CN111877222A - Gate system and control method of gate system - Google Patents

Abstract

The present invention relates to a gate system and a control method of the gate system. A gate system, comprising: at least one gate; the laser radar is used for detecting people or objects in a preset area inside and outside the gate; a control unit that controls closing of the shutter based on detection information of the laser radar. Through above-mentioned floodgate machine system, can reduce the part quantity to reduce cable quantity, reduce cost.

Description

Gate system and control method of gate system

technical field

The present invention relates to access channel detection technology, in particular, to a gate system and a control method of the gate system for detecting the positions of persons or objects entering and leaving the channel.

Background technique

In recent years, in airports, railway stations, subways, large venues, buildings, communities, factories, tourist areas, etc., in order to allow only people with access rights to enter, gates with identity authentication functions such as face scanning and ID scanning are usually used. machine system. In order to detect a person or an object passing through a gate, the following detection methods are known.

Methods of detection using photoelectric switches are known. The photoelectric switch converts the input current into an optical signal on the transmitter, and the receiver detects the target object according to the intensity or presence of the received light. In order to ensure that people standing in any position in the gate passage can be detected, multiple photoelectric switches need to be arranged in a certain way.

Furthermore, detection using safety light grids or light curtains is also known. The grating is composed of a set of transmitters and receivers. The transmitter will transmit a set of infrared beams, and the receiver will include many light sensors. If the object is between the transmitter and the receiver, the receiver cannot receive it. When a complete signal is reached, a stop signal is sent to the monitored device. The light curtain includes a light projector and a light receiver. The light projector emits modulated infrared light, which is received by the light receiver to form a protective net. When an object enters the protective net and some light is blocked by the object, the object is detected. To ensure that people standing anywhere in the passage can be detected, multiple light curtains/light grids are also required.

SUMMARY OF THE INVENTION

As mentioned above, according to the prior art, the used photoelectric switches, gratings, and light curtains are all separate transmitter units and receiver units arranged in pairs. For example, in the case of using photoelectric switches, since each group of photoelectric switches is only a line beam, in order to accurately detect the personnel in the channel, the above photoelectric switches need to be set at multiple positions in the three-dimensional space of the channel, and the required quantity more and higher cost. For example, in the case of using gratings, at least 4 to 5 gratings are required for a set of two gate channels, and the cost is relatively high. Therefore, in the past technologies using photoelectric switches, gratings, and light curtains, there are many problems of connecting cables and high cost. In addition, the layout design and installation of so many detection devices and their cables in a narrow passage space will be very complicated.

In addition, in the previous gate system, the door may be automatically opened and closed before the person has passed completely, and the person or luggage may be caught or touched at this time. That is to say, the conventional turnstiles did not recognize the people or luggage in the closed area, which would lead to the situation that when a person drags the luggage through, the person has passed and the luggage is stuck, or when the speed of the person is slow, they are hit by the door. arrive.

The present invention provides a gate system and a control method for the gate system, which can at least solve at least one of the above problems.

In a first aspect of the present invention, a gate system is provided, comprising: at least one gate; a lidar, which detects people or objects in a predetermined area inside and outside the gate; a control unit, which is based on the detection information of the lidar to control the closing of the gate.

According to the above, it is possible to reduce the number of parts of the gate system, thereby reducing wiring and reducing costs.

In the above-mentioned gate system, it also includes a gate body, the gate is installed on the gate body, and the lidar is located directly below or directly on the gate body where the first gate is installed. above.

In the above gate system, the control unit determines whether there is a person or an object in a predetermined area inside and outside the gate based on the detection information of the lidar, and controls whether the gate is closed according to the result of the judgment. When the gate is open, the control unit controls the gate to close only when it is determined based on the detection information of the lidar that there is no person or object in the predetermined area inside and outside the gate.

According to the above, it is possible to prevent a person or an object passing through the gate from being caught or hit by the gate.

In the above gate system, the control unit determines whether there are people in the predetermined area inside and outside the gate according to the detection information of the lidar, and when it is determined that there are people in the predetermined area inside and outside the gate, determine Someone is following.

According to the above, it is possible to detect whether or not someone is following through the lidar.

