Escalator maximum deflection calculation method, electronic device, storage medium and program product

Abstract

The application provides an escalator maximum deflection calculation method, an electronic device, a storage medium and a program product. The method comprises the following steps: obtaining an original empty-load ranging sequence and an original loaded ranging sequence of an escalator; performing time sequence alignment on the original empty-load ranging sequence and the original loaded ranging sequence to obtain an aligned empty-load ranging sequence and an aligned loaded ranging sequence; determining an initial deflection sequence of the escalator in a loaded state according to the aligned empty-load ranging sequence and the aligned loaded ranging sequence, wherein the initial deflection sequence comprises a plurality of initial deflections arranged in time sequence; obtaining an interference value in each initial deflection based on the aligned empty-load ranging sequence and the aligned loaded ranging sequence; and determining a maximum deflection of the escalator in the loaded state based on the interference value and the initial deflection. The present scheme solves the problem of low deflection detection precision in the prior art.

Description

Technical Field

[0001] This invention relates to the field of special equipment technology, and more specifically, to a method for calculating the maximum deflection of an escalator, an electronic device, a storage medium, and a program product. Background Technology

[0002] Escalators, as commonly used vertical / inclined transport equipment in public transportation and construction, directly affect passenger safety through their structural stability. The maximum deflection under load is a core indicator for assessing escalator structural strength and determining whether it meets safety operation standards. Currently, the industry primarily relies on laser ranging technology. The general process involves: acquiring the original unloaded ranging sequence and the original loaded ranging sequence using a laser probe; directly performing point-to-point difference calculations on the two sets of original sequences to obtain the initial deflection sequence; and then extracting the maximum value from the initial deflection sequence as the maximum deflection.

[0003] The method of directly performing point-to-point difference calculation on two sets of original sequences to obtain the initial deflection and directly extracting the maximum value does not eliminate the interference introduced by laser measurement noise and probe attitude offset. The deflection calculation results are seriously distorted and cannot truly reflect the actual deformation of the escalator after loading, resulting in low accuracy and unreliable results in maximum deflection detection. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method for calculating the maximum deflection of an escalator, an electronic device, a storage medium, and a program product, which can improve the problem of low accuracy in maximum deflection detection.

[0005] To achieve the above technical objectives, the technical solution adopted in this application is as follows:

[0006] In a first aspect, embodiments of this application provide a method for calculating the maximum deflection of an escalator, the method comprising:

[0007] Obtain the original unloaded distance measurement sequence and the original loaded distance measurement sequence of the escalator;

[0008] The original unloaded ranging sequence and the original loaded ranging sequence are time-aligned to obtain the aligned unloaded ranging sequence and the aligned loaded ranging sequence.

[0009] Based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence, the initial deflection sequence of the escalator under loading state is determined, and the initial deflection sequence includes several initial deflections arranged in chronological order.

[0010] Based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence, the interference value in each initial deflection is obtained. The interference value is formed by the offset between the actual laser direction of the laser probe and the preset laser direction.

[0011] Based on the disturbance value and the initial deflection, determine the maximum deflection of the escalator under load.

[0012] The step of aligning the original unloaded ranging sequence and the original loaded ranging sequence in time includes:

[0013] Based on the original unloaded ranging sequence and the original loaded ranging sequence, a cost matrix is ​​obtained, wherein the cost matrix includes several elements. The element is used to characterize the Euclidean distance between the i-th original first parameter in the original unloaded ranging sequence and the j-th original second parameter in the original loaded ranging sequence, where i is an integer greater than 0 and less than L0, j is an integer greater than 0 and less than L1, and L0 and L1 represent the length of the original unloaded ranging sequence and the length of the original loaded ranging sequence, respectively.

[0014] Based on the cost matrix and a preset dynamic programming path model, determine the original second parameter that is temporally aligned with each of the original first parameters;

[0015] Based on the original second parameters that are time-aligned with each of the original first parameters, an aligned idle ranging sequence and an aligned loaded ranging sequence are obtained to achieve time-alignment of the original idle ranging sequence and the original loaded ranging sequence. The aligned idle ranging sequence includes K alignment first parameters, and the aligned loaded ranging sequence includes K alignment second parameters. K is used to characterize the length of the aligned idle ranging sequence and the aligned loaded ranging sequence.

[0016] The dynamic programming path model is as follows:

[0017]

[0018] This indicates the starting point of the cost matrix. To the current point The minimum cumulative cost;

[0019] Indicates the current point The cumulative cost of the grid points above;

[0020] Indicates the current point The cumulative cost of the left grid points;

[0021] Indicates the current point The cumulative cost of the top left grid points;

[0022] The step of determining the angle between the actual laser direction and the preset laser direction based on the first and last alignment first parameters in the aligned unloaded ranging sequence, and the first and last alignment second parameters in the aligned loaded ranging sequence, includes:

[0023] The first angle is determined based on the first alignment parameter and the last alignment parameter.

[0024] The second angle is determined based on the first and last alignment second parameters;

[0025] The joint angle is determined based on the first alignment first parameter, the last alignment first parameter, the first alignment second parameter, and the last alignment second parameter;

[0026] The included angle is determined based on the first comparison result between the first angle and the combined angle, and the second comparison result between the second angle and the combined angle.

[0027] The step of obtaining the interference value in each initial deflection based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence includes:

[0028] Based on the first alignment first parameter and the last alignment first parameter in the alignment unloaded ranging sequence, and the first alignment second parameter and the last alignment second parameter in the alignment loaded ranging sequence, the angle between the actual laser direction and the preset laser direction is determined;

[0029] Based on the included angle, determine all the interference values;

[0030] The step of determining the initial deflection sequence of the escalator under loading state based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence includes:

[0031] Based on a preset weighting model, calculate the first weighted average value of each preset sliding window on the aligned unloaded ranging sequence, and the second weighted average value of each preset sliding window on the aligned loaded ranging sequence.

