阅读说明：本技术 一种辅助搭乘扶梯的设备、方法、装置及存储介质 (Equipment, method and device for assisting in boarding escalator and storage medium ) 是由 刘栋 黄金福 陆庭锴 王新军 陈彦明 李志武 于 2021-08-02 设计创作，主要内容包括：本发明公开了一种辅助搭乘扶梯的设备、方法、装置及存储介质,设备包括设备本体、主摄像仪、辅助摄像仪、人机交互装置、移动轮、滑轨、主控制器和置物装置；其中置物装置可运载大件行李物品、轮椅和婴儿车；且置物装置通过旋转关节与设备本体连接,使得置物装置与设备本体构成一体,该设备能够自主搭乘扶梯,从而能够辅助携带大件行李物品乘客或坐轮椅乘客或推婴儿车乘客搭乘扶梯,给携带大件行李物品乘客或坐轮椅乘客或推婴儿车乘客带来便利。本发明可广泛应用于搭乘扶梯的辅助设备技术领域。(The invention discloses equipment, a method and a device for assisting in boarding an escalator and a storage medium, wherein the equipment comprises an equipment body, a main camera, an auxiliary camera, a human-computer interaction device, a moving wheel, a sliding rail, a main controller and an object placing device; wherein the storage device can carry large luggage articles, wheelchairs and baby carriages; and put the thing device and pass through rotary joint and this body coupling of equipment for put the thing device and constitute integratively with the equipment body, this equipment can take the staircase by oneself, thereby can assist and carry the passenger of major possession luggage article or sit wheelchair passenger or push away the perambulator passenger and take the staircase, bring the facility for carrying the passenger of major possession luggage article or sitting wheelchair passenger or push away the perambulator passenger. The invention can be widely applied to the technical field of auxiliary equipment for riding an escalator.)

1. A device for assisting a passenger carrying a large luggage article or a passenger sitting on a wheelchair or a passenger pushing a baby carriage to take a staircase is characterized by comprising a device body, a main camera, an auxiliary camera, a man-machine interaction device, a moving wheel, a sliding rail, a main controller and an object placing device; the main camera is arranged at the top of the equipment body; the auxiliary camera comprises a first auxiliary camera and a second auxiliary camera, the first auxiliary camera is mounted at the center of the bottom of the equipment body, and the second auxiliary camera is mounted at the bottom of the object placing device; the human-computer interaction device is arranged on the equipment body; the moving wheels are arranged at the bottom of the equipment body and at the bottom of the object placing device; the sliding rail is vertically arranged on one side of the equipment body, the main controller is arranged on the equipment body, and the main camera, the auxiliary camera and the man-machine interaction device are all in communication connection with the main controller;

the article placing device comprises a folding front plate, an article placing bottom plate, folding guardrails and a rotary joint, wherein the folding front plate is installed at the tail end of the article placing bottom plate, and the folding guardrails are vertically installed on two sides of the article placing bottom plate in parallel; one end of the rotary joint is fixed at the front end of the article placing bottom plate, and the other end of the rotary joint is arranged on the sliding rail; the object placing device is connected with the equipment body through the rotary joint;

the moving wheel is a toothed wheel and is meshed with the comb teeth of the escalator step, the moving wheel is provided with a brake device, the brake device comprises an expansion link and a brake pad, and the expansion link is connected with the brake pad.

2. The device for assisting in boarding an escalator as claimed in claim 1, wherein:

the main camera is used for shooting video images around the equipment;

the auxiliary camera is used for shooting alignment and fit state video images between the bottom of the equipment and the escalator, between the moving wheel and the escalator;

the man-machine interaction device comprises a display screen and a voice module, wherein the display screen is used for displaying passenger elevator taking visual information, and the voice module is used for carrying out voice interaction;

the moving wheel is used for moving the equipment main body and the object placing device;

the sliding rail is used for driving the object placing device to move up and down through the rotary joint;

the main controller is used for analyzing and identifying the video images and controlling the object placing device to lift and fold and the equipment to operate according to the analysis and identification result;

the object placing device is used for carrying large luggage articles or a wheelchair passenger or a baby carriage.

3. The device for assisting in boarding an escalator as claimed in claim 1, wherein said placement means further comprises a load cell, a boundary detection sensor, and a level sensor;

the weighing sensor is arranged on the storage bottom plate and used for detecting weight change on the storage bottom plate;

the boundary detection sensors are arranged on two sides of the edge of the storage bottom plate and used for detecting whether the carried goods exceed the boundary of the storage bottom plate;

the horizontal sensor is installed on the object placing bottom plate and used for detecting the horizontal condition of the object placing bottom plate.

4. The device for assisting in boarding an escalator as claimed in claim 1, further comprising a travel sensor mounted on said slide rail for detecting the travel of said rotary joint on said slide rail.

5. The device for assisting in boarding an escalator as claimed in claim 1, wherein the device further comprises a power device, the power device is in communication connection with the main controller, and the main controller controls the object placing device to ascend and descend and controls the device to operate through the power device.

