A barrier anti-smashing control method based on a dynamic telescopic protection area and related equipment

Abstract

This application relates to the technical field of barrier gate control, specifically providing a barrier gate anti-collision control method and related equipment based on a dynamically expandable protective zone. The method includes: acquiring point cloud data of targets within the barrier gate's passage area; analyzing the target's current position and motion information based on the point cloud data to analyze relative position and motion relationships; expanding or contracting a baseline protective zone based on the relative position and motion relationships to form a dynamically expandable protective zone adapted to the target; tracking the target's trajectory within the dynamically expandable protective zone to obtain the target's passage status; determining whether the passage status meets preset anti-collision conditions; and generating a control signal to control the barrier arm to perform a lowering action when the preset anti-collision conditions are met. This solution overcomes the problem that in complex scenarios, fixed protective zones are difficult to adapt to the dynamic behavior of different targets, leading to misjudgments or delayed control.

Description

Technical Field

[0001] This application relates to the technical field of barrier gate control, and more specifically, to a barrier gate anti-smashing control method and related equipment based on a dynamic telescopic protective zone. Background Technology

[0002] Barrier gate equipment is widely used in parking lots, park entrances and exits, and traffic channels to control the passage of vehicles or pedestrians. During the raising and lowering of the barrier gate arm, if the spatial position and movement of targets within the passage area cannot be accurately determined, collisions between the gate arm and vehicles, pedestrians, or obstacles during descent can easily occur, leading to equipment damage or safety hazards. Therefore, the reliability and accuracy of barrier gate anti-collision control technology are of great importance.

[0003] Existing anti-collision solutions for gate barriers typically rely on methods such as infrared beams, inductive loops, ultrasonic waves, or video image recognition to detect the presence of targets beneath the gate arm and control the gate arm's movement based on the detection results. However, most of these solutions use fixed detection areas or static protection areas for judgment, lacking the ability to comprehensively analyze the real-time position changes and movement trends of targets. In complex scenarios such as low-speed vehicle passage, tailgating, pedestrian crossing, or targets lingering, fixed protection areas struggle to adapt to the dynamic behavior of different targets, easily leading to misjudgments or delayed control, thus affecting the safety and efficiency of the gate barrier operation.

[0004] Therefore, there is an urgent need for a gate anti-collision control method that can dynamically adjust the protected area based on the real-time location and movement of the target. Summary of the Invention

[0005] The embodiments of this application provide a gate anti-collision control method and related equipment based on a dynamically expandable protective zone. It can dynamically adjust the gate of the protective zone according to the real-time position and movement state of the target, overcoming the problem that fixed protective zones are difficult to adapt to the dynamic behavior of different targets in complex scenarios, resulting in misjudgment or delayed control.

[0006] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0007] According to one aspect of the embodiments of this application, a gate anti-collision control method based on a dynamically expandable protective zone is provided, comprising: acquiring point cloud data of a target within the gate passage area; analyzing the current position information and motion information of the target based on the point cloud data; analyzing the relative positional relationship between the position information and a reference protective zone and the relative motion relationship of the motion information on the reference protective zone; wherein the reference protective zone is a preset gate arm drop area; expanding or contracting the reference protective zone based on the relative positional relationship and the relative motion relationship to form a dynamically expandable protective zone adapted to the target; tracking the trajectory of the target within the dynamically expandable protective zone to obtain the target's passage status; determining whether the passage status meets preset anti-collision conditions, and generating a control signal to control the gate arm to perform a drop action when the preset anti-collision conditions are met.

[0008] In some embodiments of this application, based on the aforementioned scheme, the step of acquiring point cloud data of a target within the gate passage area and analyzing the target's current position and motion information based on the point cloud data includes: periodically scanning the gate arm drop area and its surrounding area using a lidar installed in the gate passage area to obtain point cloud data within the corresponding scanning period; performing coordinate mapping and spatial registration on the point cloud data based on a preset spatial coordinate system to obtain spatial distribution data of the target within the gate passage area; performing clustering processing on the spatial distribution data to form a point cloud set corresponding to the target, and determining the target's current position information based on the spatial position of the point cloud set; performing association matching on point cloud sets within adjacent scanning periods to construct a spatial correspondence between targets in different scanning periods and obtain the target's displacement change; and calculating the target's motion direction and speed based on the displacement change to construct the target's motion information.

[0009] In some embodiments of this application, based on the foregoing scheme, the step of analyzing the relative positional relationship between the location information and the reference protection zone and the relative motion relationship of the motion information on the reference protection zone includes: determining the spatial boundary parameters of the reference protection zone based on a preset spatial coordinate system, and determining the spatial distance, orientation relationship, and location of the target relative to the spatial boundary parameters according to the location information, as a relative positional relationship; calculating the motion trend parameters of the target relative to the reference protection zone based on the motion direction and motion speed of the motion information, as a relative motion relationship.

[0010] In some embodiments of this application, based on the foregoing scheme, the step of expanding or contracting the reference protection zone based on the relative positional relationship and the relative motion relationship to form a dynamically expandable protection zone adapted to the target includes: determining the adjustment direction of the reference protection zone based on the spatial distance, orientation relationship and location of the relative positional relationship; determining the adjustment range of the reference protection zone according to the motion trend parameters of the relative motion relationship; expanding or contracting the boundary of the reference protection zone based on the adjustment direction and the adjustment range to form a dynamically expandable protection zone adapted to the target.