[0032] Determining the maximum deflection of the escalator under load based on the disturbance value and the initial deflection includes:

[0033] Based on the aforementioned disturbance value and initial deflection, determine the intermediate deflection;

[0034] Based on the difference between the first angle and the second angle, and the difference between the first weighted average and the second weighted average, the confidence weight is determined, and the first weighted average is used.

[0035] Based on the intermediate deflection and confidence weight, all final deflections are determined to obtain a final deflection sequence, wherein the largest final deflection in the final deflection sequence is the maximum deflection of the escalator under load.

[0036] According to the first aspect, determining the initial deflection sequence of the escalator in the loaded state based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence further includes:

[0037] The initial deflection sequence is obtained based on the first weighted average and the corresponding second weighted average.

[0038] The weighted model is as follows:

[0039]

[0040] in, This represents the sampled orbit coordinates in the orbit coordinate sequence;

[0041] Indicates the anchor point of the preset sliding window;

[0042] Indicates at the anchor point The first weighted average or the second weighted average at the specified point;

[0043] This indicates that the i-th sampling point within the preset sliding window is relative to the anchor point. Gaussian weighting coefficients;

[0044] Indicating that in the aligned empty ranging sequence in The corresponding first alignment parameter, or the alignment loading ranging sequence in the position. The second alignment parameter corresponding to the location;

[0045] N represents the preset length of the sliding window;

[0046] This represents the smoothing factor.

[0047] According to the first aspect, determining the included angle based on a first comparison result of the first angle and the combined angle, and a second comparison result of the second angle and the combined angle, includes:

[0048] When the first comparison result indicates that the first angle is less than the joint angle, and the second comparison result indicates that the second angle is less than the joint angle, the included angle is obtained based on the weighted average of the first angle and the second angle.

[0049] When the first comparison result indicates that the first angle is less than the joint angle, and the second comparison result indicates that the second angle is greater than the joint angle, the included angle is obtained based on the first angle and the joint angle.

[0050] When the first comparison result indicates that the first angle is greater than the joint angle, and the second comparison result indicates that the second angle is less than the joint angle, the included angle is obtained based on the second angle and the joint angle.

[0051] Secondly, embodiments of this application provide an electronic device, which includes a processor and a memory coupled to each other. The memory stores a computer program, and when the computer program is executed by the processor, the electronic device performs the method described in the first aspect.

[0052] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the method described in the first aspect.

[0053] Fourthly, embodiments of this application propose a program product, characterized in that it includes a computer program, which, when executed by a processor, implements the method described in the first aspect.

[0054] The invention employing the above technical solution has the following advantages:

[0055] In the technical solution provided in this application, the original unloaded ranging sequence and the original loaded ranging sequence of the escalator are first obtained. The two original sequences are then time-aligned to eliminate the sampling point mismatch caused by the misalignment of the acquisition timing. This results in a time-synchronized aligned unloaded ranging sequence and an aligned loaded ranging sequence. Based on the aligned dual sequences, an initial deflection sequence containing time synchronization characteristics is calculated. At the same time, based on the aligned unloaded and loaded ranging sequences, interference values ​​caused by the deviation between the actual laser direction and the preset laser direction of the laser probe are extracted. This systematic measurement interference is separated and eliminated from the initial deflection. Finally, based on the corrected real deformation data, the maximum deflection under the loading state of the escalator is determined. This solution solves the problem of low deflection detection accuracy from three aspects: time calibration, interference separation, and real deformation restoration.

[0056] This application eliminates the deflection calculation deviation caused by asynchronous sampling timing by aligning the original unloaded and loaded ranging sequences, thus ensuring the accuracy of deformation detection. By extracting and removing interference values ​​caused by laser direction offset, the measurement system error and the actual structural deformation of the escalator are separated, avoiding interference from laser attitude offset on the detection results. Finally, the maximum deflection is determined based on pure real deformation data, improving the accuracy and reliability of maximum deflection detection of escalators. Attached Figure Description

[0057] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without any inventive effort.

[0058] Figure 1 A flowchart illustrating the method for calculating the maximum deflection of an escalator provided in an embodiment of this application.

[0059] Figure 2 This is a schematic diagram illustrating the acquisition methods of the original unloaded ranging sequence and the original loaded ranging sequence provided in the embodiments of this application.

[0060] Figure 3 This is a sub-flowchart of S120 provided in an embodiment of this application.

[0061] Figure 4 This is a sub-flowchart of S130 provided in an embodiment of this application.

[0062] Figure 5 This is a sub-flowchart of S140 provided in an embodiment of this application.

[0063] Figure 6 This is a sub-flowchart of S150 provided in an embodiment of this application. Detailed Implementation

[0064] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0065] Please refer to Figure 1 This application provides a method for calculating the maximum deflection of an escalator, which can be applied to electronic devices and whose steps can be executed or implemented by the electronic device. The electronic device can be, but is not limited to, a personal computer, a smartphone, or other electronic devices. The method for calculating the maximum deflection of an escalator may include the following steps:

[0066] S110, Obtain the original unloaded distance measurement sequence and the original loaded distance measurement sequence of the escalator;

[0067] S120, the original unloaded ranging sequence and the original loaded ranging sequence are time-aligned to obtain an aligned unloaded ranging sequence and an aligned loaded ranging sequence;

[0068] S130, based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence, determine the initial deflection sequence of the escalator in the loaded state, the initial deflection sequence including several initial deflections arranged in chronological order;

[0069] S140, based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence, obtain the interference value in each initial deflection, the interference value being formed by the offset between the actual laser direction of the laser probe and the preset laser direction;

[0070] S150, based on the disturbance value and the initial deflection, determine the maximum deflection of the escalator under load.

