A barrier gate control method and device, electronic equipment and storage medium

Abstract

The application provides a barrier control method and device, electronic equipment and a storage medium, wherein the method comprises: in response to a barrier closing instruction, performing a lowering operation; during the lowering operation, detecting a target obstacle and determining a current position of the barrier; if the current position of the barrier meets a pause condition, performing a pause operation; and when the target obstacle disappears, continuing the lowering operation. The application can solve the problem that the existing barrier solution is prone to fare evasion and barrier damage.

Description

Technical Field

[0001] This application relates to the field of barrier gate control technology, and more specifically, to a method, device, electronic equipment, and storage medium for controlling a passage gate arm. Background Technology

[0002] Currently, parking lot gates generally have anti-car-smashing functions: during the gate closing and lowering process, once a sensor (such as a ground loop or radar) detects a vehicle, the gate arm will immediately and automatically lift to ensure safety.

[0003] However, research has revealed the following management challenges with existing technology: the "raise barrier upon vehicle detection" response mechanism is a single and unconditionally triggered action. This means that at any stage of the barrier's descent, if a subsequent vehicle is detected closely following the preceding vehicle into the detection area, the system will also raise the barrier due to vehicle detection. This mechanism makes it impossible for the system to effectively distinguish between "vehicles leaving normally" and "vehicles intending to follow," leading to frequent instances of toll evasion and causing losses for parking lot management. In other scenarios, such as continuous pedestrian crossings or sudden obstacles appearing in the lane, the barrier may continuously cycle between lowering and raising, causing rapid damage to the barrier motor. Summary of the Invention

[0004] In view of this, embodiments of this application provide a method, device, electronic device, and storage medium for controlling access gates, in order to solve the problems that existing gate anti-smashing schemes are prone to toll evasion and damage to the gate.

[0005] In a first aspect, embodiments of this application provide a method for controlling a passage gate arm, the method comprising: In response to a gate closing command, a gate arm lowering operation is performed; the gate arm lowering operation is used to control the gate arm to switch from a allowing state to an blocking state. During the lowering operation, a target obstacle is detected, and the current position of the gate arm is determined. If the current position of the gate arm meets the pause condition, a pause operation is performed; if the current position of the gate arm meets the raise condition, a raise operation is performed; the raise operation is used to control the gate arm to switch to the release state. Once the target obstacle disappears, continue the pole lowering operation.

[0006] In one feasible implementation, the step of performing a lifting operation if the current position of the gate arm meets the lifting conditions includes: If the current position of the gate arm indicates that the current included angle of the gate arm is greater than a preset first angle, then the gate arm is controlled to stop performing the lowering operation and perform the raising operation.

[0007] In one feasible implementation, the step of performing a pause operation if the current position of the gate arm meets the pause conditions includes: If the included angle is less than or equal to the first angle, the gate arm is controlled to perform a pause operation; the pause operation is used to control the gate arm to remain at the included angle.

[0008] In one feasible implementation, when the current position of the gate arm is the included angle of the gate arm, the angle is determined by at least one of the following methods: It is calculated based on the mapping relationship between the Hall pulse of the control motor of the gate arm and the gate arm angle; The distance is measured and calculated by a distance sensor installed on the gate arm; The angle is directly read by an angle sensor installed on the gate arm.

[0009] In one feasible implementation, continuing the pole lowering operation after the target obstacle disappears includes: If the target obstacle is not detected in the preset sensor detection area, the gate arm is controlled to continue the lowering operation.

[0010] In one feasible implementation, the lever lowering operation includes: A driving force in a first direction is applied to the control motor of the gate arm so that the gate arm is driven by the control motor to rotate from the angle of the release state to the angle of the blocking state; Perform a pause operation, including: A driving force in a second direction is applied to the control motor so that the gate arm is driven by the control motor and maintains the included angle against its own weight; the second direction is opposite to the first direction.

[0011] In one feasible implementation, the target obstacle is a vehicle; The method further includes: In response to the detection that the first vehicle has left the sensor detection area, a gate closing command is generated; During the pole lowering operation, a target obstacle is detected, including: During the gate lowering operation, in response to the detection of a second vehicle entering the sensor detection area, the second vehicle is identified as a target vehicle intending to follow the vehicle; the second vehicle is different from the first vehicle, and / or the second vehicle and the first vehicle have different travel directions relative to the gate; The method further includes: Output payment reminder information to the target vehicle; Upon determining that the target vehicle has completed payment, the barrier lifting operation is performed.

[0012] Secondly, embodiments of this application also provide a gate control device, the device comprising: The first control module is used to respond to the gate closing command and execute the gate arm lowering operation; the gate arm lowering operation is used to control the gate arm to switch from the opening state to the blocking state; The detection module is used to detect the target obstacle and determine the current position of the gate arm during the gate arm lowering operation. The second control module is used to perform a pause operation if the current position of the gate arm meets the pause condition; and to perform a raise operation if the current position of the gate arm meets the raise condition; the raise operation is used to control the gate arm to switch to the release state. The third control module is used to continue the pole lowering operation when the target obstacle disappears.

