CN107032223A - The self-start method and its self-starting device of a kind of staircase - Google Patents
The self-start method and its self-starting device of a kind of staircase Download PDFInfo
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- CN107032223A CN107032223A CN201710308237.XA CN201710308237A CN107032223A CN 107032223 A CN107032223 A CN 107032223A CN 201710308237 A CN201710308237 A CN 201710308237A CN 107032223 A CN107032223 A CN 107032223A
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- staircase
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- frame image
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B25/00—Control of escalators or moving walkways
- B66B25/003—Methods or algorithms therefor
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- Escalators And Moving Walkways (AREA)
Abstract
The invention discloses a kind of self-start method of staircase and its self-starting device, method includes：In timing then, the image on collection staircase entrance front ground；The current frame image of collection and the previous frame image of collection are subjected to difference computing, determine whether that control staircase constant speed is run according to operation result.Because the present invention is by judging the change of the image on ground in front of staircase entrance, the constant speed operation of control staircase is determined whether using the difference operation result between front and rear two field pictures, to realize staircase self-starting function, it is more reliable, more accurate to the booting-self controller of staircase to be monitored compared to prior art.
Description
Technical field
The present invention relates to escalator field, the self-start method and its self-starting device of more particularly to a kind of staircase.
Background technology
Staircase is more and more appeared in numerous public buildings as a kind of easily means of transportation.At present
Some escalators still using the working method directly initiated, are run, this will cause staircase no matter whetheing there is passenger with constant speed
Energy consumption is big, mechanical wear is serious, the low problem of service life.Staircase belongs to load factor very low equipment, efficiently reduces staircase
Lost motion, energy-conservation, reduction mechanical loss, extension staircase service life in terms of have good economic benefit.In zero load,
The operation of staircase low speed is even out of service；When there is load, the operation of staircase constant speed, this effective side for reducing staircase lost motion
Formula is staircase self-starting.
In the prior art, realizing the method for staircase self-starting has：First, photoelectric sensor is arranged on immediately ahead of staircase entrance
On two stainless steel columns at about 1.5 meters, when having passenger from when being passed through between column, staircase self-starting function is opened, but such a
If passenger does not pass through between column in method, staircase can not realize self-starting function；2nd, photoelectricity is installed in staircase porch
Reflective sensor is detected that this method has dead angle test leakage, or runs into meeting failure when passenger wears black trousers.
Therefore, more structurally sound staircase self-start method how is realized, is those skilled in the art's technology urgently to be resolved hurrily
Problem.
The content of the invention
It is an object of the invention to provide a kind of self-start method of staircase, it is possible to achieve staircase self-starting function, compared to
Prior art monitoring is more reliable.
It is a further object of the present invention to provide a kind of self-starting device of staircase, it is possible to achieve staircase self-starting function, phase
Monitored compared with prior art more reliable.
In order to solve the above technical problems, the present invention provides a kind of self-start method of staircase, including：
In timing then, the image on ground in front of the staircase entrance is gathered；
The current frame image of collection and the previous frame image of collection are subjected to difference computing, determined whether according to operation result
The staircase constant speed is controlled to run.
Preferably, in the self-start method of above-mentioned staircase provided in an embodiment of the present invention, the present frame by collection
Image and the previous frame image of collection carry out difference computing, are determined whether to control the staircase constant speed to run according to operation result,
Specifically include：
Calculate the mass discrepancy value of the current frame image and the previous frame image of collection of collection；
If the mass discrepancy value is more than threshold value, the staircase constant speed is controlled to run；
If the mass discrepancy value is less than or equal to the threshold value, the staircase low speed is controlled to run or out of service.
Preferably, in the self-start method of above-mentioned staircase provided in an embodiment of the present invention, according to following calculation formula meter
Calculate the mass discrepancy value of the current frame image and the previous frame image of collection of collection：
Wherein, Δ M represents the mass discrepancy value；N represents the pixel number that a two field picture is included；ma1i、ma2i、ma3iPoint
Ith pixel point red, green, blue component in the current frame image is not represented；mb1i、mb2i、mb3iThe current frame image is represented respectively
Previous image in ith pixel point red, green, blue component.
Preferably, in the self-start method of above-mentioned staircase provided in an embodiment of the present invention, in addition to：If lasting pre-
If in the period, the current frame image and the mass discrepancy value of previous frame image gathered every time is less than or equal to the threshold value,
The staircase low speed is then controlled to run or out of service.
Preferably, in the self-start method of above-mentioned staircase provided in an embodiment of the present invention, to enter installed in the staircase
The camera below handrail at mouthful, gathers the image on ground in front of the staircase entrance.
The embodiment of the present invention additionally provides a kind of self-starting device of staircase, including：
Acquisition module, for then, gathering the image on ground in front of the staircase entrance in timing；
Judge module, for the current frame image of collection and the previous frame image of collection to be carried out into difference computing, according to fortune
Result is calculated to determine whether to control the staircase constant speed to run.