[0071] In the above implementation, during the implementation process, step S110 is first executed to acquire the original unloaded ranging sequence and the original loaded ranging sequence of the escalator in the unloaded state and the loaded state respectively through the laser probe; then, step S120 is executed to perform time-series alignment processing on the above two sets of original ranging sequences to obtain the aligned unloaded ranging sequence and the aligned loaded ranging sequence with one-to-one matching of sampling points; then, based on step S130, the initial deflection sequence of the escalator in the loaded state, arranged in time sequence, is calculated using the two sets of aligned ranging sequences; next, step S140 is executed to calculate the interference value in each initial deflection caused by the offset between the actual emission direction of the laser probe and the preset laser direction, based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence; finally, step S150 is executed to determine the maximum deflection of the escalator in the loaded state by combining the obtained interference value and the initial deflection sequence.

[0072] The following is a detailed explanation of each step in the method for calculating the maximum deflection of an escalator:

[0073] In S110, the original unloaded distance measurement sequence and the original loaded distance measurement sequence of the escalator can be obtained in the following manner:

[0074] like Figure 2 As shown, tracks are installed at the top and bottom of the escalator or near the middle. Figure 2 (Red line) Using a laser probe, the distance from the track to the escalator is scanned back and forth to measure and record the data, resulting in multiple first parameters arranged in time sequence, which is the original unloaded distance measurement sequence, and the original track coordinate sequence arranged in time sequence. Figure 2 The black arrow in the middle indicates the direction of the laser from the laser probe.

[0075] After applying a load of 5000 N / m², a laser probe is used to scan back and forth on the track to measure the distance from the track to the escalator, thus obtaining the original loading distance measurement sequence.

[0076] Therefore, the original unloaded distance measurement sequence is a set of original distance data collected by the laser probe along the length of the escalator when the escalator is in an unloaded state and arranged in time sequence. Each data point is the original distance measurement value from the laser probe to the escalator tread at the corresponding sampling time, without any subsequent processing.

[0077] The original track coordinate sequence refers to the set of position coordinates of the escalator treads (steps) along the length direction, acquired synchronously and arranged in the sampling sequence during the same process of acquiring the original unloaded and loaded ranging sequence. Each coordinate value corresponds to the linear position of the step (or the probe itself) illuminated by the laser probe in the preset escalator length direction reference coordinate system at the sampling time. This is used to map the unloaded ranging values ​​to the specific physical position of the escalator, providing a position reference for subsequent deflection calculations.

[0078] The original loading distance measurement sequence is a set of original distance data collected by the same laser probe at the same sampling position along the length of the escalator when the escalator is in the loading state and arranged in time sequence. Each data point is the original distance measurement value from the laser probe to the escalator tread at the corresponding sampling time, without any subsequent processing.

[0079] In S120, by performing time-series alignment processing on the acquired original unloaded ranging sequence and the original loaded ranging sequence, the data misalignment problem caused by asynchronous acquisition times, inconsistent sampling intervals, and non-corresponding sampling point positions between the two sets of original ranging sequences can be effectively solved. This avoids position mismatch and value distortion in subsequent deflection calculations due to time-series deviations, ensuring that the aligned unloaded ranging sequence and aligned loaded ranging sequence achieve precise correspondence in sampling point time and physical location. This provides a reliable data foundation with consistent time and matching points for subsequent accurate calculation of the initial deflection sequence, eliminating calculation errors caused by data asynchrony at the source. Therefore, as... Figure 3 As shown, S120 specifically includes the following steps:

[0080] S121: Based on the original unloaded ranging sequence and the original loaded ranging sequence, obtain the cost matrix, wherein the cost matrix includes several elements. The element is used to characterize the Euclidean distance between the i-th first parameter in the original unloaded ranging sequence and the j-th second parameter in the original loaded ranging sequence, where i is an integer greater than 0 and less than L0, j is an integer greater than 0 and less than L1, and L0 and L1 represent the length of the original unloaded ranging sequence and the length of the original loaded ranging sequence, respectively.

[0081] S122: Based on the cost matrix and a preset dynamic programming path model, determine a second parameter that is temporally aligned with each of the first parameters;

[0082] S123: Based on the second parameter that aligns each of the first parameters in time, an aligned unloaded ranging sequence and an aligned loaded ranging sequence are obtained to achieve the time alignment of the original unloaded ranging sequence and the original loaded ranging sequence.

[0083] The dynamic programming path model is as follows:

[0084]

[0085] This indicates the starting point of the cost matrix. To the current point The minimum cumulative cost;

[0086] Indicates the current point The cumulative cost of the grid points above;

[0087] Indicates the current point The cumulative cost of the left grid points;

[0088] Indicates the current point The cumulative cost of the grid points in the upper left corner.

[0089] In this embodiment, the original first parameter is a single distance measurement data in the original unloaded distance measurement sequence, which is collected by the laser probe mounted on the escalator track through reciprocating scanning when the escalator is in an unloaded state (without passenger load). It is used to characterize the vertical distance from the laser probe to the escalator tread in the unloaded state.

[0090] The original second parameter is a single distance measurement data in the original loading distance measurement sequence, which is collected by the same laser probe scanning back and forth along the same track when the escalator is in the loading state (applying a preset passenger load). It is used to characterize the vertical distance from the laser probe to the escalator tread in the loading state.

