CN108052991B - Method for detecting running speed of escalator handrail - Google Patents
Method for detecting running speed of escalator handrail Download PDFInfo
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- CN108052991B CN108052991B CN201711166373.6A CN201711166373A CN108052991B CN 108052991 B CN108052991 B CN 108052991B CN 201711166373 A CN201711166373 A CN 201711166373A CN 108052991 B CN108052991 B CN 108052991B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B27/00—Indicating operating conditions of escalators or moving walkways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B29/00—Safety devices of escalators or moving walkways
- B66B29/005—Applications of security monitors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
- G06K7/1443—Methods for optical code recognition including a method step for retrieval of the optical code locating of the code in an image
Abstract
The invention provides a method for detecting the running speed of an escalator handrail, which comprises the following steps: pasting a two-dimensional code mark on a handrail of the escalator; numbering the two-dimensional code marks; arranging a video acquisition unit; collecting a two-dimensional code image; the video analysis unit analyzes; and outputting the running speed of the handrail of the elevator. According to the invention, through a video analysis method, the time point when the label on the escalator handrail passes through the detection area is recorded, and the speed of the handrail is obtained through the time difference and the distance when the same label passes through the detection point twice, so that the calculation efficiency is high and the result is accurate.
Description
Technical Field
The invention relates to the technical field of escalator safety, in particular to a detection method for calculating the running speed of an escalator handrail.
Background
With the progress of society and the development of economy, the escalator has become a necessary transportation device in airports, railway stations, subway stations and markets. The escalator brings convenience to people, and has certain potential safety hazards, for example, when the speed of the handrail is abnormal and is not matched with the speed of the pedal, vicious accidents such as falling, falling and the like of passengers are easily caused, so that it is necessary to accurately measure the speed of the handrail.
At present, similar detection systems are known, for example, chinese patent No. cn201520614806.x discloses a magnetic induction escalator speed detection system, which includes a support installed on a main drive shaft of an escalator, a magnetic ring is arranged on the support, a magnetic inductor is arranged beside the magnetic ring, the magnetic inductor is connected with an escalator controller, and the controller is connected with an escalator safety device. The utility model has the advantages that the installation requirement is low, and the installation is maintained conveniently, and the debugging is also convenient. The escalator safety protection device can directly detect the running state of the main drive, really monitors the escalator in real time, and is more comprehensive in protection. The resolution ratio is improved, the detection of overspeed and non-operation reversion faults of the escalator during the ultra-low speed running is realized, and the escalator is protected in time. However, in the scheme, parts need to be additionally arranged in the inner mechanism of the escalator, the mechanical mechanism of the original escalator can be damaged, and potential safety hazards are increased.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for detecting the running speed of an escalator handrail, aiming at the defects in the background technology.
The technical scheme adopted by the invention for solving the technical problem is as follows: a method for detecting the running speed of an escalator handrail is characterized by comprising the following steps:
(1) adhering two-dimensional code marks on handrails of the escalator, wherein the two-dimensional code marks are adhered to the upper surfaces of the handrails at equal intervals along the length direction;
(2) the two-dimensional code marks are numbered from top to bottom in sequence;
(3) arranging a video acquisition unit on a traveling path of the escalator, wherein the video acquisition unit is directly opposite to the upper surface of the handrail for shooting, and the shooting range is not more than 2 times of the height of the two-dimensional code;
(4) the video acquisition unit acquires images of each frame passing through the shooting range of the video acquisition unit;
(5) the video acquisition unit sends the acquired image to the video analysis unit for analysis;
(6) the video analysis unit judges whether the two-dimensional code can be identified or not, and if so, records the time corresponding to the two-dimensional code;
(7) and the video analysis unit analyzes the two-dimensional code information and outputs the running speed of the elevator handrail.
