CN111685632A

CN111685632A - Handrail elevator cover plate detection method

Info

Publication number: CN111685632A
Application number: CN202010712063.5A
Authority: CN
Inventors: 胡波清
Original assignee: Guangdong Lanshuihua Intelligent Electronic Co ltd
Current assignee: Guangdong Lanshuihua Intelligent Electronic Co ltd
Priority date: 2020-03-19
Filing date: 2020-07-22
Publication date: 2020-09-22
Also published as: CN111759213A; CN111685636A; CN111685633A; CN111685635A; CN111671352A; CN111685634A; CN111759215A; CN111759212B; CN111265139A; CN111671352B; CN111759212A; CN111759216A; CN111685631A; CN111759214A

Abstract

The invention belongs to the technical field of elevator safety detection, and particularly relates to a handrail elevator cover plate detection method, which comprises the following steps: detecting an actual distance matrix between a cover plate of the escalator in a preset detection area and a preset position in real time; converting the actual distance matrix into a horizontal distance matrix; comparing and analyzing the horizontal distance matrix and the cover plate tilting standard distance data to obtain a first similarity value; comparing the first similarity value with a preset first standard similarity threshold value, and judging whether the first similarity value is not less than the first standard similarity threshold value; if the judgment result is yes, generating a cover plate tilting warning instruction; and sending the cover plate tilting warning instruction to the handrail elevator main controller of the handrail elevator. According to the invention, through matrix comparison and similarity comparison, the safety performance is greatly improved by improving the accuracy of detection of the escalator cover plate.

Description

Handrail elevator cover plate detection method

Technical Field

The invention belongs to the technical field of elevator safety detection, and particularly relates to a method for detecting a handrail elevator cover plate.

Background

At present, as the invention patent with application number CN201410748488.6, a handrail elevator control system is disclosed, which runs in a computing device, the computing device is connected with a human body sensing device and a switch circuit of the handrail elevator, the human body sensing device is installed on the side of the end of the handrail elevator, the system comprises: the opening module is used for sending an opening command to the human body sensing device after the escalator runs so as to open the human body sensing device; a receiving module for receiving a sensing signal from the human body sensing device; the judging module is used for judging whether passengers are trapped at the end of the escalator or not according to the received sensing signals; and the control module is used for sending an emergency stop command to the switch circuit to close the escalator when passengers are trapped at the end of the escalator. The invention also provides a handrail elevator control method.

Although the technical scheme disclosed in the above patent document can timely close the escalator when a passenger is trapped at the end of the escalator, the passenger is prevented from being injured. However, similar to other detection devices and systems for the escalator in the market, the detection device and the detection system for the escalator have the problem of inaccurate detection of the cover plate of the escalator, and further cause low safety performance. Therefore, it is necessary to design a method for detecting the cover plate of the escalator.

Disclosure of Invention

The invention aims to provide a method for detecting a cover plate of an escalator, and aims to solve the technical problem of low safety performance caused by inaccurate detection of the cover plate of the escalator in the prior art.

In order to achieve the above object, an embodiment of the present invention provides a method for detecting a cover plate of an escalator, including the following steps:

step one, detecting an actual distance matrix between a cover plate of the escalator in a preset detection area and a preset position in real time;

step two, converting the actual distance matrix obtained in the step one into a horizontal distance matrix of the cover plate of the escalator relative to a preset reference surface;

comparing and analyzing the horizontal distance matrix obtained in the step two with cover plate tilting standard distance data calibrated in advance relative to the preset reference surface to obtain a first similarity value; the standard distance data of the cover plate tilting is a horizontal distance matrix between the cover plate of the escalator and the preset reference surface when the cover plate of the escalator tilts;

step four, comparing the first similarity value in the step three with a preset first standard similarity threshold value, and judging whether the first similarity value is not smaller than the first standard similarity threshold value;

fifthly, if the judgment result is yes, a cover plate tilting warning instruction is generated;

and step six, sending the cover plate tilting warning instruction to a handrail elevator main controller of the handrail elevator, wherein the cover plate tilting warning instruction is used for controlling the handrail elevator to stop running and informing maintenance personnel to overhaul the handrail elevator.

Optionally, the step one specifically includes the following steps:

(1) the light emitter and the optical imaging lens are arranged below the handrail belt entrance and exit of the handrail elevator and face the cover plate of the handrail elevator;

(2) generating a modulation signal to a light emitter through a modulator, and emitting a modulated detection light beam outwards by the light emitter;

(3) when the detection light beam emitted by the light emitter meets the cover plate of the escalator, the detection light beam is reflected to the optical imaging lens through the cover plate of the escalator;

(4) the photosensitive detector lattice behind the optical imaging lens receives the reflected light beam via the optical imaging lens and determines the phase difference and modulation period between the reflected light beam and the emitted light beam based on the formula

The cover plate of the escalator for obtaining the reflected light beam through calculation corresponds to the photosensitive detector lattice for receiving the reflected light beamAnd the actual distance between the photosensitive detection pixel points forms an actual distance matrix between the cover plate of the escalator and the preset position based on the actual distance.