[0091] In S121, the original unloaded ranging sequence, the original orbital coordinate sequence, and the original loaded ranging sequence are respectively represented as follows: , as well as ,in:

[0092]

[0093] First, the total number of sampling points in the original unloaded ranging sequence is obtained, denoted as length L0. Simultaneously, the total number of sampling points in the original loaded ranging sequence is obtained, denoted as length L1. A two-dimensional cost matrix with L0 rows and L1 columns is constructed based on lengths L0 and L1. Then, each position in the cost matrix is ​​iterated sequentially, and the numerical difference between the first parameter (index i) in the original unloaded ranging sequence and the second parameter (index j) in the original loaded ranging sequence is calculated. The Euclidean distance between the two parameters is used as the element corresponding to that position. This value is used to objectively characterize the similarity between two parameters in the ranging values. The smaller the value, the higher the matching degree between the two sampling points and the more reliable the temporal correspondence. The value of i ranges from 0 to all integers less than or equal to L0, and the value of j ranges from 0 to all integers less than or equal to L1. In this embodiment... This represents the original first parameter in the original unloaded ranging sequence. , This represents the original second parameter in the original loading ranging sequence. .

[0094] After constructing the cost matrix, the optimal alignment path is solved based on the preset dynamic programming path model. First, the cumulative cost matrix of dynamic programming is initialized by assigning initial cumulative cost values ​​to the first row and first column of the matrix to ensure that the path calculation follows the temporal order and does not result in reverse errors. Then, starting from the second valid position in the matrix, iterative calculation is performed row by row and column by column. For each position in the matrix, the cumulative cost value transmitted from the top left corner, the top, and the left side is calculated. The minimum cumulative cost value is selected as the cumulative cost of the current position, and the source direction corresponding to the minimum value is recorded. This process completes the filling of the entire cumulative cost matrix, ensuring that each calculation follows the principle of minimum error and optimal matching.

[0095] After the cumulative cost matrix is ​​calculated, starting from the end position of the cost matrix, which corresponds to the last sampling point of the original unloaded ranging sequence and the last sampling point of the original loaded ranging sequence, the system backtracks in reverse according to the recorded direction of the minimum cumulative cost source, gradually backtracking to the starting position of the matrix, which corresponds to the first sampling point of the original unloaded ranging sequence and the first sampling point of the original loaded ranging sequence. Finally, a globally optimal alignment path is formed that runs through the entire cost matrix. This path can uniquely determine the original second parameter that is optimally matched in both time and value for each original first parameter in the original unloaded ranging sequence.

[0096] Finally, based on the optimal alignment path described above, the original unloaded ranging sequence and the original loaded ranging sequence are mapped and normalized point-to-point. According to the correspondence determined by the optimal path, the mutually matching sampling points are extracted and rearranged one by one. Abnormal sampling points that do not have a valid matching relationship are removed, so that the two sets of sequences are consistent in length, completely synchronized in time, and accurately correspond in sampling point position. Finally, the aligned unloaded ranging sequence and the aligned loaded ranging sequence are obtained, and the accurate time alignment of the original unloaded ranging sequence and the original loaded ranging sequence is completed.

[0097] In this embodiment, after determining the optimal matching index pair set of the original unloaded ranging sequence and the original loaded ranging sequence based on the optimal alignment path using dynamic programming, the set of optimal matching index pairs is traversed. For each matching index, the coordinate values ​​in the original track coordinate sequence that are consistent with the corresponding sampling points of the original unloaded ranging sequence are extracted. All the extracted coordinate values ​​are arranged sequentially according to the aligned time order to obtain the aligned track coordinate sequence with the same length as the aligned unloaded ranging sequence and the aligned loaded ranging sequence, and with each sampling point precisely corresponding to the other. Therefore, the three are defined as follows:

[0098] The aligned unloaded ranging sequence is a ranging data sequence obtained by temporally aligning the original unloaded ranging sequence. This sequence corresponds one-to-one with the aligned loaded ranging sequence and the aligned track coordinate sequence in terms of sampling points and is completely synchronized in terms of time. It retains the original ranging characteristics of the laser probe to the escalator tread under unloaded conditions and serves as the unloaded reference data for calculating escalator deformation.

[0099] The aligned loading ranging sequence is a ranging data sequence obtained by temporally aligning the original loading ranging sequence. This sequence corresponds one-to-one with the aligned unloaded ranging sequence and the aligned track coordinate sequence in terms of sampling points and is completely synchronized in terms of timing. It reflects the ranging information from the laser probe to the escalator tread under loading conditions and is used to compare with the unloaded reference data to characterize the escalator deformation.

[0100] The aligned track coordinate sequence is a position coordinate sequence obtained by mapping and normalizing the original track coordinate sequence based on the optimal matching relationship of temporal alignment. This sequence has the same length as the aligned unloaded ranging sequence and the aligned loaded ranging sequence, and the sampling points correspond to each other. It is used to characterize the real-time position of the laser probe corresponding to each aligned sampling point on the track, and provides a unified position reference for deflection calculation.

[0101] In this embodiment, the detailed process of determining the original second parameter that is temporally aligned with each original first parameter based on the dynamic programming path model is as follows:

[0102] First, construct a cost matrix DP of dimension L0×L1. Initialize the starting point DP(1,1) of the matrix to the cost value Cost(1,1) at the corresponding position in the cost matrix; fill the first row of the matrix (i=1, j>1) with DP(1,j)=Cost(1,j)+DP(1,j-1), allowing cost accumulation only from the left grid points; fill the first column of the matrix (j=1, i>1) with DP(i,1)=Cost(i,1)+DP(i-1,1), allowing cost accumulation only from the top grid points, ensuring that the path calculation conforms to the temporal logic.