Furthermore, the two-dimensional code mark adopts QR two-dimensional code, the structure of the two-dimensional code mark comprises an outer blank area, a functional graph and a coding area format, the functional graph comprises a position detection graph, a position detection graph separator, a positioning graph and a correction graph, the coding area format comprises format information, version information, data and error correction code words, the position detection patterns are positioned on three corners inside the blank area, blank position detection pattern separators are arranged between the position detection patterns and the coding region format, the coding region format is provided with format information at the edge close to the position detection patterns, the coding region format is provided with version information at the edge of the other side close to the two position detection patterns, the positioning patterns form connecting lines between every two of the three position detection patterns, the arrangement positions of the correction patterns and the three position detection patterns form a nine-square grid form, and data and error correction code words are arranged on the background of the coding region format.
Further, the execution process of the video analysis unit comprises:
(A1) the video analysis unit receives the image of the video acquisition unit;
(A2) the video analysis unit identifies two-dimensional codes in the image;
(A3) the video analysis unit records the decoding time;
(A4) the video analysis unit updates the identified two-dimension code information into a two-dimension code information queue;
(A5) the video analysis unit analyzes the two-dimensional code information queue and calculates the running speed of the handrail.
Further, the process of identifying the two-dimensional code by the video analysis unit comprises the following steps:
(A2.1) binarizing the current image to obtain a binary image;
(A2.2) transversely scanning the image to determine the transverse position of the position detection pattern;
(A2.3) longitudinally scanning the image, and determining the longitudinal position of the position detection pattern;
(A2.4) integrating the image-searching images obtained by transverse and longitudinal scanning, and obtaining the accurate position of the position detection graph by adopting a weighted clustering method;
(A2.5) the peripheral frame of the position detection graph occupies one module, so that the pixel number occupied by one module, namely the pixel number K of a single module is obtained;
(A2.6) dividing the pitch pixels of the adjacent position detection patterns on the left side and the right side by the number K of single-module pixels to obtain the total number of modules of the two-dimensional code from left to right;
(A2.7) determining version information according to the total number of modules, and determining a decoding rule according to the version information;
(A2.8) establishing a standard two-dimensional code grid which is the same as the current version, performing 0 or 1 assignment on the standard two-dimensional code grid according to the actual pixel value of the current graph,
and (A2.9) decoding the standard two-dimensional code grid to obtain the decoding information of the two-dimensional code.
Further, the format of the two-dimensional code queue includes a two-dimensional code number, a latest detection time point, a last detection time point, and a last detection time point.
Further, the updating method of the two-dimensional code queue comprises the following steps:
(a 4.1) identifying the number of the detected two-dimensional code at a certain time point;
(A4.2) assigning the last detection time point corresponding to the number to the last detection time point thereon;
(A4.3) assigning the latest detection time point corresponding to the number to the last detection time point;
(a 4.4) assigning the certain point in time to the latest point in time of detection.
Further, the specific steps of calculating the operation speed are as follows:
(A5.1) dividing the perimeter of the handrail belt by the time difference detected by the two-dimensional codes with the same number in sequence twice to obtain a plurality of first handrail belt running speeds;
(A5.2) dividing the distance between the two-dimensional codes with the adjacent numbers by the reading time interval of the two labels to obtain a plurality of second handrail belt running speeds;
(a 5.3) removing the maximum value and the minimum value from the first handrail belt running speed and the second handrail belt running speed, and averaging the other values to obtain a final speed value.
Furthermore, the video acquisition unit adopts one or two of industrial cameras or monitoring cameras, is installed at the bottom of the entrance or the exit of the escalator and is right opposite to the handrail for shooting.
Furthermore, the video analysis unit adopts one or more of a general processing device CPU, an ARM, a DSP, a PU, an FPGA and an ASIC, and the video analysis unit carries out technical analysis according to the video information transmitted by the video acquisition unit to obtain the escalator running speed value.
The invention has the beneficial effects that: according to the method, the time point when the label on the escalator handrail passes through the detection area is recorded through a video analysis method, and the speed of the handrail is calculated through the time difference and the distance when the same label passes through the detection point twice.
Drawings
FIG. 1 is a system block diagram of the present invention.
Fig. 2 is a diagram of the pasting position of the two-dimensional code.
Fig. 3 is a view of the installation position of the video capture unit.
Fig. 4 is an overall flowchart of the video analysis unit.
Fig. 5 is a schematic structural diagram of a two-dimensional code.
Fig. 6 is a schematic structural view of a position detection pattern.
