Channel detection method and device based on distance measuring sensor and gate

文档序号：84933 发布日期：2021-10-08 浏览：40次中文

阅读说明：本技术 一种基于测距传感器的通道检测方法、装置、闸机 (Channel detection method and device based on distance measuring sensor and gate ) 是由李长水王升国赵先林于 2021-07-08 设计创作，主要内容包括：本申请公开了一种基于测距传感器的通道检测方法,该方法包括,在包括有至少一个以上测距传感器的感应模组侧,根据当前测量距离所来源的测距传感器信息,确定该测距传感器对应的有效测量阈值,若当前测量距离小于所述有效测量阈值时,判定该通道存在被检测目标,其中,所述感应模组位于通道两侧的闸机中的一侧闸机机体内,该感应模组所形成的感应区域呈扇形分布,且该扇形半径大于通道宽度。本申请电路成本、结构成本及线缆得到大大地简化,由于无需进行对准安装,大大降低了闸机安装调试的难度。(The application discloses passageway detection method based on range finding sensor, this method includes, at the response module side including at least more than one range finding sensor, according to the range finding sensor information that the present measuring distance is originated, confirms the effective measurement threshold value that this range finding sensor corresponds, if the present measuring distance is less than when effective measurement threshold value, judge that this passageway exists and be detected the target, wherein, the response module is located one side floodgate machine body in the floodgate machine of passageway both sides, and the response region that this response module formed is fan-shaped and distributes, and this fan-shaped radius is greater than the passageway width. The circuit cost, the structure cost and the cable are greatly simplified, and the difficulty in installing and debugging the gate is greatly reduced because the alignment installation is not needed.)

1. A channel detection method based on a distance measuring sensor is characterized in that the method comprises the steps that at the side of a sensing module comprising at least more than one distance measuring sensor,

determining an effective measuring threshold corresponding to the distance measuring sensor according to the information of the distance measuring sensor from which the current measuring distance is from,

if the current measurement distance is smaller than the effective measurement threshold value, the channel is judged to have the detected target,

wherein the content of the first and second substances,

the induction module is positioned in the gate machine body on one side of the gate machines on the two sides of the channel, the induction area formed by the induction module is distributed in a fan shape, and the radius of the fan shape is larger than the width of the channel.

2. The channel detection method of claim 1, wherein more than one sensing module is distributed in the gate machine body in the height direction;

each sensing module comprises more than one distance measuring sensor, the number of the distance measuring sensors is determined according to the required sensing angle range and the sensing identification angle of the distance measuring sensors,

the distance measuring sensors are arranged in a mode that a set radial distance is opposite to the central point and an avoidance space is formed between the distance measuring sensors along the circumferential direction surrounding the central point;

the effective measurement threshold is obtained by measuring distance when no detected target exists in the channel in the learning mode, or is determined according to an effective detection area in an effective detection surface corresponding to the induction module, wherein the size of the effective detection area is determined by a length threshold set in the length direction of the channel in the induction area and a width threshold set in the width direction of the channel.

3. The channel detection method according to claim 1 or 2, wherein the ranging sensors are arranged in such a manner that a set radial distance with respect to the center point in a circumferential direction around the center point is such that an avoidance space is formed between the ranging sensors, including:

the ranging sensors are arranged at a first radial distance with respect to a center point,

alternatively, the first and second electrodes may be,

the ith distance measuring sensor is arranged relative to the central point by an ith radial distance, the ith distance measuring sensor and other sensors except the ith distance measuring sensor are arranged in a staggered mode along the circumferential direction surrounding the central point, wherein i is a natural number larger than 1,

after determining that the detected target exists in the channel when the current measurement distance is smaller than the effective measurement threshold, further comprising,

calculating the projection length of the current measurement distance in the length direction of the channel,

and determining the position of the detected target in the length direction in the channel according to the projection length.

4. The channel detection method of claim 3, wherein the ith ranging sensor is disposed at an ith radial distance with respect to the center point, and the ith ranging sensor and the other sensors except the ith ranging sensor are alternately disposed in a circumferential direction around the center point, comprising:

the first distance measuring sensor is arranged relative to the central point at a first radial distance, the second distance measuring sensor is arranged relative to the central point at a second radial distance, and the first distance measuring sensor and the second distance measuring sensor are arranged in a staggered mode along the circumferential direction around the central point;

the calculating the projection length of the current measurement distance in the length direction of the channel comprises:

according to the information of the ranging sensor, inquiring the radial distance of the ranging sensor and the included angle between the radial direction of the ranging sensor and the length direction of the channel;

calculating the projection length of the current measuring distance in the length direction of the channel according to the radial distance of the distance measuring sensor, the included angle between the radial direction of the distance measuring sensor and the length direction of the channel and the current measuring distance,

wherein the content of the first and second substances,

the projection length is: the sum of the radial distance and the current measurement distance is multiplied by the cosine value of the included angle,

the radial distance of the distance measuring sensor and the included angle between the radial direction and the length direction of the channel are stored in advance.