[0103] Fill the cumulative cost matrix and record the backtracking direction: Traverse the matrix row by row and column by column from i=2 to L0 and j=2 to L1. For each position (i,j), calculate the minimum cumulative cost value according to the formula DP(i,j)=Cost(i,j)+min{DP(i-1,j),DP(i,j-1),DP(i-1,j-1)}. At the same time, record the source direction corresponding to the minimum value (top DP(i-1,j), left DP(i,j-1), or top left DP(i-1,j-1)) for subsequent path backtracking.

[0104] Starting from the endpoint (L0,L1) of the cumulative cost matrix, the system backtracks step-by-step from the source direction of the records back to the starting point (1,1). At each step, the system selects the source direction of the minimum cumulative cost at the current position, thus obtaining the grid point sequence {(i1,j1),(i2,j2),…,(iK,jK)} on the path. This sequence is the globally optimal alignment path connecting the original unloaded ranging sequence and the original loaded ranging sequence. Mapping alignment relationship: Traversing the optimal alignment path obtained through backtracking, each grid point (i,j) in the path is mapped to the correspondence between the "i-th original first parameter of the original unloaded ranging sequence" and the "j-th original second parameter of the original loaded ranging sequence". This determines the optimal temporal matching of the original second parameter for each original first parameter, achieving precise temporal alignment of the two sets of sequences.

[0105] The aligned unloaded ranging sequence includes K first alignment parameters, and the aligned loaded ranging sequence includes K second alignment parameters, where K represents the length of the aligned unloaded ranging sequence and the aligned loaded ranging sequence. In this embodiment, the aligned unloaded ranging sequence, the aligned loaded ranging sequence, and the aligned orbital coordinate sequence are represented as follows:

[0106]

[0107] All three have a length of K, and each node corresponds to another node.

[0108] Based on this, the first alignment parameter refers to the standardized ranging data obtained after the original unloaded ranging sequence is aligned by dynamic programming time sequence, which is the basic element for aligning the unloaded ranging sequence; the second alignment parameter refers to the standardized ranging data obtained after the original loaded ranging sequence is aligned by dynamic programming time sequence, which is the basic element for aligning the loaded ranging sequence.

[0109] In S130, such as Figure 4 As shown, S130 specifically includes the following steps:

[0110] S131: Based on a preset weighting model, calculate the first weighted average value of each preset sliding window on the aligned unloaded ranging sequence, and the second weighted average value of each preset sliding window on the aligned loaded ranging sequence.

[0111] S132: Based on the first weighted average value and the corresponding second weighted average value, obtain the initial deflection sequence.

[0112] The weighted model in this embodiment is:

[0113]

[0114] in, This represents the sampled orbit coordinates in the orbit coordinate sequence;

[0115] Indicates the anchor point of the preset sliding window;

[0116] Indicates at the anchor point The first weighted average or the second weighted average at the specified point;

[0117] This indicates that the i-th sampling point within the preset sliding window is relative to the anchor point. Gaussian weighting coefficients;

[0118] Indicating that in the aligned empty ranging sequence in The corresponding first alignment parameter, or the alignment loading ranging sequence in the position. The second alignment parameter corresponding to the location;

[0119] N represents the preset length of the sliding window;

[0120] This represents the smoothing factor.

[0121] The specific applications of the weighted model are as follows:

[0122] In S130, based on a preset weighted model, a sliding window weighted average is calculated for the aligned unloaded ranging sequence and the aligned loaded ranging sequence, respectively. The specific process is as follows:

[0123] 1. Preset the range and anchor points of the sliding window. ( =1,2,…,K), iterate through all the sampling points in the aligned track coordinate sequence to determine the sliding window range corresponding to each anchor point;

[0124] 2. For each anchor point According to the Gaussian weight formula Calculate the weight coefficient of the i-th sampling point within the sliding window. ;

[0125] 3. Based on the aligned empty ranging sequence, the first parameter of each sampling point is... With the corresponding weighting coefficients

[0126] Substitute into the weighted model:

[0127]

[0128] Calculate each anchor point The first weighted average at the point And arrange them in chronological order to form the first weighted average sequence;

[0129] 4. Based on the aligned empty ranging sequence, the second parameter of each sampling point is... With the corresponding weighting coefficients

[0130] Substitute into the weighted model:

[0131]

[0132] Calculate each anchor point The second weighted average at the location And arrange them in chronological order to form a second weighted average sequence.

[0133] Generate an initial deflection sequence (corresponding to step S132) and traverse all anchor points. The first weighted average value and the second weighted average value corresponding to each anchor point are differentially calculated (the difference is the initial deflection value at that position, reflecting the degree of deformation of the escalator relative to the unloaded state after loading). The deflection values ​​of all anchor points are arranged in time sequence (i.e. the order of track coordinates) to finally obtain an initial deflection sequence containing several initial deflections.

[0134] In this embodiment, in S140, the interference value refers to the systematic deviation component introduced during the ranging process when the laser measurement direction is at an angle to the preset direction due to the inconsistency between the actual installation posture of the laser probe and the preset posture. It is not the actual structural deformation of the escalator, but a false ranging error caused by the tilted laser illumination. It will be directly mixed into the initial deflection calculation, causing the deflection result to be distorted. Therefore, it needs to be extracted and removed separately.