Preferably, in the self-starting device of above-mentioned staircase provided in an embodiment of the present invention, judge module is specifically included：
Computing unit, the mass discrepancy value of current frame image and the previous frame image of collection for calculating collection；
Control unit, if being more than threshold value for the mass discrepancy value, controls the staircase constant speed to run, if the matter
Measure difference value and be less than or equal to the threshold value, then control the staircase low speed to run or out of service.
Preferably, in the self-starting device of above-mentioned staircase provided in an embodiment of the present invention, described control unit is additionally operable to：
If in lasting preset time period, the current frame image and the mass discrepancy value of previous frame image gathered every time is less than etc.
In the threshold value, then the staircase low speed is controlled to run or out of service.
Preferably, in the self-starting device of above-mentioned staircase provided in an embodiment of the present invention, the acquisition module includes peace
Camera below the handrail of the staircase porch, for gathering the image on ground in front of the staircase entrance.
Preferably, it is left in the staircase porch in the self-starting device of above-mentioned staircase provided in an embodiment of the present invention
The self-starting device is respectively mounted below the handrail on side and right side.
The self-start method and its self-starting device of a kind of staircase provided by the present invention, in timing then, collection
The image on ground in front of staircase entrance；The current frame image of collection and the previous frame image of collection are subjected to difference computing afterwards,
The constant speed operation of control staircase is determined whether according to operation result.Because the present invention is by judging the image on ground in front of staircase entrance
Change, control staircase constant speed operation is determined whether using the difference operation result between front and rear two field pictures, is helped with realizing
Terraced self-starting function, it is more reliable, more accurate to the booting-self controller of staircase to be monitored compared to prior art.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the self-start method flow chart of staircase provided in an embodiment of the present invention；
Fig. 2 is one of self-start method particular flow sheet of staircase provided in an embodiment of the present invention；
Fig. 3 is the two of the self-start method particular flow sheet of staircase provided in an embodiment of the present invention；
Fig. 4 is the structural representation of staircase provided in an embodiment of the present invention；
Fig. 5 is the top view of staircase provided in an embodiment of the present invention；
Fig. 6 is the self-starting device structure chart of staircase provided in an embodiment of the present invention；
Fig. 7 is the self-starting device concrete structure diagram of staircase provided in an embodiment of the present invention.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described implementation
Example only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
Wherein, the size and shape of each structure does not reflect the actual proportions of staircase in accompanying drawing, and purpose is schematically illustrate
The content of the invention.
The present invention provides a kind of self-start method of staircase, as shown in figure 1, comprising the following steps：
S101, in timing then, the image on ground in front of collection staircase entrance；
In this method, the image on ground in front of staircase entrance is then gathered in timing, i.e., is arrived in each timing
When gather an image, such as every 0.02s gather a two field picture.
S102, by the current frame image of collection with collection previous frame image carry out difference computing, it is true according to operation result
It is fixed whether to control staircase constant speed to run.
After one two field picture of collection every time, the current frame image of collection and the previous frame image of collection are subjected to difference fortune
Calculate.
It should be noted that during unmanned seating staircase, ground image change is little in front of staircase entrance；Someone will take and help
When terraced, ground image is changed greatly in front of staircase entrance.This is highly useful information, is proposed and adopted based on this phenomenon present invention
Collect ground image in front of staircase entrance, elevator self-starting is realized according to the change of divergence between two field pictures information before and after judgement
Function.
In the self-start method of above-mentioned staircase provided in an embodiment of the present invention, collection staircase enters in timing then
The image on ground in front of mouthful；The current frame image of collection and the previous frame image of collection are subjected to difference computing afterwards, according to fortune
Calculate result and determine whether the constant speed operation of control staircase.Because the present invention is by judging the change of the image on ground in front of staircase entrance
Change, the constant speed operation of control staircase is determined whether using the difference operation result between front and rear two field pictures, to realize staircase certainly
Startup function, it is more reliable, more accurate to the booting-self controller of staircase to be monitored compared to prior art.
Further, in the specific implementation, in the self-start method of above-mentioned staircase provided in an embodiment of the present invention, step
The current frame image of collection and the previous frame image of collection are carried out difference computing by S102, and control is determined whether according to operation result
Staircase constant speed is run, as shown in Fig. 2 specifically including：
S201, the current frame image and the previous frame image of collection for calculating collection mass discrepancy value；
S202, mass discrepancy value and threshold value be compared, judge whether mass discrepancy value is more than threshold value；
If it is not, then performing step S203；
S203, the low speed operation or out of service of control staircase；
If so, then performing step S204；
S204, the constant speed operation of control staircase.