6. A method of assisting in boarding an escalator, wherein a large luggage item carrying passenger or a wheelchair-sitting passenger or a stroller-pushing passenger is assisted in boarding the escalator using the apparatus of any one of claims 1 to 5, comprising:

identifying special passengers including at least one of a large luggage item carrying passenger, a wheelchair sitting passenger, and a stroller pushing passenger;

leading the special passenger to a designated area and interacting with the special passenger to determine whether the special passenger needs to be assisted in boarding an escalator;

when the special passenger is determined to be assisted to take the escalator, the object placing bottom plate is lowered, and the folding guardrail and the folding front plate are opened, so that a slope is formed between the object placing bottom plate and the ground;

when the object to be transported is detected to be positioned on the object placing bottom plate, the folding front plate is lifted until the angle between the folding front plate and the object placing bottom plate is 90 degrees, so that a guardrail is formed;

the device moves to a pedal at the entrance of the escalator to wait for taking the escalator, and adjusts the object placing device to be positioned in front and the device main body to be positioned in back;

advancing to go up to a target step, wherein the target step is a step parallel to the pedal;

when the center of the front wheel of the equipment is detected to move to the central position of the target step, the front wheel of the equipment is started to brake, and the self moving power of the equipment is closed, so that the equipment can move along with the escalator;

when the rear wheel of the equipment is detected to completely enter the stair of the escalator, the rear wheel of the equipment is started to brake;

when the front wheel of the equipment is detected to enter a parallel running area of the exit of the escalator, the front wheel of the equipment is released to brake;

when the rear wheel of the equipment is detected to enter a parallel running area of the exit of the escalator, the brake of the rear wheel of the equipment is released, and the self moving power of the equipment is started.

7. The method of claim 6, wherein said step of guiding said special passenger to a designated area and interacting with said special passenger to determine whether said special passenger needs to be assisted on an escalator comprises:

leading the special passenger to a designated area;

identifying the size of the object to be transported, and judging the size relation between the size of the object to be transported and the single-step width size of the escalator and the size of the object placing device;

if the size of the object to be carried is larger than the single-step size of the escalator and smaller than the size of the object placing device, reminding the maximum load capacity of the object placing device through voice;

inquiring whether the special passenger needs to take the escalator in an auxiliary way or not through a display screen or a voice module;

and acquiring feedback information of the special passenger, and determining whether the special passenger needs to be assisted to take the escalator or not according to the feedback information.

8. The method of assisting in boarding an escalator as claimed in claim 6, wherein when the load to be transported is detected on the storage floor, the method further comprises:

detecting whether the object to be transported exceeds the boundary of the object placing bottom plate or not through a boundary detection sensor;

and if the object to be transported exceeds the boundary of the object placing bottom plate, reminding the special passenger of adjusting the position of the object to be transported through a display screen or a voice module.

9. A device for assisting in boarding an escalator, comprising:

at least one processor;

at least one memory for storing at least one program;

when executed by the at least one processor, cause the at least one processor to implement the method of any one of claims 6-8.

10. Computer-readable storage medium, on which a program executable by a processor is stored, the program executable by the processor being adapted to implement the method according to any one of claims 6 to 8 when executed by the processor.

Technical Field

The invention relates to the technical field of auxiliary equipment for taking an escalator, in particular to equipment, a method and a device for assisting in taking the escalator and a storage medium.

Background

In public places such as railway station, subway station, airport, there are more people to carry major possession luggage article and take automatic escalator, because the structure of staircase is the step design, and major possession luggage article can't place steadily on the step of staircase because of the size reason, and this also has very big potential safety hazard, often can cause serious incident if major possession luggage article take place to empty. In places such as general markets, some special people who push baby carriages and sit on wheelchairs often cannot take the escalator, only can select the vertical ladders to go upstairs and downstairs, and the vertical ladders are generally small in configuration quantity and remote in position, so that inconvenience is caused for taking the special passengers.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides equipment, a method and a device for assisting in boarding an escalator and a storage medium.

The technical scheme adopted by the invention is as follows:

on one hand, the embodiment of the invention comprises equipment for assisting in taking a staircase, which is used for assisting in taking a passenger carrying a large luggage article or a passenger sitting on a wheelchair or a passenger pushing a baby carriage to take the staircase, and comprises an equipment body, a main camera, an auxiliary camera, a human-computer interaction device, a moving wheel, a sliding rail, a main controller and an article placing device; the main camera is arranged at the top of the equipment body; the auxiliary camera comprises a first auxiliary camera and a second auxiliary camera, the first auxiliary camera is mounted at the center of the bottom of the equipment body, and the second auxiliary camera is mounted at the bottom of the object placing device; the human-computer interaction device is arranged on the equipment body; the moving wheels are arranged at the bottom of the equipment body and at the bottom of the object placing device; the sliding rail is vertically arranged on one side of the equipment body, the main controller is arranged on the equipment body, and the main camera, the auxiliary camera and the man-machine interaction device are all in communication connection with the main controller;

the article placing device comprises a folding front plate, an article placing bottom plate, folding guardrails and a rotary joint, wherein the folding front plate is arranged at the tail end of the article placing bottom plate, and the folding guardrails are vertically arranged on two sides of the article placing bottom plate in parallel; one end of the rotary joint is fixed at the front end of the article placing bottom plate, and the other end of the rotary joint is arranged on the sliding rail; the object placing device is connected with the equipment body through the rotary joint;

the moving wheel is a toothed wheel and is meshed with the comb teeth of the escalator step, the moving wheel is provided with a brake device, the brake device comprises an expansion link and a brake pad, and the expansion link is connected with the brake pad.

