Escalator braking system and control method

Abstract

The invention provides an escalator braking system and a control method. The control method comprises the steps that the deceleration in the escalator braking process is collected; extracting a braking deceleration sequence and a vibration deceleration sequence of the braking process based on the deceleration collected at each sampling time point in the braking process; determining wear characteristics of magnetorheological fluid in the braking device based on the trend characteristics of the braking deceleration sequence; determining the hysteresis state when the rheological property of the magnetorheological fluid is changed according to the excitation current of the excitation coil in the braking process of the escalator and the power spectrum characteristic of the vibration deceleration sequence; and the extrusion compensation amount of magnetorheological fluid is determined according to the hysteresis state and the abrasion characteristics, and compensation control is conducted on a brake device in the escalator according to the extrusion compensation amount. By the adoption of the scheme, the wall sliding phenomenon caused by rheological property changes of the magnetorheological fluid can be avoided, and therefore the safety of the escalator is improved.

Description

Technical Field

[0001] The present application relates to the technical field of escalators, and more specifically, to an escalator braking system and a control method. Background Art

[0002] An escalator is a fixed electric drive device with circulating steps for transporting passengers upward or downward. It is usually used in public places such as shopping malls, stations and airports. It consists of a ladder path (a modified plate conveyor) and handrails on both sides (a modified belt conveyor). Its main components include steps, traction chains and sprockets, guide rail systems, main transmission systems (including motors, speed reducers, brakes and intermediate transmission links, etc.), drive spindles, ladder path tensioning devices, handrail systems, combing plates, escalator skeletons and electrical systems. The steps move horizontally at the passenger entrance (to facilitate passengers to climb the ladder), and then gradually form steps; the steps gradually disappear near the exit, and the steps move horizontally again. These movements are achieved by the main wheels and auxiliary wheels of the steps walking along different step guides.

[0003] The braking system of an escalator is a key component to ensure its safe operation. In the prior art, in order to prevent passengers from falling on the escalator during braking, an additional braking device with magnetorheological fluid is usually used to brake the escalator. Magnetorheological fluid is an intelligent material whose viscosity can change rapidly under the action of an external magnetic field. The additional braking device with magnetorheological fluid has the advantages of a smooth braking process, rapid response, strong adjustability and low wear of the brake belt. However, magnetorheological fluid also has many shortcomings during the braking process. For example, frictional heat generated during the braking process will cause the performance of the magnetorheological fluid to decrease, and at low temperatures, the viscosity of the magnetorheological fluid will increase. Moreover, with the use of the additional braking device, the metal particles in the magnetorheological fluid will aggregate or wear. The above problems will cause the rheological properties of the magnetorheological fluid to change, causing the escalator to experience wall slip during the braking process, thereby affecting the safety of the escalator. Therefore, how to avoid the wall slip caused by the change in the rheological properties of the magnetorheological fluid, thereby improving the safety of the escalator has become a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides an escalator braking system and a control method, which can avoid the wall slip phenomenon caused by the change of rheological properties of magnetorheological fluid, thereby improving the safety of the escalator.

[0005] In a first aspect, the present application provides an escalator control method, comprising:

[0006] Respond to the braking request of the escalator, start the braking procedure of the escalator, and collect the deceleration during the braking process of the escalator;

[0007] Extracting a braking deceleration sequence and a vibration deceleration sequence of the braking process based on the deceleration collected at each sampling time point in the braking process;

[0008] Determine the shear force provided by the magnetorheological fluid in the brake device of the escalator at the gap between the brake band and the brake disc according to the trend characteristics of the braking deceleration sequence, and then determine the wear characteristics of the metal particles in the magnetorheological fluid through the shear force and the wall slip of the magnetorheological fluid during the braking process;

[0009] Determining the hysteresis state when the rheological properties of the magnetorheological fluid change according to the excitation current of the excitation coil on the brake device and the power spectrum characteristics of the vibration deceleration sequence during the braking process;

[0010] The extrusion compensation amount of the magnetorheological fluid is determined according to the hysteresis state and the wear characteristics, and the torsional torque of the brake device in the escalator during braking is adjusted according to the extrusion compensation amount.

[0011] In some embodiments, extracting the braking deceleration sequence and the vibration deceleration sequence of the braking process based on the deceleration collected at each sampling time point in the braking process specifically includes:

[0012] Arrange all decelerations in chronological order, and use the arranged sequence as deceleration data;

[0013] Decomposing the deceleration data into a plurality of deceleration sub-sequences;

[0014] Based on the memory characteristics of each deceleration subsequence, a braking deceleration sequence and a vibration deceleration sequence are extracted from all deceleration subsequences.

[0015] In some embodiments, decomposing the deceleration data into a plurality of deceleration sub-sequences specifically comprises:

[0016] Taking the deceleration data as an initial sequence, determining a deceleration trend curve of the original sequence;

[0017] Determine a deceleration subsequence according to the deceleration trend curve;

[0018] A new initial sequence is determined according to the deceleration subsequence, and the above steps are repeated to obtain a new deceleration trend curve and a new deceleration subsequence, until the obtained deceleration trend curve is a monotonic curve, thereby obtaining multiple deceleration subsequences.

[0019] In some embodiments, extracting a braking deceleration sequence and a vibration deceleration sequence from all deceleration subsequences based on the memory characteristics of each deceleration subsequence specifically includes:

[0020] Determine the memory characteristics of each speed reducer sequence;

[0021] The deceleration subsequence with the largest memory characteristic is taken as the braking deceleration sequence;

[0022] The deceleration subsequence with the smallest memory characteristic is used as the interference sequence;

[0023] A vibration deceleration sequence is determined based on the braking deceleration sequence and the interference sequence.

[0024] In some embodiments, determining the shear force provided by the magnetorheological fluid at the gap between the brake band and the brake disc in the braking device of the escalator according to the trend characteristics of the braking deceleration sequence specifically includes:

[0025] Get the total mass of the escalator;

[0026] determining a trend characteristic of the braking deceleration sequence;

[0027] determining the braking force provided by the braking device according to the trend characteristics and the total mass of the escalator;

[0028] Get the radius of the brake disc;

[0029] The shear force provided by the magnetorheological fluid at the gap between the brake band and the brake disc in the brake device of the escalator is determined according to the braking force and the radius of the brake disc.