[0011] In some embodiments of this application, based on the foregoing scheme, the step of expanding or contracting the boundary of the reference protection zone based on the adjustment direction and the adjustment magnitude to form a dynamically expandable protection zone adapted to the target includes: when the adjustment direction points to the outside of the reference protection zone, expanding the corresponding boundary of the reference protection zone along the movement direction of the target to form a dynamically expanded protection zone; when the adjustment direction points away from the reference protection zone or the target leaves the reference protection zone, contracting the corresponding boundary of the reference protection zone to restore the protection zone to the reference protection zone; when the adjustment magnitude is less than a preset magnitude threshold, progressively adjusting the boundary of the reference protection zone in an incremental manner matching the movement speed of the target; when the adjustment magnitude is greater than or equal to the preset magnitude threshold, weighted adjusting the boundary of the reference protection zone in a proportional manner matching the movement trend parameter to form a dynamically expandable protection zone adapted to the target.

[0012] In some embodiments of this application, based on the foregoing scheme, the step of tracking the target within the dynamically expandable protection zone to obtain the target's passage status includes: constructing the target's motion trajectory based on the target's position changes within adjacent scanning cycles; determining the target's passage status relative to the dynamically expandable protection zone based on the motion trajectory; wherein the passage status is any one of an entry status, a stay status, or a departure status.

[0013] In some embodiments of this application, based on the aforementioned scheme, the step of determining whether the passage status meets the preset anti-smashing conditions, and generating a control signal to control the gate arm to perform a lowering action when the preset anti-smashing conditions are met, includes: determining whether there is a target in the dynamic telescopic protection zone in an entering or staying state based on the passage status; when there is no target in the dynamic telescopic protection zone in an entering or staying state, and the movement trajectory indicates that the target has left the dynamic telescopic protection zone, and the dynamic telescopic protection zone is in a baseline state or a retracted state, generating a control signal to control the gate arm to perform a lowering action.

[0014] According to another aspect of the embodiments of this application, a gate anti-smashing control device based on a dynamically expandable protective zone is provided, comprising: a data acquisition module, used to acquire point cloud data of a target within the gate passage area, and analyze the current position information and motion information of the target based on the point cloud data; a data analysis module, used to analyze the relative positional relationship between the position information and a reference protective zone and the relative motion relationship of the motion information on the reference protective zone; wherein the reference protective zone is a preset gate arm drop area; an area adjustment module, used to expand or contract the reference protective zone based on the relative positional relationship and the relative motion relationship to form a dynamically expandable protective zone adapted to the target; a target tracking module, used to track the trajectory of the target within the dynamically expandable protective zone to obtain the target's passage status; and a gate arm control module, used to determine whether the passage status meets preset anti-smashing conditions, and when the preset anti-smashing conditions are met, to generate a control signal to control the gate arm to perform a lowering action.

[0015] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the above-described gate anti-collision control method based on a dynamically expandable protective zone.

[0016] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, causes the processor to perform the gate anti-collision control method based on the dynamically expandable protective zone as described above.

[0017] Compared with existing technologies, this application has the following advantages: By constructing a dynamic protection control mechanism centered on target recognition, relative position relationship, and relative motion relationship analysis, the spatial position, motion direction, and velocity change information of the target within the gate arm area are first obtained, forming the relative position and relative motion relationship between the target and the reference protection area. Based on this, the boundary of the reference protection area is adjusted directionally and in magnitude according to spatial distance, orientation relationship, and motion trend parameters, realizing the dynamic expansion and contraction of the protection area, enabling the protection area to adapt to the target's motion state. Furthermore, by continuously tracking and judging the trajectory of the target within the dynamically expanding and contracting protection area, the entry, stay, and departure states of the target are identified, and combined with multi-cycle trajectory characteristics and the protection area state, an anti-collision judgment logic that conforms to the actual passage scenario is constructed. Finally, when the preset anti-collision conditions are met, a gate arm control signal is generated to accurately trigger the gate arm lowering action, thereby reducing the risk of misjudgment and missed judgment while ensuring passage efficiency, improving the safety, real-time performance, and adaptability of the gate arm anti-collision control, and enabling the protection strategy to remain consistent with complex dynamic scenarios. Attached Figure Description

[0018] Figure 1 This is a schematic block diagram of the structure of a gate anti-smashing system in an application scenario of a gate anti-smashing control method based on a dynamic telescopic protective zone, provided by an embodiment of the present invention. Figure 2 This is a dynamic expansion diagram illustrating the application scenario of a gate anti-smashing control method based on a dynamic telescopic protective zone provided in an embodiment of the present invention. Figure 3 This is a flowchart illustrating a gate anti-collision control method based on a dynamically expandable protective zone provided in an embodiment of the present invention; Figure 4 This is a schematic block diagram of a gate anti-smashing control device based on a dynamic telescopic protective zone provided in an embodiment of the present invention; Figure 5 This is a schematic block diagram of the structure of the electronic device provided in the embodiment of the present invention. Detailed Implementation

[0019] Exemplary embodiments will now be described in a more comprehensive manner with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to these examples; rather, these embodiments are provided so that this application will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0020] Furthermore, the features, structures, or characteristics described in this application can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to provide a full understanding of the embodiments of this application. However, those skilled in the art will recognize that when implementing the technical solutions of this application, not all the detailed features in the embodiments may be used, one or more specific details may be omitted, or other methods, elements, devices, steps, etc., may be employed.