5. The channel detection method of claim 3, wherein after determining the position of the detected object in the channel based on the projection length, further comprising,

determining the corresponding effective detection surface according to the induction module from which the current measurement distance is obtained,

determining a corresponding mapping area according to the position of the detected target in the channel, identifying the detection result corresponding to the mapping area by using a bit for identifying the channel with/without state,

and encapsulating the bit corresponding to each mapping area in each effective detection surface into data, and sending the data to the channel control board through the communication interface.

6. The channel detection method of claim 3, wherein after determining the position of the detected object in the channel based on the projection length, further comprising,

determining the corresponding effective detection surface information according to the induction module from which the current measurement distance comes,

determining corresponding effective detection area information according to the ranging sensor from which the current measuring distance is obtained,

and forming an array by the effective detection surface information, the effective detection area information and the current measurement distance, and sending the array to the channel control panel through the communication interface.

7. The induction module is characterized by comprising at least one distance measuring sensor, wherein the induction module is positioned in any gate machine body on two sides of a channel, and the radius of an induction area formed by the induction module is larger than the width of the channel.

8. The sensing module of claim 7, wherein more than one sensing module is distributed in the gate housing in the height direction;

the distance measuring sensors are arranged in such a way that a set radial distance relative to the central point forms an avoidance space between the distance measuring sensors in a circumferential direction around the central point.

9. The induction module according to claim 7, wherein the distance measuring sensors are arranged at a set radial distance with respect to the center point in a circumferential direction around the center point such that an avoidance space is formed between the distance measuring sensors, comprising:

the ranging sensors are arranged at a first radial distance with respect to a center point, or,

the ith distance measuring sensor is arranged relative to the central point by an ith radial distance, and the ith distance measuring sensor and other sensors except the ith distance measuring sensor are arranged in a staggered mode along the circumferential direction surrounding the central point, wherein i is a natural number larger than 1;

each ranging sensor comprises a sensor chip, a laser transmitting tube and a laser receiving tube which are connected with the sensor chip, the sensor chip is inductively enabled based on chip selection signals from the processor, inducted measuring distances are sent to the processor through a bus interface,

alternatively, the first and second electrodes may be,

each ranging sensor comprises a laser emission tube, a laser receiving tube, a first driver for driving the laser emission tube and a second driver for driving the laser emission tube,

the first driver and the second driver are respectively connected with the sensor chip, the sensor chip is used for connecting the sensed measurement distance with the processor through the bus interface, and chip selection signals from the processor are respectively input into the first driver and the second driver.

10. A range sensor based channel detection apparatus, comprising a memory, a processor and a sensing module according to any one of claims 7 to 9, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the steps of the range sensor based channel detection method according to any one of claims 1 to 6.

11. A gate machine, characterized in that the gate machine body comprises a memory, a processor and a sensing module set according to any one of claims 7 to 9, wherein the memory stores a computer program, and the processor is configured to execute the computer program to realize the steps of the distance-measuring sensor-based channel detection method according to any one of claims 1 to 6.

Technical Field

The invention relates to the field of channel detection of gates, in particular to a channel detection method based on a distance measuring sensor.

Background

With the development of technology, tunnel gates have been popular at subway entrances and exits, high-speed rail entrances and exits, and entrances and exits of office buildings and residential districts. The pedestrian passageway is formed by the space between two gates; in open places, many passages are often formed by using multiple sets of gates, wherein the gate in the middle forms 2 passages on the left and right with the gate on the left and right. Under normal conditions, after the personnel can pass the authentication, the gate wing is opened; the rear door wing at the tail end of the gate channel can be automatically closed. However, in actual use, the situation that pedestrians carry luggage, and children are involved, even the situation that multiple people follow maliciously occurs, and therefore the gate is required to detect the passing state in the gate passage.

The existing channel detection method usually adopts an infrared correlation mode for detection, and the principle is as follows: the laser detection device comprises a transmitting module, a receiving module and a detecting module, wherein the transmitting module is positioned in a gate machine on one side of a channel and transmits laser with a certain wavelength, the receiving module is positioned in a gate machine on the other side of the channel and receives the laser, if a light path is not blocked, the receiving module can receive the laser transmitted by the transmitting module, and if the light path is blocked, the receiving module cannot receive the laser, so that whether a detected target exists in the channel or not can be detected.

In order to improve the accuracy of channel detection, a plurality of transmitting modules and a plurality of receiving modules are usually disposed in a channel so as to increase the sensing area in the channel. However, it also brings about the following problems:

1) because each path of laser only covers a small area, the whole gate needs to be densely distributed with a large number of transmitting modules or receiving modules, and has high cost, large cable amount and inconvenient maintenance.