Optionally, the step two specifically includes the following steps:

(1) selecting the preset reference surface as a plane where the photosensitive detector lattice is located, and establishing a plane coordinate system on the preset reference surface, wherein the origin of coordinates is an intersection point of a normal line passing through the optical center of the optical imaging lens and the preset reference surface, and the distance between the origin of coordinates and the optical center is marked as O' F;

(2) the actual distance between the corresponding photosensitive detection pixel points in the photosensitive detector lattice which receives the reflected light beam and the cover plate of the escalator which reflects the light beam is converted into the horizontal distance between the cover plate of the escalator and the preset reference surface through the following formula:

wherein, QQ ' is the actual distance between the cover plate of the escalator that reflects the light beam and the corresponding photosensitive detection pixel in the photosensitive detector lattice that receives the reflected light beam, and (x ', y ') is the position coordinate of the corresponding photosensitive detection pixel in the plane coordinate system of the predetermined reference plane.

The invention also provides a method for detecting the handrail elevator cover plate, which is carried out on the basis of a handrail elevator safety detection system, wherein the handrail elevator safety detection system comprises a distance detection and calculation unit, a feature recognition and processing unit and an elevator drive control unit, the distance detection and calculation unit is connected with the feature recognition and processing unit, and the feature recognition and processing unit is connected with the elevator drive control unit; the handrail elevator cover plate detection method specifically comprises the following steps:

step one, detecting and calculating actual distance information between a cover plate of the escalator and a distance detection and calculation unit through the distance detection and calculation unit, and transmitting the actual distance information to a feature recognition and processing unit;

secondly, the characteristic identification processing unit converts the actual distance information between the cover plate of the escalator and the distance detection calculating unit into the horizontal distance information of the cover plate of the escalator relative to a preset reference plane in the distance detection calculating unit;

thirdly, the characteristic identification processing unit compares and analyzes the horizontal distance matrix obtained in the second step with the cover plate tilting standard distance data calibrated in advance relative to the preset reference surface to obtain a first similarity value; the standard distance data of the cover plate tilting is a horizontal distance matrix between the cover plate of the escalator and the preset reference surface when the cover plate of the escalator tilts;

step four, the feature identification processing unit compares the first similarity value in the step three with a preset first standard similarity threshold value, and judges whether the first similarity value is not smaller than the first standard similarity threshold value;

if the judgment result is yes, the characteristic identification processing unit generates a cover plate tilting warning instruction;

and step six, the characteristic recognition processing unit sends the cover plate tilting warning instruction to an elevator driving control unit, so that the elevator driving control unit controls the handrail elevator to stop running and informs maintenance personnel to overhaul the handrail elevator.

Optionally, the distance detection and calculation unit includes a light emitter, a modulator, an optical imaging lens, a photosensitive detector dot matrix, a controller and a distance calculator, the controller is connected to the modulator and the photosensitive detector dot matrix, the modulator is connected to the light emitter and the photosensitive detector dot matrix, the light emitter is configured to emit a modulated detection light beam, the detection light beam is reflected by a cover plate of the escalator serving as the object to be detected and then enters the optical imaging lens, the detection light beam is shaped by the optical imaging lens and then enters the photosensitive detector dot matrix, the photosensitive detector dot matrix is disposed right behind the optical imaging lens and connected to the distance calculator, the distance calculator calculates actual distance information between the object to be detected and the photosensitive detector dot matrix based on reflected light beam information received by the photosensitive detector dot matrix, and transmits the actual distance information and inherent information of the photosensitive detector dot matrix to the controller, then the controller transmits the relevant information to the feature identification processing unit; the system comprises a photosensitive detector dot matrix, a distance calculator and a characteristic identification processing unit, wherein the photosensitive detector dot matrix is provided with a plurality of photosensitive detection pixel points which are arranged in a matrix array form, each photosensitive detection pixel point is used as an independent photosensitive detector element, modulated detection light beams emitted by the light emitter are reflected by multiple points on the surface of a measured object and then are respectively incident on the corresponding photosensitive detection pixel points of the photosensitive detector dot matrix, each photosensitive detection pixel point of the photosensitive detector dot matrix receives a reflected light beam from a corresponding reflection point on the surface of the measured object, the actual distance information obtained by the distance calculator is an actual distance matrix corresponding to each reflection point position of the measured object, and the horizontal distance information obtained by converting the actual distance information by the characteristic identification processing unit is a horizontal distance matrix corresponding to each photosensitive detection pixel point position of the; the characteristic identification processing unit comprises a distance converter, a characteristic comparison processor, a communication interface module, a standard characteristic memory and an output module, wherein the communication interface module is connected with a controller of the distance detection computing unit, the distance converter is connected with the communication interface module, the characteristic comparison processor is connected with the distance converter, the standard characteristic memory is connected with the characteristic comparison processor, and the output module is connected with the characteristic comparison processor; the distance converter converts an actual distance matrix between the cover plate of the escalator and the photosensitive detector dot matrix into a horizontal distance matrix of the cover plate of the escalator relative to the plane of the photosensitive detector dot matrix, and transmits the horizontal distance matrix to the characteristic comparison processor.