[0021] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0022] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0023] It should be noted that "multiple" in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0024] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] This application provides an example of a gate anti-smashing control method based on a dynamically expandable protective zone, which is applied to a gate anti-smashing system 101.

[0026] like Figures 1 to 2 As shown, the gate anti-smashing system 101 includes a gate controller 102, a gate arm drive mechanism 103, a power supply 104, and an anti-smashing detection unit 105.

[0027] The gate controller 102 receives control signals from the anti-smashing detection unit 105 and controls the raising and lowering of the gate arm 201 according to the control signals. The gate arm drive mechanism 103 drives the gate arm 201 to perform raising or lowering actions. The power supply 104 provides operating power to the gate controller 102, the anti-smashing detection unit 105, and the gate arm drive mechanism 103. The anti-smashing detection unit 105 scans the area below and around the gate arm 201 to obtain point cloud data of targets within the passage area. The gate anti-smashing system 101 is installed inside the gate housing 202, and the anti-smashing detection unit 105 is a lidar sensor used to monitor the passage status below the gate arm 201 in real time.

[0028] like Figures 1 to 2 As shown, with the area directly below the falling trajectory of the gate arm 201 as the center, a left reference protection zone 203 and a right reference protection zone 204 are set, and a left dynamic telescopic protection zone 205 and a right dynamic telescopic protection zone 206, as well as a left dynamic extension protection zone 207 and a right dynamic extension protection zone 208 are formed during the target's movement.

[0029] like Figure 3 As shown, the control method mainly includes the following steps: Step S10: Obtain point cloud data of the target within the gate passage area, and analyze the target's current location and motion information based on the point cloud data.

[0030] The anti-smashing detection unit 105 performs a spatial scan of the area below and around the gate arm 201 to obtain point cloud data covering the range of the gate arm 201's falling trajectory. The point cloud data is then preprocessed to eliminate noise points, isolated points, and invalid points, thereby obtaining effective point cloud data that characterizes the spatial distribution of the target. Based on the effective point cloud data, the spatial features corresponding to the target are extracted, and the spatial position parameters and time series change parameters of the target are calculated to form the target's position information and motion information.

[0031] like Figures 1 to 2 As shown, when a vehicle or pedestrian enters the scanning area corresponding to the left reference protection zone 203 or the right reference protection zone 204, the anti-smashing detection unit 105 acquires the point cloud data corresponding to the target, and determines the left or right area below the gate arm 201 based on the spatial distribution of the point cloud data. At the same time, it determines the target's moving direction and moving speed based on the changes in the point cloud data in adjacent scanning cycles.

[0032] Furthermore, step S10 may preferably be performed in the following manner: The area where the gate arm falls and its surrounding area are periodically scanned by a lidar installed in the passage area of ​​the barrier gate, and point cloud data is obtained within the corresponding scanning period.

[0033] The anti-smashing detection unit 105 uses a lidar to perform multi-beam scanning on the area where the gate arm 201 falls and its surrounding area. The scanning frequency is set to a preset scanning cycle, which is any value between 10ms and 100ms. The raw point cloud data output by the lidar includes the spatial coordinate information and reflection intensity information of each point.

[0034] The lidar covers the three-dimensional space of the falling trajectory of the gate arm 201. When the target enters the scanning area, the lidar outputs point cloud data containing the target's contour features.

[0035] Based on a preset spatial coordinate system, coordinate mapping and spatial registration are performed on point cloud data to obtain spatial distribution data of the target within the gate passage area.

[0036] A preset spatial coordinate system is established with the barrier gate housing 202 as the reference origin. The preset spatial coordinate system includes a horizontal coordinate axis, a vertical coordinate axis, and a height coordinate axis. The point cloud data output by the lidar is mapped to the preset spatial coordinate system, and the point cloud data is spatially registered through a rigid transformation matrix to eliminate spatial errors caused by the installation angle and position deviation of the lidar, thereby forming spatial distribution data of the target within the barrier gate passage area.

[0037] After mapping the point cloud data corresponding to the target to the preset spatial coordinate system, the spatial distribution range of the target in the left reference protection zone 203 or the right reference protection zone 204 is determined.

[0038] The spatially distributed data is clustered to form a point cloud set corresponding to the target, and the current location information of the target is determined based on the spatial location of the point cloud set.

[0039] The spatially distributed data is processed using a density-based clustering algorithm, namely the DBSCAN algorithm. The clustering parameters include the neighborhood radius parameter ε and the minimum number of points parameter MinPts. The point clouds in the spatially distributed data are clustered according to spatial density to form multiple point cloud sets. The point cloud sets that meet the target size threshold are selected to determine the point cloud set corresponding to the target. Based on the point cloud set corresponding to the target, the spatial center point coordinates, bounding box parameters, and occupied area parameters of the target are calculated to determine the current location information of the target.

[0040] The point cloud set corresponding to the vehicle forms a continuous clustered region. By calculating the coordinates of the spatial center point of this point cloud set, it is determined that the vehicle is located inside the left reference protection zone 203.

[0041] The point cloud sets in adjacent scanning cycles are correlated and matched to construct the spatial correspondence of the target between different scanning cycles, and the displacement change of the target is obtained.

[0042] The point cloud sets within adjacent scanning cycles are matched using a nearest neighbor matching association algorithm, which includes the Hungarian algorithm or the Kalman filter algorithm. By comparing the spatial center point coordinates and bounding box parameters of the point cloud sets within adjacent scanning cycles, the correspondence between the point cloud sets is established, and the spatial displacement vector of the target within adjacent scanning cycles is calculated to obtain the displacement change of the target.