[0030] In some embodiments, determining the wear characteristics of the metal particles in the magnetorheological fluid by the shear force and the wall slip of the magnetorheological fluid during braking specifically includes:

[0031] Obtaining the hardness of particles in the magnetorheological fluid;

[0032] determining the wall slip of the magnetorheological fluid during braking according to the deceleration data;

[0033] The wear characteristics of the metal particles in the magnetorheological fluid are determined according to the hardness of the particles in the magnetorheological fluid, the wall slip amount and the shear force.

[0034] In some embodiments, adjusting the torsional moment of the braking device in the escalator according to the squeezing compensation amount during braking specifically includes:

[0035] Obtaining an electrical response time of the braking system;

[0036] determining a braking margin based on the electrical reaction time and a preset braking distance;

[0037] The torsional moment of the braking device in the escalator during braking at the next moment is determined according to the braking margin and the determined squeezing compensation amount.

[0038] In a second aspect, the present application provides an escalator braking system, including a braking control unit, wherein the braking control unit includes:

[0039] A collection module, used for starting the braking procedure of the escalator after responding to the braking request of the escalator, and collecting the deceleration during the braking process of the escalator;

[0040] A processing module, used for extracting a braking deceleration sequence and a vibration deceleration sequence of the braking process based on the deceleration collected at each sampling time point in the braking process;

[0041] The processing module is further used to determine the shear force provided by the magnetorheological fluid in the brake device of the escalator at the gap between the brake band and the brake disc according to the trend characteristics of the braking deceleration sequence, and then determine the wear characteristics of the metal particles in the magnetorheological fluid through the shear force and the wall slip of the magnetorheological fluid during the braking process;

[0042] The processing module is also used to determine the hysteresis state when the rheological properties of the magnetorheological fluid change according to the excitation current of the excitation coil on the braking device and the power spectrum characteristics of the vibration deceleration sequence during the braking process;

[0043] The execution module is used to determine the extrusion compensation amount of the magnetorheological fluid according to the hysteresis state and the wear characteristics, and adjust the torsional torque of the brake device in the escalator during braking according to the extrusion compensation amount.

[0044] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned escalator control method.

[0045] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned escalator control method is implemented.

[0046] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects:

[0047] In the escalator braking system and control method disclosed in the embodiment of the present application, first, in response to the braking request of the escalator, the braking program of the escalator is started, and the deceleration during the braking process of the escalator is collected; based on the deceleration collected at each sampling time point during the braking process, the braking deceleration sequence and the vibration deceleration sequence of the braking process are extracted; according to the trend characteristics of the braking deceleration sequence, the shear force provided by the magnetorheological fluid in the braking device of the escalator at the gap between the brake belt and the brake disc is determined, and then the wear characteristics of the metal particles in the magnetorheological fluid are determined through the shear force and the wall slip of the magnetorheological fluid during the braking process; according to the excitation current of the excitation coil on the braking device during the braking process and the power spectrum characteristics of the vibration deceleration sequence, the hysteresis state of the magnetorheological fluid when the rheological properties of the magnetorheological fluid change is determined; according to the hysteresis state and the wear characteristics, the extrusion compensation amount of the magnetorheological fluid is determined, and the torsional torque of the braking device in the escalator during braking is adjusted according to the extrusion compensation amount.

[0048] It can be seen that the present application extracts the braking deceleration sequence (deceleration caused by the braking force provided by the braking device) and the vibration deceleration sequence (deceleration caused by the vibration between the brake belt and the brake disc) from the deceleration during braking of the escalator, and determines the wear condition of the metal particles in the magnetorheological fluid (i.e., wear characteristics) through the braking deceleration sequence, and then determines the current rheological properties (i.e., hysteresis state) of the magnetorheological fluid through the vibration deceleration sequence and the current flowing through the excitation coil (i.e., current data), and determines the extrusion compensation amount for increasing the shear force of the magnetorheological fluid based on the rheological properties of the current magnetorheological fluid, and then adjusts the torsional torque during braking of the additional brake through the extrusion compensation amount to eliminate the wall slip phenomenon of the magnetorheological fluid. In summary, the present application can avoid the wall slip phenomenon caused by changes in the rheological properties of the magnetorheological fluid, thereby improving the safety of the escalator. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is an exemplary flow chart of an escalator control method according to some embodiments of the present application;

[0050] Figure 2 is an exemplary flow chart of determining a deceleration subsequence according to some embodiments of the present application;

[0051] Figure 3 is an exemplary flow chart for determining wear characteristics according to some embodiments of the present application;

[0052] Figure 4 is a schematic diagram of the structure of a brake control unit according to some embodiments of the present application;

[0053] Figure 5It is a structural schematic diagram of a computer device for implementing an escalator control method according to some embodiments of the present application. DETAILED DESCRIPTION

[0054] In order to better understand the technical solution of the present application, the technical solution of the present application will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0055] refer to Figure 1 , which is an exemplary flow chart of an escalator control method according to some embodiments of the present application, and the escalator control method 100 mainly includes the following steps:

[0056] In step 101, in response to a braking request of an escalator, a braking procedure of the escalator is started, and the deceleration during the braking process of the escalator is collected.

[0057] In specific implementation, the speed value of the escalator braking process can be collected by the speed sensor according to the preset sampling interval, and all the speed values ​​are arranged in the order of sampling. Then, for all the arranged speed values, the former speed value of the two adjacent speed values ​​is subtracted from the latter speed value, and the obtained value is divided by the sampling interval to obtain the quotient as the deceleration of the corresponding two speed values.

[0058] It should be noted that the sampling interval in the present application can be preset according to actual needs. For example, the sampling interval in the present application can be preset to 0.01s.

[0059] In step 102, a braking deceleration sequence and a vibration deceleration sequence of the braking process are extracted based on the deceleration collected at each sampling time point in the braking process.

