CN104071681B - A kind of escalator stop parameter detection method - Google Patents

A kind of escalator stop parameter detection method Download PDF

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CN104071681B
CN104071681B CN201410276249.5A CN201410276249A CN104071681B CN 104071681 B CN104071681 B CN 104071681B CN 201410276249 A CN201410276249 A CN 201410276249A CN 104071681 B CN104071681 B CN 104071681B
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escalator
distance
distance measuring
reference point
real
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CN104071681A (en
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王新华
武星军
谢超
林创鲁
刘英杰
李刚
周赟
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Guangzhou Academy of Special Equipment Inspection and Testing
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Guangzhou Academy of Special Equipment Inspection and Testing
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Abstract

The invention discloses a kind of escalator stop parameter detection method, comprise: be arranged on the step pedal of escalator one end station with reference to point, and array distance measuring sensor is arranged near another end station of escalator, make array distance measuring sensor towards reference point simultaneously; Gather the initial distance of array distance measuring sensor and reference point; Start escalator, make escalator toward array distance measuring sensor direction uniform movement, when escalator reaches command speed, braking escalator, simultaneously in the whole motion process of escalator, gather the real-time distance of array distance measuring sensor and reference point; According to initial distance and the real-time distance of array distance measuring sensor and reference point, calculate escalator by braking to stop parameters such as braking distance during end of braking, stop times.This method survey precision is high, and degree of automation is high, measuring speed fast, can be widely used in escalator stop Performance Detection field.

Description

A kind of escalator stop parameter detection method
Technical field
The present invention relates to escalator braking distance detection field, particularly relate to a kind of escalator stop parameter detection method.
Background technology
Along with the development of society and science and technology, the application of escalator is more and more extensive, and in supermarket, market, subway station, the place such as overline bridge all can use escalator, and along with the popularization of escalator application, escalator safety problem is also more and more important.Escalator braking distance refer to escalator from braking to the move distance stopped completely, the detection of escalator braking distance is also a pith in escalator safety, braking distance is excessive, then show that escalator braking force is too small, can not reliable stop, braking distance is too small, then show that in escalator braking procedure, deceleration/decel is excessive, easily causes passenger to fall down.There are three kinds to the method that escalator braking distance detects at present: one, the mensuration of manual measurement or subjective judgement, press the scram button of escalator during stop, then make marks on the comb of escalator, thus measure braking distance.These class methods are affected by human factors greatly, and different survey crews, different Measuring Time all will affect result of a measurement, and survey precision is not high, degree of automation is low.Two, existing vibration of elevator analyser on market is adopted to measure the braking distance of escalator, the step of braking distance when the method measurement escalator is unloaded is as follows: counterweight brake load be arranged on step, and allow counterweight as far as possible near escalator top; Load onto acceleration module, start the measurement of braking distance, while starting escalator, the roller of speed measuring module is placed on just in comb step out or on handrail, and held stationary as far as possible, when escalator operation is to command speed, click the scram button on skirt panel with the button on remote switch, such vibration of elevator instrument will record speed signal when escalator stops.After data logging terminates, by data importing computer, with the supporting analysis tool of vibration gauge to data analysis, displacement is obtained to the rate integrating recorded, then acceleration/accel is obtained to velocity differentials, therefore can record braking distance and the stop acceleration/accel of escalator.This method uses roller to measure, and staff holds roller against on step or handrail always, very tight due to what can not paste, can not be very loose, shake or the dynamics that therefore can there is hand are not of uniform size, bring error to the measurement of rotating speed, thus cause braking distance to be measured inaccurate.Three, 3-axis acceleration sensor method of measurement is adopted.Such as application number is 201210366991.6, application name is called to be recorded in a kind of method of accurate Quick Measurement escalator braking distance and the Chinese patent open file of device, detecting device comprises elevator performance analyser and communicates with Remote triggering switch and the three-axis acceleration sensor of connection respectively, the mode of Remote triggering switch employing prolongation control line or infrared radio Long-distance Control realizes the remote control to escalator performance analysis instrument, by the filtering to acceleration pick-up, integration, quadratic integral obtains real-time speed and the braking distance of staircase.There is accumulated error and be subject to step vibrations impact and cause survey precision low in this method, needs to judge whether staircase reaches command speed and manual activation just can enter stopping distance measuring process, be subject to man's activity in stopping distance testing process.