[0043] During the continuous scanning cycle, the center point of the point cloud set corresponding to the target moves from the edge of the left reference protection zone 203 to below the gate arm 201. The displacement change of the target is obtained by calculating the coordinate difference of the center point.

[0044] The target's motion direction and velocity are calculated based on the displacement change to construct the target's motion information.

[0045] The target's velocity is calculated based on the target's displacement change and the scan cycle time interval, where the velocity is the ratio of the target's displacement change to the scan cycle time interval. The target's direction of motion is determined based on the direction vector of the target's displacement change. The target's velocity and direction of motion are combined to form the target's motion information.

[0046] When the displacement change of the target points in the direction of the falling trajectory of the gate arm 201 and the speed of movement is greater than the preset speed threshold, it is determined that the target is in a state of movement moving in the direction of the gate arm 201.

[0047] Step S20: Analyze the relative positional relationship between the location information and the reference protection zone, and the relative motion relationship of the motion information on the reference protection zone; wherein, the reference protection zone is the preset gate arm falling area.

[0048] Based on the target's location information and the spatial boundary parameters of the reference protection zone, the spatial relationship parameters between the target and the reference protection zone are calculated, and the motion trend parameters of the target relative to the reference protection zone are calculated based on the target's motion information, thereby forming the relative positional relationship and relative motion relationship between the target and the reference protection zone.

[0049] like Figures 1 to 2 As shown, when the target is located outside the left reference protection zone 203 and its movement direction is pointing towards the inside of the left reference protection zone 203, the relative positional relationship between the target and the left reference protection zone 203 is determined to be a proximity relationship, and the relative movement relationship is an entry trend.

[0050] Furthermore, step S20 may preferably be performed in the following manner: Based on the preset spatial coordinate system, the spatial boundary parameters of the reference protection zone are determined, and the spatial distance, orientation relationship and location of the target relative to the spatial boundary parameters are determined according to the location information, so as to serve as the relative positional relationship.

[0051] Based on the projection range of the falling trajectory of the gate arm 201 in the preset spatial coordinate system, the spatial boundary parameters of the reference protection zone are determined. The spatial boundary parameters include lateral boundary parameters, longitudinal boundary parameters, and height boundary parameters. Based on the target's position information, the spatial distance between the target and the boundary of the reference protection zone is calculated, and the orientation relationship and location of the target relative to the reference protection zone are determined. The spatial distance, orientation relationship, and location are combined to form the relative positional relationship between the target and the reference protection zone.

[0052] When the spatial center point coordinates of the target are located outside the boundary of the left reference protection zone 203 and the spatial distance is less than the preset distance threshold, the target is determined to be located in the vicinity of the left reference protection zone 203.

[0053] Based on the motion direction and speed of the motion information, the motion trend parameters of the target relative to the reference protection zone are calculated to represent the relative motion relationship of the target entering, leaving or moving along the boundary of the reference protection zone.

[0054] Based on the angle between the target's direction of motion and the normal direction of the reference protection zone boundary, the target's direction of motion relative to the reference protection zone is determined; based on the comparison between the target's speed and a preset speed threshold, the target's motion intensity parameter is determined; the direction of motion relationship and the motion intensity parameter are combined to form the target's motion trend parameter relative to the reference protection zone, and the target is determined to be in an entry state, a departure state, or a state of moving along the boundary of the reference protection zone based on the motion trend parameter, thereby forming the relative motion relationship between the target and the reference protection zone.

[0055] When the target's movement direction points into the reference protection zone and its movement speed is greater than a preset speed threshold, the target's movement trend parameter relative to the reference protection zone is determined as the entry trend.

[0056] Step S30: Expand or shrink the reference protection zone based on the relative position and relative motion relationship to form a dynamic expansion and contraction protection zone that adapts to the target.

[0057] Based on the relative position and relative motion of the target, a dynamic adjustment model of the baseline protection zone is constructed. The spatial boundary of the baseline protection zone is updated in real time, so that the spatial range of the baseline protection zone expands or contracts with the changes in the spatial position and motion trend of the target, thereby forming a dynamic expansion and contraction protection zone corresponding to the spatial behavior characteristics of the target.

[0058] like Figures 1 to 2As shown, when the target moves from the outside of the left reference protection zone 203 toward the direction of the gate arm 201's descent trajectory, the left boundary of the reference protection zone 203 expands toward the direction of the target's movement, forming the left dynamic telescopic protection zone 205; when the target moves away from the direction of the gate arm 201's descent trajectory, the boundary of the left dynamic telescopic protection zone 205 contracts toward the reference protection zone 203.

[0059] Furthermore, step S30 may preferably be performed in the following manner: The adjustment direction of the benchmark protection zone is determined based on the spatial distance, orientation, and location of the relative positions.

[0060] Based on the spatial distance between the target and the boundary of the reference protection zone, the target's orientation relative to the reference protection zone, and the area where the target is located, a rule for determining the adjustment direction is constructed. The adjustment direction includes the direction pointing into the reference protection zone, the direction pointing out of the reference protection zone, and the direction along the boundary of the reference protection zone. By determining the spatial distance and orientation relationship of the target, the boundary adjustment direction of the reference protection zone is determined.