In the above-mentioned gate system, it further includes a trailing detection unit, the trailing detection unit includes a first detection unit and a second detection unit, and the first detection unit is arranged on the gate body outside the first gate. The upper part of the gate, the second detection unit is arranged at the lower part of the gate body outside the first gate, the first detection unit and the second detection unit are located in the same plane perpendicular to the ground, the The tailgating detection unit sends a detection signal to the control unit, and the control unit determines whether someone is tailgating based on the detection signal of the tailgating detection unit and the detection information of the lidar.

According to the above, through the trailing detection unit, it is possible to accurately determine whether someone is trailing.

In the above-mentioned gate system, an alarm unit is also included, and the control unit controls the alarm unit to output an alarm signal when it is determined that someone is tailing.

In the above gate system, the gate includes a first gate and a second gate, and the predetermined area includes: a first predetermined area outside the first gate; the first gate and the A part of the second predetermined area between the second gates and connected to the first gate; a third predetermined area including the entire area between the first gate and the second gate; a fourth predetermined area including the entire area between the first gate and the second gate and a partial area outside the second gate, and the lidar detects the first predetermined area, the second A predetermined area, a third predetermined area and the fourth predetermined area, the control unit controls the closing of the first gate and the Closing of the second gate.

In the above gate system, when the first gate is open, the control unit determines that there is no one or an object in the first predetermined area and the second predetermined area based on the detection information In the case of , control to close the first gate; when the second gate is open, the control unit determines that there is no person or object in the fourth predetermined area based on the detection information In this case, control is performed to close the second gate.

In a second aspect of the present invention, there is provided a control method for a gate system, the gate system includes at least one gate, a lidar, and a control unit, the control method includes: a detection step, the lidar is used to detect and In the predetermined area inside and outside the gate, person or object detection is performed; in the control step, the closing of the gate is controlled based on the detection information of the lidar.

In the above control method, in the control step, it is judged whether there is a person or an object in a predetermined area inside and outside the gate based on the detection information of the lidar, and whether the gate is closed is controlled according to the result of the judgment , when the gate is open, the control unit controls the gate to close only when it is determined based on the detection information of the lidar that there is no person or object in the predetermined area inside and outside the gate.

In the above control method, in the control step, it is determined whether there are people in the predetermined area inside and outside the gate according to the detection information of the lidar, and when it is determined that there are people in the predetermined area inside and outside the gate , make sure someone is trailing.

In the above control method, the gate system further includes a trailing detection unit and a gate body on which the gate is installed, the trailing detection unit includes a first detection unit and a second detection unit, and the first detection unit is provided with On the upper part of the gate body outside the gate of the first lane, the second detection unit is arranged on the lower part of the gate body outside the gate of the first lane, the first detection unit and the second The detection unit is located in the same plane perpendicular to the ground, and the control method further includes the following steps: the trailing detection unit sends a detection signal to the control unit, and the control unit is based on the detection signal of the trailing detection unit and the The detection information of the lidar is used to determine whether someone is following.

In the above control method, the gate includes a first gate and a second gate, and the predetermined area includes: a first predetermined area outside the first gate; the first gate and the first gate A part of the second predetermined area between the second gates and connected to the first gate; the third predetermined area including the entire area between the first gate and the second gate; including A fourth predetermined area of the entire area between the first gate and the second gate and a partial area outside the second gate, in the detection step, the lidar detects the first predetermined area area, the second predetermined area, the third predetermined area, and the fourth predetermined area, and in the control step, the control unit is based on the detection information of the first to fourth predetermined areas by the lidar The closing of the first gate and the closing of the second gate are controlled.

In the above control method, in the control step, when the first gate is open, the control unit determines, based on the detection information, whether the first predetermined area and the second When there is no one or an object in the predetermined area, control is performed to close the first gate; when the second gate is open, the control unit determines that the fourth gate is the fourth predetermined gate based on the detection information. When there is no person or object in the area, control is performed to close the second gate.

According to the above, the present invention can at least reduce detection components, thereby reducing connection cables and reducing costs. In addition, according to the above, the present invention can also prevent people or objects from being pinched or bumped due to the closing of the shutter when they do not pass completely.