In the specific implementation, in the self-start method of above-mentioned staircase provided in an embodiment of the present invention, calculated according to following
Formula calculates the mass discrepancy value of the current frame image and the previous frame image of collection of collection：
Wherein, Δ M represents mass discrepancy value；N represents the pixel number that a two field picture is included；ma1i、ma2i、ma3iDifference table
Show ith pixel point red, green, blue component in current frame image；mb1i、mb2i、mb3iThe previous frame image of current frame image is represented respectively
Middle ith pixel point red, green, blue component.
It should be noted that above-mentioned mass discrepancy algorithm can be real if only needing to common single-chip microcomputer (such as STM32F103)
It is existing, with the response time is fast, cost is low, advantages of simple structure and simple, microcomputer is needed and multiple different from conventional image processing algorithm
Miscellaneous operating system is realized.And compared mass discrepancy value with threshold value by single-chip microcomputer, according to comparative result directly to for controlling
The relay of staircase operation processed sends signal.
Further, in the specific implementation, in the self-start method of above-mentioned staircase provided in an embodiment of the present invention, if matter
Measure difference value and be more than threshold value, after the operation of staircase constant speed, as shown in figure 3, also including：
S301, in lasting preset time period, judge the quality of the current frame image that gathers every time and previous frame image
Whether difference value is still greater than threshold value；
If it is not, then performing step S302；
S302, control staircase recover low speed operation or out of service；
If so, then continuing executing with step S204.
It should be noted that lasting preset time period can decide as circumstances require, and such as 60 seconds, if without super in 60 seconds
Go out threshold value, staircase will recover low speed operation or out of service.
In the specific implementation, in the self-start method of above-mentioned staircase provided in an embodiment of the present invention, with installed in staircase
The image on ground in front of camera below the handrail of porch, collection staircase entrance.That is, each frame image information
It is acquired by camera timing；The timing can be chosen for 0.02 second.
Further, camera can be arranged on the lower section of the handrail of at least one in staircase.As shown in Figure 4 and Figure 5, examine
The angle of visual field α for considering camera is 30 degree, and (position A and position B) respectively installs one below the handrail of left and right, it is ensured that nothing
Dead angle side leakage free.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of above-mentioned staircase provided in an embodiment of the present invention
Self-starting device, because the self-starting device of the staircase solves the principle and a kind of self-start method phase of foregoing staircase of problem
Seemingly, thus the self-starting device of the staircase implementation may refer to staircase self-start method implementation, repeat part no longer go to live in the household of one's in-laws on getting married
State.
In the specific implementation, the self-starting device of staircase provided in an embodiment of the present invention, as shown in fig. 6, including：
Acquisition module 10, for then, gathering the image on ground in front of staircase entrance in timing；
Control module 20, for the current frame image of collection and the previous frame image of collection to be carried out into difference computing, according to
Operation result determines whether the constant speed operation of control staircase.
In the self-starting device of above-mentioned staircase provided in an embodiment of the present invention, pass through acquisition module and the phase of control module
Interaction, can realize staircase self-starting work(by judging the change of divergence of the front and rear two field pictures on ground in front of staircase entrance
Can, monitoring is reliable, device is simple, be easily installed, cost is low.
Before the more specific course of work of self-starting device on above-mentioned modules and above-mentioned staircase may be referred to
The corresponding contents disclosed in embodiment are stated, are no longer repeated herein.
In the specific implementation, in above-mentioned self-starting device provided in an embodiment of the present invention, as shown in fig. 7, control module
20 specifically include：
Computing unit 21, the mass discrepancy value of current frame image and the previous frame image of collection for calculating collection；
Control unit 22, if being more than threshold value, control staircase constant speed operation, if mass discrepancy value is small for mass discrepancy value
In equal to threshold value, then the operation or out of service of staircase low speed is controlled.
In the specific implementation, in above-mentioned self-starting device provided in an embodiment of the present invention, control unit 22 is additionally operable to：If
In lasting preset time period, the current frame image and the mass discrepancy value of previous frame image gathered every time is less than or equal to threshold
Value, then control the operation or out of service of staircase low speed.
In the specific implementation, in above-mentioned self-starting device provided in an embodiment of the present invention, acquisition module 10 includes installing
Camera below the handrail of staircase porch, for gathering the image on ground in front of staircase entrance.
In the specific implementation, in above-mentioned self-starting device provided in an embodiment of the present invention, on the left of staircase porch and
Self-starting device is respectively mounted below the handrail on right side.Staircase operation can be controlled by least one self-starting device, i.e.,
The self-starting device of any side can be controlled to staircase operation.Such as, if the self-starting device of any side according to
The image monitoring on ground can control the operation of staircase constant speed to there is passenger, then in front of the staircase entrance of collection.