Generally speaking, at present artificial participation is generally needed to the isoparametric detection of escalator braking distance, participate in bringing various error because artificial, cannot start to brake the final parameter such as correct time, braking mean deceleration stopped by Measurement accuracy escalator, escalator stop parameter cannot be obtained comprehensively, and degree of automation is low, survey precision is low, and cannot realize quick detection.
Summary of the invention
In order to solve above-mentioned technical matters, the object of this invention is to provide a kind of escalator stop parameter detection method.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of escalator stop parameter detection method, comprising:
S1, to be arranged on the step pedal near escalator one end station with reference to point, and array distance measuring sensor to be arranged near another end station of escalator, make array distance measuring sensor towards reference point simultaneously;
The initial distance L of S2, collection array distance measuring sensor and reference point 0;
S3, startup escalator, make escalator toward array distance measuring sensor direction uniform movement, when escalator reaches command speed, braking escalator, simultaneously in the whole motion process of escalator, gather the real-time distance L (t) of array distance measuring sensor and reference point;
S4, initial distance L according to array distance measuring sensor and reference point 0with real-time distance L (t), calculate escalator by brake to braking distance S during end of braking bD, stop time T bD, stop maximum deceleration a max, stop minimum deceleration degree a minwith stop process average deceleration/decel a aVG.
Further, described array distance measuring sensor comprises 3 distance measuring sensors, and described 3 distance measuring sensors form equilateral triangle, and the distance between any two distance measuring sensors is d, and the initial distance of described array distance measuring sensor and reference point comprises a 0, b 0, c 0, and a 0, b 0, c 0represent the initial distance of 3 distance measuring sensors and reference point respectively, the real-time distance L (t) of described array distance measuring sensor and reference point comprises a t, b t, c t, and a t, b t, c trepresent the real-time distance of 3 distance measuring sensors and reference point respectively.
Further, described step S4, comprising:
S41, sets up a 3 d space coordinate system, 3 distance measuring sensors are placed on the X-axis of three-dimensional system of coordinate, Y-axis and Z axis respectively, and the distance of 3 distance measuring sensors distance initial points is:
D = 2 2 d
S42, initial distance L according to array distance measuring sensor and reference point 0, obtain the initial coordinate of reference point at three-dimensional system of coordinate in conjunction with following formula:
X 0 = - 2 a 0 2 + 3 b 0 2 - c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D Y 0 = a 0 2 - c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D Z 0 = a 0 2 + 3 b 0 2 - 4 c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D
Wherein, X 0, Y 0, Z 0represent the initial coordinate of the X-axis of reference point in three-dimensional system of coordinate, Y-axis and Z axis respectively, a 0, b 0, c 0represent the initial distance of 3 distance measuring sensors and reference point respectively;
S43, real-time distance L (t) according to array distance measuring sensor and reference point, obtain the real-time coordinates of reference point at three-dimensional system of coordinate in conjunction with following formula:
X t = - 2 a t 2 + 3 b t 2 - c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D Y t = a t 2 - c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D Z t = a t 2 + 3 b t 2 - 4 c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D
Wherein, X t, Y t, Z trepresent the real-time coordinates of the X-axis of reference point in three-dimensional system of coordinate, Y-axis and Z axis respectively, a t, b t, c trepresent the real-time distance of 3 distance measuring sensors and reference point respectively;
S44, combine the reference point that obtains at the initial coordinate of three-dimensional system of coordinate and real-time coordinates, calculate real time kinematics distance s (t) obtaining escalator according to following formula:
S ( t ) = ( X 0 - X t ) 2 + ( Y 0 - Y t ) 2 + ( Z 0 - Z t ) 2
S45, obtain real time execution speed v (t) of escalator at motion process according to following formulae discovery:
v(t)=d(s(t))/dt
S46, to obtain the moment t that escalator starts to brake according to real time execution speed v (t) sB;
S47, to obtain real time execution speed v (t) be that the moment of 0 is as the moment t of escalator end of braking eB, the braking distance S of escalator is then calculated according to following formula bD, stop time T bD, stop process average deceleration/decel a aVGand the real-time deceleration/decel a of stop process t, then obtain real-time deceleration/decel a tmaxim as stop maximum deceleration a max, and obtain real-time deceleration/decel a tminimum value as stop minimum deceleration degree a min:
S BD = s ( t EB ) - s ( t SB ) T BD = t EB - t SB a AVG = - V R / T BD a t = dv ( t ) / dt
Wherein, s (t eB) represent escalator end of braking time move distance, s (t sB) represent that escalator starts the move distance braked, V rrepresent the command speed of escalator.