Description of drawings

FIG. 1 is a schematic diagram showing the configuration of a gate system according to a first embodiment of the present invention;

2 is a schematic plan view of the gate system according to the first embodiment;

3 is a block diagram of the gate system according to the first embodiment;

4 is a schematic diagram of the division of the detection area of the gate system involved in the first embodiment;

FIG. 5 is a flow chart showing the control unit controlling the closing of the gate;

Fig. 6 is a flowchart showing the actions when the control unit performs anti-tailgating detection;

7 is a schematic diagram showing a gate system with two gates involved in the second embodiment;

FIG. 8 is a schematic diagram showing division of detection areas of a gate system with two gates

9 is a flow chart showing the closing control of the first gate of the gate system with two gates;

FIG. 10 is a flow chart illustrating controlling the closing of the second gate;

FIG. 11 is a flowchart showing that the control unit performs the anti-pinch control and the trailing detection control simultaneously.

Detailed ways

The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention, and are not configured to limit the present invention. It will be apparent to those skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present invention by illustrating examples of the invention.

Hereinafter, a gate system and a gate system control method according to the present invention will be described based on the drawings.

Hereinafter, the schematic configuration of the gate system according to the first embodiment will be described in detail.

FIG. 1 is a schematic diagram showing the configuration of a gate system according to the first embodiment of the present invention. As shown in FIG. 1 , taking a gate system in a subway as an example, the gate system 100 includes a gate 1 , a gate body 2 and a gate channel 3 . The gate 1 is installed on the gate body 2 . The channel sandwiched by the gate body 2 on the left and right sides is the gate channel 3 .

On the entrance side of the gate system 100 , a certificate information collection unit may be provided to collect information on certificates carried by passers-by, such as text information and/or picture information. The documents can be any documents such as train tickets, air tickets, ID cards, passports, etc. For example, the credential information acquisition unit may be an image scanning device, which acquires information by scanning the credential. In addition, the credential information collection unit may also be a card reader, which reads information by inserting a card. For example, the gate 1 can be opened when the credential information is successfully verified.

FIG. 2 is a schematic plan view of the gate system according to the first embodiment. 1 and 2 , the gate system 100 further includes a lidar 4 . The lidar 4 is installed on the gate body 2 and is located directly below the gate 1 . Since the lidar 4 performs plane scanning, the lidar needs to be arranged in a position that can ensure that the scanning area of the lidar is a horizontal plane. In addition, it is also necessary to ensure that there is no device bulge in the scanning area of the lidar, which will not affect the scanning results of the radar. In this embodiment, the radar is arranged, for example, at a position about 10 cm from the ground. By setting the lidar at this height, the passage of children can also be detected, and the luggage and other items carried by people with a height of no more than 90cm can also be detected. The detection of lidar will be described in detail later.

According to the above, the use of laser radar to replace the previous photoelectric switching, grating, light curtain, etc., because there is no need to set up multiple sets of detection equipment, only one laser radar can realize the detection of all areas of the channel, so less detection equipment and less wiring are required. , low cost, and high accuracy of radar detection.

3 is a block diagram of the gate system according to the first embodiment. The gate system 100 also includes a control unit 5 . The control unit 5 may be installed inside the gate body 2 , or may be physically independent of the gate body 2 . The control unit 5 may be configured as a whole, or may be distributed in different devices or components.

The control unit 5 may be a personal computer, a single-chip microcomputer, or the like, and may include, for example, a CPU (Central Processing Unit, central processing unit), a ROM (Read Only Memory, read only memory) that stores programs and various data, and a working area of the CPU. RAM (Random Access Memory) used. The CPU executes the program stored in the ROM or the storage unit. The control unit 5 may also be implemented by a programmable integrated circuit such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field-Programmable Gate Array).

The control unit 5 receives the collection information from the access voucher collection unit, and also receives the detection information from the lidar 4 . The control unit 5 compares the received collected information with the information stored in the internal or external memory of the gate system to determine whether pedestrians can pass through, and then controls whether the gate 1 can be opened. The control unit 5 uses the detection information of the lidar 4 to determine the position of the pedestrian, and then controls the closing of the gate 1 .

Next, the control to close the gate by the detection of the lidar 4 will be described.