[0013] In one feasible implementation, the second control module is configured to perform a lifting operation if the current position of the gate arm meets the lifting conditions, and is configured to: If the current position of the gate arm indicates that the current included angle of the gate arm is greater than a preset first angle, then the gate arm is controlled to stop performing the lowering operation and perform the raising operation.

[0014] In one feasible implementation, the second control module is configured to perform a pause operation if the current position of the gate arm meets the pause conditions.

[0015] In one feasible implementation, when the current position of the gate arm is the included angle of the gate arm, the angle is determined by at least one of the following methods: It is calculated based on the mapping relationship between the Hall pulse of the control motor of the gate arm and the gate arm angle; The distance is measured and calculated by a distance sensor installed on the gate arm; The angle is directly read by an angle sensor installed on the gate arm.

[0016] In one feasible implementation, the third control module is configured to continue the pole lowering operation when the target obstacle disappears, and is configured to: If the target obstacle is not detected in the preset sensor detection area, the gate arm is controlled to continue the lowering operation.

[0017] In one feasible implementation, when the first control module or the third control module is used to perform the lever lowering operation, it is configured to: A driving force in a first direction is applied to the control motor of the gate arm so that the gate arm is driven by the control motor to rotate from the angle of the release state to the angle of the blocking state; The second control module, when performing a pause operation, is used for: A driving force in a second direction is applied to the control motor so that the gate arm is driven by the control motor and maintains the included angle against its own weight; the second direction is opposite to the first direction.

[0018] In one feasible implementation, the target obstacle is a vehicle; The device further includes: The fourth control module is used to generate a gate-closing command in response to the detection that the first vehicle has left the sensor detection area; The detection module is configured to detect a target obstacle during the pole lowering operation, for the following purposes: During the gate lowering operation, in response to the detection of a second vehicle entering the sensor detection area, the second vehicle is identified as a target vehicle intending to follow the vehicle; the second vehicle is different from the first vehicle, and / or the second vehicle and the first vehicle have different travel directions relative to the gate; The device further includes: The notification module is used to output payment notification information to the target vehicle; The payment module is used to execute the barrier lifting operation in response to determining that the target vehicle has completed the payment.

[0019] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the access gate control method as described in any one of the first aspects.

[0020] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the access gate control method as described in any one of the first aspects.

[0021] This application provides a method, device, electronic device, and storage medium for controlling a passage gate arm. During a lowering operation, if a target obstacle is detected, the gate arm will not directly execute the automatically triggered raising operation after the obstacle is detected. Instead, it will determine whether the current position of the gate arm meets a pause or raising condition. If the pause condition is met, it is assumed that the gate arm will not pose a safety threat to the target obstacle, and to prevent damage caused by repeated raising and lowering of the gate arm, the gate arm will be controlled to pause. If the raising condition is met, it is assumed that the gate arm may collide with the target obstacle, and the gate arm will be controlled to raise.

[0022] Compared with the existing technology's mechanism of "unconditionally raising the barrier when a vehicle or obstacle is detected", this solution can make intelligent decisions based on the position of the barrier arm and pause the automatic barrier arm response when the pausing conditions are met. This can avoid the problem of collision with the target obstacle caused by the barrier arm continuing to lower. In addition, it can also reduce the problem of easy damage caused by repeated raising and lowering of the barrier arm.

[0023] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A flowchart of a passage gate control method provided in an embodiment of this application is shown.

[0026] Figure 2 A flowchart of another access gate control method provided in an embodiment of this application is shown.

[0027] Figure 3 A schematic diagram of the structure of a passage gate control device provided in an embodiment of this application is shown.

[0028] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0030] Currently, parking lot gates generally have anti-car-smashing functions: during the gate closing and lowering process, once a sensor (such as a ground loop or radar) detects a vehicle, the gate arm will immediately and automatically lift to ensure safety.

[0031] However, research has revealed the following management challenges with existing technology: the "raise barrier upon vehicle detection" response mechanism is a single and unconditionally triggered action. This means that at any stage of the barrier's descent, if a subsequent vehicle is detected closely following the vehicle in front into the detection area, the system will also raise the barrier due to vehicle detection. This mechanism makes it impossible for the system to effectively distinguish between "vehicles leaving normally" and "vehicles intending to follow," leading to frequent instances of toll evasion and losses for parking lot management. In other scenarios, such as continuous pedestrian crossings or sudden obstacles appearing in the lane, the barrier may continuously cycle between lowering and raising, causing rapid damage to the barrier motor.