Optionally, the modulated detection light beam emitted by the light emitter is a sine wave, a pulse wave or other periodic modulation wave, and the distance calculator calculates the actual distance between a certain reflection point of the measured object and the photosensitive detection pixel point corresponding to the photosensitive detector lattice based on the following formula:

wherein: c is the speed of light, T is the period of the modulated wave,

the phase difference between the reflected light beam received by the corresponding photosensitive detection pixel point and the corresponding detection light beam emitted by the light emitter is obtained;

the distance converter specifically converts the actual distance matrix into a horizontal distance matrix by:

firstly, the distance converter converts the measured distance between each reflection point on the surface of the measured object and the corresponding photosensitive detection pixel point into the horizontal distance of the reflection point on the surface of the measured object relative to the plane where the photosensitive detector lattice is located according to the following formula:

the QQ' is the measured distance between the surface reflection point of the measured object and the corresponding photosensitive detection pixel point, and is calculated by a distance calculator in the distance detection calculation unit; (x ', y') is the position coordinate of the corresponding photosensitive detection pixel point in the photosensitive detector lattice plane coordinate system; o' F is the distance between the optical center of the optical imaging lens and the origin of coordinates in the lattice plane coordinate system of the photosensitive detector; d is the horizontal distance of the reflection point on the surface of the measured object relative to the plane where the photosensitive detector lattice is located;

the photosensitive detector lattice plane coordinate system refers to: the method comprises the following steps of taking an intersection point of a straight line which passes through the optical center of the optical imaging lens and is perpendicular to the plane where a photosensitive detector dot matrix is located and the plane where the photosensitive detector dot matrix is located as a coordinate origin, and establishing a coordinate system in the plane where the photosensitive detector dot matrix is located, wherein the position coordinate of each photosensitive detection pixel point in the photosensitive detector dot matrix plane coordinate system and the distance between the optical center of the optical imaging lens and the coordinate origin belong to known quantities;

and secondly, the distance converter correlates each horizontal distance obtained by conversion with the position of the corresponding photosensitive detection pixel point to form the horizontal distance matrix.

The invention also provides a handrail elevator cover plate detection method, which specifically comprises the following steps:

the method comprises the following steps that firstly, a light emitter and an optical imaging lens are arranged below a handrail belt entrance and exit of the handrail elevator and face a cover plate of the handrail elevator;

generating a modulation signal to a light emitter through a modulator, and emitting a modulated detection light beam outwards by the light emitter;

step three, when the detection light beam emitted by the light emitter meets the cover plate of the escalator, the detection light beam is reflected to the optical imaging lens through the cover plate of the escalator;

fourthly, the photosensitive detector lattice positioned at the rear side of the optical imaging lens receives the reflected light beam through the optical imaging lens, and the phase difference and the modulation period between the reflected light beam and the emitted light beam are determined based on a formula

Calculating the actual distance between a cover plate of the escalator for obtaining the reflected light beam and a corresponding photosensitive detection pixel point in a photosensitive detector lattice for receiving the reflected light beam, and forming an actual distance matrix between the cover plate of the escalator and a preset position based on the actual distance;

selecting the preset reference surface as a plane where the photosensitive detector lattice is located, and establishing a plane coordinate system on the preset reference surface, wherein the origin of coordinates is the intersection point of a normal line passing through the optical center of the optical imaging lens and the preset reference surface, and the distance between the origin of coordinates and the optical center is marked as O' F;

step six, converting the actual distance between the cover plate of the escalator with the reflected light beams and the corresponding photosensitive detection pixel points in the photosensitive detector lattice receiving the reflected light beams into the horizontal distance between the cover plate of the escalator and the preset reference surface through the following formula:

wherein, QQ ' is the actual distance between the cover plate of the escalator for the reflected light beam and the corresponding photosensitive detection pixel point in the photosensitive detector lattice for receiving the reflected light beam, and (x ', y ') is the position coordinate of the corresponding photosensitive detection pixel point in the plane coordinate system of the preset reference plane;

step seven, the characteristic identification processing unit compares and analyzes the horizontal distance matrix and cover plate tilting standard distance data calibrated in advance relative to the preset reference surface to obtain a first similarity value; the standard distance data of the cover plate tilting is a horizontal distance matrix between the cover plate of the escalator and the preset reference surface when the cover plate of the escalator tilts;

step eight, the feature identification processing unit compares the first similarity value with a preset first standard similarity threshold value and judges whether the first similarity value is not smaller than the first standard similarity threshold value;

step nine, if the judgment result is yes, the characteristic identification processing unit generates a cover plate tilting warning instruction;

step ten, the characteristic identification processing unit sends the cover plate tilting warning instruction to an elevator driving control unit, so that the elevator driving control unit controls the handrail elevator to stop running and informs maintenance personnel to overhaul the handrail elevator.

One or more technical schemes in the method for detecting the handrail elevator cover plate provided by the embodiment of the invention at least have one of the following technical effects:

the method comprises the steps of firstly detecting an actual distance matrix between a cover plate of the escalator in a preset detection area and a preset position in real time, then converting the actual distance matrix into a horizontal distance matrix of the cover plate of the escalator relative to a preset reference surface, comparing the horizontal distance matrix with cover plate tilting standard distance data calibrated in advance relative to the preset reference surface, comparing a first similarity value with a first standard similarity threshold value after obtaining the first similarity value, and sending a cover plate tilting warning instruction to an escalator main control controller of the escalator when judging that the first similarity value is not smaller than the first standard similarity threshold value, wherein the cover plate tilting warning instruction is used for controlling the escalator to stop running and informing a maintainer to overhaul the escalator; so, through turning into the horizontal distance matrix with the actual distance matrix earlier, compare the analysis with horizontal distance matrix and standard distance data again to compare the result after will comparing with first standard similarity threshold value, thereby generate when judging the apron perk warning instruction, and then compare through matrix comparison and similarity, thereby realize the accurate detection whether the apron perk to and whether according to the apron perk control escalator close, thereby improve the security performance greatly through the accuracy that improves the detection to escalator apron.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a block diagram of a safety detection system for an escalator provided in an embodiment of the present invention;

fig. 2 is a schematic view of a light path structure of light beam emission and reflection detection of a distance detection computing unit in the escalator safety detection system provided in the embodiment of the present invention;

fig. 3 is a schematic view of an actually measured distance between a measured point of a cover plate of the escalator and a photosensitive detector dot matrix according to an embodiment of the present invention;

fig. 4 is a schematic diagram of converting the measured distance into the horizontal distance according to the embodiment of the present invention;