Fig. 7 is a schematic diagram of a two-dimensional code information queue.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings, and it should be understood that the examples are only illustrative and not restrictive.
As shown in fig. 1, a method for detecting the running speed of an escalator handrail comprises the following steps:
(1) adhering two-dimensional code marks on the handrails of the escalator, wherein the two-dimensional code marks are adhered to the upper surfaces of the handrails at equal intervals along the length direction with reference to the attached figure 2; as shown in fig. 5, the two-dimensional code mark adopts a QR two-dimensional code, the structure of which includes an outer blank area, a functional pattern and a coding area format, the functional pattern includes a position detection pattern, a position detection pattern separator, a positioning pattern and a correction pattern, the coding area format includes format information, version information and data and error correction code words, the position detection patterns are positioned on three corners inside the blank area, blank position detection pattern separators are arranged between the position detection patterns and the coding region format, the coding region format is provided with format information at the edge close to the position detection patterns, the coding region format is provided with version information at the edge of the other side close to the two position detection patterns, the positioning patterns form connecting lines between every two of the three position detection patterns, the arrangement positions of the correction patterns and the three position detection patterns form a nine-square grid form, and data and error correction code words are arranged on the background of the coding region format.
(2) The numbers of the two-dimensional code marks are sequentially from top to bottom, such as NO.0, NO.1, NO.2 and NO. 3.
(3) The video acquisition unit is arranged on the moving path of the escalator and adopts one or two of an industrial camera or a monitoring camera, as shown in figure 3, the video acquisition unit is arranged at the bottom of an entrance or an exit of the escalator, the video acquisition unit is shot by facing the upper surface of the handrail, and the shooting distance is not more than 2 times of the height of the two-dimensional code.
(4) The video acquisition unit acquires images of each frame passing through the shooting range of the video acquisition unit.
(5) The video acquisition unit sends the acquired image to the video analysis unit for analysis.
(6) The video analysis unit judges whether the two-dimensional code can be identified or not, and if so, records the time corresponding to the two-dimensional code.
(7) And the video analysis unit analyzes the two-dimensional code information and outputs the running speed of the elevator handrail.
The video analysis unit adopts one or more of general processing equipment CPU, ARM, DSP, PU, FPGA and ASIC, and the video analysis unit carries out technical analysis according to the video information that the video acquisition unit sent in, obtains the staircase velocity of operation value.
As shown in fig. 4, the execution process of the video analysis unit includes:
(A1) the video analysis unit receives the image of the video acquisition unit.
(A2) The video analysis unit identifies a two-dimensional code in the image.
And (A2.1) binarizing the current image, and obtaining a binary image by adopting an otsu method.
(a 2.2) scanning the image laterally to determine the lateral position of the position detection pattern as shown in fig. 6; since the position detection pattern of the QR code conforms to 1: 1: 3: 1: 1, recording the area coordinates according with the rule.
(A2.3) longitudinally scanning the image, determining the longitudinal position of the position detection pattern, and conforming the line segment to 1: 1: 3: 1: the area coordinates of 1 are recorded.
And (A2.4) integrating the image-searching images obtained by transverse and longitudinal scanning, and obtaining the accurate positions of the three position detection graphs of the QR code by adopting a weighted clustering method.
(a 2.5) since the peripheral frame of the position detection pattern occupies one module, the number of pixels occupied by one module, that is, the number of pixels K of a single module can be obtained.
(A2.6) dividing the pitch pixels of the position detection patterns adjacent to the left and right sides by the number K of single-module pixels to obtain the total number of modules of the QR code from left to right.
And (A2.7) determining version information according to the total module number, and determining a decoding rule according to the version information.
And (A2.8) establishing a standard two-dimensional code grid with the same version as the current version, and performing 0 or 1 assignment on the standard two-dimensional code grid according to the actual pixel value of the current graph.
And (A2.9) decoding the standard two-dimensional code grid to obtain the decoding information of the QR code.
(A3) The video analysis unit records the decoding time.
(A4) And the video analysis unit updates the identified two-dimension code information into a two-dimension code information queue.