2) Because the time-sharing synchronous interference isolation measures are difficult to realize among the modules, the emission module and the receiving module are required to be strictly aligned, otherwise, the false alarm is higher due to insufficient light intensity reception, and a large number of modules are easy to cause mutual interference and false alarm.

3) Because the number of the modules cannot be increased infinitely, a three-dimensional space sensing area is difficult to form, and detection of pedestrians carrying luggage and involving children is not facilitated.

4) Data of a large number of modules are uploaded to the channel control board through communication cables, cable loads are not easy to maintain and line interference occurs, the requirements on communication ports of the control chip are high, and processing is complex.

Disclosure of Invention

The invention provides a channel detection method based on a distance measuring sensor, which is used for reducing the number of modules for forming a sensing area in a gate.

The invention provides a channel detection method based on a distance measuring sensor, which comprises that at the side of a sensing module comprising at least more than one distance measuring sensor,

if the current measurement distance is smaller than the effective measurement threshold value, the channel is judged to have the detected target,

wherein the content of the first and second substances,

Preferably, more than one induction module is distributed in the height direction in the gate machine body;

Preferably, the distance measuring sensors are arranged in a manner that a set radial distance is formed with respect to the central point along a circumferential direction around the central point so that an avoidance space is formed between the distance measuring sensors, and the distance measuring sensors include:

the ranging sensors are arranged at a first radial distance with respect to a center point,

alternatively, the first and second electrodes may be,

after determining that the detected target exists in the channel when the current measurement distance is smaller than the effective measurement threshold, further comprising,

calculating the projection length of the current measurement distance in the length direction of the channel,

and determining the position of the detected target in the length direction in the channel according to the projection length.

Preferably, the ith distance measuring sensor is arranged at an ith radial distance relative to the central point, and the ith distance measuring sensor and the other sensors except the ith distance measuring sensor are arranged in a staggered manner along the circumferential direction around the central point, and the method comprises the following steps:

the calculating the projection length of the current measurement distance in the length direction of the channel comprises:

wherein the content of the first and second substances,

the projection length is: the sum of the radial distance and the current measurement distance is multiplied by the cosine value of the included angle,

the radial distance of the distance measuring sensor and the included angle between the radial direction and the length direction of the channel are stored in advance.

Preferably, after determining the position of the detected target in the channel according to the projection length, further comprising,

determining the corresponding effective detection surface according to the induction module from which the current measurement distance is obtained,

and encapsulating the bit corresponding to each mapping area in each effective detection surface into data, and sending the data to the channel control board through the communication interface.

Preferably, after determining the position of the detected target in the channel according to the projection length, further comprising,

determining the corresponding effective detection surface information according to the induction module from which the current measurement distance comes,

determining corresponding effective detection area information according to the ranging sensor from which the current measuring distance is obtained,

The invention also provides a sensing module, which comprises at least one ranging sensor, the sensing module is positioned in any gate machine body at two sides of the channel, and the radius of a sensing area formed by the sensing module is larger than the width of the channel.

Preferably, more than one induction module is distributed in the height direction in the gate machine body;

the ranging sensors are arranged at a first radial distance with respect to a center point, or,

alternatively, the first and second electrodes may be,

each ranging sensor comprises a laser emission tube, a laser receiving tube, a first driver for driving the laser emission tube and a second driver for driving the laser emission tube,

The invention also provides a channel detection device based on the ranging sensor, which comprises a memory, a processor and any induction module, wherein the memory stores a computer program, and the processor is configured to execute the computer program to realize the steps of any channel detection method based on the ranging sensor.

The invention further provides a gate, which comprises a memory, a processor and any sensing module in the gate, wherein the memory stores a computer program, and the processor is configured to execute the computer program to realize the steps of any channel detection method based on the ranging sensor.

According to the channel detection method based on the distance measuring sensor, the channel detection can be carried out through the measuring distance sensed by the sensing modules arranged in the gate machine bodies on the two sides of the gate machine channel, the sensing modules do not need to be arranged in the gate machine bodies on the two sides of the channel, the circuit cost, the structure cost and the cable are greatly simplified, and a large number of light holes or light bars do not need to be arranged on the appearance of the gate machine. Because the alignment installation is not needed, the difficulty of installing and debugging the gate is greatly reduced. Every range sensor in the response module corresponds there has its effective range finding threshold value for the response module can adapt to the floodgate machine demand of different passageway sizes, is favorable to forming the state data of structured detection area, need not to carry out the product upgrading for different quantity modules, is favorable to improving the adaptability of using. Furthermore, equivalent conversion is carried out on the measured distance, the detection result can be conveniently converted to be equivalent to the detection state of commonly used infrared correlation in the corresponding industry, the compatibility is good, and the performance requirement on a gate driving control board is low.

Drawings

Fig. 1 is a schematic flow chart of a channel detection method based on a distance measuring sensor according to the present application.

Fig. 2 is a schematic view of the sensing area of the gate with the ranging sensor in the length direction and the width direction of the channel.