[0032] Based on this, embodiments of this application provide a method, apparatus, electronic device, and storage medium for controlling access gates, which are described below through embodiments.

[0033] To facilitate understanding of this embodiment, a detailed description of a gate control method disclosed in this application will be provided first. For example... Figure 1 As shown, it includes the following steps: Step 101: In response to the gate closing command, execute the gate arm lowering operation; the gate arm lowering operation is used to control the gate arm to switch from the opening state to the blocking state.

[0034] This application describes an example of a barrier gate system installed in a parking lot. When it is necessary to close the vehicle access lane in the parking lot, the main control module of the barrier gate system (e.g., the central controller of the parking management system or the local controller of the barrier gate) will generate or receive a gate closing command. The triggering condition for this command may be: the vehicle detection sensor (such as a ground loop coil) in the sensor detection area recognizes that the released vehicle has completely left the sensor detection area, generating a signal transition from "vehicle present" to "vehicle absent"; or other sensors (such as infrared sensors) detect obstacles such as human bodies or moving objects; or the charging system actively issues the command after the vehicle has completed payment.

[0035] In response to this gate closing command, the main control module sends a control signal to the drive motor of the barrier gate. For example, the drive motor starts running according to the signal, and transmits torque to the rotating shaft of the gate arm through a transmission mechanism (such as a reducer or connecting rod), thereby driving the gate arm to switch from the opening state to the blocking state.

[0036] For example, suppose the gate arm achieves blocking and allowing passage by switching different angles (this will be used as an example in the following text). When the gate arm is in the allowing state, the angle with the ground is 90 degrees (allowing angle); when it is in the blocking state, the angle with the ground is 0 degrees (blocking angle). Therefore, driving the gate arm to switch from the allowing state to the blocking state can be done by smoothly rotating it from the direction with a 90-degree angle to the ground towards the horizontal blocking angle (0 degrees). This process is called the gate arm lowering operation, and its core purpose is to change the gate arm from a state that allows passage to a state that physically blocks the passage, preparing for the next verification and release.

[0037] Step 102: During the lowering operation, a target obstacle is detected, and the current position of the gate arm is determined.

[0038] During the process of lowering the gate and controlling the gate arm to rotate from the opening angle to the blocking angle, the detection sensors (such as inductive loops, radar sensors, or video recognition modules) deployed in the sensor detection area of ​​the barrier gate continuously monitor the operation.

[0039] The target obstacle is an object detected by the sensor within its detection area, including but not limited to: pedestrians, vehicles, goods dropped from vehicles, etc. For ease of understanding, this application embodiment primarily uses a vehicle as an example of a detected target obstacle. When a vehicle is detected entering the sensor's effective detection area, the vehicle is identified as the target obstacle that needs to be addressed. Several typical triggering scenarios are illustrated below: 1. Following vehicle scenario: There may be situations where a following vehicle attempts to pass through the vehicle in front after it has passed, but before the gate is fully closed.

[0040] 2. Reversing / Second Entry Scenario: When a vehicle that has paid the fee starts to leave, it may reverse or move forward again due to hesitation, congestion ahead, or intersection with other vehicles, causing the vehicle to re-enter the detection area.

[0041] 3. When a pedestrian enters the sensor detection area, the gate will lower to intercept them.

[0042] Scenario 1 and 2 both cause a jump in the sensor signal from "no car" to "car present," while Scenario 3 will trigger a gate lowering operation. Under the current single rule of "raising the gate when an obstacle is detected," the barrier will raise the gate for any obstacle (such as a vehicle or pedestrian). This not only provides a loophole for malicious tailgating to evade tolls, but may also cause unnecessary back-and-forth raising and lowering of the gate (i.e., "nodding") when vehicles or pedestrians only briefly enter or leave the sensor detection area without any real intention to pass, reducing passage efficiency and accelerating equipment wear. More importantly, if the response is not timely enough or the vehicle enters or exits quickly, there is a risk that the gate may continuously lower and hit the vehicle or other obstacle.

[0043] In this approach, the actual physical location of the gate arm is used to accurately assess risks and formulate differentiated response strategies. This requires real-time and accurate acquisition of the gate arm's current position.

[0044] For example, when the gate arm achieves interception and passage by switching different angles, it is necessary to obtain the key state parameter of the current angle between the gate arm and the horizontal ground (this embodiment will be used for the following description, but in other embodiments, the gate arm can switch different states in other ways, such as by controlling the gate arm to shorten or lengthen, etc., which is not limited here).

[0045] When the current position of the gate arm is the included angle of the gate arm, the angle is determined by at least one of the following methods: The angle of the gate arm is calculated based on the mapping relationship between the Hall pulse of the control motor and the gate arm angle; it is also calculated by measuring the distance using a distance sensor installed on the gate arm; or it is directly read by an angle sensor installed on the gate arm.