[0060] In some embodiments, extracting the braking deceleration sequence and the vibration deceleration sequence of the braking process based on the deceleration collected at each sampling time point in the braking process can be achieved by using the following steps:

[0061] Arrange all decelerations in chronological order, and use the arranged sequence as deceleration data;

[0062] Decomposing the deceleration data into a plurality of deceleration sub-sequences;

[0063] Based on the memory characteristics of each deceleration subsequence, a braking deceleration sequence and a vibration deceleration sequence are extracted from all deceleration subsequences.

[0064] In some embodiments, reference Figure 2 , which is an exemplary flow chart of determining a deceleration subsequence according to some embodiments of the present application. In the present application, decomposing the deceleration data into a plurality of deceleration subsequences can be implemented by the following steps:

[0065] In step 1021, the deceleration data is used as an initial sequence to determine a deceleration trend curve of the original sequence;

[0066] In step 1022, a deceleration subsequence is determined according to the deceleration trend curve;

[0067] In step 1023, a new initial sequence is determined according to the deceleration subsequence, and the above steps are repeated to obtain a new deceleration trend curve and a new deceleration subsequence, until the obtained deceleration trend curve is a monotonic curve, thereby obtaining multiple deceleration subsequences.

[0068] In specific implementation, the deceleration trend curve of the original sequence can be determined in the following manner, namely: first, all local maximum values ​​in the original sequence are fitted into a curve by the Lagrange interpolation method in the prior art, and then, all local minimum values ​​in the original sequence are fitted into a curve by the Lagrange interpolation method in the prior art, and then, the two obtained curves are added and divided by two, and finally, the obtained curve is used as the deceleration trend curve of the original sequence.

[0069] It should be noted that the deceleration trend curve in the present application is a curve used to reflect the time-varying trend of all deceleration values ​​in the original sequence.

[0070] In specific implementation, determining the deceleration subsequence according to the deceleration trend curve and the original sequence can be achieved in the following manner, namely: first, extracting multiple data from the deceleration trend curve according to a preset sampling interval, and arranging all the data in chronological order, then subtracting the obtained sequence from the original sequence, and finally, using the data obtained after the subtraction as the deceleration subsequence.

[0071] In specific implementation, determining the deceleration subsequence according to the deceleration trend curve can be achieved in the following manner, namely: extracting multiple data from the deceleration trend curve according to a preset sampling interval, and arranging all the data in order, and finally, using the arranged sequence as the deceleration subsequence.

[0072] It should be noted that the deceleration subsequence in the present application is a sequence reflecting the time series characteristics of the deceleration in the deceleration data, wherein the time series characteristics include trend, periodicity and noise.

[0073] In a specific implementation, determining a new initial sequence according to the deceleration subsequence may be implemented in the following manner, namely: subtracting the deceleration subsequence from the original sequence, and using the obtained sequence as the new initial sequence.

[0074] It should be noted that in the present application, the deceleration trend curve obtained is a monotonic curve, and in the obtained multiple deceleration sub-sequences, monotonic means that the deceleration trend curve is a monotonically increasing curve or a monotonically decreasing curve.

[0075] In some embodiments, extracting a braking deceleration sequence and a vibration deceleration sequence from all deceleration subsequences based on the memory characteristics of each deceleration subsequence can be achieved by the following steps:

[0076] Determine the memory characteristics of each speed reducer sequence;

[0077] The deceleration subsequence with the largest memory characteristic is taken as the braking deceleration sequence;

[0078] The deceleration subsequence with the smallest memory characteristic is used as the interference sequence;

[0079] A vibration deceleration sequence is determined based on the braking deceleration sequence and the interference sequence.

[0080] In some embodiments, determining the memory characteristics of each deceleration subsequence may be implemented by the following steps:

[0081] Selecting a decelerator sequence as a selected decelerator sequence;

[0082] Presetting a sampling window, dividing the selected deceleration subsequence into a plurality of data segments through the sampling window;

[0083] For each data segment, determine the standard deviation and fluctuation range of the data segment;

[0084] Determine the discrete characteristic value of the data segment according to the standard deviation and the fluctuation domain, and then obtain the discrete characteristic value of each data segment;

[0085] Determine the average discrete feature corresponding to the sampling window according to all discrete feature values;

[0086] Changing the size of the sampling window, and continuing to determine the average discrete features corresponding to the new sampling window, until the number of sampling windows reaches a preset window number threshold;

[0087] The memory characteristic of the selected deceleration subsequence is determined according to the sizes of all sampling windows and all average discrete characteristics.

[0088] Repeat the above steps to continue determining the memory characteristics of the remaining deceleration subsequences.

[0089] In a specific implementation, dividing the selected deceleration subsequence into multiple data segments through the sampling window can be achieved in the following manner, namely: dividing all data in the selected deceleration subsequence into multiple sequences of length n according to the arrangement order, and using all the obtained sequences as data segments of the selected deceleration subsequence, wherein n is the size of the sampling window.

[0090] It should be noted that the sampling window in the present application can be preset according to actual needs. For example, the size of the sampling window can be preset to 10 data in the present application.

[0091] In specific implementation, the standard deviation and fluctuation range of a data segment can be determined in the following manner: first, take the root of the variance of all data in the data segment, and use the resulting value as the standard deviation of the data segment; then, make the difference between the maximum value and the minimum value in the data segment; finally, use the resulting value as the fluctuation range of the data segment.

[0092] In specific implementation, determining the discrete eigenvalue of a data segment based on the standard deviation and the fluctuation domain can be achieved in the following manner: first, dividing the fluctuation domain of the data segment by the standard deviation of the data segment, and then using the obtained value as the discrete eigenvalue of the data segment.

[0093] It should be noted that the discrete eigenvalue in this application is a parameter that represents the discrete distribution of data in a data segment. The larger the discrete eigenvalue, the more dispersed the data distribution in the data segment, and the smaller the discrete eigenvalue, the more concentrated the data distribution in the data segment.

[0094] In a specific implementation, determining the average discrete feature corresponding to the sampling window according to all discrete feature values ​​may be implemented in the following manner, namely: taking the average value of all discrete feature values ​​as the average discrete feature corresponding to the sampling window.