FIG. 4 is a schematic diagram of division of detection areas of the gate system according to the first embodiment. The gate system 1 is divided into a zone Z1 and a zone Z2 with the gate 1 as a boundary, and the lidar 4 can scan the zone Z1 and the zone Z2 respectively. For example, the lidar 4 scans the area Z1 in the range of 0 to 90 degrees and the area Z2 in the range of 90 to 180 degrees, respectively. The lidar 4 sends detection information for detecting the area Z1 and the area Z2 to the control unit 5 . The lidar 4 is, for example, a switching lidar. The lidar 4 scans the area Z1 and the area Z2, and outputs to the control unit 5 detection information for judging whether there is a person, and the detection information is a Boolean quantity. The resulting detection information is represented by R _Z1 and R _Z2 . When R _Z1 or R _Z2 is "1", it indicates that there is a person or object, and when R _Z1 or R _Z2 is "0", it indicates that there is no person or object.

The gate 1 remains closed when no one passes through. When the control unit 5 receives the collection information from the voucher collection unit and determines that the pedestrian should be allowed to pass, the gate 1 is opened. At the same time, Lidar 4 also started to work, scanning the location of pedestrians. Before the pedestrian passes through the gate 1 and is in the area Z1, after the laser radar scans the area Z1, it outputs the detection information to the control unit 5, that is, R _Z1 =1, R _Z2 =0, the control unit 5 receives the R _Z1 and R _Z2 In this case, it is determined that there is a person or an object in the area Z1, and the gate 1 is kept open. When the pedestrian passes through the area Z1 and is in the area Z2, the lidar 4 scans the area Z1 and the area Z2, obtains detection information of R _Z1 =0 and R _Z2 =1, and sends it to the control unit 5 . After receiving the detection information, the control unit 5 determines that there is no person in the area Z1 and there is a person or object in the area Z2, and continues to keep the gate 1 open. Here, the setting of the zone Z2 can be set according to the opening range over which the gate 1 is opened and closed, as long as the zone Z2 is kept larger than or equal to the opening range over which the gate 1 is opened and closed. The lidar 4 continues to scan, and when the pedestrian leaves the area Z2, the lidar 4 detects the detection results of the area Z1 and the area Z2 as R _Z1 =0 and R _Z2 =0 respectively, and sends the detection results to the control unit 5 . The control unit 5 determines, according to the received detection information, that there are no people in both the area Z1 and the area Z2, and controls the gate 1 to close it.

In addition, when a pedestrian is carrying a suitcase, when the pedestrian passes through the gate 1 and enters the area Z2, and the suitcase is still in the area Z1, the results of the lidar 4 detecting the area Z1 and the area Z2 are R _Z1 =1 and R _Z2 = 1, and send it to the control unit 5. The control unit 5 determines that a person or an object exists in both the area Z1 and the area Z2 according to the detection information of the lidar 4 , and thus keeps the gate 1 in an open state. When the pedestrian leaves the area Z2 and the luggage is still in the area Z2, the results of the detection of the area Z1 and the area Z2 by the lidar 4 are R _Z1 =0 and R _Z2 =1, and sent to the control unit 5 . According to the detection information of the lidar 4 , the control unit 5 determines that there is no person or object in the area Z1 , but there are people or objects in the area Z2 , so the gate 1 is kept open. Until the suitcase leaves the area Z2, when the area Z1 and the area Z2 are unmanned, the results of the lidar 4 detecting the area Z1 and the area Z2 are R _Z1 =0 and R _Z2 =0 respectively, and the detection result is sent to the control unit 5. The control unit 5 determines that there is no person or object in both the zone Z1 and the zone Z2, and controls the gate 1 to close it.

Through the above, the lidar 4 performs detection, and the control unit 5 controls the closing of the gate 1 according to the detection result of the lidar 4, so as to avoid the occurrence of people or objects being pinched or touched because the person or object is within the opening and closing range of the gate. touching situation.