Fig. 3 is a schematic diagram of the distribution of the distance measuring sensors in the sensing module.

FIG. 4 is a schematic diagram of a TOF sensor staggered by a first radial distance and a second radial distance.

FIG. 5 is a schematic diagram of a TOF sensor with a first layout radius, a second layout radius, and a third layout radius staggered.

FIG. 6 is a schematic view of a multi-layer sensing surface formed by multiple layers of sensing modules in the height direction of a gate passageway.

Fig. 7 is a schematic diagram of a multi-layer effective detection surface, for example, with 5 TOF sensors (in conjunction with fig. 2).

Fig. 8 is a schematic diagram of a sensing module at a certain layer for obtaining position information of a detected target in a length direction of a channel.

Fig. 9 is a schematic diagram of equivalent measurement distances sensed by 5 TOF sensors in one layer of sensing module to 12 pairs of infrared correlation.

Fig. 10 is a schematic diagram of a channel sensing module based on a distance measuring sensor.

Fig. 11 is a schematic flow chart of processing the measured distance from the TOF sensor chip based on the CPU in the sensing module shown in fig. 10.

FIG. 12 is another schematic diagram of a channel sensing module based on a range sensor.

Fig. 13 is another schematic flow chart of processing the measured distance from the TOF sensor chip based on the CPU in the sensing module of fig. 12.

Fig. 14 is a flowchart illustrating the CPU calculating the current position of the detected object in the channel length direction.

Fig. 15 is a schematic diagram of a channel detection device based on a distance measuring sensor.

Fig. 16 is a schematic diagram of another embodiment of a channel detection device based on a ranging sensor.

Fig. 17 is another schematic diagram of a channel detection device based on a ranging sensor.

Detailed Description

For the purpose of making the objects, technical means and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings.

The present application utilizes whether the current measured distance from a ranging sensor is within a corresponding effective measurement threshold of the ranging sensor to determine whether to store a detected target in a channel. Because the distance measuring sensor does not need to be strictly aligned between the transmitting module and the receiving module, in this way, the induction module comprising a plurality of distance measuring sensors can be arranged in the gate machine body on one side in the gates on two sides of the channel, so that the installation difficulty is reduced, and the number of modules in the induction module is reduced.

Referring to fig. 1, fig. 1 is a schematic flow chart of a channel detection method based on a distance measuring sensor according to the present invention. The method comprises, at the side of a sensing module comprising at least one ranging sensor,

if the current measurement distance is smaller than the effective measurement threshold value, the channel is judged to have the detected target,

wherein the content of the first and second substances,

the induction module is positioned in the gate machine body on one side of the gate machines on the two sides of the channel, and the radius of an induction area formed by the induction module is larger than the width of the channel.

For the purpose of promoting an understanding of the present application, reference will now be made to the following specific embodiments.

Referring to fig. 2, fig. 2 is a schematic view of a sensing area of the gate with the ranging sensor in the length direction and the width direction of the channel according to the present application. In the figure, a first gate (left gate) and a second gate (right gate) constitute a gate tunnel. The induction module at least comprising distance measuring sensors is arranged in the body of one gate (such as the first gate in the figure), and the number of the distance measuring sensors is determined according to the required induction angle range and the induction identification angle of the sensors. The method specifically comprises the following steps:

wherein, the symbolThe expression is rounded up, omega is the required induction angle range, and beta is the induction identification angle of the sensor.

For example, in fig. 2, the sensing module consists of a plurality of TOF (time of flight) sensors, each of which effectively senses a sector of a certain angular range in the channel length and width directions, and the sensing radius R of each TOF sensor is larger than the width of the gate channel. In FIG. 2, the range of the induction angle required by the gate channel is at least 180 degrees, and if the induction recognition angle beta of the TOF sensors reaches 35-40 degrees, the number of the TOF sensors is 5-6, and in the figure, 5.

Preferably, the sensing module is located at the middle position in the length direction of the gate passage.

Considering that the target of the channel detection is to detect the state in the channel, so that when each TOF sensor acquires the measurement distance between the detected target in the channel and the TOF sensor, the channel detection can be performed based on the acquired measurement distance, and the measurement distance between the detected target outside the channel and the TOF sensor can be unnecessary, therefore, the effective detection area is the determined sensing area formed by the width threshold value set along the width of the channel and the length threshold value set along the length direction of the channel in the sensing area, and the effective detection areas corresponding to 5 TOF sensors in the figure are respectively: effective detection zone A, effective detection zone B, effective detection zone C, effective detection zone D, effective detection zone E.

Only when the detected target is in the effective detection area, the distance value sensed by the TOF sensor can be used for channel detection, so that the effective distance threshold of the TOF sensor needs to be determined according to the effective detection area corresponding to each TOF sensor. Since the effective detection area is related to the tunnel size, the effective distance threshold can be preset according to the structural size and shape of the tunnel gate and the gate wing size selected during actual installation.

