Handrail dual-drive synchronous control system and method

Abstract

The present application relates to a dual-drive synchronous control system and method for handrails, the method comprising: obtaining a step motion frequency for driving step motion; calibrating and converting the step motion frequency according to a preset analog output slope and analog output bias to obtain an analog signal, wherein the voltage pulse width corresponding to the step motion frequency is calibrated according to the analog output slope and the analog output bias to adjust the output value of the analog signal so that the frequency driving the handrail motion is synchronized with the frequency driving the step motion; and generating a handrail drive signal for controlling the operation of an auxiliary driver according to the analog signal. The present application can ensure the stability and consistency of the synchronous motion of the handrail and steps, while effectively reducing the cost of separately driving the handrail.

Description

Technical Field

[0001] The present application relates to the field of passenger transportation technology, and in particular to a handrail dual-drive synchronous control system and method. Background Art

[0002] Escalators, moving walkways, and other equipment are all examples of passenger conveying equipment. An escalator is typically composed of a specially constructed chain conveyor and two specially constructed belt conveyors, with a circulating stairway. It is a fixed, electrically driven device used to transport passengers upward or downward between different floors of a building. Moving walkways, on the other hand, are fixed, electrically driven devices with a circulating (plate or belt) walkway used to transport passengers horizontally or at an angle of no more than 12 degrees. With technological advancements, passenger conveying equipment like escalators and moving walkways has become widely used in places like stations, shopping malls, and airports.

[0003] In the current technical field, the movement of the handrails of equipment such as escalators and moving walkways is generally driven by a main drive wheel that drives a first friction wheel connected to the handrail to rotate the handrail through friction. The main drive wheel drives the steps and, at the same time, drives the first friction wheel to rotate the handrail through a transmission mechanism. However, as the length of equipment such as escalators and moving walkways increases, the length of the handrail also increases. When the handrail length reaches a certain value, it is easy for the friction force of the drive wheel to be unable to drive the handrail. The rotation speed of the handrail will not keep up with the forward speed of the steps, that is, the forward speed of the steps will be inconsistent with the forward speed of the handrail. In this case, traditional technology requires adding a second friction wheel, which is driven by an auxiliary driver to control the auxiliary main machine to drive the second friction wheel to achieve the conditions for stable operation of the handrail.

[0004] However, when an auxiliary drive is added, since the active drive and the auxiliary drive operate independently, the main drive and the auxiliary drive of equipment such as escalators and moving walkways need to be coordinated to ensure the consistency of the operation of the auxiliary drive and the main drive. Otherwise, it will affect the normal use of the equipment and even cause safety accidents. Summary of the Invention

[0005] Based on this, it is necessary to provide a handrail dual-drive synchronous control system, method, electronic device and computer-readable storage medium that can drive the steps and handrails to move synchronously to address the above technical problems.

[0006] In the first aspect, the embodiment of the present application provides a handrail dual-drive synchronous control system, including: a main control board, a main driver, and an auxiliary driver. The main control board is connected to the main driver and the auxiliary driver signal respectively. The main driver is used to drive the step movement, and the auxiliary driver is used to drive the handrail movement. The main control board includes an acquisition module, a conversion module, and a drive module; wherein,

[0007] The acquisition module is used to acquire step motion information for driving step motion, wherein the step motion information includes step motion frequency;

[0008] The conversion module is used to calibrate the step motion frequency according to the preset analog output slope and analog output bias, and output the analog signal after calibration;

[0009] The drive module is used to generate a handrail drive signal for controlling the operation of the auxiliary drive according to the analog signal.

[0010] Optionally, in one embodiment, the conversion module is used to calibrate the voltage pulse width corresponding to the step motion frequency according to the analog output slope and the analog output bias and output the calibrated pulse signal, and the pulse signal is converted into an analog signal.

[0011] Optionally, in one embodiment, there is a linear relationship between the analog signal and the step motion frequency:

[0012] y=ax+4(1+b)

[0013] Among them, y is the analog signal, x is the step motion frequency, a is the analog output slope, and b is the analog output bias.

[0014] Optionally, in one embodiment, the conversion module includes a frequency synchronization module and an analog conversion circuit, wherein the frequency synchronization module is used to calibrate the voltage pulse width corresponding to the step motion frequency according to the analog output slope and the analog output bias and output the calibrated pulse signal, and the pulse signal is output as an analog signal after passing through the analog conversion circuit.

[0015] Optionally, in one embodiment, the analog conversion circuit includes a filter amplifier circuit, a signal conversion circuit, a current loop circuit, and a filter protection circuit;

[0016] The filter amplifier circuit is used to filter and amplify the pulse signal after the step motion frequency is calibrated;

[0017] The signal conversion circuit is used to perform level conversion on the signal after filtering and signal amplification processing;

[0018] The current loop circuit is used to convert the signal after level conversion into an analog signal;

[0019] The filter protection circuit is used to filter the output analog signal and provide overvoltage protection for the analog conversion circuit.

[0020] Optionally, in one embodiment, the analog signal is converted into a voltage signal after passing through the driving module, and the voltage signal serves as the handrail driving signal.

[0021] Optionally, in one embodiment, the auxiliary driver includes a microcontroller module,

[0022] The microcontroller module is used to convert the handrail drive signal into a digital signal and output the drive frequency corresponding to the digital signal to control the movement of the handrail.