Further, described step S46, comprising:
S461, calculating real time execution speed v (t) the first probability density p (V in predetermined period Δ T r-Δ V < v (t) < V r+ Δ V), judge the first probability density p (V simultaneously r-Δ V < v (t) < V r+ Δ V) whether be greater than 0.8, if so, then calculate and obtain the average running speed v of escalator in predetermined period Δ T aVG;
Wherein, V rrepresent the command speed of escalator, Δ V represents the permissible variation of the command speed of escalator;
S462, calculating real time execution speed v (t) the second probability density p in predetermined period Δ T (v (t) < v aVG), judge the second probability density p (v (t) < v simultaneously aVG) whether be greater than 0.8, and if real time execution speed v (t) of the escalator in certain moment is less than average running speed v aVG, then this moment starts braking moment t as escalator is obtained sB;
Further, described reference point is adsorbed by magnetic support or fixture is fixed on the step pedal near escalator one end station.
Further, described distance measuring sensor adopts ultrasonic distance-measuring sensor, laser range sensor, infrared distance measuring sensor or radar sensor.
The invention has the beneficial effects as follows: a kind of escalator stop parameter detection method of the present invention, be arranged on the step pedal of escalator one end station with reference to point, and array distance measuring sensor is arranged near another end station of escalator, make array distance measuring sensor towards reference point simultaneously; Gather the initial distance of array distance measuring sensor and reference point; Start escalator, make escalator toward array distance measuring sensor direction uniform movement, when escalator reaches command speed, braking escalator, simultaneously in the whole motion process of escalator, gather the real-time distance of array distance measuring sensor and reference point; According to initial distance and the real-time distance of array distance measuring sensor and reference point, calculate escalator by braking to braking distance during end of braking, stop time, stop maximum deceleration, stop minimum deceleration degree and stop process average deceleration/decel.After this method installs reference point and array distance measuring sensor, without the need to human intervention, just automatically can test the stop parameter obtaining various escalator, avoid the error artificially measured and bring, survey precision is high, and degree of automation is high, measuring speed is fast.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the structural representation of the array distance measuring sensor adopted in specific embodiments of the invention;
Fig. 2 is the position relationship schematic diagram between array distance measuring sensor and reference point adopted in specific embodiments of the invention;
Fig. 3 is the schematic diagram in specific embodiments of the invention, the stop process of escalator being carried out to parameter detecting.
Detailed description of the invention
The invention provides a kind of escalator stop parameter detection method, comprising:
S1, to be arranged on the step pedal near escalator one end station with reference to point, and array distance measuring sensor to be arranged near another end station of escalator, make array distance measuring sensor towards reference point simultaneously;
The initial distance L of S2, collection array distance measuring sensor and reference point 0;
S3, startup escalator, make escalator toward array distance measuring sensor direction uniform movement, when escalator reaches command speed, braking escalator, simultaneously in the whole motion process of escalator, gather the real-time distance L (t) of array distance measuring sensor and reference point;
S4, initial distance L according to array distance measuring sensor and reference point 0with real-time distance L (t), calculate escalator by brake to braking distance S during end of braking bD, stop time T bD, stop maximum deceleration a max, stop minimum deceleration degree a minwith stop process average deceleration/decel a aVG.
Be further used as preferred embodiment, described array distance measuring sensor comprises 3 distance measuring sensors, described 3 distance measuring sensors form equilateral triangle, and the distance between any two distance measuring sensors is d, and the initial distance of described array distance measuring sensor and reference point comprises a 0, b 0, c 0, and a 0, b 0, c 0represent the initial distance of 3 distance measuring sensors and reference point respectively, the real-time distance L (t) of described array distance measuring sensor and reference point comprises a t, b t, c t, and a t, b t, c trepresent the real-time distance of 3 distance measuring sensors and reference point respectively.