For example, in fig. 3, for TOF sensor J, when the width of the door wing is 650mm, it is detected that the measured distance D is less than the effective distance threshold 650mm before it is considered that a person or a detected object blocks the sensor; when the width of the door wing is 900mm, the sensor is considered to be blocked by a person or a detected target when the measured distance is detected to be less than the effective distance threshold value of 900 m; the effective distance threshold of the TOF sensor A can be determined according to the radial direction of the TOF sensor A, the width and the length of the channel gate.

The corresponding relation between the effective distance threshold and the width of the door wing can be verified and stored in advance before product development or production, so that parameters can be issued by configuration software to inform a channel control board when the gate is actually used; or a self-learning command can be issued by the channel control board after the channel control board is installed, and when the command is executed, each TOF sensor measures under the condition that no detected target breaks into the channel, so that the effective distance threshold value of each TOF sensor is obtained when the corresponding detected target does not break into the channel. Therefore, under the normal working state of the gate, if a detected target enters a gate passage area, the laser emitted by the TOF sensor is returned in advance, namely the measured distance D is detected to be smaller than the distance when no detected target exists, and accordingly the detected target can be judged to enter the passage.

Referring to fig. 3, fig. 3 is a schematic diagram of the distribution of the distance measuring sensors in the sensing module. In order to form the sensing area with fan-shaped distribution for each distance measuring sensor, the distribution principle is as follows: according to the parameter beta of the induction identification angle of the TOF sensor, overlapping areas do not appear between the ranging sensors as far as possible, and therefore interference is avoided. In the actual design of the circuit board, the radial distance of the TOF sensor from the center (hereinafter, this radial distance is referred to as a layout radius) may be determined based on the size of the TOF sensor including the sensor chip, the laser emitting tube, and the receiving tube, so that the TOF sensor can be uniformly distributed in the circumferential direction around this layout radius. The TOF sensor is carried on a PCB board. In fig. 3 TOF sensors A, B, C, …, R, S are arranged in sequence, all at the same circular radius r from the center O. The radial direction of each TOF sensor forms an included angle theta with the length direction (x-axis direction) of the channel_A、θ_B、θ_C、…、θ_R、θ_SFor convenience of description, this angle will be hereinafter referred to as a layout center angle.

If all TOF sensors cannot be distributed on the same radius because of the layout size on the PCB board, a layout in which a plurality of layout radii are distributed in a staggered manner may also be employed.

As an example, referring to FIG. 4, FIG. 4 is a schematic diagram of a TOF sensor staggered by a first radial distance and a second radial distance. In the figure, the first TOF sensors A, C, E, …, Q, and S are uniformly distributed over the circumference at a first layout radius r 1; the second TOF sensors B, D, F, …, P, R are uniformly distributed in the circumferential direction at a second layout radius r2, wherein the centers of circles in the circumferential direction at the first layout radius r1 and in the circumferential direction at the second layout radius r2 are the same, and the first TOF sensors and the second TOF sensors are arranged in a staggered manner in the circumferential direction around the centers of circles.

It should be understood that the manner of the staggered arrangement may vary depending on the space requirements. Referring to fig. 5, fig. 5 is a schematic diagram of a TOF sensor with a first layout radius, a second layout radius and a third layout radius staggered. First distance measuring sensors R, M, I, F are distributed on the circumferential direction of the first layout radius, second distance measuring sensors P, N, K, G, D, B are distributed on the circumferential direction of the second layout radius, and third distance measuring sensors S, Q, O, L, J, H, E, C, A are distributed on the circumferential direction of the third layout radius. It should be understood that the number of ranging sensors distributed in the circumferential direction of each layout radius, the staggered positions, can be arranged as required, so long as: an avoidance space is formed between the ranging sensors. Without loss of generality, the ith ranging sensor is arranged at an ith radial distance relative to the center point, and the ith ranging sensor and the other sensors except the ith ranging sensor are arranged in a staggered mode along the circumferential direction around the center point, wherein i is a natural number larger than 1.

In order to ensure that the induction areas are distributed in the height direction of the gate passage, a plurality of layers of induction modules are distributed in the height direction of the gate passage, and the TOF sensors in each layer of induction modules can be distributed in the same or different mode.

Referring to fig. 6, fig. 6 is a schematic view of a multi-layer sensing surface formed by a plurality of sensing modules in the height direction of a gate passage, wherein three sensing modules (indicated by black solid lines) are located in the gate body. Preferably, the installation angle of the sensing module 2 is parallel to the height direction of the gate passage, the installation angle of the sensing module 1 and the installation angle of the sensing module 3 are respectively set to be a set angle with the height direction of the gate passage, such that the sensing surface forms an angle with a first plane (ground plane) defined by the width and length directions of the channel, wherein the sensing surface 2 formed by the sensing module 2 is parallel to the first plane so as to detect the detected target with common height, the sensing surface 1 formed by the sensing module 1 is at an elevation angle with the first plane, so as to detect a higher detected object, the sensing surface 3 formed by the sensing module 3 forms a depression angle with the first plane so as to detect a lower detected object, thus, the detection of multiple layers in the height direction of the gate channel can be realized, so that the detection effect of the detected targets with different heights is achieved.