[0023] In a second aspect, an embodiment of the present application provides a method for synchronously controlling dual-drive handrails, comprising the following steps:

[0024] Acquiring step motion information for driving step motion, the step motion information including step motion frequency;

[0025] According to the preset analog output slope and analog output bias, the step motion frequency is calibrated and the signal is converted to output analog signal.

[0026] Generate a handrail drive signal for controlling the operation of the auxiliary drive based on the analog signal.

[0027] Optionally, in one embodiment, there is a linear correspondence between the step motion frequency and the analog signal:

[0028] y=ax+4(1+b)

[0029] Among them, y is the analog signal, x is the step motion frequency, a is the analog output slope, and b is the analog output bias.

[0030] Optionally, in one embodiment, the analog signal is converted into a handrail drive signal after passing through a driving conversion resistor, the auxiliary driver receives the handrail drive signal and converts the handrail drive signal into a digital signal, and then controls the movement of the handrail according to the drive frequency output corresponding to the digital signal;

[0031] The corresponding relationship between the digital signal and the driving frequency is:

[0032] P=cU-4cR

[0033] Wherein, c is the slope of the preset ratio, R is the resistance of the drive conversion resistor, U is the digital signal, and P is the drive frequency.

[0034] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the handrail dual-drive synchronous control method in any one of the above embodiments is implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the handrail dual-drive synchronous control method in any of the above embodiments is implemented.

[0036] The aforementioned handrail dual-drive synchronous control system, method, electronic device, and computer-readable storage medium convert the step frequency of the step motion into a handrail drive signal that controls the operation of the auxiliary driver. The analog signal output value is adjusted by calibrating the voltage pulse width corresponding to the step frequency based on the analog output slope and analog output offset, thereby synchronizing the handrail drive frequency with the step drive frequency. This ensures frequency consistency before and after the signal conversion process, improves the stability and consistency of the synchronous motion of the handrail and steps, and effectively reduces the cost of independently driving the handrail.

[0037] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 This is a structural block diagram of the main control board of the handrail dual-drive synchronous control system in one embodiment;

[0040] Figure 2 This is a block diagram of the overall structure of a dual-drive synchronous control system for handrails in one embodiment;

[0041] Figure 3 This is a block diagram of the analog conversion circuit structure of the handrail dual-drive synchronous control system in one embodiment;

[0042] Figure 4 This is a structural diagram of an analog conversion circuit of a dual-drive synchronous control system for handrails in one embodiment;

[0043] Figure 5 2. It is a diagram showing analog signal conversion relationship of a handrail dual-drive synchronous control method in one embodiment;

[0044] Figure 6 A structural diagram of a drive module and an auxiliary drive of a handrail dual-drive synchronous control method in one embodiment;

[0045] Figure 7 A diagram showing a digital signal conversion relationship of a dual-drive synchronous control method for handrails in one embodiment;

[0046] Figure 8 1 is a flow chart of a method for synchronously controlling dual-drive handrails in one embodiment;

[0047] Figure 9 FIG. 4 is a structural block diagram of an electronic device in an embodiment.

[0048] Description of reference numerals:

[0049] 10. Acquisition module; 20. Conversion module; 201. Filter amplifier circuit; 202. Signal conversion circuit; 203. Current loop circuit; 204. Filter protection circuit; 30. Drive module; 40. Main control board; 50. Main driver; 60. Auxiliary driver. DETAILED DESCRIPTION

[0050] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0052] When used herein, the singular forms "a", "an", and "the" may also include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0053] In one embodiment, Figure 1 and Figure 2 As shown, a handrail dual-drive synchronous control system is provided, including: a main control board 40, a main driver 50, and an auxiliary driver 60. The main control board 40 is connected to the main driver 50 and the auxiliary driver 60 by signal respectively. The main driver 50 is used to drive the step movement, and the auxiliary driver 60 is used to drive the handrail movement. The main control board 40 includes an acquisition module 10, a conversion module 20, and a drive module 30; wherein,

[0054] An acquisition module 10 is used to acquire the step motion frequency and step motion direction for driving the step motion;

[0055] The conversion module 20 is configured to calibrate the step motion frequency according to a preset analog output slope and an analog output bias, and output an analog signal after calibration, wherein the voltage pulse width corresponding to the step motion frequency is calibrated according to the analog output slope and the analog output bias to adjust the output value of the analog signal so that the frequency of driving the handrail movement is synchronized with the frequency of driving the step motion;

[0056] The driving module 30 is used to generate a handrail driving signal for controlling the operation of the auxiliary driver according to the analog signal.

[0057] Specifically, the acquisition module of this embodiment acquires the step motion frequency that drives the step motion, wherein the step is driven by the corresponding main driver, and the step motion frequency is the actual frequency output by the main driver that drives the step motion. The actual step motion frequency of the step motion can be acquired through real-time monitoring by means of communication with the main driver, such as serial communication, bus communication, wireless communication, etc. Specifically, serial communication can be based on communication protocols such as RS-232, RS-422, and RS-485, bus communication can be based on CAN bus, wireless communication can be based on Bluetooth, etc., or it can be acquired through real-time monitoring by relevant sensor equipment that senses the step motion frequency. Preferably, this embodiment acquires the step motion frequency in real time by means of communication with the main driver, etc., without the need for relevant sensor equipment that senses the step motion frequency. This can save costs on the one hand, and avoid detection errors of the sensor equipment itself on the other hand, thereby improving the accuracy of the step motion frequency.