[0061] When the target is located outside the left reference protection zone 203 and its orientation points to the inside of the left reference protection zone 203, the adjustment direction is determined to be the direction pointing to the outside of the left reference protection zone 203; when the target is located inside the left reference protection zone 203 and its orientation points to the outside, the adjustment direction is determined to be the direction pointing to the inside of the left reference protection zone 203.

[0062] The adjustment range of the reference protection zone is determined based on the motion trend parameters of the relative motion relationship.

[0063] The adjustment range of the baseline protection zone is calculated based on the target's motion trend parameters, whereby the adjustment range is the spatial distance the baseline protection zone boundary moves. The motion trend parameters include the target's motion direction parameters, motion speed parameters, and the rate of change of the target's distance relative to the baseline protection zone. Based on the motion trend parameters, an adjustment range calculation rule is constructed to establish a correspondence between the adjustment range and the target's motion speed and the rate of change of distance.

[0064] When the target's speed is greater than a preset speed threshold and the spatial distance between the target and the boundary of the baseline protection zone is decreasing, the adjustment range is determined to be a value greater than the preset range threshold; when the target's speed is less than the preset speed threshold and the spatial distance between the target and the boundary of the baseline protection zone changes little, the adjustment range is determined to be a value less than the preset range threshold.

[0065] The boundary of the baseline protection zone is expanded or contracted based on the adjustment direction and adjustment range to form a dynamically expandable protection zone that adapts to the target.

[0066] The direction of movement of the baseline protection zone boundary is determined based on the adjustment direction, and the distance of movement of the baseline protection zone boundary is determined based on the adjustment range. By updating the spatial coordinates of the baseline protection zone boundary, new protection zone boundary parameters are formed, and a dynamically expandable protection zone is constructed using the updated protection zone boundary parameters.

[0067] like Figures 1 to 2 As shown, when the adjustment direction points to the outside of the left reference protection area 203 and the adjustment range is ΔL, the left boundary of the left reference protection area 203 is shifted outward by ΔL to form the left dynamic expansion and contraction protection area 205; when the adjustment direction points to the inside of the right reference protection area 204 and the adjustment range is ΔR, the right boundary of the right reference protection area 204 is shifted inward by ΔR to form the right dynamic expansion and contraction protection area 206.

[0068] Specifically, the step of expanding or contracting the boundary of the reference protection zone based on the adjustment direction and adjustment range to form a dynamically expandable protection zone adapted to the target can also be preferably: When the adjustment direction is directed to the outside of the reference protection zone, the corresponding boundary of the reference protection zone is expanded along the direction of the target's movement to form a dynamically expanded protection zone.

[0069] When the target's movement direction points into the reference protection zone and the spatial distance between the target and the boundary of the reference protection zone is less than a preset distance threshold, the corresponding boundary of the reference protection zone is extended along the target's movement direction; the extension distance is determined by the adjustment range, thereby forming a dynamically extended protection zone.

[0070] When the target moves from outside the left reference protection zone 203 toward the direction of the gate arm 201's falling trajectory and the spatial distance is less than a preset distance threshold, the left boundary of the left reference protection zone 203 expands toward the direction of the target's movement, forming a left dynamic expansion protection zone 207.

[0071] When the adjustment direction is directed away from the reference protection zone or the target leaves the reference protection zone, the corresponding boundary of the reference protection zone is contracted to restore the protection zone to the reference protection zone.

[0072] When the target's movement direction points away from the reference protection zone or the spatial distance between the target and the reference protection zone shows an increasing trend, the corresponding boundary of the reference protection zone is contracted; the contraction distance is determined by the adjustment range, so that the boundary of the dynamically expandable protection zone moves closer to the boundary of the reference protection zone, thereby restoring the protection zone to the reference protection zone.

[0073] As the target moves outward from the left dynamic telescopic protection zone 205 and the spatial distance gradually increases, the boundary of the left dynamic telescopic protection zone 205 contracts towards the left reference protection zone 203.

[0074] When the adjustment range is less than the preset range threshold, the boundary of the reference protection zone is gradually adjusted in an incremental manner that matches the target's movement speed.

[0075] When the adjustment range is less than the preset range threshold, the movement distance of the baseline protection zone boundary is divided into multiple incremental steps, and the incremental step corresponds to the target's movement speed. The baseline protection zone boundary is updated multiple times according to the incremental step, so that the boundary change process of the dynamically expanding protection zone is consistent with the target's movement speed.

[0076] When the target moves at a low speed, the boundary of the left reference protection zone 203 is translated multiple times according to the preset incremental step size Δd, so that the left dynamic expansion and contraction protection zone 205 is gradually formed.

[0077] When the adjustment range is greater than or equal to the preset range threshold, the boundary of the baseline protection zone is adjusted in a weighted manner that matches the motion trend parameters to form a dynamic expansion and contraction protection zone that adapts to the target.

[0078] When the adjustment range is greater than or equal to the preset range threshold, a boundary adjustment ratio factor is constructed based on the motion trend parameters. The ratio factor is determined by the target's motion speed and the rate of change of the distance between the target and the baseline protection zone. The movement distance of the baseline protection zone boundary is calculated by weighting the adjustment range and the ratio factor, so that the boundary change range of the dynamic expansion and contraction protection zone corresponds to the target's motion trend parameters.

[0079] When the target moves at a high speed in the direction of the falling trajectory of the gate arm 201 and the rate of change of distance is large, the boundary of the left reference protection zone 203 is expanded according to the scaling factor to form the left dynamic telescopic protection zone 205.