It should be understood that when the structure space in the height direction of the gate is sufficient, a plurality of sensing modules can be installed to construct a plurality of sensing surfaces, thereby forming a more precise detection. The more the sensing surfaces are, the higher the cost is, and the cost can be selected according to the grade of the gate. However, such alternatives and implementations are within the scope of the present application.

Referring to fig. 7, fig. 7 is a schematic diagram of a multi-layer effective detection surface, for example, 5 TOF sensors (in conjunction with fig. 2). If the sensing modules of each layer are the same, the area included by the effective detection surface of each layer is also the same.

Referring to fig. 8, fig. 8 is a schematic diagram of obtaining position information of a detected target in a length direction of a channel through a certain layer of sensing module. As shown in the figure, the width direction of the channel is the y-axis direction, the length direction of the channel is the x-axis direction, and the height direction of the channel is the z-axis direction, then according to the geometrical relationship shown in the figure, there are:

xn ═ Dn + r × cos (θ n), and Dn is less than the effective distance threshold Tn of the TOF sensor n

Wherein Xn is the projection length of the current measurement distance in the channel length direction, the current position of the detected target in the channel length direction can be determined according to the projection length, Dn is the current measurement distance sensed by the TOF sensor n, r is the radial radius of the TOF sensor n, and theta n is the layout center angle of the TOF sensor n; r, θ n, Tn can be obtained in advance.

Because the detected targets with different heights, lengths and widths enter the channel gate area, the states can be respectively identified in different effective detection surfaces and different effective detection areas, so that multi-dimensional identification data can be at least obtained, namely, the current measurement distance is identified in some effective detection surfaces and some effective detection areas. If such multidimensional data is dynamically transmitted to the channel control panel, the pressure of the channel control panel is invisibly increased. Since most channel panels in the industry receive simple data based on a certain number of infrared correlation blocked or unblocked states, it is preferable to convert such complex multi-dimensional data into simple structured data in order to facilitate compatibility with existing channel panels.

Referring to fig. 9, fig. 9 is a schematic diagram of equivalent measurement distances sensed by 5 TOF sensors in a layer of sensing module to 12 pairs of infrared correlation. The length direction of the effective detection area of the effective detection surface is divided into 12 equal parts, each equal part corresponds to a mapping area and equivalently corresponds to a pair of injection tubes (hereinafter referred to as equivalent injection tubes), and the equivalent injection tube corresponding to the position of the projection of the current measurement distance sensed by the TOF sensor in the length direction of the effective detection area is regarded as blocked.

For example, according to the TOF sensor distance measurement principle, the TOF sensor in the effective detection surface 1 cannot give an accurate angle value, but can give an accurate distance value D, that is, the OD is accurate, but the included angle between the OD and the X axis is inaccurate. According to the requirement of infrared correlation equivalence, a very accurate angle is not necessarily required, the OD can be assumed to be at the central shaft angle of the sensor, and according to the formula, the calculated Xn is within the range of an equivalent transmitting tube with a certain serial number, and the infrared position is considered to be equivalent to the detection. This example figure shows that the 1 st ir equivalent tube is equivalently blocked.

If such blocked is marked as 1 and the unblocked is marked as 0, a structured datum can be obtained more clearly with the following table.

For example:

the above table shows: all 3 effective detection surfaces of the equivalent emission tube 1 are blocked, and the 2 nd and 3 rd effective detection surfaces of the equivalent emission tube 2 are blocked; the effective detection surface 1 of the equivalent radiant tube 11 is blocked; there is a barrier to the effective detection surface 1 and the effective detection surface 2 of the laser 12. The others are all unobstructed.

The data of the bit can be further composed into byte structured data which is used as a communication interface for uploading to the channel control board, so that the channel control board can quickly and conveniently process whether the channel area has the detected target.

Referring to fig. 10, fig. 10 is a schematic view of a channel sensing module based on a distance measuring sensor. The channel sensing module comprises a sensing module for forming a plurality of effective detection surfaces and a Central Processing Unit (CPU) for processing data from the sensing module and communicating with a channel control panel, wherein each sensing module comprises a plurality of TOF sensors, each TOF sensor comprises a sensor chip and a pair of laser emitting tube and laser receiving tube, each sensor chip is connected with the processor through a bus (such as I2C bus) to input sensed measurement distance to the CPU, and preferably, the CPU outputs chip selection signals to each sensor chip, so that the sensor chips sense and enable based on the chip selection signals from the processor, and the sensed measurement distance is sent to the processor through a bus interface. The CPU calculates the current position Xn of the detected target in the length direction of the channel according to the measured distance data from each sensor chip in each induction module, converts the Xn into structured data, and sends the structured data to the channel control panel through the communication interface, so that the channel control panel can conveniently control the opening and closing of the door stop.