[0095] It should be noted that the average discrete feature in this application is a parameter that comprehensively measures the discreteness of data distribution in all data segments. The larger the average discrete feature, the more dispersed the data distribution in all data segments; the smaller the average discrete feature, the more concentrated the data distribution in all data segments.

[0096] It should be noted that, in the present application, changing the size of the sampling window can be implemented in the following manner, that is, the size of the sampling window can be increased by 5 data.

[0097] In addition, it should be noted that the window number threshold in the present application can be preset according to actual needs. For example, the window number threshold can be preset to 20 in the present application.

[0098] In specific implementation, the memory feature of the selected deceleration subsequence is determined based on the size of all sampling windows and all average discrete features. This can be achieved in the following manner: first, the natural logarithms of all average discrete features are used as dependent variables, and then the natural logarithms of all sampling window sizes are used as independent variables. Furthermore, all dependent variables and all independent variables are fitted into a linear function curve by the autoregressive method in the prior art. Finally, the slope of the linear function curve is used as the memory feature of the selected deceleration subsequence.

[0099] It should be noted that the memory feature in the present application is a parameter indicating the degree of dependence of the data in the deceleration subsequence on the historical data. The larger the memory feature, the more dependent the data in the deceleration subsequence is on the historical data, that is, the stronger the trend of the deceleration subsequence. The smaller the expected index, the less dependent the data in the deceleration subsequence is on the historical data, that is, the weaker the trend of the deceleration subsequence.

[0100] In addition, it should be noted that the braking deceleration sequence in the present application is a data component corresponding to the braking force provided by the braking device in the escalator in the deceleration data.

[0101] In a specific implementation, determining the vibration deceleration sequence based on the braking deceleration sequence and the interference sequence can be achieved in the following manner, namely: first, the deceleration data forms a sequence, and the sequence length of the deceleration data is the same as the length of the braking deceleration sequence and the interference sequence. Therefore, in a specific implementation, the deceleration data sequence is subtracted from the braking deceleration sequence data, and then the obtained sequence is subtracted from the interference sequence, and the final sequence is used as the vibration deceleration sequence.

[0102] It should be noted that the vibration deceleration sequence in the present application is a data component corresponding to the vibration of the braking device in the escalator during braking in the deceleration data.

[0103] In step 103, the shear force provided by the magnetorheological fluid in the brake device of the escalator at the gap between the brake band and the brake disc is determined according to the trend characteristics of the braking deceleration sequence, and then the wear characteristics of the metal particles in the magnetorheological fluid are determined through the shear force and the wall slip of the magnetorheological fluid during braking.

[0104] In some embodiments, determining the shear force provided by the magnetorheological fluid at the gap between the brake band and the brake disc in the braking device of the escalator according to the trend characteristics of the braking deceleration sequence can be achieved by the following steps:

[0105] Get the total mass of the escalator;

[0106] determining a trend characteristic of the braking deceleration sequence;

[0107] determining the braking force provided by the braking device according to the trend characteristics and the total mass of the escalator;

[0108] Get the radius of the brake disc;

[0109] The shear force provided by the magnetorheological fluid at the gap between the brake band and the brake disc in the brake device of the escalator is determined according to the braking force and the radius of the brake disc.

[0110] In specific implementation, the trend characteristics of the braking deceleration sequence can be determined in the following manner: first, the braking deceleration sequence is fitted into a linear function by the least squares method in the prior art, and then the absolute value of the slope of the linear function is used as the trend characteristics of the braking deceleration sequence.

[0111] It should be noted that the trend feature in the present application is a parameter representing the rate of change of data in the braking deceleration sequence. The larger the trend feature, the faster the data in the braking deceleration sequence changes, and the smaller the trend feature, the slower the data in the braking deceleration sequence changes.

[0112] In specific implementation, the braking force provided by the braking device can be determined based on the trend characteristics and the total mass of the escalator in the following manner: first, the average value of all data in the braking deceleration sequence is calculated, and then the average value is multiplied by the total mass of the escalator. Subsequently, the multiplied value is multiplied by the trend characteristics, and the final value is used as the braking force provided by the braking device.

[0113] In a specific implementation, the shear force provided by the magnetorheological fluid in the braking device of the escalator at the gap between the brake band and the brake disc can be determined according to the braking force and the radius of the brake disc. This can be achieved in the following manner, namely: first, the braking force is divided by the radius of the brake disc, and then the obtained value is multiplied by the speed value of the escalator at the current moment, and finally, the obtained value is used as the shear force provided by the magnetorheological fluid in the braking device at the gap between the brake band and the brake disc, wherein the speed value of the escalator at the current moment can be directly collected by a speed sensor.

[0114] It should be noted that the shear force in the present application refers to the force parallel to the fluid surface layer generated between different fluid layers in the brake device due to the arrangement and interaction of internal magnetic particles when the magnetorheological fluid is subjected to an external magnetic field.

[0115] In some embodiments, reference Figure 3 , which is an exemplary flow chart of determining wear characteristics according to some embodiments of the present application. In the present application, the wear characteristics of the metal particles in the magnetorheological fluid are determined by the shear force and the wall slip of the magnetorheological fluid during the braking process, which can be achieved by the following steps:

[0116] In step 1031, the hardness of particles in the magnetorheological fluid is obtained;

[0117] In step 1032, the wall slip of the magnetorheological fluid during braking is determined according to the deceleration data;

[0118] In step 1033, the wear characteristics of the metal particles in the magnetorheological fluid are determined according to the hardness of the particles in the magnetorheological fluid, the wall slip and the shear force.

[0119] In specific implementation, the hardness of particles in the magnetorheological fluid can be obtained through the product manual provided by the magnetorheological fluid manufacturer.

[0120] In specific implementation, determining the wall slip of the magnetorheological fluid during braking based on the deceleration data can be achieved in the following manner, namely: first, fitting the deceleration data into a curve through the Lagrange interpolation method in the prior art, and calculating the definite integral of the curve, and then using the value of the definite integral as the wall slip of the magnetorheological fluid during braking.