Be further used as preferred embodiment, described step S4, comprising:
S41, sets up a 3 d space coordinate system, 3 distance measuring sensors are placed on the X-axis of three-dimensional system of coordinate, Y-axis and Z axis respectively, and the distance of 3 distance measuring sensors distance initial points is:
D = 2 2 d
S42, initial distance L according to array distance measuring sensor and reference point 0, obtain the initial coordinate of reference point at three-dimensional system of coordinate in conjunction with following formula:
X 0 = - 2 a 0 2 + 3 b 0 2 - c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D Y 0 = a 0 2 - c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D Z 0 = a 0 2 + 3 b 0 2 - 4 c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D
Wherein, X 0, Y 0, Z 0represent the initial coordinate of the X-axis of reference point in three-dimensional system of coordinate, Y-axis and Z axis respectively, a 0, b 0, c 0represent the initial distance of 3 distance measuring sensors and reference point respectively;
S43, real-time distance L (t) according to array distance measuring sensor and reference point, obtain the real-time coordinates of reference point at three-dimensional system of coordinate in conjunction with following formula:
X t = - 2 a t 2 + 3 b t 2 - c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D Y t = a t 2 - c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D Z t = a t 2 + 3 b t 2 - 4 c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D
Wherein, X t, Y t, Z trepresent the real-time coordinates of the X-axis of reference point in three-dimensional system of coordinate, Y-axis and Z axis respectively, a t, b t, c trepresent the real-time distance of 3 distance measuring sensors and reference point respectively;
S44, combine the reference point that obtains at the initial coordinate of three-dimensional system of coordinate and real-time coordinates, calculate real time kinematics distance s (t) obtaining escalator according to following formula:
S ( t ) = ( X 0 - X t ) 2 + ( Y 0 - Y t ) 2 + ( Z 0 - Z t ) 2
S45, obtain real time execution speed v (t) of escalator at motion process according to following formulae discovery:
v(t)=d(s(t))/dt
S46, to obtain the moment t that escalator starts to brake according to real time execution speed v (t) sB;
S47, to obtain real time execution speed v (t) be that the moment of 0 is as the moment t of escalator end of braking eB, the braking distance S of escalator is then calculated according to following formula bD, stop time T bD, stop process average deceleration/decel a aVGand the real-time deceleration/decel a of stop process t, then obtain real-time deceleration/decel a tmaxim as stop maximum deceleration a max, and obtain real-time deceleration/decel a tminimum value as stop minimum deceleration degree a min:
S BD = s ( t EB ) - s ( t SB ) T BD = t EB - t SB a AVG = - V R / T BD a t = dv ( t ) / dt
Wherein, s (t eB) represent escalator end of braking time move distance, s (t sB) represent that escalator starts the move distance braked, V rrepresent the command speed of escalator.
Be further used as preferred embodiment, described step S46, comprising:
S461, calculating real time execution speed v (t) the first probability density p (V in predetermined period Δ T r-Δ V < v (t) < V r+ Δ V), judge the first probability density p (V simultaneously r-Δ V < v (t) < V r+ Δ V) whether be greater than 0.8, if so, then calculate and obtain the average running speed v of escalator in predetermined period Δ T aVG;
Wherein, V rrepresent the command speed of escalator, Δ V represents the permissible variation of the command speed of escalator;
S462, calculating real time execution speed v (t) the second probability density p in predetermined period Δ T (v (t) < v aVG), judge the second probability density p (v (t) < v simultaneously aVG) whether be greater than 0.8, and if real time execution speed v (t) of the escalator in certain moment is less than average running speed v aVG, then this moment starts braking moment t as escalator is obtained sB;
Be further used as preferred embodiment, described reference point is adsorbed by magnetic support or fixture is fixed on the step pedal of escalator one end station.
Be further used as preferred embodiment, described distance measuring sensor adopts ultrasonic distance-measuring sensor, laser range sensor, infrared distance measuring sensor or radar sensor.
Below in conjunction with detailed description of the invention, the present invention will be further described.