[0080] Step S40: Track the trajectory of the target within the dynamic expansion and contraction protection zone to obtain the target's passage status.

[0081] Time series analysis is performed on the position information of targets within the dynamic expansion and contraction protection zone during continuous scanning cycles. By modeling the spatial position change pattern of the targets, the motion trajectory of the targets is constructed, and the passage status of the targets is determined based on the relationship between the target motion trajectory and the spatial boundary of the dynamic expansion and contraction protection zone.

[0082] like Figures 1 to 2 As shown, when the target enters the left dynamic telescopic protection zone 205, and its spatial center point coordinates show a trend of moving towards the downward trajectory of the gate arm 201 during the continuous scanning cycle, the motion trajectory corresponding to the target is constructed, and the target is determined to be in the entry state.

[0083] Furthermore, step S40 may preferably be performed in the following manner: The target's motion trajectory is constructed based on the positional changes of the target within adjacent scanning cycles.

[0084] The position information of the target in adjacent scanning cycles is associated in chronological order to form a trajectory point sequence of the target; the trajectory point sequence includes the spatial center point coordinates and timestamp information of the target in each scanning cycle; the motion trajectory of the target is constructed by curve fitting the trajectory point sequence; the curve fitting adopts the least squares method or Kalman filter algorithm.

[0085] During the continuous scanning cycle, the coordinates of the spatial center point corresponding to the target move from the edge of the left dynamic telescopic protection zone 205 to the direction of the gate arm 201 falling trajectory, forming a motion trajectory composed of multiple trajectory points.

[0086] The target's passage status relative to the dynamic expansion and contraction protection zone is determined based on its movement trajectory; the passage status can be any one of the following: entry status, stay status, or departure status.

[0087] Based on the spatial relationship changes between the target's trajectory and the boundary of the dynamic expansion and contraction protection zone, a passage status determination rule is constructed: when the target's trajectory extends from the outside to the inside of the dynamic expansion and contraction protection zone and the trajectory direction points into the dynamic expansion and contraction protection zone, the target is determined to be in the entry state; when the target's trajectory is located inside the dynamic expansion and contraction protection zone and the spatial position change of the trajectory point sequence is less than a preset displacement threshold, the target is determined to be in the stationary state; when the target's trajectory extends from the inside to the outside of the dynamic expansion and contraction protection zone and the trajectory direction points away from the dynamic expansion and contraction protection zone, the target is determined to be in the departure state.

[0088] When the target's trajectory point sequence crosses the boundary from the outside of the left dynamic expansion and contraction protection zone 205 and enters the inside of the left dynamic expansion and contraction protection zone 205, the target is determined to be in the entry state; when the target's trajectory point sequence exhibits local fluctuations inside the left dynamic expansion and contraction protection zone 205 and the displacement amplitude is less than a preset displacement threshold, the target is determined to be in the stationary state; when the target's trajectory point sequence extends from the inside of the left dynamic expansion and contraction protection zone 205 to the outside, the target is determined to be in the departure state.

[0089] Step S50: Determine whether the passage status meets the preset anti-collision conditions, and if the preset anti-collision conditions are met, generate a control signal to control the gate arm to perform the lowering action.

[0090] Based on the target's passage status and the spatial status of the dynamically expandable protective zone, a rule for determining anti-collision conditions is constructed; the target's passage status is matched with the anti-collision conditions to generate a gate control decision; when the anti-collision conditions are met, a control signal is output to control the gate to perform the lowering action.

[0091] like Figures 1 to 2As shown, when there is no target in the dynamic telescopic protection zone 205 that is in the entry or stay state, and the target's movement trajectory points away from the dynamic telescopic protection zone 205, a control signal is generated to control the gate arm 201 to perform the lowering action.

[0092] Furthermore, step S50 may preferably be performed in the following manner: The system determines whether there are any targets in the dynamic expansion and contraction protection zone that are either in an entry or stationary state based on the passage status.

[0093] The passage status of all targets within the dynamic expansion and contraction protection zone is statistically analyzed. When at least one target is in the entry or stay state, it is determined that there is an obstructing target within the dynamic expansion and contraction protection zone. When all targets are in the departure state or no target is detected, it is determined that there is no obstructing target within the dynamic expansion and contraction protection zone.

[0094] When a vehicle target is stationary within the left-side dynamic retractable protection zone 205, it is determined that there is an obstruction target within the left-side dynamic retractable protection zone 205.

[0095] When there are no targets in the dynamic telescopic protection zone that are in the entry or stationary state, and the movement trajectory indicates that the target has left the dynamic telescopic protection zone, and the dynamic telescopic protection zone is in the baseline or retracted state, a control signal for the gate arm to be lowered is generated to control the gate arm to perform the lowering action.

[0096] When there are no targets in the dynamic expansion and contraction protection zone that are in an entry or stay state, and the end point of the target's trajectory is located outside the boundary of the dynamic expansion and contraction protection zone, and the direction of the target's trajectory points away from the dynamic expansion and contraction protection zone, and the boundary parameters of the dynamic expansion and contraction protection zone are the same as or less than the boundary parameters of the reference protection zone, a control signal for lowering the gate arm is generated; the control signal includes gate arm lowering command parameters and execution timing parameters.

[0097] When the target completely leaves the left dynamic telescopic protection zone 205 and the boundary of the left dynamic telescopic protection zone 205 contracts to the left reference protection zone 203, a control signal is generated for the gate arm 201 to perform the lowering action.