Referring to fig. 11, fig. 11 is a schematic flow chart of processing the measured distance from the TOF sensor chip based on the CPU in the sensing module shown in fig. 10. In the CPU, for any one of the measured distances received in a scanning cycle, the following steps are performed:

step 1101, determining the sensing module information of the sensing module from which the measured distance originates and the sensor chip information of the sensor chip from which the distance originates according to the chip selection signal,

step 1102, according to the sensor chip information, inquiring the effective distance threshold of the TOF sensor,

1103, determining whether the measured distance is smaller than the effective distance threshold, if yes, executing step 1104, otherwise, ending the processing of the measured distance, executing step 1106,

step 1104, inquiring the layout radius and the layout center angle of the TOF sensor according to the sensor chip information, calculating the current position of the detected target in the channel length direction according to the layout radius, the layout center angle and the measurement distance,

step 1105, determining a corresponding mapping area according to the current position, identifying the detection result corresponding to the mapping area by using the bit for identifying the channel with/without state,

for example,

determining the corresponding equivalent launching tube serial number according to the current position of the detected target in the length direction of the channel so as to carry out equivalence;

determining the serial number of the corresponding effective detection surface according to the information of the induction module,

marking the measuring distance corresponding to the equivalent transmitting tube serial number and the effective detection surface serial number as a bit position identification for identifying the channel with/without state to obtain the equivalent identification of the measuring distance,

step 1106, returning to step 1101 until the measured distances in the scanning period are processed, then step 1107 is executed,

step 1107, the bits corresponding to each mapping region in each effective detection plane are encapsulated into data and sent to the channel control board through the communication interface,

for example,

and generating equivalent identifications of all equivalent injection pipe serial numbers and effective detection surface serial numbers into structured data, sending the structured data to the channel control board, enabling the channel control board to carry out channel detection according to the structured data, and controlling the opening and closing of the door wing part according to the detection result.

Referring to fig. 12, fig. 12 is another schematic view of a channel sensing module based on a distance measuring sensor. The channel sensing module comprises a sensing module for forming a plurality of effective detection surfaces, and a Central Processing Unit (CPU) for processing data from the sensing module and communicating with a channel control panel, wherein each sensing module comprises a sensor chip, a plurality of pairs of laser emitting tubes and laser receiving tubes, a plurality of first drivers for respectively driving the laser emitting tubes, and a plurality of second drivers for respectively driving the laser receiving tubes, the first drivers and the second drivers are respectively connected with the sensor chip, for example, in the figure, the first drivers are connected with the output ends of the sensor chip, and the second drivers are connected with the input ends of the sensor chip; the chip selection signal from the CPU is respectively input to the first driver and the second driver to realize induction enabling control, the induction signal from each laser receiving tube is input to a sensor chip when the induction of the chip selection signal is enabled, and the sensor chip is connected with a processor through a bus (such as an I2C bus) to input the sensed measurement distance to the CPU. The CPU calculates the current position Xn of the detected target in the length direction of the channel according to the measured distance data from the sensor chips in each induction module, converts the Xn into structured data, and sends the structured data to the channel control panel through the communication interface, so that the channel control panel can conveniently control the opening and closing of the door wing part.

Referring to fig. 13, fig. 13 is another schematic flow chart of processing the measured distance from the TOF sensor chip based on the CPU in the sensing module shown in fig. 12. In the CPU, the following steps are performed for any received measured distance during a scanning cycle in which sensing is performed:

step 1301, according to the chip selection signal, determining laser tube information of the laser receiving tube from which the measurement distance from the sensor chip is sourced, determining induction module information from the sensor chip from which the measurement distance is sourced,

step 1302, inquiring an effective distance threshold according to the laser tube information,

step 1303, determining whether the measured distance is smaller than the effective distance threshold, if yes, executing step 1304, otherwise, ending the processing of the measured distance, executing step 1306,

step 1304, inquiring the layout radius and the layout center angle of the laser tube according to the laser tube information, calculating the current position of the detected target in the channel length direction according to the layout radius, the layout center angle and the measurement distance,

step 1305, determining the corresponding equivalent injection pipe serial number according to the current position of the detected target in the length direction of the channel so as to carry out equivalence;

determining the serial number of the corresponding effective detection surface according to the information of the induction module,

marking the measured distance as a corresponding mark according to the serial number of the equivalent emitting tube and the serial number of the effective detection surface to obtain the equivalent mark of the measured distance,

step 1306, return to step 1301 until the measured distances in the scanning period are processed, then step 1307 is executed,

and 1307, generating the equivalent injection pipe serial numbers, the effective detection surface serial numbers and the equivalent identification of the measurement distance into structured data, sending the structured data to the channel control board, so that the channel control board performs channel detection according to the structured data, and controls the opening and closing of the door wing part according to the detection result.