FIG. 5 is a schematic diagram of a corresponding structure of light paths between a measured point in a measured space and a photosensitive detection pixel in a photosensitive detector dot matrix according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a distance conversion structure for converting an actual measurement distance between a measured point in a measured space and a photosensitive detection pixel point into a horizontal distance between the measured point in the measured space and a lattice plane of a photosensitive detector according to an embodiment of the present invention;

FIG. 7 is a diagram illustrating a simulated state of a human body falling in accordance with an embodiment of the present invention;

fig. 8 is a schematic diagram of the conversion of the measured distance between the surface of the human body and the distance detection and calculation unit into the horizontal distance when the human body falls down in fig. 7.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the embodiments of the present invention, and should not be construed as limiting the invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

In one embodiment of the present invention, as shown in fig. 1-2, there is provided a system for detecting the safety of an escalator, which includes a distance detection calculation unit, a feature recognition processing unit, and an escalator drive control unit, wherein the distance detection calculation unit is connected to the feature recognition processing unit, and the feature recognition processing unit is connected to the escalator drive control unit.

Specifically, the distance detection and calculation unit is installed below an entrance of a handrail belt of the handrail elevator, and a detection end of the distance detection and calculation unit is over against a cover plate of the handrail elevator. The detection area of the distance detection calculation unit is adjusted by a person skilled in the art according to actual conditions, so that the distance detection calculation unit can detect a fixed detection area, and the fixed detection area is a preset detection area.

The distance detection and calculation unit is used for detecting the distance between a cover plate of the escalator in a preset detection area and a preset position in real time based on the flight time principle, specifically the distance between the cover plate of the escalator in the preset detection area and the distance detection and calculation unit, and the distance is a multi-point distance corresponding to a plurality of position points, namely a distance matrix. That is, the distance detection calculation unit is used for detecting the actual distance matrix between the cover plate and the preset position of the escalator in the preset detection area in real time based on the flight time principle.

As shown in fig. 1, the distance detection and calculation unit includes a light emitter, a modulator, an optical imaging lens, a photosensitive detector array, a controller, and a distance calculator. The controller is connected with the modulator and the photosensitive detector dot matrix and used for providing modulation control signals for the modulator, the modulator is connected with the light emitter and used for providing modulation signals for light beams emitted by the light emitter, and the modulator is further connected with the photosensitive detector dot matrix and used for providing basic modulation information. The light emitter is preferably an infrared light emitter and is used for emitting modulated light beams to a measured object, the modulated light beams reach the surface of the measured object, are reflected by the surface of the measured object and then enter the optical imaging lens, are input to the photosensitive detector dot matrix after being shaped by the optical imaging lens, the photosensitive detector dot matrix is connected with the distance calculator, and outputs the reflected beam signal to a distance calculator, which performs necessary processing such as noise removal filtering and A/D conversion on the reflected beam, calculating to obtain the distance information between the position point of the measured object reflecting the reflected light beam and the photosensitive detection pixel point in the photosensitive detector lattice receiving the reflected light beam, and the distance information and the relevant position information of the photosensitive detection pixel point are transmitted to a controller, and the controller further transmits the relevant information to a feature identification processing unit.

The distance detection calculation unit can be realized by any one of a 3D sensor, a ToF time-of-flight sensor, a DVS (dynamic video system), a structured light sensor and the like. The following describes in detail the process of calculating the actual distance matrix by the distance detection calculation unit based on the ToF time-of-flight principle:

the distance detection calculation unit generates modulated infrared light through a light emitter of the distance detection calculation unit and emits the modulated infrared light outwards, the modulated infrared light is reflected to form reflected infrared light after meeting a measured object, and the reflected infrared light is received by a photosensitive detector dot matrix behind the reflected infrared light after passing through an optical imaging lens of the distance detection calculation unit. In this embodiment, the object to be measured is a cover plate of the escalator in the preset detection area and a body surface of a person on the escalator in the preset detection area.

The emission modulated infrared light and the reflected infrared light of the distance detection calculation unit are preferably in the form of sine waves, which can be expressed in a functional form as: the function expression for emitting modulated infrared light is:

the functional expression for reflected infrared light is:

wherein:

t is a time parameter;

a is the amplitude of the modulated infrared light;

t is the sine wave period;

kA is the amplitude of the reflected infrared light;

k is an attenuation coefficient;

the signal phase difference of the currently transmitted modulated infrared light and the received reflected infrared light;

and n is noise wave received and not reflected by the light source of the light emitter of the distance detection calculation unit.

Therefore, the delay time from the emission of the modulated infrared light to the reception of the reflected infrared light formed by the modulated infrared light, i.e., the elapsed flight time of the infrared light:

wherein, T is the modulation period of modulating the infrared light.