Optionally, the gate system 1 in the above embodiment may further include a trailing detection device. As shown in FIG. 2 , the gate system 100 further includes two groups of photoelectric switches 6 with a trailing detection function. Two sets of photoelectric switches 6 are located outside the gate. One group of photoelectric switches is arranged on the upper part of the gate body 2 outside the gate 1 , and the other group of photoelectric switches is arranged on the lower part of the gate body 2 outside the gate 1 . The installation position of the photoelectric switch 6 can be appropriately set according to the height range of a person. The two groups of photoelectric switches 6 are arranged in the same plane perpendicular to the ground. Each group of photoelectric switches 6 includes a transmitter and a receiver, which are respectively arranged on the left and right sides of the channel. When no one passes by, the infrared signal sent by the transmitter will be received by the receiver; when someone passes by, the infrared signal sent by the transmitter will be blocked, and the receiver cannot receive the signal. At this time, the photoelectric switch 6 feeds back a person or object passing signal to the control unit 5 . When both the transmitters of the upper and lower groups of photoelectric switches send signals and the receivers do not receive them, the signal output by the photoelectric switches changes from 0 to 1, and it can be judged that someone is trailing. The control unit 5 determines whether signals are received from both the upper and lower groups of the photoelectric switches 6 according to the signals received from the photoelectric switches 6 . When receiving signals from both sets of photoelectric switches 6, the control unit 5 determines that someone has passed. Also based on the information received from the lidar 4, it is determined whether there is a person or an object in the area Z2. When the control unit receives signals from the two sets of photoelectric switches, and judges that there is a person or an object in the area Z2, it is judged that someone is following.

The reason why two sets of photoelectric switches are set up and down is that if only one set of photoelectric switches is set at the lower part, it is possible to mistakenly judge the luggage pulled by passing pedestrians as trailing; if only one set of photoelectric switches is set on the upper side, then There is a possibility of misjudging long luggage carried by pedestrians as tailgating. Therefore, according to the structure of setting the upper and lower two groups of photoelectric switches in this embodiment, the accuracy of trailing detection can be improved.

The gate system 1 also includes an alarm unit 7 . When the control unit 5 determines that someone is following, the alarm unit 7 is controlled to issue an alarm signal. The alarm unit 7 can prompt the relevant personnel by means of sound, light and the like.

Hereinafter, a method of controlling the gate closing by the control unit 5 will be described in detail. FIG. 5 is a flowchart showing the control unit controlling the closing of the gate. After the shutter 1 is opened, the control unit 5 operates as follows.

In step S1 , the control unit 5 receives the detection information acquired by the detection zone Z1 and the zone Z2 from the lidar 4 . In step S2, the control unit 5 determines whether there is a person or an object in any one of the area Z1 and the area Z2 according to the detection information. When it is determined that there is a person or object in either of the areas Z1 and Z2, the process proceeds to step S3. In step S3 , the control unit 5 performs control to maintain the open state of the shutter 1 . Then, it returns to step S1. In step S4, the control unit 5 performs control to close the gate 1 when it is determined that neither the area Z1 nor the area Z2 has a person or an object.

Through the control of the control unit 5 described above, it is possible to prevent people or objects from being pinched or bumped when passing through the gate.

FIG. 6 is a flowchart showing the operation when the control unit executes the anti-tailgating detection. In the above-mentioned gate system 100, an anti-trailing function may also be provided. When the shutter 1 is opened, the control unit 5 operates as follows.

In step S11 , the control unit 5 receives the detection information acquired by the detection zone Z1 and the zone Z2 from the lidar 4 , and receives the detection signal from the photoelectric switch 6 .

In step S12, the control unit 5 determines whether a person or an object is detected in both the area Z1 and the area Z2 according to the detection information. When it is judged as YES, it progresses to step S13. In step S13 , the control unit 5 determines whether someone is following according to the signal received from the photoelectric switch 6 . If it is determined to be YES, it is determined that someone is following, and the process proceeds to S14. In step S14, the control unit 5 controls to output an alarm signal. When it is judged as NO, it returns to step S11.

Through the above, the control unit 5 can determine whether someone is tailgating based on the detection information received from the lidar and the signal detected from the tailgating prevention device. In addition, the control unit 5 can control the alarm device to output an alarm signal when it is detected that someone is following.

In the above, the gate system of one gate has been described as an example. The following is an example of a gate system with two gates.