Detecting device for auxiliary enforcement escalator of the present invention stop parameter detection method can have multiple, as long as technical scheme of the present invention can be realized, in escalator stop parameter detection method of the present invention, as long as the initial distance gathered between array distance measuring sensor and reference point is with real-time distance, namely obtain the escalator stop parameter such as braking distance, stop time by calculating.Distance measuring sensor can adopt the sensors such as ultrasonic distance-measuring sensor, laser range sensor, infrared distance measuring sensor or radar sensor.Detecting device can be connected with array distance measuring sensor by arranging a main control chip; thus distance between real-time reception array distance measuring sensor and reference point and carry out calculating obtain various stop parameter after be sent to the control center of detecting device; the control center that also directly the distance between array distance measuring sensor and reference point can be sent to detecting device carries out the calculating of stop parameter; no matter adopt which kind of embodiment; as long as apply escalator stop parameter detection method of the present invention, all drop in protection scope of the present invention.
Reference point is adsorbed by magnetic support or fixture is fixed on the step pedal near escalator one end station, and array distance measuring sensor to be arranged near another end station of escalator and to make array distance measuring sensor can test the real-time distance with reference point towards reference point.If escalator is up, then reference point is arranged on the step pedal of the lower end of escalator, near the end station that array distance measuring sensor is arranged on escalator upper end and towards reference point, if escalator is descending, then reference point is arranged on the step pedal of the upper end of escalator, near the end station that array distance measuring sensor is arranged on escalator lower end and towards reference point.
Below in conjunction with accompanying drawing 1 ~ 3, escalator stop parameter detection method of the present invention is described further:
A kind of escalator stop parameter detection method, comprising:
S1, to be arranged on the step pedal near escalator one end station with reference to point, and array distance measuring sensor to be arranged near another end station of escalator, make array distance measuring sensor towards reference point simultaneously;
Array distance measuring sensor comprises 3 distance measuring sensors, and 3 distance measuring sensors form equilateral triangle, and the distance between any two distance measuring sensors is d, and as shown in fig. 1, namely 3 distance measuring sensors circumferentially evenly divide in direction.
The initial distance L of S2, collection array distance measuring sensor and reference point 0;
L 0comprise a 0, b 0, c 0, a 0, b 0, c 0represent the initial distance of 3 distance measuring sensors and reference point respectively.
S3, startup escalator, make escalator toward array distance measuring sensor direction uniform movement, when escalator reaches command speed, braking escalator, simultaneously in the whole motion process of escalator, gather the real-time distance L (t) of array distance measuring sensor and reference point;
L (t) comprises a t, b t, c t, a t, b t, c trepresent the real-time distance of 3 distance measuring sensors and reference point respectively.
In this step, judge whether escalator reaches command speed, need the real-time speed gathering escalator, the real-time speed of escalator can be gathered by setting special speed sensor, also can obtain the real-time speed of escalator in conjunction with the method for real time execution speed v (t) of calculating escalator in braking procedure in following step S4.
S4, initial distance L according to array distance measuring sensor and reference point 0with real-time distance L (t), calculate escalator by brake to braking distance S during end of braking bD, stop time T bD, stop maximum deceleration a max, stop minimum deceleration degree a minwith stop process average deceleration/decel a aVG, specifically comprise:
Comprise:
S41, sets up a 3 d space coordinate system, 3 distance measuring sensors are placed on the X-axis of three-dimensional system of coordinate, Y-axis and Z axis respectively, and the distance of 3 distance measuring sensors distance initial points is:
D = 2 2 d
S42, initial distance L according to array distance measuring sensor and reference point 0, obtain the initial coordinate of reference point at three-dimensional system of coordinate in conjunction with following formula:
X 0 = - 2 a 0 2 + 3 b 0 2 - c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D Y 0 = a 0 2 - c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D Z 0 = a 0 2 + 3 b 0 2 - 4 c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D
Wherein, X 0, Y 0, Z 0represent the initial coordinate of the X-axis of reference point in three-dimensional system of coordinate, Y-axis and Z axis respectively, a 0, b 0, c 0represent the initial distance of 3 distance measuring sensors and reference point respectively;
Simply introduce the derivation of above formula below:
With reference to shown in Fig. 2, according to being followed successively by the three-dimensional coordinate of known 3 distance measuring sensors of description of the relation of 3 distance measuring sensors and three-dimensional system of coordinate above: Ex (D, 0,0), Ey (0, D, 0) and Ez (0,0, D), the initial coordinate of reference point in three-dimensional system of coordinate is (X 0, Y 0, Z 0), what 3 distance measuring sensors on X-axis, Y-axis and Z axis recorded is followed successively by a with the initial distance of reference point 0, b 0, c 0, then composition graphs 2 can obtain following formula:
Distance measuring sensor Ex (D, 0,0) in the X-axis of three-dimensional system of coordinate to (X 0, Y 0, Z 0) distance be:
a 0 2 ( X 0 - D ) 2 + Y 0 2 + Z 0 2
Distance measuring sensor Ey (0, D, 0) in the Y-axis of three-dimensional system of coordinate to (X 0, Y 0, Z 0) distance be:
b 0 2 = X 0 2 + ( Y 0 - D ) 2 + Z 0 2
Distance measuring sensor Ez (0,0, D) on the Z axis of three-dimensional system of coordinate to (X 0, Y 0, Z 0) distance be:
c 0 2 = X 0 2 + Y 0 2 + ( Z 0 - D ) 2
According to these 3 range formulas, can obtain:
X 0 = Y 0 - a 0 2 - b 0 2 2 D Z 0 = Y 0 + b 0 2 - c 0 2 2 D
Above formula is substituted into formula b 0 2 = X 0 2 + ( Y 0 - D ) 2 + Z 0 2 In, obtain:
3 Y 0 2 - a 0 2 - c 0 2 + 2 D 2 D Y 0 + a 0 4 - 2 a 0 2 b 0 2 + 2 b 0 4 - 2 b 0 2 c 0 2 + c 0 4 4 D 2 - b 0 2 + D 2 = 0
Therefore radical formula is adopted can to obtain reference point as follows in the initial coordinate of three-dimensional system of coordinate:
X 0 = - 2 a 0 2 + 3 b 0 2 - c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D Y 0 = a 0 2 - c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D Z 0 = a 0 2 + 3 b 0 2 - 4 c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D
Because a 0, b 0, c 0be the initial distance that 3 distance measuring sensors record, D is known quantity, so the initial distance that can record in conjunction with 3 distance measuring sensors according to above formula calculates obtain the initial coordinate of reference point at three-dimensional system of coordinate.
S43, real-time distance L (t) according to array distance measuring sensor and reference point, obtain the real-time coordinates of reference point at three-dimensional system of coordinate in conjunction with following formula:
X t = - 2 a t 2 + 3 b t 2 - c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D Y t = a t 2 - c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D Z t = a t 2 + 3 b t 2 - 4 c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D
Wherein, X t, Y t, Z trepresent the real-time coordinates of the X-axis of reference point in three-dimensional system of coordinate, Y-axis and Z axis respectively, a t, b t, c trepresent the real-time distance of 3 distance measuring sensors and reference point respectively;
X t, Y t, Z twith a t, b t, c trelation can refer to Fig. 2, it specifically calculates derivation and can refer to step S42, directly by the X in step S42 0, Y 0, Z 0replace with X respectively t, Y t, Z tits computing formula can be obtained.
S44, with reference to Fig. 2, combine the reference point that obtains at the initial coordinate of three-dimensional system of coordinate and real-time coordinates, calculate real time kinematics distance s (t) of acquisition escalator according to following formula:
S ( t ) = ( X 0 - X t ) 2 + ( Y 0 - Y t ) 2 + ( Z 0 - Z t ) 2
S45, obtain real time execution speed v (t) of escalator at motion process according to following formulae discovery:
v(t)=d(s(t))/dt
S46, to obtain the moment t that escalator starts to brake according to real time execution speed v (t) sB, comprising:
S461, calculating real time execution speed v (t) the first probability density p (V in predetermined period Δ T r-Δ V < v (t) < V r+ Δ V), judge the first probability density p (V simultaneously r-Δ V < v (t) < V r+ Δ V) whether be greater than 0.8, if so, then calculate and obtain the average running speed v of escalator in predetermined period Δ T aVG;
Wherein, V rrepresent the command speed of escalator, Δ V represents the permissible variation of the command speed of escalator;
S462, calculating real time execution speed v (t) the second probability density p in predetermined period Δ T (v (t) < v aVG), judge the second probability density p (v (t) < v simultaneously aVG) whether be greater than 0.8, and if real time execution speed v (t) of the escalator in certain moment is less than average running speed v aVG, then this moment starts braking moment t as escalator is obtained sB;
S47, to obtain real time execution speed v (t) be that the moment of 0 is as the moment t of escalator end of braking eB, the braking distance S of escalator is then calculated according to following formula bD, stop time T bD, stop process average deceleration/decel a aVGand the real-time deceleration/decel a of stop process t, then obtain real-time deceleration/decel a tmaxim as stop maximum deceleration a max, and obtain real-time deceleration/decel a tminimum value as stop minimum deceleration degree a min:
S BD = s ( t EB ) - s ( t SB ) T BD = t EB - t SB a AVG = - V R / T BD a t = dv ( t ) / dt
Wherein, s (t eB) represent escalator end of braking time move distance, s (t sB) represent that escalator starts the move distance braked, V rrepresent the command speed of escalator.