[0121] It should be noted that the wall slip in the present application is a parameter indicating the relative slip distance between the brake disc and the liquid layer of the magnetorheological fluid in the braking device. The larger the wall slip, the larger the relative slip distance between the brake disc and the liquid layer of the magnetorheological fluid in the braking device, that is, the worse the braking effect at this time. The smaller the wall slip, the smaller the relative slip distance between the brake disc and the liquid layer of the magnetorheological fluid in the braking device, that is, the better the braking effect at this time.

[0122] In a specific implementation, the wear characteristics of the magnetorheological fluid in the braking device can be determined based on the hardness of the particles in the magnetorheological fluid, the wall slip and the shear force. This can be achieved in the following manner: first, the shear force is multiplied by the wall slip, and then the obtained value is divided by the hardness of the particles in the magnetorheological fluid. Finally, the obtained value is used as the wear characteristics of the magnetorheological fluid in the braking device.

[0123] It should be noted that the wear characteristic in the present application is a parameter indicating the degree of wear of metal particles in the magnetorheological fluid. The larger the wear characteristic, the greater the degree of wear of metal particles in the magnetorheological fluid, that is, the worse the braking effect of the magnetorheological fluid. The smaller the wear characteristic, the smaller the degree of wear of metal particles in the magnetorheological fluid, that is, the better the braking effect of the magnetorheological fluid.

[0124] In step 104, the hysteresis state when the rheological property of the magnetorheological fluid changes is determined according to the excitation current of the excitation coil on the braking device and the power spectrum characteristics of the vibration deceleration sequence during the braking process.

[0125] In some embodiments, determining the hysteresis state when the rheological properties of the magnetorheological fluid change according to the excitation current of the excitation coil on the braking device and the power spectrum characteristics of the vibration deceleration sequence during the braking process can be achieved by the following steps:

[0126] Acquire the excitation current flowing through the excitation coil on the brake device during the braking process of the brake device, and convert all the excitation currents into current data;

[0127] determining the oscillation sensible heat enthalpy of the braking device during the braking process according to the power spectrum characteristics in the vibration deceleration sequence;

[0128] The hysteresis state when the rheological property of the magnetorheological fluid changes is determined according to the current data and the oscillation sensible heat enthalpy.

[0129] In specific implementation, the excitation current flowing through the excitation coil on the escalator braking device during the escalator braking process can be collected by a current sensor arranged on the excitation coil in the escalator braking device according to a preset sampling interval, and all the excitation currents can be arranged in the order of collection, and the obtained sequence can be used as current data.

[0130] It should be noted that each current value in the current data in the present application corresponds one-to-one to each deceleration value in the deceleration data. In addition, the sampling interval in the present application can be preset according to actual needs. For example, the sampling interval can be preset to 0.01s in the present application.

[0131] In some embodiments, determining the oscillating sensible heat enthalpy of the braking device during braking according to the power spectrum characteristics in the vibration deceleration sequence can be achieved by sampling the following steps:

[0132] Determine the power spectrum density corresponding to each vibration frequency in the vibration deceleration sequence, and use all the power spectrum densities as the power spectrum characteristics of the vibration deceleration sequence;

[0133] Determine the corresponding vibration heat component according to the power spectrum characteristics of each vibration frequency;

[0134] Determine the total vibration heat based on all vibration heat components;

[0135] The oscillation sensible heat enthalpy of the braking device during the braking process is determined according to the total vibration heat and the specific heat capacity of the magnetorheological fluid.

[0136] In specific implementation, the corresponding vibration thermal component can be determined according to the power spectrum characteristics of each vibration frequency in the following manner, namely: first, for each vibration frequency, the power spectrum characteristics of the vibration frequency are multiplied by the vibration frequency, then, the obtained value is multiplied by the length of the deceleration data, and then, the obtained value is multiplied by the sampling interval in the process of collecting the deceleration data during the braking process of the escalator, and finally, the obtained value is used as the vibration thermal component of the vibration frequency, thereby obtaining the vibration thermal component of each vibration frequency.

[0137] It should be noted that the vibration heat component in the present application is a parameter indicating the amount of heat generated by the corresponding vibration frequency in the vibration deceleration sequence. The larger the vibration heat component, the greater the heat generated by the corresponding vibration frequency in the vibration deceleration sequence. The smaller the vibration heat component, the smaller the heat generated by the corresponding vibration frequency in the vibration deceleration sequence.

[0138] In addition, it should be noted that the total vibration heat in the present application is a parameter indicating the total heat generated by all vibration frequencies in the vibration deceleration sequence. The larger the total vibration heat, the greater the total heat generated by all vibration frequencies in the vibration deceleration sequence, and the smaller the total vibration heat, the smaller the total heat generated by all vibration frequencies in the vibration deceleration sequence. As a preferred embodiment, the total vibration heat determined according to all vibration heat components in the present application can be implemented in the following manner, namely: the sum of all vibration heat components is taken as the total vibration heat.

[0139] In specific implementation, the oscillating sensible enthalpy of the braking device during the braking process can be determined based on the total vibration heat and the specific heat capacity of the magnetorheological fluid. This can be achieved in the following manner: first, the specific heat capacity of the magnetorheological fluid is multiplied by the total mass of the magnetorheological fluid, and then the inverse of the obtained value is multiplied by the total vibration heat. Finally, the obtained value is used as the oscillating sensible enthalpy of the braking device during the braking process.

[0140] It should be noted that the oscillation sensible heat enthalpy in the present application is a parameter indicating the degree of temperature rise of the magnetorheological fluid caused by vibration during the braking process of the escalator. The larger the oscillation sensible heat enthalpy, the greater the temperature rise of the magnetorheological fluid caused by vibration during the braking process of the escalator. The smaller the oscillation sensible heat enthalpy, the less the temperature rise of the magnetorheological fluid caused by vibration during the braking process of the escalator.

[0141] In some embodiments, determining the hysteresis state when the rheological properties of the magnetorheological fluid change according to the current data and the oscillation sensible heat enthalpy can be achieved by the following steps:

[0142] Obtain the deceleration sensible heat enthalpy during the braking process of the escalator;

[0143] determining a total sensible enthalpy of the magnetorheological fluid according to the deceleration sensible enthalpy and the oscillation sensible enthalpy;

[0144] determining the magnetization intensity of the magnetorheological fluid based on the current data and the total sensible heat enthalpy;

[0145] The hysteresis state of the magnetorheological fluid when the rheological property changes is determined according to the magnetization intensity.