FIG. 7 is a schematic diagram showing a gate system having two gates according to the second embodiment. Compared with the above-mentioned gate system 1 with one gate, the only difference in structure is that the gate system 10 includes a first gate 11 and a second gate 21 , and the lidar is installed directly below the first gate 11 of the gate body. or directly above. The other structure is the same as that of the gate system 1, and the detailed description is abbreviate|omitted here. The gate system 10 is set so that the first gate 11 and the second gate 12 are closed in a non-working state, and cannot be opened at the same time in a normal working state. In addition, the traffic direction of the gate system 10 is one-way, irreversible, or stays for a long time.

In the control of the control unit, compared with the first embodiment, not only the anti-pinch control of the person or object passing through the first gate, but also the anti-pinch control of the person or object passing through the second gate should be carried out.

FIG. 8 is a schematic diagram showing the division of detection areas of a gate system with two gates. The predetermined area inside and outside the gate includes: a zone Z11 outside the first gate; a part of the zone Z12 between the first gate and the second gate, which is connected to the side of the first gate; the first gate and the second gate The zone Z13 between the gates that is connected to the zone Z12 and is connected to the second gate; the zone Z14 outside the second gate. In order to prevent people or objects from being caught or touched by the gate, the first gate 11 is closed only when there are no people or objects in the zone Z11 and the zone Z12 inside and outside the first gate. The second gate 12 is closed only when there is no person or object in the zone Z13 and the zone Z14 inside and outside the second gate.

In the detection of lidar, the following areas are detected: area Z11, area Z12, area Z23 including area Z12 and area Z13, area Z24 including area Z12 and area Z13 and area Z14.

In the gate system 10 with two gates, the work of person identification or security detection can usually be carried out in the zone Z23. Therefore, only one pedestrian can enter in zone Z23.

The lidar alternates between the two modes of detection in turn. In the first mode, the lidar detects the area Z11, the area Z12, and the area Z23; in the second mode, the lidar detects the area Z12, the area 23, and the area Z24. The lidar sends the detection result to the control unit 5 .

During the anti-pinch control, the control unit 5 operates as follows.

FIG. 9 is a flowchart showing the closing control of the first gate of the gate system having two gates.

In step S21 , the control unit 5 receives detection information from the lidar 4 . Specifically, the control unit 5 receives the detection information R _Z11 , R _Z12 , R _Z23 and R _Z24 acquired from the detection zone Z11 and the zone Z12 , the zone Z23 and the zone Z24 from the lidar 4 . In step S22, it is determined whether or not R _Z11 =0 and R _Z12 =0. In the case of YES in step S22, control is performed to close the first gate 11. In step S22, when it is judged as NO, control is performed so that the open state of the first gate 11 is maintained, and the process returns to step S21.

After the first gate 11 is closed, the closing control of the second gate is continued. FIG. 10 is a flowchart showing controlling the closing of the second gate. Steps S31 to S34 are basically the same as steps S21 to S24 of FIG. 9 , except that in the case of judging whether the second gate 12 is closed, it is necessary to judge whether there are no people in the area Z13 and the area Z14. Therefore, in step S32, it is judged whether or not R _Z24 is equal to 0. When R _Z24 is 0, it indicates that there are no people in the area Z12, area Z13, and area Z14, and even if the second gate is closed, pedestrians will not be caught or touched.

In the process of anti-tailgating, its action is the same as that of the gate system with one gate, so the detailed description is omitted.

According to the above gate system having two gates, it is possible to prevent people or objects from being caught or hit by the gates. In addition, it can also have an anti-trailing function.

In the above-mentioned embodiments, the gate is described by taking the swing-opening and closing gate as an example, that is, the gate is parallel to the passage when the shutter is opened and perpendicular to the passage when it is closed, thereby blocking the passage. However, the present invention is also applicable to telescopic gates, which retract into the body when opened, such as subway gates. Compared with the swing gate, the range of the zone Z2 can be appropriately shortened when the retractable gate is used. The zone Z2 is preferably set at a distance of not less than 10 cm in the traveling direction.

In the above-mentioned embodiment, the opening of the first gate is explained by taking the successful comparison of the credential information as an example, but the opening of the first gate can also be triggered by the absence of abnormality in the security detection, or the credential information and the security detection pass at the same time. to trigger the opening of the first gate, or other situations, which are not limited here.