In the time period from the time when the light emitter emits the modulated infrared light to the time when the photosensitive detector receives the reflected infrared light reflected by the measured object, the flying distance of the infrared light is as follows:

where c is the speed of light, i.e. about 3 × 10⁸m/s

Therefore, the distance between the measured object reflecting the infrared light and the photosensitive detector dot matrix of the distance detection and calculation unit is as follows:

therefore, the distance between the measured object and the photosensitive detector dot matrix can be calculated based on the sine wave modulation period of the modulated infrared light and the signal phase difference of the reflected infrared light received by the photosensitive detection pixel point and the modulated infrared light emitted by the light emitter, the distance calculator transmits the sine wave modulation period and the signal phase difference to the distance calculator, and the distance calculator calculates the measured distance between the measured object and the photosensitive detector dot matrix based on the formula.

The photosensitive detector lattice in the distance detection and calculation unit of the invention is provided with a plurality of photosensitive detection pixel points which are arranged in a matrix array form, each photosensitive detection pixel point can be used as an independent photosensitive detector element, thus, the light emitter emits modulated infrared light once outwards, the modulated infrared light is reflected by a plurality of points on the surface of a measured object and then is respectively incident on the corresponding photosensitive detection pixel points in the photosensitive detector lattice, namely, each photosensitive detection pixel point in the photosensitive detector lattice can collect the reflected infrared light and obtain a sensing distance, finally, the measured distance information of each frame detected by the photosensitive detector lattice corresponds to a distance matrix, and the measured distance between each reflection point on the surface of the measured object and the corresponding photosensitive detection pixel point which receives the reflected light of the point is combined with the position of the reflection point to form two-dimensional distance distribution, as schematically shown in fig. 2.

And the distance detection and calculation unit transmits the obtained actual measurement distance matrix information of each frame and the lattice position information corresponding to each photosensitive detection pixel point to the characteristic identification and processing unit.

As shown in fig. 1, the feature recognition processing unit includes a distance converter, a feature comparison processor, a communication interface module, a standard feature memory, and an output module. The communication interface module is connected with the controller of the distance detection and calculation unit and used for receiving actual measurement distance information between a measured object and each photosensitive detection pixel point provided by the distance detection and calculation unit and lattice position information of each photosensitive detection pixel point and transmitting the received information to the distance converter, the distance converter converts the actual measurement distance information into horizontal distance information of the measured object relative to the plane where the photosensitive detection lattice is located based on the actual measurement distance information between each photosensitive detection pixel point and the measured object and the position information of each photosensitive detection pixel point, and the horizontal distance information is associated with the position information of the corresponding photosensitive detection pixel point to form horizontal distance matrix distribution. The distance converter is connected with the characteristic comparison processor, the characteristic comparison processor is connected with the standard characteristic storage, a large amount of pre-calibrated and set standard characteristic data are prestored in the standard characteristic storage, the characteristic comparison processor receives the horizontal distance data information provided by the distance converter and compares the horizontal distance data information with the standard characteristic data information stored in the standard characteristic storage, if the comparison matching condition is met, a corresponding control signal is generated and sent to the output module, and the output module provides the control signal for the seat ring driving control unit so as to take corresponding control operation based on the control signal.

The invention innovatively invents the envoy identification processing unit, and greatly improves the data identification precision. This process is described in detail below:

the actual measurement distance acquired by the distance detection and calculation unit is the linear distance between each measured point and the corresponding photosensitive detection pixel point in the distance detection and calculation unit, so that the whole distance detection and calculation unit can be regarded as a circle center particle for easy understanding, and in practice, the size of each distance detection and calculation unit (such as a ToF sensor, a 3D sensor and the like) can be ignored relative to the distance between the distance detection and calculation unit and the measured object, so that the fine distance between an optical imaging lens and a photosensitive detector lattice in the distance detection and calculation unit can be not considered for calculation, and the whole distance detection and calculation unit can be directly regarded as a circle center particle.

As shown in fig. 3, the distance detection and calculation unit employs the ToF sensor, which can be regarded as a particle, and as can be seen from the figure, when the included angle between the ToF sensor and the cover plate of the escalator is too large, the measured distances d1 to d5 gradually increase. If the actual distances d1 and d5 are directly used for identifying the cover plate of the escalator, the difference between the characteristics reflected by the distances and the actual characteristics of the cover plate of the escalator is large, and the identification precision of the cover plate of the escalator is greatly reduced.

The invention innovatively carries out projection conversion aiming at the obtained actual measurement distances such as d1 and d5 of the ToF sensor, and converts the actual measurement distance between the measured point of the cover plate of the escalator and the ToF sensor into the horizontal distance between the measured point of the cover plate of the escalator and the plane where the ToF sensor is located, as shown in figure 4, the converted horizontal distance is more consistent with the characteristic point of the actual curve of the cover plate of the escalator, wherein the plane where the ToF sensor is located is the plane where the lattice of the photosensitive detector in the ToF sensor is located.