In this embodiment, 4 two-dimensional code marks are set, and the queue format of the two-dimensional code marks is as shown in fig. 7, where the queue format includes a two-dimensional code number, a latest detection time point, a last detection time point, and a last detection time point.
The step of updating the queue includes:
(a 4.1) identifying the number of the detected two-dimensional code at a certain time point;
(A4.2) assigning the last detection time point corresponding to the number to the last detection time point thereon;
(A4.3) assigning the latest detection time point corresponding to the number to the last detection time point;
(a 4.4) assigning the certain point in time to the latest point in time of detection.
For example, current time point 12: the two-dimensional code symbol of No.3 is recognized 23:
then, according to the listed points in time in fig. 7, T3_1 is assigned to T3_2, T3_0 is assigned to T3_1, 12: 23 to T3_ 0.
(A5) The video analysis unit analyzes the two-dimensional code information queue and calculates the running speed of the handrail.
The specific steps of calculating the running speed are as follows:
(A5.1) dividing the perimeter of the handrail belt by the time difference detected by the two-dimensional codes with the same number in sequence twice to obtain a plurality of first handrail belt running speeds;
(A5.2) dividing the distance between the two-dimensional codes with the adjacent numbers by the reading time interval of the two labels to obtain a plurality of second handrail belt running speeds;
(a 5.3) removing the maximum value and the minimum value from the first handrail belt running speed and the second handrail belt running speed, and averaging the others, i.e., the final speed value.
Taking the above-mentioned as an example,
firstly, dividing the perimeter of the hand strap by the time difference of two successive detections of the same two-dimensional code mark can be used as the running speed of the hand strap, namely,
Va_no.0 = C / (T0_0 – T0_1)；
Va_no.1 = C / (T1_0 – T1_1)；
Va_no.2 = C / (T2_0 – T2_1)；
Va_no.3 = C / (T3_0 – T3_1)；
the distance between adjacent two-dimensional code marks divided by the reading time interval of the adjacent two-dimensional code marks can then also be used as the handrail belt speed, i.e. the speed of the handrail belt
Vb_no.01 = N / (T1_0 – T0_0)；
Vb_no.12 = N / (T2_0 – T1_0)；
Va_no.23 = N / (T3_0 – T2_0)；
Finally, from [ V ]a_no.0 Va_no.1 Va_no.2 Va_no.3 Vb_no.01 Vb_no.12 Va_no.23]And (4) removing the maximum value and the minimum value from the seven data, and averaging other values to obtain a final speed value.
Claims (9)
1. A method for detecting the running speed of an escalator handrail is characterized by comprising the following steps:
(1) adhering two-dimensional code marks on handrails of the escalator, wherein the two-dimensional code marks are adhered to the upper surfaces of the handrails at equal intervals along the length direction;
(2) the two-dimensional code marks are numbered from top to bottom in sequence;
(3) arranging a video acquisition unit on a traveling path of the escalator, wherein the video acquisition unit is directly opposite to the upper surface of the handrail for shooting, and the shooting range is not more than 2 times of the height of the two-dimensional code;
(4) the video acquisition unit acquires images of each frame passing through the shooting range of the video acquisition unit;
(5) the video acquisition unit sends the acquired image to the video analysis unit for analysis;
(6) the video analysis unit judges whether the two-dimensional code can be identified from the acquired image or not, and if so, records the time corresponding to the two-dimensional code;
(7) and the video analysis unit analyzes the two-dimensional code information and outputs the running speed of the elevator handrail.
2. The escalator handrail running speed detecting method as claimed in claim 1, wherein the two-dimensional code mark is a QR two-dimensional code, the structure of which includes an outer blank area, a functional pattern including a position detecting pattern, a position detecting pattern separator, a positioning pattern and a correction pattern, and a code area format including format information, version information, data and an error correction code, wherein the position detecting pattern is located at three corners inside the blank area, the position detecting pattern separator is provided with a blank space between the position detecting pattern and the code area format, the code area format arranges the format information near the edge of the position detecting pattern, the code area format arranges the version information near the other edge of the two position detecting patterns, and the positioning pattern forms a connection line between two of the three position detecting patterns, the arrangement position of the correction graph and the three position detection graphs form a nine-square grid form, and data and error correction code words are arranged on the background of the coding region format.