[0058] Specifically, the conversion module of this embodiment performs signal conversion on the acquired step motion frequency and converts it into an analog signal output that is convenient for data processing. In order to ensure the consistency between the frequency of driving the step motion and the frequency of driving the handrail motion, this embodiment adds an analog output slope and an analog output bias. The analog output slope and the analog output bias are used to characterize the linear relationship between the step motion frequency and the analog signal output value. The voltage pulse width corresponding to the step motion frequency is calibrated according to the analog output slope and the analog output bias to adjust the output value of the analog signal so that the frequency of driving the handrail motion is synchronized with the frequency of driving the step motion.

[0059] The analog output slope and analog output bias are used to characterize the linear relationship between the step motion frequency and the analog signal output value. Specifically, the voltage pulse width corresponding to the step motion frequency is calibrated using the analog output slope and analog output bias, and the calibrated pulse signal is then converted to adjust the output value of the analog signal to ensure the consistency of the corresponding frequency before and after the signal conversion. The analog output slope and analog output bias can be preset based on the actual frequency conditions before and after the signal conversion, and can also be readjusted during subsequent equipment operation to ensure long-term consistency between the frequency driving the step motion and the frequency driving the handrail, that is, to ensure that the output frequency of the main drive and the output frequency of the auxiliary drive remain synchronized.

[0060] Specifically, the driving module of this embodiment converts the analog signal output by the analog conversion circuit into a handrail driving signal, wherein the analog signal is converted into a handrail driving signal output, and after the auxiliary driver that drives the handrail is connected to the handrail driving signal, the auxiliary motor of the handrail is controlled to operate according to the driving frequency output corresponding to the handrail driving signal, so that the handrail moves synchronously with the steps.

[0061] The above-mentioned handrail dual-drive synchronous control system drives the handrail to move synchronously with the steps by converting the step motion frequency of the step motion into an handrail drive signal for driving the handrail movement. The voltage pulse width corresponding to the step motion frequency is calibrated according to the analog output slope and the analog output bias to adjust the output value of the analog signal so that the frequency of driving the handrail movement is synchronized with the frequency of driving the step movement. In this way, the consistency of the frequency values ​​before and after the signal conversion process is ensured, the stability and consistency of the synchronous movement of the handrail and the steps are improved, and the cost of driving the handrail separately is effectively reduced.

[0062] In one embodiment, the conversion module includes a frequency synchronization module and an analog conversion circuit, wherein the frequency synchronization module is used to calibrate the voltage pulse width corresponding to the step motion frequency according to the analog output slope and the analog output bias, so as to adjust the output value of the analog signal output by the analog conversion circuit, so that the handrail movement frequency corresponding to the handrail drive signal is synchronized with the step motion frequency.

[0063] Specifically, the frequency synchronization module of this embodiment can be integrated into a micro control unit to achieve the above functions.

[0064] Among them, the microcontroller unit is executed by an MCU, which is a chip-level computer system that can perform different combined control or data processing for different application scenarios. The frequency synchronization module of this embodiment is a PWM controller based on the microcontroller unit MCU, which adjusts the duty cycle of the output signal to obtain pulse signals with different voltage pulse widths. In this way, this embodiment calibrates the voltage pulse width corresponding to the step motion frequency through the frequency synchronization module to adjust the analog signal output value of the analog conversion circuit. In another embodiment, the microcontroller unit with the frequency synchronization module can also directly use a PWM modulator chip to achieve the above-mentioned function of receiving and calibrating the step motion frequency.

[0065] Specifically, the analog conversion circuit is used to convert the pulse signal output by the microcontroller unit into an analog signal, wherein, in response to the calibration of the voltage pulse width corresponding to the step motion frequency by the frequency synchronization module in the microcontroller unit, the output value of the analog signal converted by the analog conversion circuit is also adjusted, that is, the output value of the analog signal is adjusted by calibrating the voltage pulse width corresponding to the step motion frequency by the frequency synchronization module, thereby ensuring that the handrail movement frequency corresponding to the handrail drive signal is synchronized with the step motion frequency.

[0066] In one embodiment, the corresponding relationship between the analog signal and the step motion frequency can be: y=ax+4(1+b),

[0067] Among them, y is the output value of the analog signal, x is the step motion frequency, a is the analog output slope and b is the analog output bias b, such as Figure 5 shown.

[0068] Specifically, see Figure 5 In this embodiment, the signal conversion relationship between the step motion frequency x and the output value y of the analog signal is in a linear relationship, wherein the analog output slope a is the slope of the linear relationship, and the analog output bias b is the bias of the linear relationship. It can be understood that adjusting the analog output slope a and the analog output bias b means adjusting the signal conversion relationship between the step motion frequency x and the output value y of the analog signal. In this way, the output value of the analog signal can be adjusted so that the frequency of driving the handrail movement is consistent with the frequency of driving the step movement.

[0069] It should be noted that if Figure 5The signal conversion relationship shown between the step motion frequency x and the output value y of the analog signal is a specific implementation method in a specific scenario of the present application, and is not limited to this. For example, the type and parameters of passenger conveying equipment such as escalators and moving walkways will affect the corresponding signal conversion relationship. For example, different degrees of aging of the equipment will also affect the corresponding signal conversion relationship. More broadly, the specific signal conversion relationship of this embodiment can be adjusted and transformed based on the actual situation of the equipment, so as to adapt to the actual equipment situation, so that the frequency of driving the handrail movement is consistent with the frequency of driving the step movement.