[0046] Method 1, based on motor pulse mapping calculation: This method detects the pulse signal generated by the Hall sensor inside the gate arm drive motor (usually a brushless DC motor) and calculates the current real-time angle of the gate arm based on a pre-calibrated mapping relationship between the number of pulses and the gate arm angle. Its core principle lies in utilizing the established mechanical transmission linkage between motor rotation and gate arm rotation. By indirectly measuring the motor shaft rotation angle, the angular position of the gate arm is calculated, thus eliminating the need for additional angle or distance sensors on the gate arm.

[0047] During implementation, angle calibration of the specific barrier gate mechanical system is required during the installation and commissioning phase. Because the motion transmission from the motor output shaft to the gate arm involves non-rigid transmission components such as reducers and connecting rods, the overall transmission relationship typically exhibits non-linear characteristics. Therefore, directly establishing a simple linear proportional relationship between pulse count and angle will lead to significant errors. To address this, a segmented calibration method can be used: throughout the gate arm's full stroke from 0 degrees (fully lowered) to 90 degrees (fully raised), the corresponding cumulative number of motor Hall pulses is recorded at small angular intervals (e.g., every 5 degrees). For the same set of defined mechanical structures, this series of "angle-pulse count" correspondences is fixed. In actual operation, when the gate arm moves to a certain interval (e.g., a 5-degree range between two adjacent calibration points), the transmission can be approximated as linear within this small range. Furthermore, a more accurate pulse count increment corresponding to each 1 degree can be calculated through linear interpolation. Finally, by reading and accumulating the number of motor Hall pulses in real time, querying the preset mapping relationship and performing necessary interpolation calculations, the controller can accurately deduce the current angle of the gate arm relative to the ground in real time.

[0048] This method, while ensuring measurement accuracy, makes full use of the existing Hall signals of the motor, achieving low-cost and highly reliable angle position feedback, and is a preferred implementation method in this scheme.

[0049] Method 2: Calculation using a distance sensor: A distance sensor (such as an ultrasonic, infrared, or laser sensor) installed at a specific location on the gate arm (such as the end) measures the vertical distance between that point and the ground. Combined with the fixed length of the gate arm, the current included angle is calculated using trigonometric relationships.

[0050] Method 3: Direct reading via angle sensor: The tilt angle of the gate arm relative to the horizontal reference plane is directly read by an angle sensor (such as a tilt sensor or potentiometer-type angle sensor) directly installed on the gate arm's rotating shaft or body.

[0051] The angle between the gate arm and the ground is determined by the above method, thereby binding the abstract "vehicle appearance" event with a quantifiable physical position parameter (angle), providing a precise data basis for the intelligent condition judgment and action control in subsequent steps, see step 103.

[0052] Step 103: If the current position of the gate arm meets the pause condition, then perform a pause operation; if the current position of the gate arm meets the raise condition, then perform a raise operation; the raise operation is used to control the gate arm to switch to the release state.

[0053] After obtaining the current position of the gate arm determined in step 102 (still taking the included angle as an example), it is compared with a preset first angle (e.g., 5°) to determine whether the pause condition or the gate arm raising condition is met.

[0054] For example, the pausing conditions include the included angle being less than or equal to a first angle; or, the height of a specific part of the gate arm above the ground being within a preset height; or, the horizontal distance between the gate arm and the target obstacle being less than a preset distance, etc.

[0055] This section uses angle as an example for judgment. If the current included angle is determined to be less than or equal to the first angle (e.g., 10 degrees, 7 degrees, 5 degrees, 4 degrees, 3 degrees, etc.), it indicates that the gate arm is in a low position that is very close to horizontal. In this state, the suspension condition is met. It is assumed that the height of the end of the gate arm is lower than the main vulnerable parts such as the vehicle's hood. Even if contact occurs with the vehicle, it will be limited to low-risk obstruction or minor collision with the vehicle's front bumper or other sturdy parts, and will not pose a substantial safety threat to the vehicle.

[0056] Therefore, the above method will not trigger the gate-raising operation that would normally be automatically triggered by the "vehicle detected" event, but will instead trigger a pause operation. Note that the gate-raising operation described here typically refers to controlling the drive motor to reverse, thereby raising the gate from its current angle back to a fully vertical passage angle (e.g., 90°). The pause operation here is used to control the gate to remain at the included angle.

[0057] This decision-making logic breaks through the single safety paradigm of "detection equals barrier lifting" and introduces an intelligent response mechanism based on risk classification: in low-risk (low-angle) conditions, the traffic management logic is executed first, and automatic passage is suspended, thereby creating conditions for subsequent payment verification and vehicle departure determination, thus better managing vehicles.

[0058] It should be noted that the first angle here is only an example and can be increased or decreased according to actual needs. This solution does not impose any restrictions on the value of the first angle.

[0059] Step 104: Once the target obstacle disappears, continue with the pole lowering operation.