[0135] The preset laser direction is perpendicular to the escalator steps (or the track reference plane), and the measured distance directly reflects the true vertical displacement of the steps. However, in actual engineering, the laser probe may deviate in attitude due to installation errors, structural vibrations, etc., causing the laser measurement direction to form an angle θ with the preset vertical direction. When the laser is tilted, the measured distance is the slant distance rather than the true vertical distance: for the same physical location, the distance measured by the tilted laser will be larger or smaller than that measured by the perpendicular laser; this deviation will show a linear change along the length of the escalator (because the track is a straight line, the angle θ is fixed), thus introducing position-related systematic interference into the initial deflection sequence, masking the true deformation characteristics of the escalator.

[0136] In this embodiment, as Figure 5 As shown, S140 specifically includes the following steps:

[0137] S141: Based on the first alignment first parameter and the last alignment first parameter in the alignment empty ranging sequence, and the first alignment second parameter and the last alignment second parameter in the alignment loaded ranging sequence, determine the angle between the actual laser direction and the preset laser direction;

[0138] S142: Determine all the interference values ​​based on the included angle.

[0139] In this embodiment, S141 specifically refers to:

[0140] A first angle is determined based on the first alignment first parameter and the last alignment first parameter; a second angle is determined based on the first alignment second parameter and the last alignment second parameter; a joint angle is determined based on the first alignment first parameter, the last alignment first parameter, the first alignment second parameter, and the last alignment second parameter; and the included angle is determined based on a first comparison result of the first angle and the joint angle, and a second comparison result of the second angle and the joint angle. Wherein, when the first comparison result indicates that the first angle is less than the joint angle, and the second comparison result indicates that the second angle is less than the joint angle, the included angle is obtained based on the weighted average of the first angle and the second angle; when the first comparison result indicates that the first angle is less than the joint angle, and the second comparison result indicates that the second angle is greater than the joint angle, the included angle is obtained based on the first angle and the joint angle; when the first comparison result indicates that the first angle is greater than the joint angle, and the second comparison result indicates that the second angle is less than the joint angle, the included angle is obtained based on the second angle and the joint angle.

[0141] This embodiment calculates the laser angle and interference values ​​based on the premise that "the deformation at both ends of the simply supported beam is zero". The core is to utilize the mechanical properties of the escalator truss structure as an approximation of a simply supported beam - the actual deflection at the upper and lower supports of the escalator is theoretically zero. Thus, the apparent deflection at the beginning and end positions (the difference between the aligned unloaded and loaded distance measurements) is taken as a "pure interference sample" caused entirely by laser attitude deviation. This avoids the problem of the actual deformation and laser tilt interference in the apparent deflection in the mid-span region being superimposed and indistinguishable. Then, the laser angle is calculated by the difference between the interference at the beginning and end and the track length to construct a linear interference model. Finally, the laser attitude interference of the entire sequence is accurately eliminated, which greatly improves the accuracy and reliability of deflection detection.

[0142] Based on this, the process of calculating the included angle in this embodiment is as follows:

[0143] In this embodiment, the first coordinate X1 and the last coordinate X2 are extracted from the aligned orbit coordinate sequence. K The calculation yields L=X K -X1.

[0144] The first and last distance difference ΔD0 of the aligned unloaded ranging sequence: ,in To align the first parameter of the unloaded ranging sequence, To align the last parameter in the unloaded ranging sequence with the first parameter.

[0145] Load the first and last distance difference ΔD1: ,in To align the first alignment parameter of the ranging sequence, Align the second parameter of the last alignment in the loading distance sequence.

[0146] Combined first-to-last distance difference ΔDcomb:

[0147] ΔDcomb=( The distance difference between the unloaded and loaded states is calculated.

[0148] First angle The angle between the actual laser direction and the preset direction under no-load conditions is determined by the geometric relationship between the no-load start-end distance difference and the track length:

[0149]

[0150]

[0151] Second angle The angle between the actual laser direction and the preset direction under loading conditions is determined by the geometric relationship between the difference in distance measured at the beginning and end of loading and the track length:

[0152]

[0153]

[0154] Joint perspective The ranging difference between the unloaded and loaded states is also considered as a reference benchmark for judging the stability of the laser attitude:

[0155]

[0156]

[0157] When the first comparison result indicates that the first angle is less than the joint angle, and the second comparison result indicates that the second angle is less than the joint angle, it means that the laser attitude is relatively stable under both no-load and loaded states, and the joint angle is amplified due to the combined error of both states. In this case, a weighted average method is used to consider the measurement results of both states:

[0158]

[0159] Indicates the included angle. , Preset weights (which can be set according to the measurement accuracy under no-load / load conditions, such as...) = =0.5 is the arithmetic mean.

[0160] When the first comparison result indicates that the first angle is less than the combined angle, and the second comparison result indicates that the second angle is greater than the combined angle, it means that the laser attitude is stable in the unloaded state, but the attitude deviation is abnormal in the loaded state due to factors such as vibration. In this case, the stable unloaded angle is used as the primary reference, and the combined angle is used as a secondary reference for correction.

[0161]

[0162] This represents the first correction factor, which is... .

[0163] When the first comparison result indicates that the first angle is greater than the combined angle, and the second comparison result indicates that the second angle is less than the combined angle, it means that the laser attitude is stable under loading conditions, while the attitude deviation is abnormal under unloading conditions due to factors such as installation errors. In this case, the stable loading angle is used as the primary factor for correction, with the combined angle as a secondary factor.

[0164]

[0165] This represents the first correction factor, which is... .

[0166] This embodiment can eliminate the interference of actual structural deformation on laser attitude deviation calculation, directly extract pure measurement error features, and effectively identify and distinguish measurement anomalies under a single working condition by calculating the unloaded, loaded, and combined angles separately and making multi-dimensional comparisons. Then, by combining weighted average or combined correction strategies, the final included angle is determined. This fully takes into account the measurement information of both unloaded and loaded states, and can automatically eliminate the influence of abnormal deviations, which greatly improves the accuracy, stability and anti-interference ability of laser included angle calculation, and provides a reliable guarantee for subsequent accurate calculation of interference values ​​and restoration of the true deflection of the escalator.