[0070] In one embodiment, Figure 3 As shown, the analog conversion circuit of this embodiment includes a filter amplifier circuit 201, a signal conversion circuit 202, a current loop circuit 203, and a filter protection circuit 204; the filter amplifier circuit 201 is used to filter and amplify the pulse signal after the step motion frequency calibration; the signal conversion circuit 202 is used to level convert the signal after the filtering and signal amplification processing; the current loop circuit 203 is used to convert the signal after the level conversion into an analog signal; the filter protection circuit 204 is used to filter the output analog signal and perform overvoltage protection on the analog conversion circuit.

[0071] Specifically, see Figure 3 and Figure 4 In this embodiment, the input end of the filter amplifier circuit 201 inputs a pulse signal with a calibrated step motion frequency, and the output end of the filter amplifier circuit 201 is signal-connected to the input end of the signal conversion circuit 202. The filter amplifier circuit 201 includes at least a first filter resistor, a first filter capacitor, and a signal amplifier. The output end of the micro control unit is signal-connected to the input end of the signal amplifier via the first filter resistor and the second filter capacitor, and the output end of the signal amplifier is signal-connected to the input end of the signal conversion circuit 202. Specifically, see Figure 4 The filter amplifier circuit 201 of this embodiment performs RC filtering through a specific resistor RH1 and a capacitor CH1, and amplifies the signal through a signal amplifier 6N316.

[0072] Specifically, the signal conversion circuit of this embodiment performs level conversion on the signal output by the filter amplifier circuit, specifically by performing level inversion through an inverter, so as to convert the slowly changing input signal into a clearly defined and jitter-free output signal. Figure 4 The signal conversion circuit 202 can be implemented based on SN74HCT14, which provides six inverter buffers with Schmitt trigger function, which can realize the above-mentioned level conversion function.

[0073] Specifically, the input end of the current loop circuit of this embodiment is connected to the output end of the signal conversion circuit to convert the signal after level conversion into a stable current signal. Figure 4 The signal obtained by the signal conversion circuit 202 outputs a stable current signal through the XTR115 current loop circuit 203, wherein the current loop circuit 203 can process the output current signal by positive feedback or negative feedback to improve the stability of the current.

[0074] Specifically, see Figure 3 and Figure 4 In this embodiment, the input end of the filter protection circuit 204 is signal-connected to the output end of the current loop circuit 203, and the output end of the filter protection circuit 204 is signal-connected to the input end of the driver module. The filter protection circuit 204 includes at least a second filter capacitor, a bidirectional trigger diode, and a second filter resistor. The output end of the current loop circuit is signal-connected to the input end of the driver module via the second filter capacitor, the bidirectional trigger diode, and the second filter resistor. Specifically, the filter protection circuit 204 of this embodiment performs RC filtering through a specific resistor RH8 and a capacitor CH5, and the bidirectional trigger diode forms overvoltage protection for the circuit.

[0075] In one embodiment, see Figure 6 The auxiliary driver 60 of this embodiment includes a micro-control module, and the driving module is a driving conversion resistor; the driving conversion resistor is used to convert the analog signal into an analog voltage signal, wherein the analog voltage signal is connected to the auxiliary driver 60 as a handrail driving signal; the micro-control module of the auxiliary driver 60 converts the handrail driving signal into a digital signal for controlling the movement of the handrail, and controls the movement of the handrail with the driving frequency output corresponding to the digital signal, so that the driving frequency of the handrail movement and the step movement frequency are synchronized.

[0076] Specifically, see Figure 4 and Figure 6 The analog signal obtained by the analog conversion circuit is output to CURRENT_OUT. The current signal specifically outputted from the CURRENT_OUT end is converted into an analog voltage signal, i.e., the handrail driving signal, through a driving conversion resistor. The driving conversion resistor of this embodiment converts the current signal outputted by the analog conversion circuit into a voltage signal, thereby realizing the transformation of the signal form, so as to facilitate subsequent signal processing and meet the signal requirements of subsequent circuits.

[0077] Specifically, the microcontroller module includes a drive output circuit, and the analog current signal output by the specific analog conversion circuit is converted from current-out to an analog voltage signal after passing through a drive conversion resistor. The analog voltage signal is input to the microcontroller module, and the microcontroller module converts the analog voltage signal into a digital voltage value, that is, a digital signal, and controls the movement of the handrail belt by outputting the drive frequency corresponding to the digital signal through the drive output circuit. The above-mentioned digital signal preferably uses a decimal voltage value, such as the analog voltage signal input to the microcontroller module, which identifies that the analog voltage signal is 3V, and controls the movement of the handrail belt based on the drive frequency (7.5HZ) corresponding to the digital signal (3V voltage), so that the drive frequency of the handrail belt movement is synchronized with the step movement frequency. In addition, the digital signal can also be a binary voltage value, or a decimal voltage value converted from a binary voltage value.

[0078] Preferably, the microcontroller module in this embodiment is an internal MCU of the auxiliary driver. The drive output circuit can be integrated into the auxiliary driver's internal MCU to convert the analog voltage signal into a digital signal. The drive frequency output corresponding to the digital signal controls the operation of the handrail's auxiliary motor. Alternatively, the drive output circuit can be constructed using relevant electronic components based on the circuit principles of signal conversion.

[0079] Preferably, the microcontroller module of this embodiment is further provided with a filtering circuit to filter the handrail driving signal obtained by the driving module, so as to further improve the synchronization between the handrail and the step drive.