[0060] For example, if the target obstacle is not detected in the preset sensor detection area, it is considered that the target obstacle has disappeared. At this time, the gate arm is controlled to continue to perform the lowering operation, so that the gate arm enters the interception state.

[0061] Taking a vehicle access control scenario as an example, after performing the pause or barrier raising operation according to step 103, the subsequent process includes continuous response to vehicle dynamics. Specifically, if the sensor continuously detects that the vehicle has left the sensor detection area (typically manifested as a reverse transition in the sensor signal from "vehicle present" to "vehicle absent"), it indicates that the vehicle has actively abandoned its attempt to follow another vehicle or has completed the necessary reversing maneuver to avoid it. At this point, the passage returns to a vehicle-free state.

[0062] In response to this state change, this embodiment of the application determines that it is no longer necessary to maintain the blocking or suspended state of the gate arm. Therefore, it controls the gate arm to continue the previously interrupted lowering operation. The drive motor will reapply the driving force in the first direction, driving the gate arm to continue rotating downward from its currently maintained intermediate angle until it finally reaches the horizontal blocking angle (i.e., 0 degrees), thereby completing this gate closing process and restoring the barrier gate to a fully closed and ready state.

[0063] This design ensures the completeness and adaptability of the management logic. It can effectively handle scenarios where vehicles actively withdraw, avoiding the barrier gate from being in an ineffective intermediate waiting state for a long time due to repeated vehicle entry and exit, thereby timely and automatically restoring the closed management and standby state of the passage, improving the operational efficiency and automation level of the entrance and exit.

[0064] This application provides a method, device, electronic device, and storage medium for controlling a passage gate arm. During a lowering operation, if a target obstacle is detected, the gate arm will not directly execute the automatically triggered raising operation after the obstacle is detected. Instead, it will determine whether the current position of the gate arm meets a pause or raising condition. If the pause condition is met, it is assumed that the gate arm will not pose a safety threat to the target obstacle, and to prevent damage caused by repeated raising and lowering of the gate arm, the gate arm will be controlled to pause. If the raising condition is met, it is assumed that the gate arm may collide with the target obstacle, and the gate arm will be controlled to raise.

[0065] Compared with the existing technology's mechanism of "unconditionally raising the barrier when a vehicle or obstacle is detected", this solution can make intelligent decisions based on the position of the barrier arm and pause the automatic barrier arm response when the pausing conditions are met. This can avoid the problem of collision with the target obstacle caused by the barrier arm continuing to lower. In addition, it can also reduce the problem of easy damage caused by repeated raising and lowering of the barrier arm.

[0066] In one feasible implementation, the method further includes: If the current position of the gate arm indicates that the current included angle of the gate arm is less than or equal to a preset first angle, then the gate arm is controlled to perform a pause operation; the pause operation is used to control the gate arm to remain at the included angle.

[0067] If the position of the gate arm obtained in step 102 refers to the current included angle of the gate arm, and the comparison in step 103 determines that this included angle is greater than the first angle, then it indicates that the gate arm is in a high or mid-falling state that is significantly higher than the horizontal position.

[0068] In this state, because the end of the gate arm still has a considerable height, there is a high risk of it colliding with the vehicle's hood, windshield, or other obstacles if it continues to fall. Therefore, to ensure strict safety, standard safety protection logic will be implemented, such as: Pause Operation: Immediately send a command to the drive motor to stop the current gate lowering operation and keep the gate arm in its current state.

[0069] And / or, gate lifting operation: Execute the gate lifting operation, control the drive motor to reverse, drive the gate arm to rise from the current stop position until it reaches the full release angle.

[0070] This implementation scheme constructs a dual judgment-response mechanism based on the gate arm angle. When the gate arm is in a high position (angle greater than the first angle), an unconditional safety priority strategy is executed, immediately suspending the lowering operation (performing a pause operation), and further considering whether the conditions for raising the gate have been met. If the conditions for raising the gate are met, the gate arm will then be raised to ensure safety. When the gate arm is in a low position (angle less than or equal to the first angle), a risk-controlled management priority strategy is activated, suspending automatic gate arm raising (performing a pause operation). This allows time for the gate to verify the target obstacle. For example, assuming the target obstacle is a vehicle, the gate can verify whether the vehicle has completed payment during the gate arm pause period, so that it can raise the gate and allow the vehicle to pass after payment is completed. In the vehicle passage domain, this mechanism effectively optimizes traffic order management while fully ensuring vehicle safety through differentiated intelligent control. In the pedestrian or other obstacle control domain, it effectively avoids the problem of gate damage caused by repeated state switching after detecting an obstacle.

[0071] In one feasible implementation, the method further includes: If the current position of the gate arm indicates that the current included angle of the gate arm is less than or equal to a preset first angle, then the gate arm is controlled to perform a pause operation; the pause operation is used to control the gate arm to remain at the included angle.