The following describes the conversion process specifically, as shown in fig. 5, a light beam reflected by each measured point Qn in the cover plate a of the escalator is focused by the optical imaging lens and then enters a corresponding photosensitive detection pixel point in the photosensitive detector lattice, and the distance between the measured point Qn of the cover plate of the escalator and the corresponding photosensitive detection pixel point can be directly calculated by transmitting the relevant phase and frequency information to the distance calculator, and further, if the distance between the measured point Qn of the cover plate of the escalator and the corresponding photosensitive detection pixel point is to be converted into the horizontal distance between the measured point Qn of the cover plate of the escalator and the photosensitive detector lattice plane, the inclination angle of the straight line connecting line between the measured point Qn of the cover plate of the escalator and the corresponding photosensitive detection pixel point with respect to the photosensitive detector lattice plane needs to be known, as shown in the enlarged light path structure diagram shown in fig. 6, after being reflected by a certain measured point Q in a cover plate A of the escalator, a modulated light beam generated by the light reflector passes through an optical imaging lens in the distance detection and calculation unit and is focused on a corresponding photosensitive detection pixel point Q 'in a photosensitive detector dot matrix behind the modulated light beam, and a plane B where the photosensitive detector dot matrix is located serves as a horizontal distance reference plane and extends to the plane B'. Taking an orthographic projection central point O 'of an optical center F of the optical imaging lens in a photosensitive detector lattice plane B (namely the intersection point of a central normal of the optical imaging lens and the photosensitive detector lattice plane B) as a coordinate origin, establishing a coordinate system X' O 'Y' in the photosensitive detector lattice plane B, wherein FO 'is vertical to the plane B, wherein the distance between the position Q' (X ', Y') of each photosensitive detection pixel point in the photosensitive detector lattice plane B in the X 'O' Y 'plane coordinate and FO' belongs to the known quantity in each distance detection calculation unit, because the position of each photosensitive detection pixel point in the photosensitive detector lattice of each distance detection unit and the distance between the optical imaging lens and the photosensitive detector lattice plane are fixed and initially calibrated, specific position coordinate information and distance information are written in the initialization process. And each distance detection calculation unit transmits the position coordinate information of each photosensitive detection pixel point in the photosensitive detector dot matrix and the distance information between the optical imaging lens and the photosensitive detector dot matrix plane to a distance converter of the characteristic identification processing unit together with the measured actual distance between the measured point and the corresponding photosensitive detection pixel point. Thus, the distance between a certain human body measured point Q and a corresponding photosensitive detection pixel point Q' in the measured area A can be converted into the horizontal distance d between the measured point Q of the cover plate of the escalator and the lattice plane of the photosensitive detector according to the following formula:

horizontal distance d ═ QC ═ QQ · cos (a)

Wherein

As mentioned above, for each distance detection calculation unit, the position coordinate information (x ', y') of each photosensitive detection pixel point and the distance information O 'F between the optical imaging lens and the photosensitive detector lattice plane are both the inherent information of the distance detection calculation unit, and belong to the known information parameters, and the distance QQ' between the detected point of the cover plate of each escalator and the corresponding photosensitive detection pixel point can be obtained by the formula

By distance detectionAnd the distance calculator of the measuring and calculating unit calculates. After the distance detection and calculation unit transmits the calculated distance QQ 'and the position coordinate information (x', y ') of the corresponding photosensitive detection pixel point and the distance information O' F between the optical imaging lens and the photosensitive detector lattice plane to the feature recognition and processing unit, a distance converter therein calculates the horizontal distance from the measured point of the cover plate of the escalator to the photosensitive detector lattice plane based on the following formula:

the horizontal distance d is associated with the position coordinate information (x ', y') of the photosensitive detection pixel point, so that each photosensitive detection pixel point corresponds to a horizontal distance, and finally a horizontal distance distribution matrix is formed corresponding to the position information of all photosensitive detection pixel points on the photosensitive detector dot matrix, so that after a frame distance matrix detected by the distance detection calculation unit is obtained, the horizontal distance matrix from each measured point to the plane where the photosensitive detector dot matrix is located can be obtained through a distance converter, that is, the distances d1, d2, d3 and d4 … … in fig. 3 are converted into the corresponding distances d1 ', d 2', d3 'and d 4' … … in fig. 4, and the horizontal distance matrix distribution is formed by combining the position information of the corresponding photosensitive pixel points associated with the distances.

The distance converter in the feature recognition processing unit converts the actual distance matrix into a horizontal distance matrix after the distance conversion operation, namely converts the actual distance matrix between the cover plate of the escalator and the preset position into the horizontal distance matrix of the cover plate of the escalator relative to the preset reference surface.

And then, the feature identification processing unit provides the converted horizontal distance information to a feature comparison processor, and the feature comparison processor is connected to a standard feature memory.

The standard characteristic memory stores various pre-calibrated standard distance data of cover plate tilting when the cover plate of the escalator tilts. Specifically, the standard distance data of the tilting of the cover plate is a horizontal distance matrix between the cover plate of the escalator and the predetermined reference surface when the cover plate of the escalator is tilted.

Through calibration in advance, the standard memory stores the cover plate tilting standard distance data corresponding to the cover plate tilting of the escalator, the standard characteristic data are calibrated in advance through a large number of actual use states, horizontal distance conversion processing is carried out, and the cover plate tilting state can be accurately reflected with higher precision. When the ToF sensor is used for the distance detection and calculation unit, the pixel of the ToF sensor can reach more than 38K, the precision can reach less than 2mm, and various characteristics of the cover plate tilting curve of the escalator can be analyzed very finely and accurately after horizontal matrix conversion. Therefore, through the horizontal distance conversion processing of the invention, the characteristic identification processing unit can accurately identify whether the cover plate of the escalator is warped, thereby greatly improving the intelligent monitoring level of the cover plate of the escalator and improving the safety performance.

Further, the feature comparison processor of the feature identification processing unit compares and analyzes the horizontal distance matrix with the cover plate tilting standard distance data calibrated in advance relative to the preset reference surface, and obtains a first similarity value.