[0080] Preferably, see Figure 7 The corresponding relationship between the digital signal and the driving frequency of this embodiment follows the proportional relationship of the formula P=cU-4cR, where P is the driving frequency, R is the resistance value of the driving conversion resistor, c is the slope of the proportional relationship, and the range of c is 0-200%. U is the digital signal. In one embodiment, U is a decimal voltage value. It should be noted that, if Figure 7 The illustrated correspondence between U and P is a specific implementation for a specific scenario of this application and is not limited thereto. The corresponding relationship between the two can be set specifically based on the specific scenario. Furthermore, the drive output circuit converts the digital signal into a drive frequency according to the aforementioned proportional relationship. This frequency can be compared with the step motion frequency to determine the synchronization between the handrail and the step, and can also be displayed intuitively to facilitate monitoring of the synchronization between the step and the handrail.

[0081] In one embodiment, the microcontroller outputs a step motion drive at a preset frequency and direction, and monitors and obtains the step motion frequency and direction signal driving the step motion in real time through communication. The direction signal is transmitted by the microcontroller to the auxiliary driver, and the step motion frequency is calibrated and converted into an analog signal before being output to the auxiliary driver. Furthermore, the drive module of the auxiliary driver outputs a drive frequency corresponding to the step motion direction signal and the handrail driver signal to drive the handrail.

[0082] The working process of the device of this embodiment is now introduced in conjunction with a specific scenario, but is not limited to this.

[0083] In the current scenario, the handrail is independently driven by the auxiliary drive, and the escalator steps are independently driven by the main drive. The auxiliary drive and the main drive operate in coordination to control the synchronous operation of the escalator steps and handrail. Specifically:

[0084] When the escalator is running, the microcontroller unit controls the main driver through communication to output and drive the step movement according to the preset frequency and movement direction. At the same time, the microcontroller unit monitors and obtains the step movement frequency and step movement direction signal of the main driver through communication. The microcontroller unit calibrates the voltage pulse width of the step movement frequency according to the signal conversion relationship between the step movement frequency and the analog signal through the frequency synchronization module, and then outputs the calibrated pulse signal. The pulse signal is converted by the analog conversion circuit and then outputs an analog signal. The analog signal is converted into a handrail drive signal through the drive resistor and connected to the auxiliary driver. The auxiliary driver drives and controls the movement of the handrail according to the drive frequency corresponding to the handrail drive signal.

[0085] The analog conversion circuit converts the pulse signal after the step motion frequency calibration into an analog signal for output. During the signal conversion process, the pulse signal first passes through the filter amplifier circuit for filtering and signal amplification. The signal output by the filter amplifier circuit passes through the signal conversion circuit for level reverse conversion. The signal output by the signal conversion circuit passes through the current loop circuit to convert it into an analog signal of a stable current signal. The analog signal is then filtered by the filter protection circuit to obtain the final analog signal.

[0086] In the current scenario, this embodiment specifically uses the linear relationship of y=ax+4(1+b) to calibrate the voltage pulse width of the step motion frequency to adjust the output value of the analog signal, where a is the analog output slope, b is the analog output bias, x is the step motion frequency, and y is the output value of the analog signal. The parameter ranges of a and b are 0% to 200%. In this way, the obtained 0-50 Hz step motion frequency is converted into a 4 to 20 mA current analog signal.

[0087] The converted analog current signal is converted into an analog voltage signal through a drive conversion resistor. The analog voltage signal is used as a handrail drive signal and connected to the auxiliary driver. The drive output circuit in the auxiliary driver converts the handrail drive signal into a digital signal. Specifically, the auxiliary driver converts the handrail drive signal through the internal MCU and converts it into a digital voltage signal, such as a specific 3V voltage or 5V voltage, i.e., a digital signal. The auxiliary driver controls the operation of the auxiliary motor according to the drive frequency corresponding to the digital signal and the direction signal output of the step movement to control the movement of the handrail. The corresponding relationship between the digital signal U and the drive frequency P follows the proportional relationship of the formula P = cU-4cR, where R is the resistance of the drive conversion resistor, c is the slope of the proportional relationship, and the range of c is 0-200%. In addition, the auxiliary driver also converts the digital signal U into a drive frequency P based on the above proportional relationship for display. The synchronization of the step and handrail movement is verified by comparing the drive frequency and the step movement frequency.

[0088] Each module in the aforementioned dual-drive synchronous handrail control system can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor within an electronic device in hardware form, or stored in a memory within the electronic device in software form, allowing the processor to call and execute the corresponding operations of each module. It should be noted that the module division in the embodiments of this application is illustrative and represents only one logical functional division; alternative division methods may be employed in actual implementation.

[0089] In the above-mentioned handrail dual-drive synchronous control system, the handrail movement is driven and controlled by converting the step movement frequency of the step movement into a handrail drive signal that drives the handrail driver, so that the handrail and the steps move synchronously. The voltage pulse width corresponding to the step movement frequency is calibrated according to the analog output slope and the analog output bias to adjust the output value of the analog signal so that the frequency of driving the handrail movement is synchronized with the frequency of driving the step movement. In this way, the consistency of the frequency values ​​before and after the signal conversion process is ensured, the stability and consistency of the synchronous movement of the handrail and the steps are improved, and the cost of driving the handrail separately is effectively reduced.

[0090] In one embodiment, Figure 8 As shown, a handrail dual-drive synchronous control method is provided, which performs synchronous control of steps and handrails based on the handrail dual-drive synchronous control system in any of the above embodiments, including:

[0091] S100: Acquire a step motion frequency and a step motion direction signal for driving step motion.