[0072] In other words, when the real-time angle between the gate arm and the ground is determined to be less than or equal to a first angle, a clear pause operation will be executed. This operation involves dynamically controlling the gate arm to stably maintain its position at the currently detected angle, preventing it from continuing to fall or immediately rising, thus creating a controllable intermediate static state. Achieving this state relies on precise torque control of the gate arm drive motor.

[0073] It should be noted here that performing the lever lowering operation includes: A driving force in a first direction is applied to the control motor of the gate arm, so that the gate arm is driven by the control motor to rotate from the angle of the release state to the angle of the blockage state.

[0074] Controlling the gate arm to perform a pause operation includes: A driving force in a second direction is applied to the control motor so that the gate arm is driven by the control motor and maintains the included angle against its own weight; the second direction is opposite to the first direction.

[0075] In other words, during the pause operation, an adjustable force (i.e., a second-direction driving force) is applied to the motor in the opposite direction to the lowering force (first direction) to precisely balance the falling torque generated by the gate arm's own weight. This opposing force allows the motor output shaft to maintain a holding torque that counteracts the gravitational torque, enabling the gate arm to overcome the effects of gravity and hover at any specified intermediate angle (e.g., the first angle, or maintaining the current angle). This pause operation constitutes a key physical element in realizing intelligent management functions. It transforms the gate arm into a temporary, flexible barrier in a low-risk state, effectively preventing vehicles from following without paying. It also creates the necessary operating time and stable physical conditions for subsequent management processes such as payment confirmation, authorization verification, or waiting for vehicle responses. This effectively reduces collisions caused by improper vehicle traffic management resulting in insufficient distance between multiple vehicles.

[0076] In one feasible implementation, the target obstacle is a vehicle. Figure 2 As shown, the method further includes: Step 201: In response to the detection that the first vehicle has left the sensor detection area, a gate closing command is generated.

[0077] During the pole lowering operation, a target obstacle is detected, including: During the gate lowering operation, in response to the detection of a second vehicle entering the sensor detection area, the second vehicle is identified as a target vehicle intending to follow the first vehicle; the second vehicle is different from the first vehicle, and / or the second vehicle and the first vehicle have different travel directions relative to the gate.

[0078] The method further includes: step 202, outputting payment prompt information to the target vehicle; in response to determining that the target vehicle has completed payment, performing the gate lifting operation.

[0079] In vehicle traffic control scenarios, the gate closing command is not generated randomly. Its typical trigger condition is a specific signal change in response to the detection of the first vehicle completely leaving the sensor detection area (e.g., a jump from "vehicle present" to "no vehicle present" corresponding to the inductance of the inductive loop changing from large to small). This signal indicates that the lane has been cleared and the conditions for safely closing the gate are met, thus automatically generating the gate closing command and initiating the lowering operation.

[0080] When a pause or raise condition is triggered during the lowering of the barrier, the pause or raise operation will be executed. This interval can be used to determine whether the target vehicle meets the preset release conditions. These release conditions are usually related to payment status, but are not limited to specific scenarios. For example, the vehicle may be a following vehicle that has not yet paid, in which case payment must be completed before it can leave; or it may be a preceding vehicle that has already paid but triggered the sensor again due to operational reasons (such as briefly reversing), in which case it can be released simply by confirming that it has paid.

[0081] For example, a method for determining a toll evasion scenario is provided: During the gate lowering operation, if another vehicle is detected entering the effective detection area of ​​the sensor, the newly appearing vehicle is clearly defined as the second vehicle and determined as the target obstacle to be processed in this embodiment of the application, also known as the target vehicle. The second vehicle and the first vehicle that triggered the gate closing are physically different vehicles (e.g., different vehicle shape, vehicle information, license plate, etc.), and / or, their travel directions relative to the gate are different (e.g., the first vehicle is in the departure direction, while the second vehicle is in the entry direction). This determination logic clearly describes the characteristics of the "following" or "secondary entry" scenario, that is: during the process of the gate starting to close due to the departure of the preceding vehicle, a new vehicle attempts to enter or re-enter the passage.

[0082] Furthermore, after identifying the second vehicle as the target vehicle, especially when the gate is in a low position and performs a pause operation, a payment prompt can be proactively output to this target vehicle attempting to "follow the car to evade tolls." This prompt can be conveyed through on-site display screens, voice broadcasting devices, and / or linked mobile terminal applications to clearly inform the driver of the current traffic status and the required steps (such as completing payment), thereby guiding them to perform the necessary operations for legal passage. This achieves a smooth transition from automatic interception to manual or semi-manual interaction, eliminating the need for manual verification.