The control that staircase is run can be controlled by relay, such as control module is closed by control relay,
To control staircase constant speed to run；Control module is disconnected by control relay, to control staircase low speed to run or out of service.
The self-start method and its self-starting device of a kind of staircase provided in an embodiment of the present invention, method are included first fixed
When the time then, the image on ground in front of collection staircase entrance；Afterwards by the current frame image of collection and the former frame figure of collection
As carrying out difference computing, determine whether that control staircase constant speed is run according to operation result.Because the present invention is by judging that staircase enters
The change of the image on ground in front of mouthful, determines whether that control staircase is normal using the difference operation result between front and rear two field pictures
Speed operation, to realize staircase self-starting function, accuracy of judgement reliable compared to prior art detection, method are simple.It is of the invention real
A kind of self-starting device of staircase of example offer is provided, the device compared with it is simple, be easily installed, cost is low and detection is reliable.
The self-start method and its self-starting device of staircase provided by the present invention are described in detail above.Herein
In apply specific case the principle and embodiment of the present invention be set forth, the explanation of above example is only intended to side
The method and its core concept of the assistant solution present invention.It should be pointed out that for those skilled in the art, not
On the premise of departing from the principle of the invention, some improvement and modification can also be carried out to the present invention, these are improved and modification is also fallen into
In the protection domain of the claims in the present invention.
Claims (10)
1. a kind of self-start method of staircase, it is characterised in that including：
In timing then, the image on ground in front of the staircase entrance is gathered；
The current frame image of collection and the previous frame image of collection are subjected to difference computing, control is determined whether according to operation result
The staircase constant speed operation.
2. the self-start method of staircase according to claim 1, it is characterised in that the current frame image by collection with
The previous frame image of collection carries out difference computing, is determined whether to control the staircase constant speed to run according to operation result, specific bag
Include：
Calculate the mass discrepancy value of the current frame image and the previous frame image of collection of collection；
If the mass discrepancy value is more than threshold value, the staircase constant speed is controlled to run；
If the mass discrepancy value is less than or equal to the threshold value, the staircase low speed is controlled to run or out of service.
3. the self-start method of staircase according to claim 2, it is characterised in that calculated and gathered according to following calculation formula
Current frame image with collection previous frame image mass discrepancy value：
Wherein, Δ M represents the mass discrepancy value；N represents the pixel number that a two field picture is included；ma1i、ma2i、ma3iDifference table
Show ith pixel point red, green, blue component in the current frame image；mb1i、mb2i、mb3iRepresent respectively before the current frame image
Ith pixel point red, green, blue component in one two field picture.
4. the self-start method of staircase according to claim 2, it is characterised in that also include：If when lasting default
Between in section, the current frame image and the mass discrepancy value of previous frame image gathered every time is less than or equal to the threshold value, then controls
Make the staircase low speed operation or out of service.
5. the self-start method of the staircase according to claim any one of 1-4, it is characterised in that with installed in the staircase
Camera below the handrail of porch, gathers the image on ground in front of the staircase entrance.
6. a kind of self-starting device of staircase, it is characterised in that including：
Acquisition module, for then, gathering the image on ground in front of the staircase entrance in timing；
Control module, for the current frame image of collection and the previous frame image of collection to be carried out into difference computing, according to computing knot
Fruit determines whether to control the staircase constant speed to run.
7. the self-starting device of staircase according to claim 6, it is characterised in that the control module is specifically included：
Computing unit, the mass discrepancy value of current frame image and the previous frame image of collection for calculating collection；
Control unit, if being more than threshold value for the mass discrepancy value, controls the staircase constant speed to run, if described of poor quality
Different value is less than or equal to the threshold value, then controls the staircase low speed to run or out of service.
8. the self-starting device of staircase according to claim 7, it is characterised in that described control unit is additionally operable to：If
In lasting preset time period, the current frame image and the mass discrepancy value of previous frame image gathered every time is less than or equal to institute
Threshold value is stated, then controls the staircase low speed to run or out of service.
9. the self-starting device of staircase according to claim 6, it is characterised in that the acquisition module includes being arranged on institute
State camera below the handrail of staircase porch, for gathering the image on ground in front of the staircase entrance.
10. the self-starting device of staircase according to claim 6, it is characterised in that on the left of the staircase porch and
The self-starting device is respectively mounted below the handrail on right side.
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| CN201710308237.XA CN107032223A (en) | 2017-05-04 | 2017-05-04 | The self-start method and its self-starting device of a kind of staircase |
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| CN201710308237.XA CN107032223A (en) | 2017-05-04 | 2017-05-04 | The self-start method and its self-starting device of a kind of staircase |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110277163A (en) * | 2019-06-12 | 2019-09-24 | 合肥中科奔巴科技有限公司 | State recognition and monitoring early-warning system on view-based access control model old man and patient bed |
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Application publication date: 20170811 |