[0092] Specifically, in an embodiment of the present application, the steps are driven by corresponding main drivers, and the step motion frequency is the actual frequency output by the main driver that drives the step motion. The actual step motion frequency and the step motion direction signal can be monitored and acquired in real time through communication with the main driver, for example, serial communication, bus communication, wireless communication, etc. Specifically, serial communication can be based on communication protocols such as RS-232, RS-422, and RS-485, bus communication can be based on CAN bus, etc., and wireless communication can be based on Bluetooth, etc., or can be acquired in real time through relevant sensor equipment that senses the step motion frequency. Preferably, in this embodiment, the step motion frequency and the step motion direction are acquired in real time through communication with the main driver, etc., without the need for relevant sensor equipment that senses the step motion frequency. This can save costs on the one hand, and avoid detection errors of the sensor equipment itself on the other hand, thereby improving the accuracy of the step motion frequency.

[0093] S200: Calibrate the step movement frequency and perform signal conversion according to the preset analog output slope and analog output bias to obtain an analog signal, wherein the voltage pulse width corresponding to the step movement frequency is calibrated according to the analog output slope and analog output bias to adjust the output value of the analog signal so that the frequency of driving the handrail movement is synchronized with the frequency of driving the step movement.

[0094] Specifically, in an embodiment of the present application, the acquired step motion frequency is subjected to signal conversion and converted into an analog signal output that is convenient for data processing. In order to ensure the consistency between the frequency of driving the step motion and the frequency of driving the handrail motion, this embodiment adds an analog output slope and an analog output bias. The analog output slope and the analog output bias are used to characterize the linear relationship between the step motion frequency and the analog signal output value. The voltage pulse width corresponding to the step motion frequency is calibrated according to the analog output slope and the analog output bias to adjust the output value of the analog signal so that the frequency of driving the handrail motion is synchronized with the frequency of driving the step motion.

[0095] The step frequency is calibrated by calibrating the voltage pulse width corresponding to the step frequency using the analog output slope and bias. The calibrated pulse signal is then converted to an analog signal to adjust the analog signal output value. The analog output slope and bias can be preset based on the actual frequency before and after signal conversion, and can be readjusted during subsequent equipment operation to ensure long-term consistency between the frequency driving the step movement and the frequency driving the handrail.

[0096] S300: Generate a handrail drive signal for controlling the operation of the auxiliary drive according to the analog signal.

[0097] Specifically, in an embodiment of the present application, the analog signal output by the analog conversion circuit is converted into a handrail drive signal, wherein the analog signal is converted into a handrail drive signal output, and the auxiliary driver that drives the handrail can control the operation of the auxiliary motor of the handrail according to the drive frequency output corresponding to the handrail drive signal, so that the handrail moves synchronously with the steps.

[0098] The above-mentioned handrail dual-drive synchronous control method converts the step motion frequency of the step motion into an handrail drive signal to drive the handrail to move synchronously with the steps, wherein the voltage pulse width corresponding to the step motion frequency is calibrated according to the analog output slope and the analog output bias, and the calibrated pulse signal is then converted into an analog signal to output an analog signal, and the analog signal is converted into an handrail drive signal by the drive module. After the auxiliary driver identifies the handrail drive signal, it controls the handrail movement according to the drive frequency output corresponding to the handrail drive signal, so that the frequency of driving and controlling the handrail movement is synchronized with the frequency of driving the step movement. In this way, the consistency of the frequency values ​​before and after the signal conversion process is ensured, the stability and consistency of the synchronous movement of the handrail and the steps are improved, and the cost of driving the handrail separately is effectively reduced.

[0099] In one embodiment, the corresponding relationship between the above analog signal and the step motion frequency is: y=ax+4(1+b), and the relationship diagram is as follows: Figure 5 As shown, y is the analog signal, x is the step motion frequency, a is the analog output slope, and b is the analog output bias.

[0100] Specifically, see Figure 5 In this embodiment, the signal conversion relationship between the step motion frequency x and the output value y of the analog signal is in a linear relationship, wherein the analog output slope a is the slope of the linear relationship, and the analog output bias b is the bias of the linear relationship. It can be understood that adjusting the analog output slope a and the analog output bias b means adjusting the signal conversion relationship between the step motion frequency x and the analog signal y. In this way, the output value of the analog signal can be adjusted so that the frequency of driving the handrail movement is consistent with the frequency of driving the step movement.

[0101] It should be noted that if Figure 5The signal conversion relationship between the step motion frequency x and the analog signal y shown is a specific implementation method in a specific scenario of the present application, and is not limited to this. For example, the type and parameters of passenger conveying equipment such as escalators and moving walkways will affect the corresponding signal conversion relationship. For example, different degrees of aging of the equipment will also affect the corresponding signal conversion relationship. More broadly, the specific signal conversion relationship of this embodiment can be adjusted and transformed based on the actual situation of the equipment, so as to adapt to the actual equipment situation, so that the frequency of driving the handrail movement is consistent with the frequency of driving the step movement.