[0083] Once the target vehicle has completed payment, it is allowed to leave legally. The solution provided in this application effectively avoids the management problem of following another vehicle to evade payment when the barrier automatically raises after the vehicle in front has paid and then encounters an obstacle. This step ensures that, while implementing vehicle passage management, all vehicles that meet the passage qualifications can still be released as necessary, forming a complete and reliable control loop from "risk-based automatic response interception" to "authorization-based controlled release".

[0084] It is important to note that Figure 2 The flowchart is just an example. In another embodiment, step 202 can be executed after the pause operation is performed in step 103 (regardless of whether the lever raising operation in step 103 was performed).

[0085] In another embodiment, if a target vehicle fails to pay, but the gate is positioned to allow it to leave without paying, a payment prompt will still be displayed, alerting the occupants to pay. If the vehicle leaves without paying, the non-payment is recorded. This approach, by pausing when the pausing conditions are met, can intercept vehicles attempting to evade payment, significantly reducing the number of such vehicles and improving management processes.

[0086] Alternatively, when the second vehicle is identified as a vehicle following another vehicle to evade tolls, the system can directly determine that the suspension conditions are met, thereby controlling the gate to perform a suspension operation to prevent such vehicles from evading tolls and leaving the premises.

[0087] Based on the same technical concept, embodiments of this application also provide a passage gate control device, such as... Figure 3 As shown, the device includes: The first control module 301 is used to execute a lowering operation in response to a gate closing command; the lowering operation is used to control the gate arm to switch from the opening state to the blocking state.

[0088] The detection module 302 is used to detect the target obstacle and determine the current position of the gate arm during the gate arm lowering operation.

[0089] The second control module 303 is used to perform a pause operation if the current position of the gate arm meets the pause condition; and to perform a raise operation if the current position of the gate arm meets the raise condition; the raise operation is used to control the gate arm to switch to the release state.

[0090] The third control module 304 is used to continue the pole lowering operation when the target obstacle disappears.

[0091] This application provides a method, device, electronic device, and storage medium for controlling a passage gate arm. During a lowering operation, if a target obstacle is detected, the gate arm will not directly execute the automatically triggered raising operation after the obstacle is detected. Instead, it will determine whether the current position of the gate arm meets a pause or raising condition. If the pause condition is met, it is assumed that the gate arm will not pose a safety threat to the target obstacle, and to prevent damage caused by repeated raising and lowering of the gate arm, the gate arm will be controlled to pause. If the raising condition is met, it is assumed that the gate arm may collide with the target obstacle, and the gate arm will be controlled to raise.

[0092] Compared with the existing technology's mechanism of "unconditionally raising the barrier when a vehicle or obstacle is detected", this solution can make intelligent decisions based on the position of the barrier arm and pause the automatic barrier arm response when the pausing conditions are met. This can avoid the problem of collision with the target obstacle caused by the barrier arm continuing to lower. In addition, it can also reduce the problem of easy damage caused by repeated raising and lowering of the barrier arm.

[0093] In one feasible implementation, the second control module is configured to perform a lifting operation if the current position of the gate arm meets the lifting conditions, and is configured to: If the current position of the gate arm indicates that the current included angle of the gate arm is greater than a preset first angle, then the gate arm is controlled to stop performing the lowering operation and perform the raising operation.

[0094] In one feasible implementation, the second control module is configured to perform a pause operation if the current position of the gate arm meets the pause conditions.

[0095] In one feasible implementation, when the current position of the gate arm is the included angle of the gate arm, the angle is determined by at least one of the following methods: The mapping relationship between the Hall pulse of the control motor of the gate arm and the gate arm angle is calculated.

[0096] The distance is measured and calculated using a distance sensor installed on the gate arm.

[0097] The angle is directly read by an angle sensor installed on the gate arm.

[0098] In one feasible implementation, the third control module is configured to continue the pole lowering operation when the target obstacle disappears, and is configured to: If the target obstacle is not detected in the preset sensor detection area, the gate arm is controlled to continue the lowering operation.

[0099] In one feasible implementation, when the first control module or the third control module is used to perform the lever lowering operation, it is configured to: A driving force in a first direction is applied to the control motor of the gate arm, so that the gate arm is driven by the control motor to rotate from the angle of the release state to the angle of the blockage state.

[0100] The second control module, when performing a pause operation, is used for: A driving force in a second direction is applied to the control motor so that the gate arm is driven by the control motor and maintains the included angle against its own weight; the second direction is opposite to the first direction.

[0101] In one feasible implementation, the target obstacle is a vehicle.

[0102] The device further includes: The fourth control module is used to generate a gate closing command in response to the detection that the first vehicle has left the sensor detection area.

[0103] The detection module is configured to detect a target obstacle during the pole lowering operation, for the following purposes: During the gate lowering operation, in response to the detection of a second vehicle entering the sensor detection area, the second vehicle is identified as a target vehicle intending to follow the first vehicle; the second vehicle is different from the first vehicle, and / or the second vehicle and the first vehicle have different travel directions relative to the gate.