[0167] like Figure 6 As shown, S150 specifically includes the following steps:

[0168] S151: Determine the intermediate deflection based on the aforementioned interference value and the initial deflection;

[0169] S152: Determine the confidence weight based on the difference between the first angle and the second angle, and the difference between the first weighted average and the second weighted average;

[0170] S153: Based on the intermediate deflection and confidence weight, determine all final deflections to obtain a final deflection sequence, wherein the largest final deflection in the final deflection sequence is the maximum deflection of the escalator under load.

[0171] This embodiment first subtracts the corresponding interference value from the initial deflection at each sampling point to obtain the intermediate deflection after eliminating the laser attitude offset system error, thus completing the initial separation of measurement interference and actual deformation. Next, it calculates the reliability weight based on the difference between the first and second angles, and the difference between the first and second weighted averages. The smaller the angle difference and the weighted average difference, the more stable the laser measurement attitude and the higher the consistency between no-load and loaded data, resulting in a larger reliability weight; conversely, the larger the angle difference and the greater the weight, the smaller the reliability weight. Then, it performs a weighted fusion calculation between the intermediate deflection at each sampling point and the corresponding reliability weight to obtain the final deflection, which eliminates abnormal fluctuations and has higher reliability. The final deflections of all sampling points are arranged in chronological order to form a final deflection sequence. Finally, it iterates through the final deflection sequence and selects the final deflection with the largest value, which is the maximum deflection of the escalator under the current loading state.

[0172] In this embodiment, the first angle and the second angle reflect the actual attitude deviation of the laser probe under no-load and loaded states, respectively. The smaller the difference between the two, the more stable the attitude of the laser probe is during the entire detection process, with no obvious deviation or vibration interference, and the more reliable the measurement basis is. The first weighted average value and the second weighted average value are the smoothed distance measurement reference values ​​under no-load and loaded states, respectively. The smaller the difference between the two, the higher the consistency of the two sets of distance measurement data and the smaller the random noise and abnormal fluctuations. By combining the dual indicators of angle stability and data consistency, the reliability weight can be determined, which can objectively quantify the reliability of each set of detection data. When calculating the final deflection, the results with stable attitude and reliable data are given higher weight, while the weight of data with abnormal interference is reduced. This effectively avoids the interference of laser attitude drift, data mutation and other problems on the final deflection and maximum deflection calculation results, restores the real structural deformation of the escalator to the greatest extent, and improves the accuracy and robustness of the detection results.

[0173] The confidence weight in this embodiment can be calculated as follows:

[0174]

[0175] Represents the absolute value of the difference between the first angle and the second angle;

[0176] This represents the absolute value of the difference between the first weighted average and the second weighted average;

[0177] and This is the preset normalization coefficient (greater than 0).

[0178] The final deflection is obtained by multiplying the intermediate deflection and the confidence weight.

[0179] This application provides an electronic device that may include a processing module and a memory. The memory stores a computer program, which, when executed by the processor, enables the electronic device to perform the corresponding steps in the above-described method for calculating the maximum deflection of an escalator.

[0180] In this embodiment, the processor can be an integrated circuit chip with signal processing capabilities. For example, the processor can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0181] The memory can be, but is not limited to, random access memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, etc. In this embodiment, the memory can be used to store preset numbers, etc. Of course, the memory can also be used to store programs, which the processor executes after receiving an execution instruction.

[0182] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the electronic device described above can be referred to the corresponding steps in the aforementioned method, and will not be elaborated further here.

[0183] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to execute the escalator maximum deflection calculation method as described in the above embodiments.

[0184] Computer-readable storage media may be magnetic disks, optical disks, read-only memory, random access memory, flash memory, USB flash drives, hard disks, or solid-state drives, etc., and may also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implement the methods shown in the above embodiments.

[0185] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps in the above-described method for calculating the maximum deflection of an escalator. The computer program product may exist in a computer-readable storage medium in forms including, but not limited to, source files, executable files, and installation package files.

[0186] Based on the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by hardware or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This software product can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, electronic device, or network device, etc.) to execute the methods described in the various implementation scenarios of this application.