[0146] In specific implementation, the deceleration sensible heat enthalpy during the braking process of the escalator can be obtained in the following manner, namely: first, subtract the square of the speed value when the escalator starts braking from the square of the escalator speed value at the current moment, then multiply half of the obtained value by the total mass of the escalator, then divide the obtained value by the specific heat capacity of the magnetorheological fluid, and divide the obtained value by the total mass of the magnetorheological fluid, and finally, use the obtained value as the deceleration sensible heat enthalpy during the braking process of the escalator, wherein the square of the speed value when the escalator starts braking and the escalator speed value at the current moment can both be directly collected by the speed sensor.

[0147] It should be noted that the deceleration sensible heat enthalpy in the present application is a parameter indicating the degree of temperature rise of the magnetorheological fluid caused by friction deceleration during braking. The larger the deceleration sensible heat enthalpy, the more the temperature of the magnetorheological fluid rises due to friction deceleration during braking. The smaller the deceleration sensible heat enthalpy, the less the temperature of the magnetorheological fluid rises due to friction deceleration during braking.

[0148] In addition, it should be noted that the total sensible enthalpy in the present application is a parameter indicating the degree of temperature rise of the magnetorheological fluid during braking. The larger the total sensible enthalpy, the more the temperature of the magnetorheological fluid rises during braking. The smaller the total sensible enthalpy, the less the temperature of the magnetorheological fluid rises during braking. As a preferred embodiment, the total sensible enthalpy of the magnetorheological fluid determined according to the deceleration sensible enthalpy and the oscillation sensible enthalpy in the present application can be achieved in the following manner, namely: the sum of the deceleration sensible enthalpy and the oscillation sensible enthalpy is used as the total sensible enthalpy of the magnetorheological fluid.

[0149] In specific implementation, determining the magnetization intensity of the magnetorheological fluid according to the current data and the total sensible heat enthalpy can be achieved in the following manner, namely: first, obtaining the number of turns and the length of the excitation coil, then multiplying the average value of all currents in the current data by the number of turns of the excitation coil, and dividing the obtained value by the length of the excitation coil, then multiplying the obtained value by the total sensible heat enthalpy, and finally, using the obtained value as the magnetization intensity of the magnetorheological fluid, wherein the number of turns and the length of the excitation coil can be obtained through the quality inspection sheet of the escalator.

[0150] It should be noted that the magnetization intensity in this application represents the actual magnetization degree of the magnetorheological fluid under the external magnetic field. The greater the magnetization intensity, the greater the actual magnetization degree of the magnetorheological fluid under the external magnetic field, and the smaller the magnetization intensity, the smaller the actual magnetization degree of the magnetorheological fluid under the external magnetic field.

[0151] In specific implementation, determining the hysteresis state when the rheological properties of the magnetorheological fluid change according to the magnetization intensity can be achieved in the following manner, namely: first, collecting the magnetization intensity of the magnetorheological fluid under the total sensible enthalpy and different magnetic field intensities through preliminary experiments, and fitting all the data into a curve by the least squares method, and then calculating the definite integral of the curve, wherein the lower limit of the integral is 0, and the upper limit of the integral is the ratio of the magnetization intensity to the total sensible enthalpy at the current moment, and finally, the obtained value is used as the characterization quantity of the hysteresis state when the rheological properties of the magnetorheological fluid change.

[0152] It should be noted that the hysteresis state in the present application represents the degree of lag in the change of the rheological properties of the magnetorheological fluid with the change of the external magnetic field. The larger the characterization value of the hysteresis state, the greater the lag in the change of the rheological properties of the magnetorheological fluid with the change of the external magnetic field. The smaller the characterization value of the hysteresis state, the less the lag in the change of the rheological properties of the magnetorheological fluid with the change of the external magnetic field.

[0153] In step 105, the squeeze compensation amount of the magnetorheological fluid is determined according to the hysteresis state and the wear characteristics, and the torsional torque of the brake device in the escalator during braking is adjusted according to the squeeze compensation amount.

[0154] The extrusion compensation amount of the magnetorheological fluid is determined according to the hysteresis state and the wear characteristics, and the brake device in the escalator is compensated and controlled according to the extrusion compensation amount.

[0155] In some embodiments, determining the squeeze compensation amount of the magnetorheological fluid according to the hysteresis state and the wear characteristics can be achieved by using the following steps:

[0156] Determining a loss of braking distance according to a characterization quantity of the hysteresis state;

[0157] Obtaining the contact area between the brake band and the brake disc in the brake device;

[0158] The squeeze compensation amount of the magnetorheological fluid is determined according to the contact area, the loss amount of the braking distance and the wear characteristics.

[0159] In specific implementation, determining the loss of braking distance according to the characterization of the hysteresis state can be achieved in the following manner, namely: multiplying the speed of the escalator at the current moment by the characterization of the hysteresis state, and using the obtained value as the loss of braking distance.

[0160] It should be noted that the loss of braking distance in the present application indicates the degree of braking distance loss caused by the lag in the change of the rheological properties of the magnetorheological fluid. The larger the loss, the more braking distance loss caused by the lag in the change of the rheological properties of the magnetorheological fluid. The smaller the loss, the less braking distance loss caused by the lag in the change of the rheological properties of the magnetorheological fluid. The change of the rheological properties of the magnetorheological fluid has a lag with the change of the magnetic field. After the change of the magnetic field, the rheological properties of the magnetorheological fluid will not change immediately. At this time, the braking capacity of the braking device cannot meet expectations, and the escalator will continue to run for a distance without or with low braking force. This distance is the loss of braking distance.

[0161] In specific implementation, the contact area between the brake belt and the brake disc in the braking device can be obtained through the quality inspection form of the escalator.

[0162] In specific implementation, the extrusion compensation amount of the magnetorheological fluid can be determined based on the contact area, the loss of the braking distance and the wear characteristics in the following manner: first, the wear characteristics are divided by the contact area, then the obtained value is multiplied by the loss of the braking distance, and finally, the obtained value is used as the extrusion compensation amount of the magnetorheological fluid.