[0104] The device further includes: The prompt module is used to output payment prompt information to the target vehicle.

[0105] The payment module is used to execute the barrier lifting operation in response to determining that the target vehicle has completed the payment.

[0106] Figure 4 A schematic diagram of an electronic device provided in this application embodiment includes: a processor 401, a storage medium 402, and a bus 403. The storage medium 402 stores machine-readable instructions executable by the processor 401. When the electronic device runs the gate control method as described in the embodiment, the processor 401 communicates with the storage medium 402 via the bus 403, and the processor 401 executes the machine-readable instructions to perform the steps as described in the embodiment.

[0107] In this embodiment, the storage medium 402 may also execute other machine-readable instructions to perform other methods as described in the embodiment. For details on the specific execution steps and principles, please refer to the description of the embodiment, which will not be repeated here.

[0108] This application also provides a computer-readable storage medium storing a computer program that is executed by a processor to perform the steps as described in the embodiments.

[0109] In this embodiment, the computer program, when run by the processor, can also execute other machine-readable instructions to perform other methods as described in the embodiments. For details on the specific execution steps and principles, please refer to the description of the embodiments, which will not be repeated here.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0111] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0112] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0113] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0114] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a passage gate arm, characterized in that, The method includes: In response to a gate closing command, a gate arm lowering operation is performed; the gate arm lowering operation is used to control the gate arm to switch from a allowing state to an blocking state. During the lowering operation, a target obstacle is detected, and the current position of the gate arm is determined. If the current position of the gate arm meets the pause condition, a pause operation is performed; if the current position of the gate arm meets the raise condition, a raise operation is performed; the raise operation is used to control the gate arm to switch to the release state. Once the target obstacle disappears, continue the pole lowering operation.

2. The method according to claim 1, characterized in that, If the current position of the gate arm meets the pause condition, then a pause operation is performed, including: If the current position of the gate arm indicates that the current included angle of the gate arm is less than or equal to a preset first angle, then the gate arm is controlled to perform a pause operation; the pause operation is used to control the gate arm to remain at the included angle.

3. The method according to claim 1, characterized in that, If the current position of the gate arm meets the conditions for raising the gate arm, then the gate arm raising operation is performed, including: If the current position of the gate arm indicates that the current included angle of the gate arm is greater than a preset first angle, then the gate arm is controlled to stop performing the lowering operation and perform the raising operation.

4. The method according to claim 1 or 3, characterized in that, The step of continuing the pole lowering operation after the target obstacle disappears includes: If the target obstacle is not detected in the preset sensor detection area, the gate arm is controlled to continue the lowering operation.

5. The method according to claim 3, characterized in that, Performing a lever lowering operation includes: A driving force in a first direction is applied to the control motor of the gate arm so that the gate arm is driven by the control motor to rotate from the angle of the release state to the angle of the blocking state; Perform a pause operation, including: A driving force in a second direction is applied to the control motor so that the gate arm is driven by the control motor and maintains the included angle against its own weight; the second direction is opposite to the first direction.

6. The method according to claim 1, characterized in that, When the current position of the gate arm is the included angle of the gate arm, the angle is determined by at least one of the following methods: It is calculated based on the mapping relationship between the Hall pulse of the control motor of the gate arm and the gate arm angle; The distance is measured and calculated by a distance sensor installed on the gate arm; The angle is directly read by an angle sensor installed on the gate arm.

7. The method according to claim 1, characterized in that, The target obstacle is a vehicle; The method further includes: In response to the detection that the first vehicle has left the sensor detection area, a gate closing command is generated; During the pole lowering operation, a target obstacle is detected, including: During the gate lowering operation, in response to the detection of a second vehicle entering the sensor detection area, the second vehicle is identified as a target vehicle intending to follow the vehicle; the second vehicle is different from the first vehicle, and / or the second vehicle and the first vehicle have different travel directions relative to the gate; The method further includes: Output a payment prompt message to the target vehicle; in response to confirming that the target vehicle has completed payment, execute the gate raising operation.

8. A gate control device, characterized in that, The device includes: The first control module is used to respond to the gate closing command and execute the gate arm lowering operation; the gate arm lowering operation is used to control the gate arm to switch from the opening state to the blocking state; The detection module is used to detect the target obstacle and determine the current position of the gate arm during the gate arm lowering operation. The second control module is used to perform a pause operation if the current position of the gate arm meets the pause condition; and to perform a raise operation if the current position of the gate arm meets the raise condition; the raise operation is used to control the gate arm to switch to the release state. The third control module is used to continue the pole lowering operation when the target obstacle disappears.

9. An electronic device, characterized in that, include: The device includes a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the access gate control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the access gate control method as described in any one of claims 1 to 7.

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