3. The method for detecting the moving speed of the handrail of the escalator as claimed in claim 1, wherein the video analysis unit performs a process comprising:
(A1) the video analysis unit receives the image of the video acquisition unit;
(A2) the video analysis unit identifies two-dimensional codes in the image;
(A3) the video analysis unit records the decoding time;
(A4) the video analysis unit updates the identified two-dimension code information into a two-dimension code information queue;
(A5) the video analysis unit analyzes the two-dimensional code information queue and calculates the running speed of the handrail.
4. The method as claimed in claim 3, wherein the process of recognizing the two-dimensional code by the video analysis unit comprises:
(A2.1) binarizing the current image to obtain a binary image;
(A2.2) transversely scanning the image to determine the transverse position of the position detection pattern;
(A2.3) longitudinally scanning the image, and determining the longitudinal position of the position detection pattern;
(A2.4) integrating the image-searching images obtained by transverse and longitudinal scanning, and obtaining the accurate position of the position detection graph by adopting a weighted clustering method;
(A2.5) the peripheral frame of the position detection graph occupies one module, so that the pixel number occupied by one module, namely the pixel number K of a single module is obtained;
(A2.6) dividing the pitch pixels of the adjacent position detection patterns on the left side and the right side by the number K of single-module pixels to obtain the total number of modules of the two-dimensional code from left to right;
(A2.7) determining version information according to the total number of modules, and determining a decoding rule according to the version information;
(A2.8) establishing a standard two-dimensional code grid which is the same as the current version, performing 0 or 1 assignment on the standard two-dimensional code grid according to the actual pixel value of the current graph,
and (A2.9) decoding the standard two-dimensional code grid to obtain the decoding information of the two-dimensional code.
5. The method as claimed in claim 3, wherein the format of the two-dimensional code array includes two-dimensional code number, latest detection time point, last detection time point.
6. The method for detecting the moving speed of the handrails of the escalator as claimed in claim 5, wherein the updating method of the two-dimensional code queue comprises the following steps:
(a 4.1) identifying the number of the detected two-dimensional code at a certain time point;
(A4.2) assigning the last detection time point corresponding to the number to the last detection time point thereon;
(A4.3) assigning the latest detection time point corresponding to the number to the last detection time point;
(a 4.4) assigning the certain point in time to the latest point in time of detection.
7. The method for detecting the moving speed of the handrail of the escalator as claimed in claim 6, wherein the step of calculating the moving speed comprises the following steps:
(A5.1) dividing the perimeter of the handrail belt by the time difference detected by the two-dimensional codes with the same number in sequence twice to obtain a plurality of first handrail belt running speeds;
(A5.2) dividing the distance between the two-dimensional codes with the adjacent numbers by the reading time interval of the two labels to obtain a plurality of second handrail belt running speeds;
(a 5.3) removing the maximum value and the minimum value from the first handrail belt running speed and the second handrail belt running speed, and averaging the other values to obtain a final speed value.
8. The method for detecting the moving speed of the escalator handrail as claimed in claim 1, wherein the video capturing unit is one or both of an industrial camera and a monitoring camera, and is installed at the bottom of the escalator entrance or exit and directly faces the handrail.
9. The method for detecting the escalator handrail running speed according to claim 1, wherein the video analysis unit adopts one or more of general processing equipment CPU, ARM, DSP, PU, FPGA and ASIC, and performs technical analysis according to the video information transmitted by the video acquisition unit to obtain the escalator running speed value.
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| CN1878714A (en) * | 2003-10-31 | 2006-12-13 | 奥蒂斯电梯公司 | RF ID and low resolution CCD sensor based positioning system |
| CN205328435U (en) * | 2016-02-05 | 2016-06-22 | 尹泽成 | Automatic staircase moving walk detects data acquisition and management device |
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| CN1878714A (en) * | 2003-10-31 | 2006-12-13 | 奥蒂斯电梯公司 | RF ID and low resolution CCD sensor based positioning system |
| CN205328435U (en) * | 2016-02-05 | 2016-06-22 | 尹泽成 | Automatic staircase moving walk detects data acquisition and management device |
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