[0098] In this embodiment, a dynamic protection control mechanism centered on target recognition, relative position relationship, and relative motion relationship analysis is constructed. First, the spatial position, direction of motion, and velocity change information of the target within the gate arm area are acquired, forming the relative position and motion relationships between the target and the baseline protection zone. Based on this, the boundary of the baseline protection zone is adjusted directionally and in magnitude according to spatial distance, orientation, and motion trend parameters, enabling dynamic expansion and contraction of the protection zone, allowing it to adapt to changes in the target's motion state. Furthermore, by continuously tracking and determining the trajectory and state of the target within the dynamically expanding and contracting protection zone, the entry, dwelling, and departure states of the target are identified. Combining multi-cycle trajectory characteristics with the protection zone state, an anti-collision judgment logic conforming to actual passage scenarios is constructed. Finally, when preset anti-collision conditions are met, a gate arm control signal is generated, accurately triggering the gate arm's lowering action. This ensures passage efficiency while reducing the risk of misjudgment and missed judgment, improving the safety, real-time performance, and adaptability of the gate arm anti-collision control, and ensuring the protection strategy remains consistent with complex dynamic scenarios.

[0099] like Figure 4 As shown, this application also provides a gate anti-smashing control device 10 based on a dynamically retractable protective zone, comprising: The data acquisition module 11 is used to acquire point cloud data of targets within the gate passage area, and analyze the current position and motion information of the targets based on the point cloud data.

[0100] The data analysis module 12 is used to analyze the relative positional relationship between the location information and the reference protection zone, and the relative motion relationship of the motion information on the reference protection zone; wherein, the reference protection zone is the preset gate arm falling area.

[0101] The area adjustment module 13 is used to expand or shrink the reference protection zone based on the relative position and relative motion relationship to form a dynamic expansion and contraction protection zone that adapts to the target.

[0102] The target tracking module 14 is used to track the trajectory of targets within the dynamically expandable protection zone and obtain the passage status of the targets.

[0103] The gate arm control module 15 is used to determine whether the passage status meets the preset anti-collision conditions, and when the preset anti-collision conditions are met, it generates a control signal to control the gate arm to perform the lowering action.

[0104] In this embodiment, by acquiring and analyzing the point cloud data of the target within the gate passage area in real time, the spatial location and motion characteristics of the target are extracted. Combined with the relative position and motion relationship between the target and the baseline protection zone, the baseline protection zone is dynamically expanded or contracted to form a dynamically expandable protection zone that matches the target's behavior state. Furthermore, by continuously tracking the target trajectory and determining the passage status within the dynamically expandable protection zone, the risk of target passage is dynamically assessed. Based on the assessment results, a gate arm control strategy is generated, enabling the gate arm lowering action to adaptively adjust according to the target's real-time position and movement trend, effectively reducing the probability of misjudgment and missed judgment, and improving the safety, real-time performance, and environmental adaptability of the gate anti-collision control.

[0105] It should be noted that although several modules or units for the device of action execution have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0106] like Figure 5 As shown, this application also provides an electronic device 20, including a memory 21 and a processor 22. The memory 21 stores a computer program that can run on the processor 22. When the processor 22 executes the computer program, it implements the above-mentioned gate anti-smashing control method based on the dynamic telescopic protective zone.

[0107] In this embodiment, the gate anti-smashing control method based on dynamic expansion and contraction protection zone is encapsulated into an executable computer program and deployed in an electronic device 20 with storage and computing capabilities. This enables the processor 22 to collaboratively complete functions such as point cloud data parsing, target motion feature extraction, dynamic adjustment of protection zone, target trajectory tracking, and gate arm control decision-making. This achieves centralized processing and modular implementation of the gate anti-smashing logic, enhances the system's operational stability and response efficiency, and improves the adaptability and scalability of the anti-smashing control algorithm on different hardware platforms.

[0108] This application also provides a computer-readable storage medium storing a computer program thereon, which, when run by a processor, causes the processor to execute the gate anti-collision control method based on the dynamically expandable protective zone as described above.

[0109] In this embodiment, by storing the computer program corresponding to the gate anti-collision control method based on dynamic retractable protective zones in a computer-readable storage medium, the method can be deployed, migrated, and reused in software form, thereby supporting rapid loading and execution in different gate devices or control systems. This approach decouples the anti-collision control logic from the hardware devices, improves the system's upgrade flexibility and maintenance convenience, and ensures the stable operation and consistent control effect of the dynamic retractable protective zone strategy in different application scenarios.

[0110] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored on a non-volatile storage medium (such as a CD). The method, which is contained in or on a ROM, USB flash drive, external hard drive, etc., includes several instructions to cause an electronic device (which may be a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the embodiments of this application.

[0111] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0112] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for preventing the impact of falling objects on a barrier gate based on a dynamically expandable protective zone, characterized in that, include: Obtain point cloud data of targets within the gate passage area, and analyze the current position and motion information of the targets based on the point cloud data; Analyze the relative positional relationship between the location information and the reference protection zone, and the relative motion relationship between the motion information and the reference protection zone; wherein, the reference protection zone is a preset gate arm drop area; The reference protection zone is expanded or contracted based on the relative positional relationship and the relative motion relationship to form a dynamic expansion and contraction protection zone adapted to the target; The target within the dynamically expandable protection zone is tracked to obtain its passage status; Determine whether the passage status meets the preset anti-smashing conditions, and if the preset anti-smashing conditions are met, generate a control signal to control the gate arm to perform the lowering action.