[0187] In the embodiments provided in this application, it should be understood that the disclosed methods can also be implemented in other ways. The method embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0188] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for calculating the maximum deflection of an escalator, characterized in that, The method includes: Obtain the original unloaded distance measurement sequence and the original loaded distance measurement sequence of the escalator; The original unloaded ranging sequence and the original loaded ranging sequence are time-aligned to obtain the aligned unloaded ranging sequence and the aligned loaded ranging sequence. Based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence, the initial deflection sequence of the escalator in the loaded state is determined, and the initial deflection sequence includes several initial deflections arranged in chronological order. Based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence, the interference value in each initial deflection is obtained. The interference value is formed by the offset between the actual laser direction of the laser probe and the preset laser direction. Based on the disturbance value and the initial deflection, determine the maximum deflection of the escalator under load. The step of aligning the original unloaded ranging sequence and the original loaded ranging sequence in time includes: Based on the original unloaded ranging sequence and the original loaded ranging sequence, a cost matrix is ​​obtained, wherein the cost matrix includes several elements. The element is used to characterize the Euclidean distance between the i-th original first parameter in the original unloaded ranging sequence and the j-th original second parameter in the original loaded ranging sequence, where i is an integer greater than 0 and less than L0, j is an integer greater than 0 and less than L1, and L0 and L1 represent the length of the original unloaded ranging sequence and the length of the original loaded ranging sequence, respectively. Based on the cost matrix and a preset dynamic programming path model, determine the original second parameter that is temporally aligned with each of the original first parameters; Based on the original second parameters that are time-aligned with each of the original first parameters, an aligned idle ranging sequence and an aligned loaded ranging sequence are obtained to achieve time-alignment of the original idle ranging sequence and the original loaded ranging sequence. The aligned idle ranging sequence includes K alignment first parameters, and the aligned loaded ranging sequence includes K alignment second parameters. K is used to characterize the length of the aligned idle ranging sequence and the aligned loaded ranging sequence. The dynamic programming path model is as follows: ； This indicates the starting point of the cost matrix. To the current point The minimum cumulative cost; Indicates the current point The cumulative cost of the grid points above; Indicates the current point The cumulative cost of the left grid points; Indicates the current point The cumulative cost of the top left grid points; The step of determining the angle between the actual laser direction and the preset laser direction based on the first and last alignment first parameters in the aligned unloaded ranging sequence, and the first and last alignment second parameters in the aligned loaded ranging sequence, includes: The first angle is determined based on the first alignment parameter and the last alignment parameter. The second angle is determined based on the first and last alignment second parameters; The joint angle is determined based on the first alignment first parameter, the last alignment first parameter, the first alignment second parameter, and the last alignment second parameter; The included angle is determined based on the first comparison result between the first angle and the combined angle, and the second comparison result between the second angle and the combined angle. First angle Determined by the geometric relationship between the unloaded first and last distance measurement difference and the track length: ； ； Second angle Determined by the geometric relationship between the difference between the initial and final distance measurements and the track length: ； ； Joint perspective Represented as: ； ； ΔD1 represents the difference between the first and last distance measurements of the aligned loading distance measurement sequence. ,in To align the first alignment parameter of the ranging sequence, To align the second alignment parameter in the last of the ranging sequences; ΔD0 represents the difference between the first and last distance measurements in the unloaded distance measurement sequence. ,in To align the first parameter of the unloaded ranging sequence, To align the first parameter to the last one in the unloaded ranging sequence; ΔDcomb=( ); L=X K -X 1， X1 represents the first coordinate in the aligned orbital coordinate sequence, X K This indicates the last coordinate in the aligned orbital coordinate sequence; The step of obtaining the interference value in each initial deflection based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence includes: Based on the first alignment first parameter and the last alignment first parameter in the alignment unloaded ranging sequence, and the first alignment second parameter and the last alignment second parameter in the alignment loaded ranging sequence, the angle between the actual laser direction and the preset laser direction is determined; Based on the included angle, determine all the interference values; The step of determining the initial deflection sequence of the escalator under loading state based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence includes: Based on a preset weighting model, calculate the first weighted average value of each preset sliding window on the aligned unloaded ranging sequence, and the second weighted average value of each preset sliding window on the aligned loaded ranging sequence. Determining the maximum deflection of the escalator under load based on the disturbance value and the initial deflection includes: Based on the interference value and the initial deflection, the intermediate deflection is determined, wherein the corresponding interference value is subtracted from the initial deflection at each sampling point to obtain the intermediate deflection after removing the laser attitude offset system error. Based on the difference between the first angle and the second angle, and the difference between the first weighted average and the second weighted average, the confidence weight is determined. The first weighted average represents the unloaded state, and the second weighted average represents the loaded state. Based on the intermediate deflection and confidence weight, all final deflections are determined to obtain a final deflection sequence, wherein the largest final deflection in the final deflection sequence is the maximum deflection of the escalator under load. The credibility weight can be calculated as follows: ； Represents the absolute value of the difference between the first angle and the second angle; This represents the absolute value of the difference between the first weighted average and the second weighted average; and These are the preset normalization coefficients; The final deflection is obtained by multiplying the intermediate deflection and the confidence weight.

2. The method according to claim 1, characterized in that, The step of determining the initial deflection sequence of the escalator under loading state based on the aligned unloaded ranging sequence and the aligned loaded ranging sequence further includes: The initial deflection sequence is obtained based on the first weighted average and the corresponding second weighted average. The weighted model is as follows: ； in, This represents the sampled orbit coordinates in the orbit coordinate sequence; Indicates the anchor point of the preset sliding window; Indicates at the anchor point The first weighted average or the second weighted average at the specified point; This indicates that the i-th sampling point within the preset sliding window is relative to the anchor point. Gaussian weighting coefficients; Indicating that in the aligned empty ranging sequence in The corresponding alignment first parameter, or the alignment loading ranging sequence in the alignment loading ranging sequence. The second alignment parameter corresponding to the location; Indicates the smoothing factor; N represents the preset length of the sliding window.

3. The method according to claim 1, characterized in that, Determining the included angle based on a first comparison result between the first angle and the combined angle, and a second comparison result between the second angle and the combined angle, includes: When the first comparison result indicates that the first angle is less than the joint angle, and the second comparison result indicates that the second angle is less than the joint angle, the included angle is obtained based on the weighted average of the first angle and the second angle. When the first comparison result indicates that the first angle is less than the joint angle, and the second comparison result indicates that the second angle is greater than the joint angle, the included angle is obtained based on the first angle and the joint angle. When the first comparison result indicates that the first angle is greater than the joint angle, and the second comparison result indicates that the second angle is less than the joint angle, the included angle is obtained based on the second angle and the joint angle.

4. An electronic device, characterized in that, The electronic device includes a processor and a memory coupled together, the memory storing a computer program that, when executed by the processor, causes the electronic device to perform the method as described in any one of claims 1 to 3.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 3.

6. A program product, characterized in that, It includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 3.

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