In the above-mentioned embodiment, the lidar 4 is installed in the gate body 2 directly below the gate 1 as an example for description. However, the installation position of the lidar 4 is not limited to this, and it may be installed on the gate body 2 directly above the gate 1 .

In addition, "directly below" and "directly above" in the above embodiments are not limited in a strict sense, as long as they are within the allowable range of deviation below or above the gate.

In the above embodiment, the lidar 4 is described by taking the switch lidar as an example. The switch lidar will output a Boolean value according to whether there are people or objects in the detection area, "0" means no one passes; "1" Indicates that someone has passed. However, lidar is not limited to switching lidar, but can also be measurement-type lidar. Survey lidar detects scan data in all areas of each divided area. By calculating the distance value fed back, the cross-sectional range and number of detection targets in the area can be identified. The use of measurement-type lidar can reduce the scanning period of the radar, locate pedestrians or objects more quickly, and identify the shape of the detection target.

In the case of using a measurement-type lidar, a trailing detection device may not be specially provided. Directly use the data fed back by the measuring lidar to determine the contour shape of the detection target in the detection area to determine whether there are two people in the area inside and outside the gate. When the measurement-type lidar detects two people, it is determined that someone is following; when only one person is detected, it is determined that no one is following.

In the above-mentioned embodiment, the trailing detection device is arranged on the gate body, but the installation device for trailing detection can also be set up separately outside the gate.

In the above-mentioned embodiments, the trailing detection device is described by taking the photoelectric switch as an example, but it is not limited to this, and may also be a light curtain, a laser radar, or other detection devices.

In the above-mentioned embodiment, the first detection unit and the second detection unit are located in the same plane perpendicular to the ground, but this is not strictly limited, as long as people passing by can be detected at the same time, a small amount of deviation.

In the above-mentioned embodiment, the anti-pinch control and the trailing detection control of the control unit are judged separately, but they can also be judged at the same time. FIG. 11 is a flowchart showing that the control unit performs the anti-pinch control and the trailing detection control simultaneously. In step S41, the control unit 5 receives the detection information from the lidar 4 and the detection signal from the photoelectric switch. In step S42, the control unit 5 determines whether a person or an object is detected in both the area Z1 and the area Z2 according to the received detection information. When it is judged as YES, it progresses to step S43. When it is judged NO, it progresses to step S45. In step S43, it is determined whether someone is following according to the detection signal received from the photoelectric switch 6. If it is determined to be yes, the process proceeds to step S44, where the control unit 5 controls the alarm unit 7 to issue an alarm signal. When it is judged as NO, it returns to step S41. In step S46, it is determined whether or not a person or an object is not detected in both the area Z0 and the area Z1 based on the detection information from the lidar, and if it is determined to be yes, the process proceeds to step S46. When it is judged as NO, it returns to step S41. In step S46, the control unit 5 controls to close the gate 1 or the first arrival gate 11. Through the above-mentioned control, the control unit 5 can perform the anti-pinch determination and the trailing detection at the same time.

In the above-mentioned embodiments, various embodiments in which the control unit controls the closing of the gate and the trailing detection are shown, but are not limited thereto, as long as the presence or absence of persons or objects in predetermined areas inside and outside the gate can be detected, it is not limited to the above steps. The above-mentioned embodiments can be appropriately combined and replaced with each other.

In the above, although the embodiments and specific embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention. within the scope defined by the appended claims.

Claims (14)