2. The gate anti-collision control method based on a dynamically expandable protective zone according to claim 1, characterized in that, The step of acquiring point cloud data of targets within the barrier gate passage area and analyzing the current position and motion information of the targets based on the point cloud data includes: The area where the gate arm falls and its surrounding area are periodically scanned by a lidar installed in the passage area of ​​the barrier gate, and point cloud data is obtained within the corresponding scanning period. Based on a preset spatial coordinate system, the point cloud data is mapped and spatially registered to obtain the spatial distribution data of the target within the passage area of ​​the barrier gate. The spatial distribution data is clustered to form a point cloud set corresponding to the target, and the current location information of the target is determined based on the spatial location of the point cloud set. The point cloud sets in adjacent scanning cycles are correlated and matched to construct the spatial correspondence of the target between different scanning cycles, and the displacement change of the target is obtained. The target's motion direction and velocity are calculated based on the displacement change to construct the target's motion information.

3. The gate anti-collision control method based on a dynamically expandable protective zone according to claim 1, characterized in that, The step of analyzing the relative positional relationship between the position information and the reference protection zone, and the relative motion relationship of the motion information on the reference protection zone, includes: The spatial boundary parameters of the reference protection zone are determined based on a preset spatial coordinate system, and the spatial distance, orientation relationship and location of the target relative to the spatial boundary parameters are determined based on the location information, so as to serve as the relative positional relationship. Based on the motion direction and speed of the motion information, the motion trend parameters of the target relative to the reference protection zone are calculated as the relative motion relationship.

4. The gate anti-collision control method based on dynamic telescopic protective zone according to claim 1, characterized in that, The step of expanding or contracting the reference protection zone based on the relative positional relationship and the relative motion relationship to form a dynamically expandable protection zone adapted to the target includes: The adjustment direction of the reference protection zone is determined based on the spatial distance, orientation relationship, and location of the relative positional relationship. The adjustment range of the reference protection zone is determined based on the motion trend parameters of the relative motion relationship; The boundary of the reference protection zone is expanded or contracted based on the adjustment direction and the adjustment range to form a dynamically expandable protection zone adapted to the target.

5. The gate anti-collision control method based on a dynamically expandable protective zone according to claim 4, characterized in that, The step of expanding or contracting the boundary of the reference protection zone based on the adjustment direction and the adjustment range to form a dynamically expandable protection zone adapted to the target includes: When the adjustment direction points to the outside of the reference protection zone, the corresponding boundary of the reference protection zone is expanded along the movement direction of the target to form a dynamically expanded protection zone; When the adjustment direction points away from the reference protection zone or the target leaves the reference protection zone, the corresponding boundary of the reference protection zone is contracted to restore the protection zone to the reference protection zone. When the adjustment range is less than a preset range threshold, the boundary of the reference protection zone is gradually adjusted in an incremental manner that matches the movement speed of the target. When the adjustment range is greater than or equal to the preset range threshold, the boundary of the baseline protection zone is adjusted in a weighted manner that matches the motion trend parameters to form a dynamically expandable protection zone that adapts to the target.

6. The gate anti-collision control method based on a dynamically expandable protective zone according to claim 2, characterized in that, The step of tracking the trajectory of the target within the dynamically expandable protection zone to obtain the target's passage status includes: Construct the target's motion trajectory based on the target's position changes within adjacent scanning cycles; The passage status of the target relative to the dynamic expansion and contraction protection zone is determined based on the movement trajectory; wherein the passage status is any one of the following: entry status, stay status, or departure status.

7. The gate anti-collision control method based on a dynamically expandable protective zone according to claim 6, characterized in that, The step of determining whether the passage status meets the preset anti-collision conditions, and generating a control signal to control the gate arm to perform a lowering action when the preset anti-collision conditions are met, includes: Based on the passage status, determine whether there is a target in the dynamic expansion and contraction protection zone that is either in an entry state or a stationary state; When there is no target in the dynamic telescopic protection zone that is in the entry or stay state, and the movement trajectory indicates that the target has left the dynamic telescopic protection zone, and the dynamic telescopic protection zone is in the reference state or the retracted state, a control signal for the gate arm to be lowered is generated to control the gate arm to perform the lowering action.

8. A gate anti-collision control device based on a dynamically expandable protective zone, characterized in that, include: The data acquisition module is used to acquire point cloud data of targets within the passage area of ​​the barrier gate, and analyze the current position and motion information of the targets based on the point cloud data; The data analysis module is used to analyze the relative positional relationship between the location information and the reference protection zone, and the relative motion relationship between the motion information and the reference protection zone; wherein, the reference protection zone is a preset gate arm drop area; The area adjustment module is used to expand or shrink the reference protection zone based on the relative position relationship and the relative motion relationship to form a dynamically expandable protection zone that adapts to the target. The target tracking module is used to track the trajectory of the target within the dynamically expandable protection zone and obtain the target's passage status. The gate control module is used to determine whether the passage status meets the preset anti-collision conditions, and when the preset anti-collision conditions are met, it generates a control signal to control the gate to perform the lowering action.

9. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the gate anti-collision control method based on any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which, when run by a processor, causes the processor to execute the gate anti-collision control method based on a dynamically expandable protective zone as described in any one of claims 1 to 7.

Images