[0102] In one embodiment, the parameter range of the analog output slope and the analog output bias is 0% to 200%, the analog signal is a current signal of 4 to 20mA, and the step movement frequency is 0-50HZ. Specifically, this parameter range is a specific implementation method under a specific scenario of the present application, and is not limited thereto. Furthermore, the parameter range of the analog output slope and the analog output bias can be adjusted based on the actual conditions of the equipment, so as to adapt to the actual conditions of the equipment, so that the frequency of driving the handrail movement is consistent with the frequency of driving the step movement. Specifically, the output range of the analog signal is a specific implementation method under a specific scenario of the present application, and is not limited thereto. Furthermore, the specific output range of the analog signal is determined based on the actual conditions of the equipment, so as to adapt to the actual conditions of the equipment, so that the frequency of driving the handrail movement is consistent with the frequency of driving the step movement.

[0103] In one embodiment, the process of generating an armrest drive signal based on an analog signal includes: converting the analog signal (analog current signal) into a voltage signal (analog voltage signal) through a driving conversion resistor, and the voltage signal serves as the armrest drive signal.

[0104] Specifically, the analog signal is converted into a voltage signal, namely, an armrest driving signal, through a driving conversion resistor, thereby realizing a change in the signal form to facilitate subsequent signal processing and meet the signal requirements of subsequent circuits.

[0105] In one embodiment, after generating the handrail drive signal according to the analog signal, it also includes: converting the handrail drive signal into a digital signal corresponding to the handrail drive signal, and controlling the movement of the handrail with the drive frequency output corresponding to the digital signal, so that the drive frequency of the handrail movement and the step movement frequency are synchronized.

[0106] Preferably, this embodiment can convert the analog voltage signal into a digital signal based on the MCU within the auxiliary driver. The drive frequency corresponding to the digital signal is then output to control the operation of the handrail's auxiliary motor. The corresponding relationship between the digital signal and the drive frequency follows the formula P = cU - 4cR. Furthermore, the drive output circuit can also be constructed using relevant electronic components based on the circuit principles of signal conversion.

[0107] Preferably, this embodiment further performs filtering processing on the handrail driving signal output by the driving module to further improve the synchronization between the handrail and the step drive.

[0108] Preferably, see Figure 7 , the above formula P=cU-4cR, where P is the driving frequency, R is the resistance of the driving conversion resistor, c is the slope of the proportional relationship, the range of c is 0-200%, and U is the digital signal. It should be noted that, if Figure 7 The illustrated correspondence between U and P is a specific implementation for a specific scenario of this application and is not limited thereto. The corresponding relationship between the two can be set specifically based on the specific scenario. Furthermore, the drive output circuit converts the digital signal into a drive frequency according to the above formula. This frequency can be compared with the step motion frequency to determine the synchronization between the handrail and the step, and can also be displayed intuitively to facilitate monitoring of the synchronization between the step and the handrail.

[0109] In one embodiment, obtaining the step motion frequency of the driving step motion includes: outputting the driving step motion at a preset frequency and motion direction, and monitoring and obtaining the step motion frequency and direction signal of the driving step motion in real time.

[0110] Specifically, the step motion of passenger output devices such as escalators and moving walkways is generally bidirectional. Before driving the steps, a preset frequency and direction of the step motion must be set. The frequency and direction of the step motion are then output and driven according to the preset frequency and direction. Therefore, to achieve synchronous movement of the handrail and steps, this embodiment monitors and obtains the step motion frequency and direction signals that drive the step motion in real time. Furthermore, the actual step motion direction signal can be monitored and obtained in real time by the main control board through communication with the main driver, or by relevant sensor equipment that senses the step motion direction signal. This signal can also be transmitted to the auxiliary driver via communication or sensor equipment, causing the auxiliary driver to drive the handrail and steps to move in the same direction.

[0111] This embodiment is now introduced in conjunction with a specific scenario, but is not limited thereto.

[0112] In the current scenario, the handrail is independently driven by the auxiliary drive, and the escalator steps are independently driven by the main drive. The auxiliary drive and the main drive operate in coordination to control the synchronous operation of the escalator steps and handrail. Specifically:

[0113] When the escalator is running, the microcontroller unit controls the main driver through communication to output and drive the step movement according to the preset frequency and movement direction. At the same time, the microcontroller unit monitors and obtains the step movement frequency and direction signal of the main driver through communication, and the frequency synchronization module of the microcontroller unit calibrates the voltage pulse width of the step movement frequency according to the signal conversion relationship between the step movement frequency and the analog signal. The calibrated pulse signal is converted into an analog signal output by the analog conversion circuit, thereby ensuring that the analog signal output value and the step movement frequency follow a linear correspondence, so that the handrail movement frequency corresponding to the analog signal converted into the handrail drive signal can be synchronized with the step movement frequency.

[0114] The analog conversion circuit converts the pulse signal after the step motion frequency calibration into an analog signal for output. During the signal conversion process, the pulse signal first passes through the filter amplifier circuit for filtering and signal amplification. The signal output by the filter amplifier circuit passes through the signal conversion circuit for level reverse conversion. The signal output by the signal conversion circuit passes through the current loop circuit to convert it into an analog signal of a stable current signal. The analog signal is then filtered by the filter protection circuit to obtain the final analog signal.

