group of ground sensing modules. The second group of ground sensing modules changes the detection data set marked as "tentative" status to "use" status, which is used to detect the corresponding data of the vehicle when the corresponding vehicle passes by.

8. A barrier gate anti-smashing control system according to claim 1, characterized in that: Each ground sensing module is preset with the vehicle movement direction based on the set position and the direction allowed by the road; The detection network records the order and time difference of vehicles triggering the sensing units when the vehicles pass by; The ground sensing module determines whether the actual moving direction of the vehicle is the same as the preset moving direction of the vehicle based on the triggering sequence of the sensing units, and transmits the determination result to the processing module; If the judgment result is the same, the processing module controls the execution module to work normally; If the judgment result is different, the processing module controls the execution of the action of keeping the bar lifted or immediately lifting the bar.

9. A barrier gate anti-smashing control method according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: S1. Distribute two sets of ground sensing modules on both sides of the gate pole and set the driving direction; S2, when the front wheels of the vehicle pass by, the first group of ground sensing modules along the driving direction detects the tire width, tire spacing and driving path of the vehicle, generates a corresponding detection data set, and transmits the detection data set to the second group of ground sensing modules; S3, when the rear wheels of the vehicle pass by, the first group of ground sensing modules detects the tire width, tire spacing and driving path of the rear wheels of the vehicle, and matches them with the corresponding detection data set. After the match is successful, the detection data set in the second group of ground sensing modules is activated; S4, the second group of ground sensing modules compares the tire width, tire spacing and driving path of the vehicle when it passes by; S5. Based on the comparison result, the processing module generates corresponding operation instructions.

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