In another embodiment, the CPU calculates the current position Xn of the detected object in the channel length direction according to the measured distance data from the sensor chip in each sensing module, and sends the current position information, the sensing module corresponding thereto, and the corresponding sensor to a three-dimensional array, and sends the three-dimensional array to the channel control board. For example, in fig. 6, if the measurement distance of the detected object sensed by the sensor 2 in the sensing module 1 is D2, the current position of the detected object in the channel length direction is calculated to be X2 according to the layout radius, the layout center angle and the measurement distance of the sensor 2 being D2, and a three-dimensional array (1, 2, X2) is formed and sent to the channel control board, where 1 denotes the sensing module 1, and is also denoted as an effective detection area 1, and 2 denotes an effective detection area.

Referring to fig. 14, fig. 14 is a schematic flow chart of the CPU calculating the current position of the detected object in the channel length direction. In the CPU, in a scanning period in which sensing is performed, for any one of the measured distances received in the scanning period, the following steps are performed:

step 1401, determining the sensing module information of the sensing module from which the measured distance originates and the sensor chip information of the ranging sensor from which the measured distance originates according to the received source address of the measured distance,

step 1402, according to the sensor chip information, querying the effective distance threshold of the ranging sensor,

step 1403, determine whether the measured distance is less than the valid distance threshold, if yes, go to step 1404, otherwise, end the process of the measured distance, go to step 1406,

step 1404, inquiring the layout radius and the layout center angle of the ranging sensor according to the sensor chip information, calculating the current position of the detected target in the channel length direction according to the layout radius, the layout center angle and the measurement distance,

step 1405, determining the serial number of the corresponding valid detection plane according to the information of the sensing module,

determining the serial number of the corresponding effective detection area according to the information of the sensor chip,

the serial number of the effective detection surface, the serial number of the effective detection area and the current position of the detected target in the length direction of the channel are formed into a plurality of groups and sent to the channel control board,

step 1406, return to step 1401 until all the measured distances in the scanning period are processed.

And after the channel control board receives the array data in the scanning period, channel detection is carried out according to the received array data, and the opening and closing of the gate wing part are controlled according to the detection result.

Referring to fig. 15, fig. 15 is a schematic view of a channel detection device based on a distance measuring sensor. The device comprises an induction module which is positioned in any gate machine body at two sides of the channel and is used for forming an induction area with the radius larger than the width of the channel,

a measuring distance processing module for determining an effective measuring threshold corresponding to the distance measuring sensor according to the information of the distance measuring sensor from which the current measuring distance is from, and judging that the channel has the detected target when the current measuring distance is smaller than the effective measuring threshold,

and the communication module is used for sending the judgment result to the channel control board.

The detection device also comprises a detection device which comprises a detection device,

the position acquisition module is used for calculating the projection length of the current measurement distance in the length direction of the channel and determining the position of the detected target in the length direction of the channel according to the projection length;

a mapping module for determining corresponding effective detection surface according to the induction module from which the current measurement distance is obtained, determining corresponding mapping area according to the position of the detected target in the channel, identifying the detection result corresponding to the mapping area by using the bit for identifying the channel state or non-state,

the communication module is further configured to encapsulate bits corresponding to each mapping area in each effective detection surface as data, and send the data to the channel control board through the communication interface.

Wherein the content of the first and second substances,

the position acquisition module comprises a position acquisition module and a position acquisition module,

the distance measuring sensor parameter acquisition submodule is used for inquiring the radial distance of the distance measuring sensor and the included angle between the radial direction of the distance measuring sensor and the length direction of the channel according to the information of the distance measuring sensor;

and the calculation submodule calculates the projection length of the current measurement distance in the length direction of the channel according to the radial distance of the distance measurement sensor, the included angle between the radial direction of the distance measurement sensor and the length direction of the channel, and the current measurement distance.

Referring to fig. 16, fig. 16 is a schematic view of another embodiment of a channel detection device based on a distance measuring sensor. The detection device comprises an induction module, a distance measurement processing module, a communication module and a detection module,

the communication module is further used for determining corresponding effective detection area information according to the induction module from which the current measurement distance comes, determining corresponding effective detection area information according to the ranging sensor from which the current measurement distance comes, forming an array of the effective detection area information, the effective detection area information and the current measurement distance, and sending the array to the channel control board through the communication interface.

Referring to fig. 17, fig. 17 is another schematic view of a channel detection device based on a ranging sensor. The device comprises a sensing module, a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the computer program to realize the steps of any one of the channel detection methods based on the ranging sensor.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored in the storage medium, and when being executed by a processor, the computer program realizes the steps of any channel detection method based on the ranging sensor.

For the device/network side device/storage medium embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant points, refer to the partial description of the method embodiment.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

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