[0115] In the current scenario, this embodiment specifically uses the signal conversion relationship of y=ax+4(1+b) to calibrate the voltage pulse width of the step motion frequency to adjust the output value of the analog signal, where a is the analog output slope, b is the analog output bias, x is the step motion frequency, and y is the output value of the analog signal. The parameter ranges of a and b are 0% to 200%. In this way, the obtained 0-50H step motion frequency is converted into a 4 to 20mA current analog signal;

[0116] The converted analog current signal is converted into an analog voltage signal through a drive conversion resistor. This voltage signal is used as a handrail drive signal and connected to the auxiliary driver. The drive output circuit in the auxiliary driver converts the handrail drive signal into a digital signal. Specifically, the auxiliary driver converts the handrail drive signal through the internal MCU and converts it into a digital voltage signal, such as a 3V voltage, i.e., a digital signal. The auxiliary driver controls the operation of the auxiliary motor according to the drive frequency corresponding to the digital signal and the direction signal output of the step movement obtained by the auxiliary driver to control the movement of the handrail. The corresponding relationship between the digital signal U and the drive frequency P follows the proportional relationship of the formula P = cU-4cR, where R is the resistance of the drive conversion resistor, c is the slope of the proportional relationship, and the range of c is 0-200%. In addition, the auxiliary driver also converts the digital signal U into a drive frequency P based on the above proportional relationship for display. The synchronization of the step and handrail movement is verified by comparing the drive frequency and the step movement frequency.

[0117] It should be understood that although Figure 8 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 8 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0118] In one embodiment, Figure 9 As shown, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, any one of the handrail dual-drive synchronous control methods in the above embodiments is implemented.

[0119] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiment and the optional embodiment, and will not be repeated in this embodiment.

[0120] In addition, in combination with the dual-drive synchronous control method for the handrail provided in the above embodiments, a computer-readable storage medium can also be provided in this embodiment, on which a computer program is stored. When the computer program is executed by the processor, any one of the dual-drive synchronous control methods for the handrail in the above embodiments is implemented.

[0121] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0122] Throughout this specification, references to terms such as "some embodiments," "other embodiments," and "desired embodiments" indicate that a particular feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. Although these terms are used interchangeably throughout this specification, they do not necessarily refer to the same embodiment or example.

[0123] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A dual-drive synchronous control system for handrails, characterized in that: include: Main control board, main driver, auxiliary driver, the main control board is respectively connected to the main driver and the auxiliary driver signal, the main driver is used to drive the step movement, the auxiliary driver is used to drive the handrail movement, the main control board includes an acquisition module, a conversion module, and a drive module; wherein, The acquisition module is used to acquire step motion information and step motion direction for driving step motion, wherein the step motion information includes step motion frequency; The conversion module is used to calibrate the step motion frequency according to the preset analog output slope and analog output bias, and output an analog signal after calibration. The driving module is used to generate a handrail driving signal for controlling the operation of the auxiliary driver according to the analog signal; There is a linear relationship between the analog signal and the step motion frequency: y=ax+4(1+b) Wherein, y is the analog signal, x is the step motion frequency, a is the analog output slope, and b is the analog output bias; The driving module is a driving conversion resistor, and the analog signal is converted into a voltage signal after passing through the driving module, and the voltage signal is used as the handrail driving signal; The auxiliary driver includes a microcontroller module; the microcontroller module is used to convert the handrail drive signal into a digital signal, and output the drive frequency corresponding to the digital signal to control the movement of the handrail; The corresponding relationship between the digital signal and the driving frequency is: P=cU-4cR Wherein, c is the slope of the preset ratio, R is the resistance of the driving conversion resistor, U is the digital signal, and P is the driving frequency.

2. The system according to claim 1, wherein: The conversion module is used to calibrate the voltage pulse width corresponding to the step motion frequency according to the analog output slope and the analog output offset and output the calibrated pulse signal, and the pulse signal is converted into an analog signal.

3. The system according to claim 1, wherein: The conversion module includes a frequency synchronization module and an analog conversion circuit, wherein the frequency synchronization module is used to calibrate the voltage pulse width corresponding to the step motion frequency according to the analog output slope and the analog output bias and output the calibrated pulse signal, and the pulse signal outputs an analog signal after passing through the analog conversion circuit.

4. The system according to claim 3, characterized in that The analog conversion circuit includes a filter amplifier circuit, a signal conversion circuit, a current loop circuit, and a filter protection circuit; The filtering and amplifying circuit is used to perform filtering and signal amplification processing on the pulse signal after the step motion frequency calibration; The signal conversion circuit is used to perform level conversion on the signal after the filtering process and the signal amplification process; The current loop circuit is used to convert the signal after the level conversion into the analog signal; The filtering protection circuit is used to filter the output analog signal and perform overvoltage protection on the analog conversion circuit.

5. A dual-drive synchronous control method for handrail belts, characterized in that: The method is applied to any one of the handrail dual-drive synchronous control systems of claim 1 to claim 4, comprising the following steps: Acquiring step motion information and step motion direction for driving step motion, wherein the step motion information includes step motion frequency; The step motion frequency is calibrated and converted according to a preset analog output slope and analog output bias, and then an analog signal is output; Generate a handrail belt drive signal for controlling the operation of the auxiliary drive according to the analog signal; There is a linear correspondence between the step motion frequency and the analog signal: y=ax+4(1+b) Wherein, y is the analog signal, x is the step motion frequency, a is the analog output slope, and b is the analog output bias; The analog signal is converted into a handrail drive signal after driving the conversion resistor, and the auxiliary driver receives the handrail drive signal and converts the handrail drive signal into a digital signal, and then controls the movement of the handrail according to the drive frequency corresponding to the digital signal; The corresponding relationship between the digital signal and the driving frequency is: P=cU-4cR Wherein, c is the slope of the preset ratio, R is the resistance of the driving conversion resistor, U is the digital signal, and P is the driving frequency.

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