Fig. 3 is the schematic diagram in the present embodiment, the stop process of escalator being carried out to parameter detecting, after installing reference point, measures the initial distance a of array distance measuring sensor and reference point 0, b 0, c 0, then can obtain the coordinate A of reference point at initial position by the formulae discovery in composition graphs 2 and step S42 0(X 0, Y 0, Z 0), if detect, the real-time coordinates of moment reference point that escalator starts to brake is A 1(X 1, Y 1, Z 1), the real-time coordinates of the moment reference point of end of braking is A 2(X 2, Y 2, Z 2), then braking distance is A 2with A 1between distance, specific in step S47, escalator start brake moment be t sB, the moment of end of braking is t eB, therefore braking distance S bDfor the move distance s (t of the reference point in these two moment eB) and s (t sB) difference.
The computation process related in this method can realize by adopting the chip such as micro controller system, FPGA, and compare manual testing and calculate, its computation speed is fast, greatly increases the detection speed of escalator stop parameter.As long as this method installs reference point with after array distance measuring sensor, just automatically can measure and calculate the various stop parameters obtaining escalator, avoid the artificial error measured relevant stop parameter and bring, and compare and adopt 3-axis acceleration sensor to carry out the method measured, there are not cumulative errors, the stop parameter recorded is more accurate.
More than that better enforcement of the present invention is illustrated, but the invention is not limited to above embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent modification or replacement are all included in the application's claim limited range.

Claims (6)

1. an escalator stop parameter detection method, is characterized in that, comprising:
S1, to be arranged on the step pedal near escalator one end station with reference to point, and array distance measuring sensor to be arranged near another end station of escalator, make array distance measuring sensor towards reference point simultaneously;
The initial distance L of S2, collection array distance measuring sensor and reference point 0;
S3, startup escalator, make escalator toward array distance measuring sensor direction uniform movement, when escalator reaches command speed, braking escalator, simultaneously in the whole motion process of escalator, gather the real-time distance L (t) of array distance measuring sensor and reference point;
S4, initial distance L according to array distance measuring sensor and reference point 0with real-time distance L (t), calculate escalator by brake to braking distance S during end of braking bD, stop time T bD, stop maximum deceleration a max, stop minimum deceleration degree a minwith stop process average deceleration/decel a aVG.
2. a kind of escalator stop parameter detection method according to claim 1, it is characterized in that, described array distance measuring sensor comprises 3 distance measuring sensors, described 3 distance measuring sensors form equilateral triangle, distance between any two distance measuring sensors is d, and the initial distance of described array distance measuring sensor and reference point comprises a 0, b 0, c 0, and a 0, b 0, c 0represent the initial distance of 3 distance measuring sensors and reference point respectively, the real-time distance L (t) of described array distance measuring sensor and reference point comprises a t, b t, c t, and a t, b t, c trepresent the real-time distance of 3 distance measuring sensors and reference point respectively.