And after the first similarity value is obtained, comparing the first similarity value with a preset first standard similarity threshold value, and judging whether the first similarity value is not less than the first standard similarity threshold value. Wherein the first standard similarity threshold is set in advance by a person of ordinary skill in the art, and the first standard similarity threshold is used for reflecting the similarity between the horizontal distance matrix and the cover plate tilting standard distance data calibrated in advance relative to the preset reference surface.

The feature comparison processor compares the first similarity value with a preset first standard similarity threshold value and judges whether the first similarity value is not smaller than the first standard similarity threshold value or not;

when the first similarity value is judged to be not smaller than the first standard similarity threshold value, the judgment result is yes, the cover plate is tilted at the moment, and therefore a cover plate tilting warning instruction is generated. Specifically, when the cover plate is tilted, the cover plate inevitably has a height difference with the ground.

Further, the characteristic comparison processor passes through output module will apron perk warning instruction sends handrail elevator main control unit to handrail elevator, apron perk warning instruction is used for controlling handrail elevator stop operation and notifies maintainer to overhaul handrail elevator.

So, through turning into the horizontal distance matrix with the actual distance matrix earlier, compare the analysis with horizontal distance matrix and standard distance data again to compare the result after will comparing with first standard similarity threshold value, thereby generate when judging the apron perk warning instruction, and then compare through matrix comparison and similarity, thereby realize the accurate detection whether the apron perk to and whether according to the apron perk control escalator close, thereby improve the security performance greatly through the accuracy that improves the detection to escalator apron.

Based on the escalator safety detection system, the distance detection and calculation unit is also used for detecting an actual distance matrix of elevator taking personnel between the elevator taking personnel at the cover plate of the escalator in the preset detection area and a preset position in real time;

then, the distance detection and calculation unit sends the actual distance matrix of the personnel taking the elevator to the characteristic identification processing unit, and the characteristic identification processing unit converts the actual distance matrix of the personnel taking the elevator into a personnel horizontal distance matrix of the personnel taking the elevator relative to a preset reference surface; further, referring to fig. 7-8, the elevator passengers fall, as shown in fig. 7; after the horizontal distance conversion is carried out, the image shown in fig. 8 is obtained, and it can be obviously seen that the human body characteristic curve obtained in fig. 8 can more accurately reflect the posture of the human body when falling down, so that the detection accuracy of the escalator is ensured.

Then, the characteristic comparison processor of the characteristic identification processing unit compares and analyzes the horizontal distance matrix of the elevator passengers with the personnel dumping standard distance data calibrated in advance relative to the preset reference surface to obtain a second similarity value; the personnel dumping standard distance data comprise a standard distance matrix relative to the preset reference surface when the elevator passengers fall, a standard distance matrix relative to the preset reference surface when the elevator passengers are crowded, and a standard distance matrix relative to the preset reference surface when the elevator passengers step. Specifically, the person-pouring standard distance data is preset in the standard feature memory.

Then, the feature comparison processor compares the second similarity value with a preset second standard similarity threshold value, and judges whether the second similarity threshold value is not less than the second standard similarity threshold value;

and when the characteristic comparison processor judges that the second similarity threshold is not less than the second standard similarity threshold, the characteristic comparison processor generates a tipping warning instruction for the elevator taking personnel.

Further, the characteristic comparison processor sends the elevator taking personnel dumping warning instruction to the elevator driving control unit through the output module; thereby enabling the elevator driving control unit to control the handrail elevator to stop running and inform maintenance personnel to overhaul the handrail elevator.

Furthermore, the specific steps of presetting the personnel dumping standard distance data in the standard feature memory are as follows:

(1) when the elevator taking personnel fall down, calibrating a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface in advance, and taking the horizontal distance matrix as a standard distance matrix of the elevator taking personnel relative to the preset reference surface when the elevator taking personnel fall down; when the passengers are crowded, a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface is calibrated in advance and serves as a standard distance matrix of the passengers relative to the preset reference surface when the passengers are crowded; when the elevator taking personnel trample, calibrating a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface in advance, and taking the horizontal distance matrix as a standard distance matrix of the elevator taking personnel trample relative to the preset reference surface;

(2) and comparing and analyzing the horizontal distance matrix of the elevator passengers with a standard distance matrix corresponding to the preset reference surface when the elevator passengers fall down, a standard distance matrix corresponding to the preset reference surface when the elevator passengers are crowded and a standard distance matrix corresponding to the preset reference surface when the elevator passengers trample, and obtaining the second similarity value.

The human body surface characteristic points comprise human body face noses, mouths, chins, necks, human body head backs, human body neck backs, human body shoulders, arms and/or hands.

Therefore, firstly, an actual distance matrix of the personnel taking the elevator between the personnel taking the elevator and a preset position at the cover plate of the escalator in a preset detection area is detected, and then the actual distance matrix of the personnel taking the elevator is converted into a horizontal distance matrix of the personnel; and comparing and analyzing the horizontal distance matrix of the elevator passengers with the personnel dumping standard distance data calibrated in advance relative to the preset reference surface to obtain a second similarity value, comparing the second similarity value with the preset second standard similarity threshold value, judging whether the elevator passengers dump or not after comparison, generating an elevator passenger dumping warning instruction according to the judgment result, and detecting whether the elevator passengers dump or not at the cover plate of the escalator after data conversion and comparison and analysis are carried out successively, so that the safety performance is greatly improved while the intelligent detection is improved.