[0163] It should be noted that the extrusion compensation amount in the present application refers to the extrusion force that needs to be additionally applied between the brake band and the brake disc in order to compensate for the lost braking capacity of the magnetorheological fluid.

[0164] In some embodiments, adjusting the torsional moment of the braking device in the escalator according to the squeezing compensation amount during braking can be achieved by the following steps:

[0165] Obtaining an electrical response time of the braking system;

[0166] determining a braking margin according to the electrical reaction time and a preset braking distance;

[0167] The torsional moment of the braking device in the escalator during braking at the next moment is determined according to the braking margin and the determined squeezing compensation amount.

[0168] In specific implementation, the electrical reaction time of the braking system can be obtained through the quality inspection form of the escalator.

[0169] It should be noted that the electrical reaction time in the present application refers to the length of time required from the moment when the braking system detects a fault in the escalator to the moment when the braking system starts to operate to brake the escalator.

[0170] In specific implementation, the braking margin determined based on the electrical reaction time and the preset braking distance can be achieved in the following manner, namely: the electrical reaction time can be multiplied by the speed value of the escalator detected before the braking system starts braking, and then the obtained value is subtracted from the preset braking distance, and the difference is used as the braking margin.

[0171] It should be noted that the braking margin in this application refers to the maximum distance required to brake the escalator while ensuring safety.

[0172] In specific implementation, the torsional torque of the braking device in the escalator when braking at the next moment can be determined according to the braking margin and the determined extrusion compensation amount. That is, first, the braking margin is multiplied by the total mass of the escalator, and then the obtained value is added to the extrusion compensation amount. Subsequently, the obtained value is multiplied by the radius of the brake disc in the braking device, and finally, the obtained value is used as the torsional torque of the braking device in the escalator when braking at the next moment, wherein the total mass of the escalator and the radius of the brake disc in the braking device can be obtained through the quality inspection sheet of the escalator.

[0173] In addition, in another aspect of the present application, in some embodiments, the present application provides an escalator braking system, including a braking control unit, referring to Figure 4 , which is a schematic diagram of the structure of a brake control unit according to some embodiments of the present application, the brake control unit 400 includes: a collection module 401, a processing module 402 and an execution module 403, which are described as follows:

[0174] The acquisition module 401 in the present application is mainly used to start the braking procedure of the escalator after responding to the braking request of the escalator, and to collect the deceleration during the braking process of the escalator;

[0175] Processing module 402, in the present application, the processing module 402 is mainly used to extract the braking deceleration sequence and the vibration deceleration sequence of the braking process based on the deceleration collected at each sampling time point in the braking process;

[0176] It should be noted that the processing module 402 in the present application is also used to determine the shear force provided by the magnetorheological fluid in the brake device of the escalator at the gap between the brake band and the brake disc according to the trend characteristics of the braking deceleration sequence, and then determine the wear characteristics of the metal particles in the magnetorheological fluid through the shear force and the wall slip of the magnetorheological fluid during the braking process;

[0177] It should be noted that the processing module 402 in the present application is also used to determine the hysteresis state when the rheological properties of the magnetorheological fluid change according to the excitation current of the excitation coil on the braking device and the power spectrum characteristics of the vibration deceleration sequence during the braking process;

[0178] The execution module 403 in the present application is mainly used to determine the extrusion compensation amount of the magnetorheological fluid according to the hysteresis state and the wear characteristics, and adjust the torsional torque of the braking device in the escalator during braking according to the extrusion compensation amount.

[0179] In addition, the present application also provides a computer device, which includes a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned escalator control method.

[0180] In some embodiments, reference Figure 5 , which is a schematic diagram of the structure of a computer device for implementing an escalator control method according to some embodiments of the present application. The escalator control method in the above embodiment can be Figure 5 The computer device 500 shown in the figure is implemented, and the computer device 500 includes at least one processor 501, a communication bus 502, a memory 503 and at least one communication interface 504.

[0181] The processor 501 may be a general-purpose central processing unit (CPU) or an application-specific integrated circuit (ASIC).

[0182] The communication bus 502 may be used to transmit information between the above-mentioned components.

[0183] The memory 503 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a disk or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 503 may exist independently and be connected to the processor 501 via the communication bus 502. The memory 503 may also be integrated with the processor 501.

[0184] The memory 503 is used to store the program code for executing the solution of the present application, and the execution is controlled by the processor 501. The processor 501 is used to execute the program code stored in the memory 503. The program code may include one or more software modules. The escalator control method in the above embodiment can be implemented by the processor 501 and one or more software modules in the program code in the memory 503.

[0185] The communication interface 504 uses any transceiver or other device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0186] In a specific implementation, as an embodiment, a computer device may include multiple processors, each of which may be a single-CPU processor or a multi-CPU processor. The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0187] The above-mentioned computer device can be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the computer device can be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device. The embodiment of the present application does not limit the type of computer device.

[0188] In addition, the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned escalator control method is implemented.

[0189] In summary, in the escalator braking system and control method disclosed in the embodiment of the present application, first, in response to the braking request of the escalator, the braking program of the escalator is started, and the deceleration during the braking process of the escalator is collected; based on the deceleration collected at each sampling time point during the braking process, the braking deceleration sequence and the vibration deceleration sequence of the braking process are extracted; according to the trend characteristics of the braking deceleration sequence, the shear force provided by the magnetorheological fluid in the braking device of the escalator at the gap between the brake belt and the brake disc is determined, and then the wear characteristics of the metal particles in the magnetorheological fluid are determined through the shear force and the wall slip of the magnetorheological fluid during the braking process; according to the excitation current of the excitation coil on the braking device during the braking process and the power spectrum characteristics of the vibration deceleration sequence, the hysteresis state of the magnetorheological fluid when the rheological properties change is determined; according to the hysteresis state and the wear characteristics, the extrusion compensation amount of the magnetorheological fluid is determined, and the torsional torque of the braking device in the escalator during braking is adjusted according to the extrusion compensation amount.