Further, the main camera is used for shooting video images around the equipment;

the auxiliary camera is used for shooting alignment and fit state video images between the bottom of the equipment and the escalator, between the moving wheel and the escalator;

the man-machine interaction device comprises a display screen and a voice module, wherein the display screen is used for displaying passenger elevator taking visual information, and the voice module is used for carrying out voice interaction;

the moving wheel is used for moving the equipment main body and the object placing device;

the sliding rail is used for driving the object placing device to move up and down through the rotary joint;

the main controller is used for analyzing and identifying the video images and controlling the object placing device to lift and fold and the equipment to operate according to the analysis and identification result;

the object placing device is used for carrying large luggage articles or a wheelchair passenger or a baby carriage.

Furthermore, the object placing device also comprises a weighing sensor, a boundary detection sensor and a horizontal sensor;

the weighing sensor is arranged on the storage bottom plate and used for detecting weight change on the storage bottom plate;

the boundary detection sensors are arranged on two sides of the edge of the storage bottom plate and used for detecting whether the carried goods exceed the boundary of the storage bottom plate;

the horizontal sensor is installed on the object placing bottom plate and used for detecting the horizontal condition of the object placing bottom plate.

Further, the equipment also comprises a stroke sensor, wherein the stroke sensor is arranged on the slide rail and used for detecting the stroke condition of the rotary joint on the slide rail.

Further, the equipment further comprises a power device, the power device is connected with the main controller through communication, and the main controller controls the object placing device to ascend, descend, fold and control the equipment to run through the power device.

In another aspect, an embodiment of the present invention further includes a method for assisting a passenger carrying a large luggage item or a passenger sitting in a wheelchair or a passenger pushing a baby carriage to board an escalator, using an apparatus for assisting the passenger to board the escalator, including:

identifying special passengers including at least one of a large luggage item carrying passenger, a wheelchair sitting passenger, and a stroller pushing passenger;

leading the special passenger to a designated area and interacting with the special passenger to determine whether the special passenger needs to be assisted in boarding an escalator;

when the special passenger is determined to be assisted to take the escalator, the object placing bottom plate is lowered, and the folding guardrail and the folding front plate are opened, so that a slope is formed between the object placing bottom plate and the ground;

when the object to be transported is detected to be positioned on the object placing bottom plate, the folding front plate is lifted until the angle between the folding front plate and the object placing bottom plate is 90 degrees, so that a guardrail is formed;

the device moves to a pedal at the entrance of the escalator to wait for taking the escalator, and adjusts the object placing device to be positioned in front and the device main body to be positioned in back;

advancing to go up to a target step, wherein the target step is a step parallel to the pedal;

when the center of the front wheel of the equipment is detected to move to the central position of the target step, the front wheel of the equipment is started to brake, and the self moving power of the equipment is closed, so that the equipment can move along with the escalator;

when the rear wheel of the equipment is detected to completely enter the stair of the escalator, the rear wheel of the equipment is started to brake;

when the front wheel of the equipment is detected to enter a parallel running area of the exit of the escalator, the front wheel of the equipment is released to brake;

when the rear wheel of the equipment is detected to enter a parallel running area of the exit of the escalator, the brake of the rear wheel of the equipment is released, and the self moving power of the equipment is started.

Further, the step of leading the special passenger to a designated area and interacting with the special passenger to determine whether assistance with the special passenger on an escalator is required includes:

leading the special passenger to a designated area;

identifying the size of the object to be transported, and judging the size relation between the size of the object to be transported and the single-step width size of the escalator and the size of the object placing device;

if the size of the object to be carried is larger than the single-step size of the escalator and smaller than the size of the object placing device, reminding the maximum load capacity of the object placing device through voice;

inquiring whether the special passenger needs to take the escalator in an auxiliary way or not through a display screen or a voice module;

and acquiring feedback information of the special passenger, and determining whether the special passenger needs to be assisted to take the escalator or not according to the feedback information.

Further, when the object to be transported is detected to be on the storage bottom plate, the method further comprises the following steps:

detecting whether the object to be transported exceeds the boundary of the object placing bottom plate or not through a boundary detection sensor;

and if the object to be transported exceeds the boundary of the object placing bottom plate, reminding the special passenger of adjusting the position of the object to be transported through a display screen or a voice module.

In another aspect, an embodiment of the present invention further includes a device for assisting in boarding an escalator, including:

at least one processor;

at least one memory for storing at least one program;

when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the method for assisting in boarding an escalator.

In another aspect, embodiments of the present invention further include a computer readable storage medium having stored thereon a processor-executable program, which when executed by a processor, is configured to implement the method for assisting in boarding an escalator.

The invention has the beneficial effects that:

the invention provides equipment for assisting in boarding an escalator, which comprises an equipment body, a main camera, an auxiliary camera, a human-computer interaction device, a moving wheel, a sliding rail, a main controller and an object placing device, wherein the main camera is arranged on the equipment body; wherein the storage device can carry large luggage articles, wheelchairs and baby carriages; and put the thing device and pass through rotary joint and this body coupling of equipment for put the thing device and constitute integratively with the equipment body, this equipment can take the staircase by oneself, thereby can assist and carry the passenger of major possession luggage article or sit wheelchair passenger or push away the perambulator passenger and take the staircase, bring the facility for carrying the passenger of major possession luggage article or sitting wheelchair passenger or push away the perambulator passenger.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural view of an apparatus for assisting in boarding an escalator when a storage device according to an embodiment of the present invention is deployed;

FIG. 2 is a front view of an apparatus for assisting in boarding an escalator when the storage device according to the embodiment of the present invention is stowed;

FIG. 3 is a side view of the device for assisting in riding an escalator when the storage device according to the embodiment of the present invention is stowed;

FIG. 4 is a front view of a moving wheel structure according to an embodiment of the present invention;

FIG. 5 is a side view of a structure of a movable wheel according to an embodiment of the present invention;

FIG. 6 is a schematic view of the slide rail and the object placing device according to the embodiment of the present invention;

fig. 7 is a flow chart illustrating steps of a method for assisting in boarding an escalator in accordance with an embodiment of the present invention;

FIG. 8 is a schematic view of the device according to the embodiment of the present invention in a configuration of boarding an escalator;

fig. 9 is a schematic structural diagram of a device for assisting in boarding an escalator according to an embodiment of the present invention.

Detailed Description

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

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, and the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood to exclude the essential numbers. If there is a description to first, second, third etc. for the purpose of distinguishing between technical features, it is not intended to indicate or imply relative importance or to implicitly indicate the number of technical features indicated or to implicitly indicate the precedence of technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 1 to 3, an embodiment of the present invention provides an apparatus for assisting a passenger carrying a large baggage item or a passenger sitting in a wheelchair or a passenger pushing a baby carriage to take a staircase, including an apparatus body 100, a main camera 200, an auxiliary camera 300, a human-computer interaction device 400, a moving wheel 500, a sliding rail 600, a main controller 700, and a storage device 800; the main camera 200 is installed on the top of the apparatus body 100; the auxiliary camera 300 comprises a first auxiliary camera 301 and a second auxiliary camera 302, the first auxiliary camera 301 is installed at the center of the bottom of the device body 100, and the second auxiliary camera 302 is installed at the bottom of the object placing device 800; the human-computer interaction device 400 is installed on the apparatus body 100; the moving wheel 500 is installed at the bottom of the apparatus body 100 and at the bottom of the storage device 800; the slide rail 600 is vertically installed at one side of the equipment body 100, the main controller 700 is installed on the equipment body 100, and the main camera 200, the auxiliary camera 300 and the human-computer interaction device 400 are all in communication connection with the main controller 700;

the article placing device 800 comprises a folding front plate 801, an article placing bottom plate 802, folding guardrails 803 and a rotary joint 804, wherein the folding front plate 801 is installed at the tail end of the article placing bottom plate 802, and the folding guardrails 803 are vertically installed at two sides of the article placing bottom plate 802 in parallel; one end of the rotary joint 804 is fixed at the front end of the storage bottom plate 802, and the other end of the rotary joint 804 is mounted on the slide rail 600; the article placing device 800 is connected with the equipment body 100 through a rotary joint 804;

the moving wheel 500 is a toothed wheel to be engaged with the comb teeth of the escalator step, the brake device 501 is arranged on the moving wheel 500, the brake device 501 comprises an expansion link 501-1 and a brake pad 501-2, and the expansion link 501-1 is connected with the brake pad 501-2.

Optionally, the main camera 200 is used to take video images around the device;

the auxiliary camera 300 is used for shooting alignment and fit state video images between the bottom of the equipment and the escalator, and between the moving wheel 500 and the escalator;

the man-machine interaction device 400 comprises a display screen 401 and a voice module 402, wherein the display screen 401 is used for displaying passenger elevator taking visual information, and the voice module 402 is used for carrying out voice interaction;

the moving wheel 500 is used for moving the apparatus main body 100 and the storage device 800;

the slide rail 600 is used for driving the object placing device 800 to move up and down through the rotary joint 804;

the main controller 700 is used for analyzing and identifying the video images, and controlling the object placing device 800 to ascend, descend, fold and control equipment to operate according to the analysis and identification result;

the storage device 800 is used to carry large items of luggage or a wheelchair-bound passenger or stroller.

In this embodiment, the main appearance of making a video recording is installed at the top of equipment body, and horizontal 360 °, the vertical shooting that is not less than 90 ° is realized to accessible cloud platform or super wide-angle lens, and the main appearance of making a video recording communicates with main control unit in the equipment body through wired or wireless network's mode to upload the real-time image or the video of shooing and supply main control unit to carry out analysis processes.

The auxiliary cameras are two, one auxiliary camera is arranged at the center of the bottom of the equipment body, the other auxiliary camera is arranged between the movable wheels of the storage bottom plate, and shooting at 360 degrees in the transverse direction and at not less than 90 degrees in the longitudinal direction can be realized through the holder or the ultra-wide-angle lens; the device is mainly used for shooting the alignment and fit state pictures between the bottom of the device and the escalator, between the device moving wheel and the escalator when the device for assisting in taking the escalator takes the escalator automatically, and uploading the pictures to the main controller.

The man-machine interaction device is arranged on the equipment body and mainly comprises a display screen and a voice module, the man-machine interaction device is used for displaying visual information and touch operation so as to realize interaction with passengers, and the man-machine interaction device is communicated with the main controller through a wired or wireless network.

The movable wheels are universal wheels and are arranged at the bottom of the equipment body and the bottom of the storage bottom plate. This embodiment does not restrict the specific quantity of the removal wheel of installing in equipment body bottom, but when needing to guarantee to put the thing device and receive, equipment body operates steadily. Generally, put two removal wheels of bottom installation of thing bottom plate, when placing article, also need guarantee to put thing device and operate steadily, in addition, remove the shooting angle that the wheel can not block supplementary appearance of making a video recording. In order to reduce the occupied space, the movable wheels arranged at the bottom of the storage bottom plate are additionally provided with folding structures, and when the storage bottom plate is folded, the movable wheels can be folded longitudinally or transversely to be folded and folded, and are tightly attached to the back of the storage bottom plate. The structure of the moving wheel can be seen from fig. 4 and 5, the moving wheel is a tooth-shaped structure and can be meshed with the comb teeth of the stair of the escalator, and in addition, the moving wheel is provided with a brake device which comprises an expansion link and a brake pad. When the equipment needs to stop running, the main controller controls the telescopic rod to descend so that the brake block descends to be in contact with the ground or the escalator step, and the brake effect is achieved.

The slide rail is installed in one side of equipment body, and rotary joint installs on the slide rail, can reciprocate and then control the reciprocating of putting the thing bottom plate. For example, the rotary joint can be controlled to move up and down on the slide rail through a hydraulic telescopic device or other lifting devices. The hydraulic telescopic device or other lifting devices are controlled by a main controller. The structure of the slide rail and the placing device is shown in fig. 6.

The object placing device mainly comprises a folding front plate, an object placing bottom plate, a folding guardrail and a rotary joint, and is mainly used for placing and fixing large objects. Wherein:

the folding front plate is installed at the tail end of putting the thing bottom plate, and for rotatory beta structure, its rotation and folding are controlled by main control ware, when putting the thing bottom plate and receive, folding front plate is for opening or fifty percent discount state (parallel with putting thing bottom plate itself promptly) in order to reduce occupation space. When large articles need to be placed, the folding front plate is opened to be connected with the ground to form a slope, so that the wheelchair, the baby carriage or the luggage case and the like can be conveniently moved to the storage bottom plate. After the large articles are placed, the folding front plate is folded upwards and forms a vertical angle with the article placing bottom plate to form a safety guardrail, so that the large articles are prevented from sliding off the article placing bottom plate.

The storage bottom plate is used for placing large articles, and the upper surface of the storage bottom plate is made of anti-skid materials so as to prevent the articles from sliding on the storage bottom plate to cause danger. For the step length of cooperation staircase, guarantee that equipment can stop steadily on the staircase, put the thing bottom plate and be extending structure, main control unit can be according to staircase step length, the automatic adjustment puts the length of thing bottom plate.

Folding guardrail installs in putting thing bottom plate both sides, for beta structure, when putting the thing bottom plate and receive up, for the folding guardrail shape shown in figure 3, when putting the thing bottom plate and expand, for the folding guardrail shape shown in figure 1, folding guardrail is used for preventing that article from dropping.

One end of the rotary joint is fixed at the front end of the storage bottom plate, the other end of the rotary joint is installed on the sliding rail, and the rotary joint can move up and down on the sliding rail so as to control the up and down movement of the storage bottom plate. The rotary joint is used for connecting the object placing device and the equipment body, acts on the object placing bottom plate to be folded and unfolded, is of a hinge structure or a gear structure, and is controlled by a motor. The motor is controlled by main control unit, and main control unit accessible installation puts horizontal sensor and supplementary camera instrument on the thing bottom plate and judges whether to open or fold and target in place the thing bottom plate.

Optionally, the placement device 800 further includes a load cell 805, a boundary detection sensor 806, and a level sensor 807;

a load cell 805 mounted on the storage tray 802 for detecting weight changes on the storage tray 802;

boundary detection sensors 806 are mounted on both sides of the edge of the storage floor 802 for detecting whether the payloads exceed the boundary of the storage floor 802;

the level sensor 807 is installed on the storage floor 802 to detect the level of the storage floor 802.

In this embodiment, the weighing sensor on the storage bottom plate can detect the weight of the articles on the storage bottom plate, so as to prevent the large articles from exceeding the maximum bearing weight and further causing danger. Meanwhile, whether the carried objects are arranged on the storage bottom plate or not can be identified by detecting the weight change on the storage bottom plate, or whether the carried objects are smoothly unloaded or not can be identified; and then whether the state is recovered to the state before the auxiliary elevator taking is judged according to the identification result. The boundary detection sensor is arranged at the edge of the storage bottom plate and can judge whether the articles exceed the boundary of the storage bottom plate in the modes of infrared, sound wave and the like. The level sensor can be used for detecting the level state of the object placing bottom plate in the process of taking the elevator. The sensors are connected with the main controller and controlled by the main controller. The sensors interact with the master controller through one or more of communication, DI, AI, etc.

Optionally, the apparatus further includes a stroke sensor 900, and the stroke sensor 900 is mounted on the sliding rail 600 and is used for detecting a stroke condition of the rotary joint 804 on the sliding rail 600.

In this embodiment, a travel sensor is installed on the slide rail, and the main controller controls the movement of the rotary joint on the slide rail through the travel sensor and the horizontal sensor, so as to ensure that the storage bottom plate is kept in a horizontal state in the process of taking the elevator.

Optionally, the apparatus further includes a power device 1000, the power device 1000 is in communication connection with the main controller 700, and the main controller 700 controls the object placing device 800 to ascend, descend, fold and control the operation of the apparatus through the power device.

In this embodiment, specifically, a power device (which may be a motor, a pneumatic device, a hydraulic device, or the like) is further disposed in the equipment, and is used for controlling the equipment to move, lifting and folding the storage bottom plate, and the like, and the power device is connected to the main controller, and the main controller can control the power device in one or more modes of communication, DI/DO, AI/AO, and the like, so as to control the equipment to move and place the device.

The equipment for assisting in taking an escalator provided by the embodiment of the invention has the following technical effects:

the embodiment of the invention provides equipment for assisting in boarding an escalator, which comprises an equipment body, a main camera, an auxiliary camera, a human-computer interaction device, a moving wheel, a sliding rail, a main controller and an object placing device, wherein the main camera is arranged on the equipment body; wherein the storage device can carry large luggage articles, wheelchairs and baby carriages; and put the thing device and pass through rotary joint and this body coupling of equipment for put the thing device and constitute integratively with the equipment body, this equipment can take the staircase by oneself, thereby can assist and carry the passenger of major possession luggage article or sit wheelchair passenger or push away the perambulator passenger and take the staircase, bring the facility for carrying the passenger of major possession luggage article or sitting wheelchair passenger or push away the perambulator passenger.

Based on the device for assisting in taking the escalator shown in fig. 1-3, the embodiment of the invention provides a method for assisting in taking the escalator, which uses the device shown in fig. 1-3 to assist in taking a large luggage item passenger or a wheelchair passenger or a stroller passenger on the escalator, and includes but is not limited to the following steps:

s100, identifying special passengers, wherein the special passengers comprise at least one of passengers carrying large luggage, passengers sitting in a wheelchair and passengers pushing a baby carriage;

s200, leading the special passenger to a designated area, and interacting with the special passenger to determine whether the special passenger needs to be assisted to take the escalator or not;

s300, when it is determined that special passengers need to take the escalator in an assisting mode, lowering the storage bottom plate, and opening the folding guardrails and the folding front plate to enable a slope to be formed between the storage bottom plate and the ground;

s400, when the object to be transported is detected to be located on the object placing bottom plate, the folding front plate is lifted until the angle between the folding front plate and the object placing bottom plate is 90 degrees, so that a guardrail is formed;

s500, moving to a pedal at the entrance of the escalator to wait for taking the escalator, and adjusting the object placing device to be positioned in front and the equipment main body to be positioned in the back;

s600, moving forwards to go up to a target step, wherein the target step is a step parallel to the pedal;

s700, when the center of the front wheel of the equipment is detected to move to the center position of the target step, the front wheel of the equipment is started to brake, and the self moving power of the equipment is closed, so that the equipment can move along with the escalator;

s800, when the rear wheel of the equipment is detected to completely enter the stair of the escalator, the rear wheel of the equipment is started to brake;

s900, when the front wheel of the equipment is detected to enter a parallel running area of an exit of the escalator, the front wheel of the equipment is loosened to brake;

s1000, when the fact that the rear wheel of the equipment enters a parallel running area of an exit of the escalator is detected, the rear wheel of the equipment is loosened to brake, and the self moving power of the equipment is started.

In step S100, in this embodiment, the main camera of the device may capture all video images around the device through the pan/tilt or the multi-camera combination, and upload the video images to the main controller for analysis and recognition. Thus, the apparatus can recognize a passenger carrying a large luggage item, a passenger sitting in a wheelchair, and a passenger pushing a baby carriage through the main camera and the main controller. After the special passengers are identified, the device can actively move to the special passengers, and can inquire whether the special passengers need to take the escalator in an auxiliary mode or not through voice.

In this embodiment, the step S200 of guiding the special passenger to the designated area and interacting with the special passenger to determine whether the special passenger needs to be assisted to take the escalator includes:

s201, leading a special passenger to a designated area;

s202, identifying the size of the object to be transported, and judging the size relation between the size of the object to be transported and the single-step width size of the escalator and the size of the object placing device;

s203, if the size of the object to be carried is larger than the single-step size of the escalator and smaller than the size of the object placing device, reminding the maximum load capacity of the object placing device through voice;

s204, inquiring whether special passengers need to take the escalator in an auxiliary way through a display screen or a voice module;

s205, feedback information of the special passenger is obtained, and whether the special passenger needs to be assisted to take the escalator or not is determined according to the feedback information.

In this embodiment, in order to prevent the interference with the normal passage of passengers, the device may first lead the special passengers to a designated area, which does not make special requirements, but preferably has a small flow rate around the escalator and a flat ground. In order to prevent safety accidents, the equipment can calculate the size of the object to be carried through the main camera and judge the size relation between the size of the object to be carried and the single-step width size of the escalator and the size of the object placing device. The method for determining the size includes various methods, such as confirming the most prominent coordinates of the external shape of the article through a main camera and calculating the size of the article; or confirming the size of the article by a sensor mode such as ultrasonic waves and the like; or the distance between the equipment and the object is calculated by combining the proportional size of the image shot by the main camera. If the size of the object to be transported is larger than that of the object placing device, the device can prompt passengers to exceed the size of the object through voice, and guide the passengers to take the vertical ladder or call workers to help through a human-computer interaction device of the device. If the judgment result shows that the size of the object to be carried is larger than the single-step size of the escalator and smaller than the size of the object placing device, the device can assist the special passenger to take the escalator, and at the moment, the maximum load capacity of the object placing device of the special passenger can be further reminded through voice. The passenger can confirm whether the load to be carried exceeds the weight through an interactive mode. If the weight of the object to be carried does not exceed the maximum carrying capacity of the object placing device, the device can inquire whether special passengers need to take the escalator in an auxiliary way through a display screen or a voice module; specifically, for example, the information of "whether you need to assist in boarding the escalator" may be displayed on the display screen to make an inquiry, or the passenger may be directly asked by voice whether or not he needs to assist in boarding the escalator. At this time, the passenger can perform feedback by selecting the options of "yes" or "no" displayed on the display screen; or directly performs voice interaction with the equipment for feedback.

In step S300, in this embodiment, if it is determined that the special passenger needs to assist the special passenger to take the escalator, the device lowers the storage bottom plate, in order to facilitate the wheelchair passenger or the heavier luggage to enter the storage device, the storage device lowers the storage bottom plate and opens the foldable guardrail, and simultaneously opens the foldable front plate, so as to form a slope between the storage bottom plate and the ground, and when the placement of the object to be transported is completed and it is determined that the object to be transported is correct, the foldable front plate rises to form 90 ° with the storage bottom plate, so as to form a safety guardrail, thereby preventing the object to be transported from falling off during the elevator taking process.

In this embodiment, in step S400, that is, when it is detected that the object to be transported is on the storage bottom plate, the following steps are further performed:

s401, detecting whether the object to be transported exceeds the boundary of the object placing bottom plate through a boundary detection sensor;

s402, if the object to be transported exceeds the boundary of the object placing bottom plate, a special passenger is reminded to adjust the position of the object to be transported through a display screen or a voice module.

In this embodiment, owing to be equipped with weighing sensor on putting the thing bottom plate, the main controller accessible weighing sensor of equipment detects the weight change on putting the thing bottom plate to through the video image that the thing of waiting to transport that the main appearance of making a video recording was gathered was arranged in and is put the thing bottom plate (contain to sit the wheelchair passenger and promote the wheelchair by oneself to putting the thing board on), confirm whether accomplished the action of placing of the thing of waiting to transport. If it is determined that the object to be transported is completely arranged on the object placing bottom plate, the main controller further confirms whether the object to be transported exceeds the boundary of the object placing bottom plate through a boundary detection sensor arranged at the edge of the object placing bottom plate, and if the object to be transported exceeds the boundary, the main controller reminds passengers to adjust the position of the object to be transported through display screen display or voice.

Regarding step S500, in this embodiment, after the object to be transported is placed, the device moves to the entrance of the escalator to wait for taking the elevator, and in order to prevent colliding with other passengers, in the moving process, the device plays a voice prompt, and meanwhile, it is ensured that the device is unmanned in the forward direction through the main camera and the auxiliary camera (after the object is placed, a part of the front part of the main camera may be partially shielded, and at this time, it is ensured that the device is unmanned in the forward direction through the auxiliary camera). No matter go upstairs or downstairs, the object placing bottom plate faces to a high floor when riding on the escalator.

In this embodiment, taking the equipment to take the escalator as an example, fig. 8 is a schematic view of the equipment taking the escalator to take the escalator. The special passenger can confirm the floor needing to be reached through the voice or key mode and the equipment, and the equipment moves to the entrance of the escalator to wait for taking the escalator after receiving the destination floor needing to be reached by the passenger. Because the device is used for going upstairs on the escalator, the device needs to adjust the self state to be the object placing device in front, and the device main body is located behind. A plurality of steps in one area are horizontally operated at the entrance of the escalator, when the steps are operated out of the horizontal operation area, the steps are lifted, obvious shape and color differences exist between the steps and the entrance pedal, and the equipment can distinguish the steps from the entrance pedal through the auxiliary camera and stays at the entrance pedal of the escalator to prepare for taking the escalator. At the entrance step, the apparatus adjusts the apparatus by means of the auxiliary camera and the moving wheel so as to align the apparatus with the center of the escalator, and confirms that the teeth of the moving wheel can be engaged with the comb teeth of the escalator by means of the auxiliary camera before taking the escalator.

The equipment moves forwards and goes up to a target step, and the target step is a step parallel to the inlet pedal; at the moment, the equipment is in a state that the storage device is positioned in front and the equipment main body is positioned in back; therefore, the moving wheel at the bottom of the object placing device is the front wheel and moves to the target step first. The device can monitor the position of the moving wheel in real time through the auxiliary camera, and when the device is detected that the center of the front wheel of the device moves to the central position of the target step, the device starts the front wheel of the device to brake, so that the brake pad is fully contacted with the step surface of the escalator, and the device is ensured to finish stable stop; and the moving power of the equipment is turned off so that the equipment can follow the escalator. At the moment, the object placing device part can lift along with the target step, and in order to ensure that the object placing device keeps a horizontal and stable state on the target step, the main controller controls the rotary joint to move up and down on the slide rail through the horizontal sensor on the object placing bottom plate and the stroke sensor on the slide rail, so that the object placing device is ensured to always keep a horizontal state in the whole elevator taking process. The moving wheel at the bottom of the equipment main body is a rear wheel, and the rear wheel can also slowly move into the steps of the escalator under the driving of the escalator. When the rear wheel of the equipment is detected to completely enter the escalator step, the equipment starts the rear wheel of the equipment to brake, so that the brake pad is fully contacted with the surface of the escalator step, and the equipment is guaranteed to be stopped stably, so that the equipment is kept stable on the escalator. In this embodiment, the size information of the escalator can be recorded in the device in advance, including the width of the escalator, the length, the width and the height of the steps, the length of the tread, the position where the first step of the escalator steps starts to be lifted, the position where the last step of the escalator steps starts to be leveled, and the like; therefore, the equipment can judge whether the front wheels and the rear wheels run in place according to the length of the escalator, the running speed and the running time of the escalator or through the values of the sliding track stroke sensors.

When the front wheel of the equipment is detected to enter a parallel running area of the exit of the escalator, the main controller of the equipment controls and releases the front wheel brake of the equipment, so that the front wheel can move forward along with the escalator to move to the exit pedal. When the fact that the rear wheel of the equipment enters a parallel running area of the exit of the escalator is detected, the rear wheel of the equipment is loosened to brake the rear wheel of the equipment, and the self moving power of the equipment is started, so that the equipment can smoothly go down the escalator under the driving of the self moving power. In this embodiment, the size information of the escalator can be recorded in the device in advance, including the width of the escalator, the length, the width and the height of the steps, the length of the tread, the position where the first step of the escalator steps starts to be lifted, the position where the last step of the escalator steps starts to be leveled, and the like; therefore, the equipment can judge whether the front wheels and the rear wheels run in place according to the length of the escalator, the running speed and the running time of the escalator or through the values of the sliding track stroke sensors.

In this embodiment, if under the very special circumstances (such as the strutting arrangement damage of slide rail etc. condition), when the unable thing device level of keeping putting of equipment, the equipment can carry out audible and visual alarm and remind the passenger to pay attention to safety to inform the staircase through modes such as radio communication and stop the staircase, call remote staff and carry out manual intervention processing simultaneously.

In this embodiment, after the equipment is gone downstairs smoothly, in order to prevent influencing normal passenger's traffic, can move to appointed area earlier, lift off the thing of waiting to transport again. The equipment descends the folding front plate to form a slope between the object placing bottom plate and the ground so as to conveniently unload the object to be carried. After the equipment detects that the object to be transported is unloaded through the main camera and the weighing sensor, the object placing device is packed up and restored to the initial state.

In this embodiment, the storage device is located in front when the equipment is used upstairs on the escalator, and the equipment main body is located in the rear. When the device body is used for taking the escalator stairs and going downstairs, the device body is positioned in front, and the object placing device is positioned in the rear. Because the auxiliary camera is installed at the movable wheels of the equipment body and the object placing device, the processing modes of going upstairs and going downstairs of the equipment are the same, and the description is omitted here.

The method for assisting in taking the escalator provided by the embodiment of the invention has the following technical effects:

the embodiment of the invention can effectively assist the passengers carrying large luggage articles, the passengers sitting in a wheelchair and the passengers pushing a baby carriage to smoothly ride the stairs through the devices shown in figures 1-3, and brings convenience to the passengers carrying large luggage articles, the passengers sitting in the wheelchair and the passengers pushing the baby carriage.

Referring to fig. 9, an embodiment of the present invention further provides a device 200 for assisting in boarding an escalator, which specifically includes:

at least one processor 210;

at least one memory 220 for storing at least one program;

when the at least one program is executed by the at least one processor 210, the at least one processor 210 is caused to implement the method as shown in fig. 7.

The memory 220, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs and non-transitory computer-executable programs. The memory 220 may include high speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 220 may optionally include remote memory located remotely from processor 210, and such remote memory may be connected to processor 210 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

It will be understood that the device structure shown in fig. 9 does not constitute a limitation of device 200, and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.

In the apparatus 200 shown in fig. 9, the processor 210 may retrieve the program stored in the memory 220 and execute, but is not limited to, the steps of the embodiment shown in fig. 7.

The above-described embodiments of the apparatus 200 are merely illustrative, and the units illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purposes of the embodiments.

Embodiments of the present invention also provide a computer-readable storage medium, which stores a program executable by a processor, and the program executable by the processor is used to implement the method shown in fig. 7 when being executed by the processor.

The embodiment of the application also discloses a computer program product or a computer program, which comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and the computer instructions executed by the processor cause the computer device to perform the method illustrated in fig. 7.

It will be understood that all or some of the steps, systems of methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.