1. A gate system, comprising: at least one gate; Lidar to detect people or objects in predetermined areas inside and outside the gate; The control unit controls the closing of the gate based on the detection information of the lidar. 2. The gate system according to claim 1, characterized in that, Including the gate body, The gate is installed on the gate body, The lidar is located directly below or directly above the position of the gate body where the first gate is installed. 3. The gate system according to claim 1, wherein, The control unit judges whether there is a person or an object in the predetermined area inside and outside the gate based on the detection information of the lidar, and controls whether the gate is closed according to the result of the judgment, When the gate is open, the control unit controls the gate to close only when it is determined based on the detection information of the lidar that there is no person or object in the predetermined area inside and outside the gate. 4. The gate system according to claim 1, wherein, The control unit judges whether there are people in the predetermined area inside and outside the gate according to the detection information of the lidar, And when it is determined that there are people in the predetermined area inside and outside the gate, it is determined that someone is following. 5. The gate system according to claim 2, wherein, Also includes a trailing detection unit, The trailing detection unit includes a first detection unit and a second detection unit, The first detection unit is arranged on the upper part of the gate body outside the first gate, The second detection unit is arranged at the lower part of the gate body outside the first gate, The first detection unit and the second detection unit are located in the same plane perpendicular to the ground, The trailing detection unit sends a detection signal to the control unit, The control unit determines whether someone is following based on the detection signal of the trailing detection unit and the detection information of the lidar. 6. The gate system according to claim 4 or 5, characterized in that, Also includes an alarm unit, When it is determined that someone is tailing, the control unit controls the alarm unit to output an alarm signal. 7. The gate system according to any one of claims 1 to 5, wherein, The gate includes a first gate and a second gate, The predetermined area includes: a first predetermined area outside the first gate; a part between the first gate and the second gate, and a second gate connected to the first gate. a predetermined area; a third predetermined area including the entire area between the first gate and the second gate; including the entire area between the first gate and the second gate and the second the fourth predetermined area of the partial area outside the gate, the lidar detects the first predetermined area, the second predetermined area, the third predetermined area and the fourth predetermined area, The control unit controls the closing of the first gate and the closing of the second gate based on the detection information of the first to fourth predetermined areas by the lidar. 8. The gate system according to claim 7, wherein, In a state where the first gate is open, the control unit, based on the detection information, controls to control all the objects in the first predetermined area and the second predetermined area when it is determined that there is no person or object in the first predetermined area and the second predetermined area. The first gate is closed; When the second gate is open, the control unit performs control to close the second gate when it is determined that there is no person or object in the fourth predetermined area based on the detection information. 9. A control method for a gate system, characterized in that, The gate system includes at least one gate, a lidar and a control unit, The control method includes: In the detection step, the lidar performs person or object detection on the predetermined area inside and outside the gate; The control step is to control the closing of the gate based on the detection information of the lidar. 10. The control method of the gate system according to claim 9, wherein, In the control step, based on the detection information of the lidar, it is judged whether there is a person or an object in the predetermined area inside and outside the gate, and whether the gate is closed is controlled according to the result of the judgment, When the gate is open, the control unit controls the gate to close only when it is determined based on the detection information of the lidar that there is no person or object in the predetermined area inside and outside the gate. 11. The control method of the gate system according to claim 9, wherein, In the control step, according to the detection information of the lidar, it is judged whether there are people in the predetermined area inside and outside the gate, And when it is determined that there are people in the predetermined area inside and outside the gate, it is determined that someone is following. 12. The control method of the gate system according to claim 9, wherein, The gate system further includes a trailing detection unit and a gate body on which the gate is installed, The trailing detection unit includes a first detection unit and a second detection unit, The first detection unit is arranged on the upper part of the gate body outside the first gate, The second detection unit is arranged at the lower part of the gate body outside the first gate, The first detection unit and the second detection unit are located in the same plane perpendicular to the ground, The control method also includes the following steps: The trailing detection unit sends a detection signal to the control unit, The control unit determines whether someone is following based on the detection signal of the trailing detection unit and the detection information of the lidar. 13. The control method of the gate system according to claim 9, wherein, The gate includes a first gate and a second gate, The predetermined area includes: a first predetermined area outside the first gate; a part between the first gate and the second gate, and a second gate connected to the first gate. a predetermined area; a third predetermined area including the entire area between the first gate and the second gate; including the entire area between the first gate and the second gate and the second the fourth predetermined area of the partial area outside the gate, In the detection step, the lidar detects the first predetermined area, the second predetermined area, the third predetermined area and the fourth predetermined area, In the control step, the control unit controls the closing of the first gate and the closing of the second gate based on the detection information of the first to fourth predetermined areas by the lidar. 14. The control method of the gate system according to claim 13, wherein, In the control step, In a state where the first gate is open, the control unit, based on the detection information, controls to control all the objects in the first predetermined area and the second predetermined area when it is determined that there is no person or object in the first predetermined area and the second predetermined area. The first gate is closed; When the second gate is open, the control unit performs control to close the second gate when it is determined that there is no person or object in the fourth predetermined area based on the detection information.

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