[0190] It can be seen that the present application extracts the braking deceleration sequence (deceleration caused by the braking force provided by the braking device) and the vibration deceleration sequence (deceleration caused by the vibration between the brake belt and the brake disc) from the deceleration during braking of the escalator, and determines the wear condition of the metal particles in the magnetorheological fluid (i.e., wear characteristics) through the braking deceleration sequence, and then determines the current rheological properties (i.e., hysteresis state) of the magnetorheological fluid through the vibration deceleration sequence and the current flowing through the excitation coil (i.e., current data), and determines the extrusion compensation amount for increasing the shear force of the magnetorheological fluid based on the rheological properties of the current magnetorheological fluid, and then adjusts the torsional torque during braking of the additional brake through the extrusion compensation amount to eliminate the wall slip phenomenon of the magnetorheological fluid. In summary, the present application can avoid the wall slip phenomenon caused by changes in the rheological properties of the magnetorheological fluid, thereby improving the safety of the escalator.

[0191] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0192] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An escalator control method, characterized in that: include: Respond to the braking request of the escalator, start the braking procedure of the escalator, and collect the deceleration during the braking process of the escalator; Extracting a braking deceleration sequence and a vibration deceleration sequence of the braking process based on the deceleration collected at each sampling time point in the braking process; Determine the shear force provided by the magnetorheological fluid in the brake device of the escalator at the gap between the brake band and the brake disc according to the trend characteristics of the braking deceleration sequence, and then determine the wear characteristics of the metal particles in the magnetorheological fluid through the shear force and the wall slip of the magnetorheological fluid during the braking process; Determining the hysteresis state when the rheological properties of the magnetorheological fluid change according to the excitation current of the excitation coil on the brake device and the power spectrum characteristics of the vibration deceleration sequence during the braking process; The extrusion compensation amount of the magnetorheological fluid is determined according to the hysteresis state and the wear characteristics, and the torsional torque of the brake device in the escalator during braking is adjusted according to the extrusion compensation amount.

2. The method according to claim 1, characterized in that Extracting the braking deceleration sequence and the vibration deceleration sequence of the braking process based on the deceleration collected at each sampling time point in the braking process specifically includes: Arrange all the collected decelerations in chronological order, and use the arranged sequence as deceleration data; Decomposing the deceleration data into a plurality of deceleration sub-sequences; Based on the memory characteristics of each deceleration subsequence, a braking deceleration sequence and a vibration deceleration sequence are extracted from all deceleration subsequences.

3. The method according to claim 2, characterized in that Decomposing the deceleration data into a plurality of deceleration sub-sequences specifically comprises: Taking the deceleration data as an initial sequence, determining a deceleration trend curve of the original sequence; Determine a deceleration subsequence according to the deceleration trend curve; A new initial sequence is determined according to the deceleration subsequence, and the above steps are repeated to obtain a new deceleration trend curve and a new deceleration subsequence, until the obtained deceleration trend curve is a monotonic curve, thereby obtaining multiple deceleration subsequences.

4. The method according to claim 2, characterized in that Based on the memory characteristics of each deceleration subsequence, the braking deceleration sequence and the vibration deceleration sequence are extracted from all deceleration subsequences, specifically including: Determine the memory characteristics of each speed reducer sequence; The deceleration subsequence with the largest memory characteristic is taken as the braking deceleration sequence; The deceleration subsequence with the smallest memory characteristic is used as the interference sequence; A vibration deceleration sequence is determined based on the braking deceleration sequence and the interference sequence.

5. The method according to claim 1, characterized in that Determining the shear force provided by the magnetorheological fluid at the gap between the brake band and the brake disc in the brake device of the escalator according to the trend characteristics of the braking deceleration sequence specifically includes: Get the total mass of the escalator; determining a trend characteristic of the braking deceleration sequence; determining the braking force provided by the braking device according to the trend characteristics and the total mass of the escalator; Get the radius of the brake disc; The shear force provided by the magnetorheological fluid at the gap between the brake band and the brake disc in the brake device of the escalator is determined according to the braking force and the radius of the brake disc.

6. The method according to claim 1, characterized in that Determining the wear characteristics of the metal particles in the magnetorheological fluid by the shear force and the wall slip of the magnetorheological fluid during braking specifically includes: Obtaining the hardness of particles in the magnetorheological fluid; determining the wall slip of the magnetorheological fluid during braking according to the deceleration data; The wear characteristics of the metal particles in the magnetorheological fluid are determined according to the hardness of the particles in the magnetorheological fluid, the wall slip amount and the shear force.

7. The method according to claim 1, characterized in that Adjusting the torsional moment of the brake device in the escalator during braking according to the squeeze compensation amount specifically includes: obtaining an electrical response time of the braking system; determining a braking margin based on the electrical reaction time and a preset braking distance; The torsional moment of the braking device in the escalator during braking at the next moment is determined according to the braking margin and the determined squeezing compensation amount.

8. An escalator braking system, comprising a braking control unit, characterized in that: The brake control unit comprises: A collection module, used for starting the braking procedure of the escalator after responding to the braking request of the escalator, and collecting the deceleration during the braking process of the escalator; A processing module, used for extracting a braking deceleration sequence and a vibration deceleration sequence of the braking process based on the deceleration collected at each sampling time point in the braking process; The processing module is further used to determine the shear force provided by the magnetorheological fluid in the brake device of the escalator at the gap between the brake band and the brake disc according to the trend characteristics of the braking deceleration sequence, and then determine the wear characteristics of the metal particles in the magnetorheological fluid through the shear force and the wall slip of the magnetorheological fluid during the braking process; The processing module is also used to determine the hysteresis state when the rheological properties of the magnetorheological fluid change according to the excitation current of the excitation coil on the braking device and the power spectrum characteristics of the vibration deceleration sequence during the braking process; The execution module is used to determine the extrusion compensation amount of the magnetorheological fluid according to the hysteresis state and the wear characteristics, and adjust the torsional torque of the brake device in the escalator during braking according to the extrusion compensation amount.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores codes, and the processor is configured to obtain the codes and execute the escalator control method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the escalator control method according to any one of claims 1 to 7 is implemented.

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