3. a kind of escalator stop parameter detection method according to claim 2, it is characterized in that, described step S4, comprising:
S41, sets up a 3 d space coordinate system, 3 distance measuring sensors are placed on the X-axis of three-dimensional system of coordinate, Y-axis and Z axis respectively, and the distance of 3 distance measuring sensors distance initial points is:
D = 2 2 d
S42, initial distance L according to array distance measuring sensor and reference point 0, obtain the initial coordinate of reference point at three-dimensional system of coordinate in conjunction with following formula:
X 0 = - 2 a 0 2 + 3 b 0 2 - c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D Y 0 = a 0 2 - c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D Z 0 = a 0 2 + 3 b 0 2 - 4 c 0 2 + 2 D 2 + - 2 ( a 0 4 + a 0 2 c 0 2 + c 0 4 - 3 a 0 2 b 0 2 - 3 b 0 2 c 0 2 - 3 b 0 4 ) + 4 ( a 0 2 - c 0 2 + 3 b 0 2 - 2 D 2 ) D 2 6 D
Wherein, X 0, Y 0, Z 0represent the initial coordinate of the X-axis of reference point in three-dimensional system of coordinate, Y-axis and Z axis respectively, a 0, b 0, c 0represent the initial distance of 3 distance measuring sensors and reference point respectively;
S43, real-time distance L (t) according to array distance measuring sensor and reference point, obtain the real-time coordinates of reference point at three-dimensional system of coordinate in conjunction with following formula:
X t = - 2 a t 2 + 3 b t 2 - c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D Y t = a t 2 - c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D Z t = a t 2 + 3 b t 2 - 4 c t 2 + 2 D 2 + - 2 ( a t 4 + a t 2 c t 2 + c t 4 - 3 a t 2 b t 2 - 3 b t 2 c t 2 - 3 b t 4 ) + 4 ( a t 2 - c t 2 + 3 b t 2 - 2 D 2 ) D 2 6 D
Wherein, X t, Y t, Z trepresent the real-time coordinates of the X-axis of reference point in three-dimensional system of coordinate, Y-axis and Z axis respectively, a t, b t, c trepresent the real-time distance of 3 distance measuring sensors and reference point respectively;
S44, combine the reference point that obtains at the initial coordinate of three-dimensional system of coordinate and real-time coordinates, calculate real time kinematics distance s (t) obtaining escalator according to following formula:
s ( t ) = ( X 0 - X t ) 2 + ( Y 0 - Y t ) 2 + ( Z 0 - Z t ) 2
S45, obtain real time execution speed v (t) of escalator at motion process according to following formulae discovery:
v(t)=d(s(t))/dt
S46, to obtain the moment t that escalator starts to brake according to real time execution speed v (t) sB;
S47, to obtain real time execution speed v (t) be that the moment of 0 is as the moment t of escalator end of braking eB, the braking distance S of escalator is then calculated according to following formula bD, stop time T bD, stop process average deceleration/decel a aVGand the real-time deceleration/decel a of stop process t, then obtain real-time deceleration/decel a tmaxim as stop maximum deceleration a max, and obtain real-time deceleration/decel a tminimum value as stop minimum deceleration degree a min:
S B D = s ( t E B ) - s ( t S B ) T B D = t E B - t S B a A V G = - V R / T B D a t = d v ( t ) / d t
Wherein, s (t eB) represent escalator end of braking time move distance, s (t sB) represent that escalator starts the move distance braked, V rrepresent the command speed of escalator.
4. a kind of escalator stop parameter detection method according to claim 3, it is characterized in that, described step S46, comprising:
S461, calculating real time execution speed v (t) the first probability density p (V in predetermined period △ T r-△ V<v (t) <V r+ △ V), judge the first probability density p (V simultaneously r-△ V<v (t) <V r+ △ V) whether be greater than 0.8, if so, then calculate and obtain the average running speed v of escalator in predetermined period △ T aVG;
Wherein, V rrepresent the command speed of escalator, △ V represents the permissible variation of the command speed of escalator;
S462, calculating real time execution speed v (t) the second probability density p (v (t) <v in predetermined period △ T aVG), judge the second probability density p (v (t) <v simultaneously aVG) whether be greater than 0.8, and if real time execution speed v (t) of the escalator in certain moment is less than average running speed v aVG, then this moment starts braking moment t as escalator is obtained sB.
5. a kind of escalator stop parameter detection method according to claim 2, is characterized in that, described reference point is adsorbed by magnetic support or fixture is fixed on the step pedal of escalator one end station.
6. a kind of escalator stop parameter detection method according to claim 2, is characterized in that, described distance measuring sensor adopts ultrasonic distance-measuring sensor, laser range sensor, infrared distance measuring sensor or radar sensor.
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