In another embodiment, the elevator drive control unit comprises a handrail elevator master, a handrail elevator drive and a communication device, the handrail elevator master is connected with the output module, and the handrail elevator drive and the communication device are both connected with the handrail elevator master.

The escalator main controller is used for receiving a cover plate tilting warning instruction and an escalator passenger dumping warning instruction which are sent by the characteristic comparison processor; the handrail elevator master controller is further used for controlling the handrail elevator driving device to control the starting and stopping of the handrail elevator according to the received tilting warning instruction of the cover plate and the toppling warning instruction of the elevator taking personnel. The communication equipment is used for the escalator master controller to send the cover plate tilting warning instruction and the elevator taking personnel tilting warning instruction to corresponding related personnel so as to process the cover plate tilting and the personnel tilting.

Finally, briefly explaining a method for detecting an escalator cover plate based on an escalator safety detection system, the method for detecting the escalator cover plate specifically comprises the following steps:

It should be noted that, in the present application, the detection of the tilt of the cover plate is taken as an example, and it is not limited to determine whether the cover plate has a fault only by the tilt of the cover plate. And whether the cover plate is in failure or not can be judged by detecting whether the cover plate is sunken or deformed.

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

Claims

1. A method of detecting a cover plate of an escalator, the method comprising the steps of:

2. The method for detecting the cover plate of the escalator as claimed in claim 1, wherein the step one comprises the steps of:

And calculating the actual distance between the cover plate of the escalator for the reflected light beam and the corresponding photosensitive detection pixel points in the photosensitive detector lattice for receiving the reflected light beam, and forming an actual distance matrix between the cover plate of the escalator and the preset position based on the actual distance.

3. The method for detecting the cover plate of the escalator as claimed in claim 1, wherein the second step comprises the steps of:

4. The method for detecting the cover plate of the escalator is characterized by being carried out based on an escalator safety detection system, wherein the escalator safety detection system comprises a distance detection calculation unit, a feature recognition processing unit and an escalator drive control unit, the distance detection calculation unit is connected with the feature recognition processing unit, and the feature recognition processing unit is connected with the escalator drive control unit; the handrail elevator cover plate detection method specifically comprises the following steps:

5. The escalator cover plate detection method according to claim 4, wherein the distance detection and calculation unit comprises a light emitter, a modulator, an optical imaging lens, a photosensitive detector dot matrix, a controller and a distance calculator, the controller is connected to the modulator and the photosensitive detector dot matrix, the modulator is connected to the light emitter and the photosensitive detector dot matrix, the light emitter is used for emitting modulated detection light beams, the detection light beams are reflected by a cover plate of the escalator serving as the object to be detected and then enter the optical imaging lens, the detection light beams are shaped by the optical imaging lens and then input to the photosensitive detector dot matrix, the photosensitive detector dot matrix is arranged right behind the optical imaging lens and connected to the distance calculator, the distance calculator calculates actual distance information between the object to be detected and the photosensitive detector dot matrix based on reflected light beam information received by the photosensitive detector dot matrix, and the actual distance information and the inherent information of the photosensitive detector lattice are transmitted to the controller, and then the controller transmits the related information to the characteristic identification processing unit.

6. The escalator cover detection method according to claim 5, wherein said photosensitive detector lattice has a plurality of photosensitive detection pixels arranged in a matrix array, each photosensitive detection pixel serving as an independent photosensitive detector element, modulated detection light beams emitted by the light emitter are reflected by multiple points on the surface of the measured object and then respectively incident on corresponding photosensitive detection pixel points of the photosensitive detector dot matrix, each photosensitive detection pixel point of the photosensitive detector dot matrix receives a reflected light beam from a corresponding reflection point on the surface of the measured object, the actual distance information calculated by the distance calculator is an actual distance matrix corresponding to the position of each reflecting point of the measured object, and the horizontal distance information obtained by converting the actual distance information by the characteristic identification processing unit is a horizontal distance matrix corresponding to the position of each photosensitive detection pixel point of the photosensitive detector lattice.

7. The escalator cover detection method according to claim 6, wherein the characteristic identification processing unit includes a distance converter, a characteristic comparison processor, a communication interface module, a standard characteristic memory and an output module, the communication interface module is connected to a controller of the distance detection computing unit, the distance converter is connected to the communication interface module, the characteristic comparison processor is connected to the distance converter, the standard characteristic memory is connected to the characteristic comparison processor, and the output module is connected to the characteristic comparison processor; the distance converter converts an actual distance matrix between the cover plate of the escalator and the photosensitive detector dot matrix into a horizontal distance matrix of the cover plate of the escalator relative to the plane of the photosensitive detector dot matrix, and transmits the horizontal distance matrix to the characteristic comparison processor.

8. The escalator cover plate detection method according to claim 7, wherein the modulated detection light beam emitted by the light emitter is a sine wave, a pulse wave or other periodic modulation wave, and the distance calculator calculates the actual distance between a reflection point of the measured object and a photosensitive detection pixel point corresponding to the photosensitive detector lattice based on the following formula:

wherein: c is the speed of light, T is the period of the modulated wave,

the phase difference between the reflected light beam received by the corresponding photosensitive detection pixel point and the corresponding detection light beam emitted by the light emitter is obtained.

9. The escalator cover detection method according to claim 8, characterized in that the distance converter converts the actual distance matrix into the horizontal distance matrix by means of:

10. The escalator cover detection method according to any one of claims 4-9, characterized by comprising the following steps: