Digital elevator guide rail mounting method based on laser tracker and motion capture system

Abstract

The invention provides an elevator guide rail digital installation method based on a laser tracker and a motion capture system, which comprises the following steps that: A1, a shaft global coordinate system is constructed, a shaft local measurement network is formed, and a lifting operation platform is provided with a guide structure matched with an installed guide rail; a2, after multiple sets of target ball space coordinate data are collected, the conversion relation between a motion capture camera array coordinate system and a laser tracker coordinate system is calculated through an optimization method based on rigid body distance constraint; a3, through a coordinate transformation and projection correction algorithm, the installation position data of the elevator guide rail support is converted into a two-dimensional projection image, and the two-dimensional projection image is projected to the well wall face through projection equipment; a4, acquiring three-dimensional coordinate data of the installed guide rail reflection marker through the motion capture camera array, and calculating a deviation matrix of an actual installation position and the design model so as to correct the installation deviation of the guide rail; and A5, the steps A2 to A4 are executed again to install the next section of guide rail, and the benchmark accumulative error is eliminated through recalibration.

Description

Technical Field

[0001] The present invention belongs to the technical fields of special equipment installation and elevator guide rail installation, and specifically relates to a digital installation method for elevator guide rails based on a laser tracker and a motion capture system. The method is particularly suitable for high-precision spatial positioning, real-time quality monitoring, and deviation correction of guide rails in elevator shafts of high-rise buildings, and solves the problems of precise layout and verticality control during elevator installation. Background Art

[0002] Elevator guide rails are the core guiding components of elevator systems. Their installation accuracy directly impacts the smoothness, safety, and service life of the elevator. With the rapid development of high-rise buildings and the increasing height of elevator shafts, traditional guide rail installation methods face significant challenges in terms of benchmark transmission, construction efficiency, and precision control.

[0003] There are many technical solutions for installing elevator guide rails. The Chinese patent with publication number CN116062586A proposes an adjustable bracket system, which uses the bending surface of the split guide rail bracket and the shaft bracket to achieve position adjustment using long-hole bolts. Although this solution transfers the adjustment object from the guide rail to the lighter bracket, it still has the following shortcomings: First, it relies on manual operation of the magnetic clamp for fine-tuning (a single adjustment takes about 15 minutes), and the adjustment accuracy is affected by operating experience. The measured data shows that the repeat positioning error is as high as ±1.5mm; second, the bracket adjustment tooling needs to be rigidly connected to the elevator car (see the attached manual). Figure 8 ), which is easily affected by the shaking of the car during high-altitude operations, resulting in a parallelism deviation of more than 2mm / m between the bracket installation surface and the shaft wall; thirdly, there is a lack of a global digital benchmark, and the bracket adjustment still relies on physical contact measurement, which cannot achieve continuous error compensation for multiple sections of guide rails.

[0004] Chinese patent publication number CN101495396B utilizes segmented laser alignment technology, using a movable directional laser and a magnetic alignment device to install the guide rails segment by segment. While this solution reduces the problem of laser beam scattering over long distances, it still suffers from the following drawbacks: First, the laser requires frequent repositioning (adjustment every 10 meters), resulting in cumulative errors in the transfer of reference positions and difficulty ensuring reference consistency in the height direction; second, the reliance on manual alignment with a magnetic clamp results in low installation efficiency (a single segment installation takes approximately 30 minutes), and operational accuracy is significantly affected by the operator's skill level; third, the lack of global deviation monitoring of the installed guide rails prevents real-time quality control and deviation correction during installation.

[0005] The Chinese patent with publication number CN112239116B proposes a pre-adjustment installation system based on a transportation platform, which pre-adjusts the guide rail support position by measuring the shaft structure. The shortcomings of this scheme are: first, a complex pre-assembly workbench is needed, which has large equipment volume, is difficult to transport, has poor site adaptability, especially in the space-limited shaft environment, and construction is hindered; second, it relies on physical contact measurement tools (such as total station), which cannot realize non-contact real-time measurement and dynamic calibration, resulting in low measurement efficiency; third, it does not solve the problem of cumulative error transmission when multiple guide rails are spliced, and the actual measurement data shows that the verticality deviation after installing 5 continuous guide rails can reach ±5mm, which seriously affects the running stability and riding comfort of the elevator.

[0006] Based on the analysis of existing technologies, there are three key technical problems in the field of elevator guide rail installation: First, the reference transmission is unreliable: traditional plumb lines or segmented lasers are difficult to maintain the consistency of the reference in high-rise shafts, resulting in cumulative installation errors with height. Experimental data show that in a 200-meter shaft, the verticality deviation of the traditional method can reach 10-15mm, far exceeding the verticality deviation requirement (≤5mm) specified in the national standard GB / T 7024-2008 "Elevator Installation and Acceptance Specification". Due to the reference deviation, high-speed elevators are prone to lateral vibration during operation, reducing comfort and accelerating guide rail wear, shortening equipment service life.

[0007] Second, quality control is lagging: existing methods mostly use a post-inspection mode, which conducts spot checks after installation is completed, and cannot monitor guide rail pose deviation in real time. Actual construction data shows that the rework rate of guide rail installation projects is as high as 12%, mainly due to irreversible installation defects found by post-inspection, which not only increases project cost but also significantly prolongs construction cycle. Especially for elevator projects of super high-rise buildings, rework cost and time loss are particularly prominent.

[0008] Third, the degree of digitization is low: traditional installation methods rely too much on manual experience and manual operation, with manual recording and adjustment accounting for more than 60% of installation time, lacking full-process digital closed-loop management from lofting to correction. Key parameters in the construction process (such as guide rail support position, guide rail connection deviation, etc.) are difficult to accurately quantify and systematically record, lacking data-driven intelligent decision support, resulting in large fluctuations in construction quality, making it difficult to meet the requirements of modern high-rise building elevators for high-precision, high-efficiency, and high-reliability installation. SUMMARY

[0009] In view of the defects and deficiencies of the prior art, the present application provides an elevator guide rail digital installation method based on a laser tracker and a motion capture system to solve the problems of unreliable reference transmission, lagging quality control and low digitalization in the installation of high-rise elevator shaft guide rails. First, a laser tracker with a measurement accuracy better than ±20μm is set up at the top of the elevator shaft to build a global coordinate system of the shaft. At the same time, a motion capture camera array containing 4-12 high-frame-rate cameras and a projection device with automatic focusing function are integrated on a lifting work platform with a guide structure (shoe) to form a local measurement network of the shaft. By installing calibration rods with double-system target balls at both ends, moving in various attitudes such as horizontal, vertical, 45° inclination and compound angles in the working space (covering more than 80% of the working area and involving at least 3 different height layers), collecting not less than 6 groups of target ball coordinate data, and using an optimization method based on rigid body distance constraints to calculate the conversion relationship between the two system coordinate systems, 3-5 non-coplanar target balls are arranged on the projection device to build a projection rigid body, and its six-degree-of-freedom pose parameters are obtained in real time by the motion capture camera array. Based on the above conversion relationship and pose parameters, the coordinate transformation and projection correction algorithm is used to convert the three-dimensional installation data of the guide rail bracket into a two-dimensional projection image, which is optimized by high contrast before projection, and the projection brightness is dynamically adjusted according to the environmental lighting data collected by the motion capture camera array, to realize accurate lofting of the guide rail bracket installation point. After the preliminary installation of the guide rail and the bracket, the three-dimensional coordinate data of the high-reflectivity target sheet (2 on the horizontal height of the bracket installation point of each guide rail, 1 at both ends) installed on the guide rail is collected by the motion capture camera array, and after noise filtering and outlier elimination, the deviation matrix of the actual position and the design model is calculated; and based on the matrix, hierarchical correction is performed: adjust the guide rail adjustable pad when the deviation along the X direction exceeds the threshold, adjust the guide rail gasket with a gradient of 0.1mm in 12 stages when the deviation along the Y direction or the perpendicularity exceeds the threshold, and issue an alarm and require reinstallation when the deviation exceeds the second threshold. After completing the installation of the current section, the lifting work platform is lifted to the top of the current section guide rail by the shoe cooperating with the installed guide rail, the coordinate system calibration is re-executed, and the straightness is detected by arranging target balls in the middle of the current section guide rail, the lower end and the middle of the last section guide rail before re-calibration to eliminate the segmented error, and the lofting, detection and correction process is cycled to ensure the consistency of the installation accuracy of the whole shaft. The present application significantly improves the installation accuracy and construction efficiency of the guide rail, reduces the rework rate, supports data storage and quality traceability during installation, and is suitable for precise installation of elevator guide rails in high-rise buildings.

[0010] The technical solutions adopted by the present application to solve its technical problems are as follows: An elevator guide rail digital installation method based on a laser tracker and a motion capture system, comprising: A1, a laser tracker is arranged at the top of the elevator shaft to construct a global coordinate system of the shaft; a motion capture camera array and a projection device are integrated on a lifting work platform to form a local measurement network of the shaft, and the lifting work platform is provided with a guide structure matched with the installed guide rail; A2, a first target ball and a second target ball are respectively arranged at two ends of a calibration rod, and are respectively matched with the laser tracker and the motion capture camera array; the calibration rod is moved in multiple non-single postures in a working space, a plurality of groups of target ball space coordinate data are collected, and then an optimization method based on rigid body distance constraint is used to calculate a conversion relationship between a coordinate system of the motion capture camera array and a coordinate system of the laser tracker; a plurality of target balls not in the same plane are arranged on the projection device to construct a projection rigid body, and six-degree-of-freedom posture parameters of the projection device are acquired in real time through the motion capture camera array; A3, based on the conversion relationship and the six-degree-of-freedom posture parameters, three-dimensional installation position data of the elevator guide rail bracket are converted into a two-dimensional projection image through a coordinate transformation and projection correction algorithm, and the two-dimensional projection image is projected onto the shaft wall through the projection device; A4, after the guide rail and the bracket are preliminarily installed, three-dimensional coordinate data of the reflection markers of the installed guide rail are collected through the motion capture camera array, a deviation matrix of the actual installation position and the design model is calculated, and the deviation of the guide rail installation is corrected; A5, the lifting work platform is lifted to the top of the current segment guide rail through the guide structure matched with the installed guide rail, steps A2 to A4 are re-executed to install the next segment guide rail, the reference cumulative error is eliminated through re-calibration, and the consistency of the installation accuracy of the whole shaft is ensured.

[0011] Further, the measurement accuracy of the laser tracker is better than ±20μm; The motion capture camera array includes 4-12 high frame rate cameras, and the cameras form an overlapping field of view and are signal-synchronized; The guide structure is a sliding shoe matched with the installed guide rail in sliding mode; The projection device is a laser projector with automatic focusing and trapezoidal correction functions; The motion capture camera array is installed around the lifting work platform, and the projection device is installed in the center of the lifting work platform.

[0012] Further, the multiple non-single postures of the calibration rod include horizontal to the ground, vertical to the ground, 45°inclination and compound angle placement; when the calibration rod moves, it needs to cover more than 80% of the working area, and the target ball coordinate data is collected at least at three different height layers.

[0013] Further, the collecting multiple sets of target ball spatial coordinate data specifically refers to collecting not less than 6 sets of spatial coordinate data of the first target ball and the second target ball; if any target ball is blocked during the collecting process, the inclination angle and position of the calibration rod are adjusted to ensure that the two kinds of target balls are respectively recognized by the laser tracker and the motion capture camera array; The arranging a plurality of non-coplanar target balls on the projection device specifically refers to arranging 4-6 target balls, and any 4 target balls are non-coplanar, so as to ensure that the motion capture camera array can calculate the six-degree-of-freedom pose parameters of the projection device through the target ball coordinates.

[0014] Further, the coordinate transformation and projection correction algorithm specifically includes: The three-dimensional installation position data of the guide rail support is converted from the design coordinate system to the projection device coordinate system through the homogeneous coordinate transformation matrix; The three-dimensional coordinates are projected to the two-dimensional image plane by using the intrinsic matrix of the projection device; The image distortion caused by the projection angle is compensated through the trapezoidal correction algorithm to ensure that the projection image is attached to the shaft wall.

[0015] Further, before projecting the two-dimensional projection image, the image is subjected to high-contrast optimization processing, and the projection brightness of the projection device is dynamically adjusted according to the intensity of the shaft ambient light, and the dynamic adjustment of the brightness is realized based on the ambient light data collected by the motion capture camera array.

[0016] Further, between steps A3 and A4, there is also a guide rail installation ideal sample line projection step: based on the three-dimensional design coordinates of the guide rail, the guide rail installation ideal sample line is projected to the actual installation area through the projection device, the guide rail installation ideal sample line is adapted to the guide rail profile in the theoretically correct installation position, and is used to assist the construction personnel to preliminarily align the guide rail.

[0017] Further, the reflective marker is a high-reflectivity target sheet; 2 target sheets are pasted at the same horizontal height as the support mounting point of each guide rail, and 1 target sheet is pasted at each end of the guide rail; Before calculating the deviation matrix, the three-dimensional coordinate data of the collected target sheet is subjected to noise filtering and outlier elimination to eliminate the coordinate errors caused by environmental interference.

[0018] Further, the guide rail installation deviation is corrected through the support fine adjustment device, the support fine adjustment device includes a guide rail adjustable pressing block and a guide rail gasket; the thickness of the guide rail gasket is graded by 0.1 mm; when calculating the deviation matrix of the actual installation position and the design model, the grading correction step is also included: The X direction is defined as the intersection line of the symmetry center plane of the left and right guide rails of the same floor and the ground, the Z direction is the vertical direction, and the Y direction is determined by the right-hand rule; If the deviation along the X direction exceeds the first threshold, adjust the guide rail adjustable pressing block in the support fine adjustment device; if the deviation along the Y direction or the perpendicularity exceeds the first threshold, adjust the thickness of the guide rail gasket; If the deviation exceeds the second threshold, an alarm is issued, requiring the installed support to be disassembled and steps A3-A4 to be re-executed.

[0019] Further, in the step A5, before re-executing the step A2, a guide rail straightness detection step is further included: one target ball is arranged at the middle of the current segment guide rail, the lower end of the current segment guide rail and the middle of the last segment guide rail, the target ball coordinates are collected by the motion capture camera array, and the guide rail straightness deviation is calculated to eliminate the accumulated error caused by segment splicing.

[0020] And, an elevator guide rail digitization installation system based on a laser tracker and a motion capture system for implementing the method is provided, comprising: A global reference unit: comprising a laser tracker, the laser tracker is installed at the reference point of the top of the shaft, and is configured to output the global coordinate system data of the shaft; A local measurement and projection unit: comprising a lifting work platform, a motion capture camera array and a projection device, the motion capture camera array and the projection device are integrated in the lifting work platform, the motion capture camera array is configured to collect target ball and / or reflective marker coordinates, and the projection device is configured to project lofting images; A calibration module: comprising a calibration rod, a first target ball and a second target ball, configured to realize the coordinate system calibration of the motion capture camera array and the laser tracker; A deviation correction unit: comprising a support fine adjustment device and a coordinate matching module, the support fine adjustment device comprises a guide rail adjustable pressing block and a guide rail gasket, the coordinate matching module is electrically connected with the motion capture camera array, and is configured to calculate a deviation matrix and output a correction instruction to the support fine adjustment device; A central control unit: electrically connected with other units respectively, configured to receive the deviation matrix data of the coordinate matching module, send the correction instruction to the support fine adjustment device, control the cyclic execution of steps A2-A5, and store the coordinate data, deviation data and correction record in the installation process.

[0021] Compared with the prior art, the present application and its preferred schemes at least have the following beneficial effects: The installation precision and the reference stability are improved: the global reference coordinate system is constructed by the laser tracker, the dynamic calibration technology of the motion capture system is combined, the reference drift problem caused by traditional segmented measurement is eliminated, the consistency of the reference transmission in the high-rise shaft is realized, the coordinate conversion algorithm based on the rigid body distance constraint and the six-degree-of-freedom pose tracking are adopted, the high-precision matching of the projector lofting and the guide rail pose measurement is ensured, and reliable data support is provided for the step-by-step correction of the small deviation.

[0022] Digitalization of construction processes and enhanced quality controllability: 3D design data is directly converted into a visual layout image of the shaft wall through coordinate transformation and projection correction, replacing traditional processes such as manual wire pulling and plumb bob hanging, reducing human operation errors; real-time projection of ideal sample lines and comparison with actual installation positions, combined with target coordinate acquisition and deviation matrix analysis, realizes the transformation of installation quality from "post-inspection" to "dynamic process monitoring", reducing the risk of rework caused by irreversible defects.

[0023] Full-process closed-loop management and cumulative error control: Through the sliding shoe guidance and segmented cyclic calibration mechanism of the hoistable work platform, the coordinate system is recalibrated and the straightness is tested after each guide rail installation, effectively avoiding the cumulative transmission of segmented errors. The graded correction strategy (adjustable pressure block / X direction, gradient shim / Y direction) combined with 3D deviation vector visualization makes the correction process more accurate and controllable, ensuring the consistency of installation accuracy throughout the entire shaft.

[0024] System integration and optimized construction adaptability: The motion capture camera array, laser projector, and control unit are integrated into a liftable platform, eliminating the need for complex pre-assembly equipment and adapting to space-constrained shaft environments. High-brightness projection and dynamic brightness adjustment technologies ensure layout clarity under complex lighting conditions, while non-contact target measurement reduces interference with the construction process and improves on-site operation efficiency.

[0025] The present invention systematically solves the problems of unreliable benchmarks, lagging quality and low efficiency in traditional installation methods through the integrated design of global-local collaborative measurement, digital layout and closed-loop correction, providing technical support for the precise installation of elevator guide rails. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: Figure 1 This is a schematic diagram of system equipment deployment according to an embodiment of the present invention; Figure 2 This is a rendering of the digital layout of the bracket according to an embodiment of the present invention; Figure 3 This is a rendering of the guide rail lofting auxiliary installation effect according to an embodiment of the present invention; Figure 4 This is a schematic diagram of installation quality inspection according to an embodiment of the present invention; Figure 5 Schematic diagram of the overall system architecture of an embodiment of the present invention; Figure 6 This is the main flow chart of the installation method according to an embodiment of the present invention.

[0027] Figure 7 This is a structural diagram of a calibration rod used to align the motion capture system with the laser tracker coordinate system according to an embodiment of the present invention; Figure 8The schematic diagram of the placement position of the target sheet in the guide rail calibration process of the embodiment of the present application is shown in the figure. Figure 9 The schematic diagram of the fine adjustment device of the support of the embodiment of the present application is shown in the figure. Figure 10 The assembly drawing of the work platform and the guide rail connection part of the embodiment of the present application is shown in the figure.

[0028] In the figure, 1 is a laser tracker, 2 is a motion capture camera array, 3 is a laser projector, 4 is a lifting work platform, 5 is a shaft wall surface, 6 is a guide rail support sample line projection, 7 is a guide rail installation ideal sample line projection, 8 is a guide rail, 9 is target sheet three-dimensional coordinate data, 10 is a motion capture target ball, 11 is a laser tracker target ball, 12 is a calibration rod, 13 is a guide rail support, 14 is a target sheet, 15 is a guide rail adjustable pressing block, 16 is a guide rail gasket, 17 is a screw rod, 18 is a nut, 19 is a sliding shoe, and 20 is a guide rail installation ideal sample line. DETAILED DESCRIPTION

[0029] In order to make the features and advantages of the present application more obvious and easy to understand, the following embodiments are specifically described as follows: It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used in the present specification have the same meaning as understood by those skilled in the art to which the present application belongs.

[0030] It should be noted that the terms used herein are only for the purpose of describing the specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form, and in addition, it should be understood that when the terms "comprise" and / or "include" are used in the present specification, they indicate the presence of a feature, step, operation, device, component and / or their combination.

[0031] The present application proposes a digital installation system that integrates laser global positioning, motion capture and real-time projection correction to solve the problems of reference drift, error accumulation and quality control lag in the process of elevator guide rail installation, and constructs a "millimeter level reference establishment-intelligent lofting-online monitoring-dynamic correction" full closed loop workflow to realize high precision and high efficiency guide rail installation. For this purpose, a digital lofting, quality monitoring and correction scheme for elevator guide rail installation is proposed: The application relates to an elevator guide rail digitization installation method and system based on a laser tracker and a motion capture system, which establishes a global coordinate system and a local coordinate system through a high-precision laser tracker at the top of a shaft and a motion capture camera array on a lifting platform, and tracks the space position of a projector in real time; a three-dimensional geometric transformation algorithm is used to convert support and guide rail installation data into a projection image, so that precise digital lofting is realized on the shaft wall; an ideal reference line is dynamically projected by a high-brightness projector, and visual comparison is carried out with the actual installation position; actual installation coordinates are collected by using a high-reflectivity target ball (or a target sheet), a coordinate matching algorithm is used to calculate the deviation and generate a three-dimensional correction strategy; the construction process is cyclically executed in an iterative calibration mode, and the consistency of the installation accuracy of the whole shaft is ensured. The application solves the problems of reference drift and cumulative error in the traditional method, has high installation accuracy, can significantly improve construction efficiency and quality reliability, and is particularly suitable for precise installation engineering of high-rise building elevator shafts.

[0032] The implementation process thereof can include the following steps: Step S1: fixing a high-precision laser tracker at a reference point at the top of an elevator shaft to construct a global reference coordinate system of the shaft; integrating a high-speed motion capture camera array and a high-brightness laser projector on a liftable operation platform to form a shaft measurement network; Step S2: Based on the design center axis of the elevator shaft, the intrinsic calibration of the motion capture camera array is performed; then the target ball is placed during the calibration process of the motion capture system and the laser tracker coordinate system: the motion capture target ball and the laser tracker target ball are installed on the left and right ends of the calibration rod respectively, and the calibration rod appears in multiple different poses in the workspace during the calibration process, such as horizontal placement, vertical placement, inclination in various directions (such as 45°), and composite angle placement, which cannot always maintain the same angle; the calibration rod moves in the entire workspace, covering at least 80% of the working area, and sufficient position changes are required in three coordinate axis directions (X, Y, Z); the calibration points cannot all be on the same plane or close to the same plane, and data needs to be collected at different height layers, with at least 3 significantly different height layers; the target balls are evenly distributed in the entire workspace, while also covering the boundary positions of the workspace; if any target ball is blocked, the inclination angle of the calibration rod is adjusted and the position is fine-tuned to ensure that both target balls can be observed by the motion capture system and the laser tracker respectively, so as to obtain their spatial position coordinates in the laser tracker coordinate system and the motion capture system coordinate system; after obtaining not less than 6 groups of motion capture target ball and laser tracker target ball coordinate data, the rigid body distance constraint-based optimization method is used to calculate the coordinate system rotation matrix and translation vector between the motion capture system coordinate system and the laser tracker coordinate system; 4-6 motion capture target balls are arranged on the laser projector, and each 4 target balls are not coplanar; thereby constructing a projector rigid body in the motion capture system, tracking and calculating the pose of the projector rigid body in real time by using the motion capture system, and then obtaining the six-degree-of-freedom pose parameters of the laser projector; Step S3: Based on the homogeneous coordinate transformation and projection correction algorithm, the three-dimensional installation position data of the elevator rail support is converted into a two-dimensional projection image; the spatial pose parameter is used to correct the projection deformation, and the corrected projection image is accurately projected to the shaft wall by the laser projector, realizing the digital lofting of the rail support installation point; Step S4: After the preliminary installation of the rail support and the rail is completed, the ideal sample line of the rail installation is projected to the actual installation area in real time by the projector, and the ideal sample line of the rail installation is located at the center line of the two faces opposite to the two rails in the theoretically correct installation position. The deviation between the actual installation position and the projected ideal sample line is compared by visual observation, realizing the real-time visual detection of the installation quality; Step S5: Paste the high-reflectivity target sheet for the motion capture system on the rail plane opposite to the shaft center at the same horizontal height of the rail and support installation point. Since one rail is generally supported by two supports, two target sheets will be pasted on each rail. Then, paste high-reflective target sheets at both ends of the rail. The determination of the layout area of the above motion capture system target sheets on the rail is based on the key measurement points of the rail, including (1) two end points, (2) the midpoint of the intersection line of the rail plane opposite to the shaft center and the horizontal plane of the rail and support installation point; The target three-dimensional coordinate data is collected by using the motion capture system; the coordinate deviation matrix of the actual installation position and the design model is calculated, the three-dimensional deviation vector diagram is generated according to the deviation size, and auxiliary correction is performed; the intersection line of the symmetry center plane of the left and right rails of the same floor and the ground is the X direction, and the vertical direction is the Z direction, and the Y direction is determined according to the right-hand rule. When the rail has deviation along the X direction, the position of the rail adjustable pressing block in the support fine adjustment device is adjusted for correction; when the rail has deviation along the Y direction or the verticality has deviation, the thickness of the gasket is adjusted for correction; Step S6: After the installation and correction of the adjacent two sections of rails are completed, the working platform is lifted to the top of the installed rails, and the working platform cooperates with the rails through the sliding shoes fixedly connected thereto during the lifting process; the motion capture camera array receives the shaft reference coordinate data from the laser tracker, and the coordinate system calibration is performed again; the digital construction process of steps S2 to S5 is circularly executed to ensure the consistency of the whole shaft installation precision.

[0033] During the lifting of the working platform to the next construction section, the position of the motion capture system also changes, and after the motion capture system coordinate system calibration is performed, the motion capture system can be used for rail positioning and auxiliary installation.

[0034] As a preferred scheme, the high-precision laser tracker in step S1 adopts laser measurement technology, and the measurement accuracy is better than ±20μm, which is suitable for high-precision industrial measurement scenes.

[0035] As a preferred scheme, the motion capture camera array in step S2 adopts multiple high-frame rate motion capture cameras, and the cameras form an overlapping field of view to ensure that the target ball can be captured by multiple cameras at the same time, and the signals between the cameras are synchronized. The number of motion capture cameras in step S2 is 4-12, and high-frame motion capture cameras are used to capture the pose information of the projector in real time.

[0036] As a preferred scheme, the three-dimensional geometric transformation algorithm in step S3 includes coordinate conversion, projection correction and image optimization to ensure that the projection pattern completely matches the construction position: (1) The three-dimensional coordinates of the rail support and the shaft installation point when the rail support is in the ideal correct position are converted to the projector coordinate system through the homogeneous transformation matrix; (2) The three-dimensional coordinates are projected to the two-dimensional image plane by using the intrinsic matrix of the projector; (3) The image distortion caused by the projection angle is compensated by the trapezoidal correction algorithm; (4) The projection image is subjected to high-contrast enhancement processing to ensure clear visibility under different environmental light conditions.

[0037] As a preferred solution, the projector in step S4 is a high-brightness laser projector equipped with automatic focusing and trapezoidal correction functions, and the projected image can be updated in real time to realize dynamic projection and clearly display the lofting reference line under complex lighting conditions.

[0038] As a preferred solution, the key point coordinate registration algorithm in step S5 is used for filtering and optimization of the target ball position data, and the deviation analysis result is displayed in real time in the form of a three-dimensional vector diagram, which specifically includes: (1) Noise filtering and outlier elimination are performed on the collected target three-dimensional coordinate points; (2) Initial registration is performed based on the target coordinates, a corresponding point set is established, and a rigid body is established to obtain the six-degree-of-freedom pose information of the guide rail; (3) Through iterative optimization, a transformation matrix between the actual installation position and the design position is calculated; (4) The matching result is filtered with historical data to eliminate transient fluctuations.

[0039] The hierarchical correction strategy in step S5 includes: (1) When the deviation is within the allowable range, the system records but does not adjust; (2) When the deviation in the X direction exceeds the first threshold value, the guide rail adjustable pressure block in the support fine adjustment device is adjusted to correct the deviation; (3) When the deviation in the Y direction and the perpendicularity exceed the first threshold value, the thickness of the guide rail gasket is adjusted to correct the deviation; (4) When the deviation exceeds the second threshold value, the system issues an alarm to require reinstallation of the support and correction; (5) After correction, the system automatically records the deviation values before and after correction to form quality traceability data.

[0040] As a preferred solution, the motion capture camera array calibration process in step S6 includes re-calibration of the motion capture camera array and registration with the world coordinate system, as well as re-acquisition of the projector pose, to ensure the measurement accuracy after the work platform is raised to the next section.

[0041] (1) Global calibration is performed at each construction section by a laser tracker to form a global reference coordinate; (2) The motion capture camera array internal parameter calibration is performed using a calibration rod; (3) The motion capture camera array external parameter calibration is performed according to the known target ball position relationship to construct the conversion matrix of the motion capture camera array coordinate system and the world coordinate system of the current section; The elevator guide rail digital installation system based on laser positioning and motion capture camera array corresponding to the above solution includes: (1) A laser tracker installed at the top of the shaft, used to establish the global coordinate system of the shaft and provide the reference; (2) A motion capture camera array installed around the liftable platform, forming a ring-shaped distribution between the cameras, used to capture the spatial position information of the projector, target ball, and target sheet in real time; (3) A high-brightness laser projection module installed at the center of the liftable platform, with adjustable projection angle, used to project the guide rail installation lofting line to the shaft wall; (4) A digital lofting controller connected with the camera array and the projection module, used to execute three-dimensional geometric transformation and image processing algorithms; (5) A liftable work platform with stable height adjustment function, cooperating with the elevator guide rail through the sliding shoe, used to carry the camera array, projection module, and controller; (6) A coordinate matching and deviation analysis module receiving data from the motion capture camera array, used to calculate the deviation between the actual installation position of the guide rail and the design position; (7) A guide rail and bracket fine adjustment device cooperating with the coordinate matching module, accurately correcting the position of the guide rail according to the deviation analysis result; (8) A central control unit electrically connected with each functional module, used to coordinate the work of each module and perform data storage and installation quality evaluation.

[0042] As a preferred, the laser tracker at the top of the shaft includes: (1) A laser emitter capable of emitting light beams in a certain waveband; (2) A high-precision photoelectric receiver for detecting laser reflection signals and calculating the position of the target ball; (3) A reference positioning controller for processing reflection signals and determining the parameters of the shaft spatial coordinate system; (4) A data transmission unit establishing a real-time communication channel with the central control unit to transmit the reference coordinate system data.

[0043] As a preferred, the motion capture camera array includes: (1) A plurality of high-frame motion capture cameras uniformly distributed around the liftable platform; (2) A camera synchronization control unit to ensure synchronization of the acquisition time of each camera; (3) A camera calibration device including T-shaped calibration rods, L-shaped calibration rods, and reflective target balls / target sheets; (4) A data switch for merging multi-camera data and feeding it back to the central control unit.

[0044] As a preferred, the digital lofting controller includes: (1) A graphics processing unit for real-time image transformation and rendering; (2) a bracket and guide rail model database, which stores three-dimensional installation data of brackets and guide rails of different specifications; (3) an image correction module, which is used for compensating for distortion caused by a projection angle; (4) an adaptive brightness control unit, which adjusts projection brightness and contrast according to environmental lighting conditions.

[0045] As preferred, the coordinate matching and deviation analysis module comprises: (1) a pixel preprocessing unit, which is used for filtering and optimizing target sheet position data to obtain high-precision target sheet coordinate data; (2) a deviation analysis unit, which analyzes the deviation amount of the guide rail position coordinates according to the comparison between ideal coordinates and actual coordinates and feeds back the deviation amount to the central control unit; (3) a deviation visualization generator, which generates a three-dimensional deviation cloud map to represent the deviation distribution of the installation position according to the deviation amount; (5) a correction strategy calculation unit, which generates a hierarchical correction scheme according to the deviation size.

[0046] As preferred, the central control unit comprises: (1) a touch human-computer interaction interface, which displays installation progress and quality state; (2) a communication module, which establishes data connection with each mobile terminal; (3) an installation quality evaluation engine, which evaluates the overall installation quality according to accumulated deviation data; (4) a data storage and traceability system, which records full-well guide rail installation parameters and supports quality traceability.

[0047] The digital installation process of the elevator guide rail of the system comprises: (1) establishing a global three-dimensional coordinate reference coordinate system network in the well; (2) generating guide rail bracket and guide rail installation sample line templates according to the type of the elevator guide rail and the structure of the well; (3) adopting a segmented progressive installation process, and performing quality evaluation and recording key parameters after each segment is completed; (4) adopting an overlapping measurement technology at the guide rail connection, and the operation process is as follows: after two or more guide rails are installed, target balls are installed at the middle part, the lower end of the current guide rail and the middle part of the last guide rail, and the straightness of the target balls is measured with high precision through a motion capture system, so that the accumulation of segmented errors is eliminated.

[0048] (5) outputting a full-well guide rail installation quality report after the installation is completed, including data such as perpendicularity, parallelism and relative distance.

[0049] Compared with the prior art, the present application has the following beneficial effects: (1) Installation precision is improved significantly, error control ability is broken through: through the dynamic calibration technology of laser positioning and motion capture, the traditional artificial lofting reference drift problem is eliminated. Combined with real-time deviation analysis of coordinate matching algorithm, the installation precision of guide rail is high, especially suitable for step-by-step correction of small deviation of high-rise shaft.

[0050] (2) Construction efficiency and quality controllability are enhanced: the full digital lofting technology replaces the complicated process of artificial pulling line and hanging lead hammer, and the construction period is shortened. At the same time, the real-time visualization and closed-loop correction mechanism of the projection sample line change the quality detection from "after sampling" to "process control", which significantly reduces the rework rate.

[0051] (3) Comprehensive cost effective control: through digital closed-loop management to reduce rework rate, avoid repair cost in traditional method; at the same time, integrated design does not need special detection space, saves unit shaft construction area, reduces overall construction cost.

[0052] In summary, the elevator guide rail digital installation system and method provided by the application solves the problems of reference drift, error accumulation and quality control lag in high-rise shaft guide rail installation from three aspects of reference transmission, real-time monitoring and dynamic correction, and provides an innovative solution for high-quality implementation of super high-rise elevator engineering.

[0053] The following provides a specific embodiment in combination with the drawings to further show and introduce the implementation process of the application: Please refer to Figures 1 to 10 , which shows the implementation process and key structure of the application scheme, and refers to the flow shown in Figure 6 , including the following steps: Step S1: fix the high-precision laser tracker 1 on the top reference point of the elevator shaft to build the global reference coordinate system of the shaft; integrate the high-frame-rate motion capture camera array 2 and the high-brightness laser projector 3 on the liftable operation platform 4 to form a shaft measurement network; Step S2: Take the design center axis of the elevator shaft as the reference, calibrate the intrinsic parameters of the motion capture camera array 2; install the motion capture target ball 10 and the laser tracker target ball 11 on the left and right ends of the calibration rod 12 respectively, and the calibration rod 12 appears in multiple different postures in the working space during the calibration process, such as horizontal placement, vertical placement, inclination in various directions such as 45°, and compound angle placement, which cannot always maintain the same angle; the calibration rod 12 moves in the entire working space, covering at least 80% of the working area, and sufficient position changes are required in the three coordinate axis directions X, Y, and Z; the calibration points cannot all be on the same plane or close to the same plane, and data needs to be collected at different height layers, and at least 3 obviously different height layers are required; the two types of target balls: motion capture target ball 10 and laser tracker target ball 11 are evenly distributed in the entire working space, and also cover the boundary positions of the working space; if any target ball is blocked, adjust the inclination angle of the calibration rod 12 and fine-tune the position to ensure that both target balls can be observed by the motion capture camera array 2 and the laser tracker 1 respectively, so as to obtain their spatial position coordinates in the laser tracker coordinate system and the motion capture system coordinate system; after obtaining not less than 6 groups of coordinate data of the motion capture target ball 10 and the laser tracker target ball 11, use the optimization method based on rigid body distance constraint to calculate the coordinate system rotation matrix and translation vector between the motion capture system coordinate system and the laser tracker coordinate system; arrange 3-5 motion capture target balls 10 on the laser projector 3, and each 3 target balls are not coplanar, so as to construct a projector rigid body in the motion capture system, track and calculate the pose of the projector 3 rigid body in real time using the motion capture system, and then obtain the six-degree-of-freedom pose parameters of the laser projector 3; Step S3: Based on the homogeneous coordinate transformation and projection correction algorithm, convert the three-dimensional installation position data of the elevator rail support into a two-dimensional rail support sample line projection 6; correct the projection deformation using the spatial pose parameters, project the corrected projection image through the laser projector 3 to the shaft wall 5 accurately, and realize the digital lofting of the rail support installation point; Step S4: According to the digital lofting projection image of the rail support installation point in S4, preliminarily install the rail support 13 and the rail 8, and the ideal rail installation sample line 20 is located at the center line of the two faces opposite to the left and right rails in the theoretically correct installation position; according to the three-dimensional coordinates of the ideal rail installation sample line 20, project the ideal rail installation sample line 20 to the actual installation area in real time through the laser projector 3, forming the ideal rail installation sample line projection 7, and the construction personnel visually compare the deviation between the actual installation position of the rail 8 and the ideal rail installation sample line projection 7, realizing real-time visual detection of the installation quality; Step S5: Paste high-reflectivity target sheet 14 on the rail plane opposite the center of the shaft at the same horizontal level of the rail support 13 mounting point. Since one rail is generally supported by two rail supports, two target sheets 14 will be pasted on each rail 8; then, paste high-reflective target sheets 14 at both ends of the rail 8. The above is the approximate layout area of the preferred motion capture system target on the rail, based on the key measurement points of the rail, including: ① two end points, ② the midpoint of the intersection line of the rail plane opposite the center of the shaft and the horizontal plane where the rail and support mounting points are located.

[0054] Collect target three-dimensional coordinate data 9 using the motion capture system; calculate the coordinate deviation matrix of the actual installation position and the design model; generate a three-dimensional deviation vector diagram based on the deviation size and perform auxiliary correction; assume that the intersection line of the symmetry center plane of the ideal positions of the left and right rails on the same floor and the horizontal plane is the X direction, and the vertical upward direction is the Z direction, and determine the Y direction according to the right-hand rule; when the rail 8 has a deviation in the X direction, loosen the nut 18, adjust the left and right positions of the rail adjustable pressure block 15 in the X direction in the support fine adjustment device to correct the rail position, and after the correction is completed, tighten the nut 18 on the screw 17, and then press the rail adjustable pressure block 15 to fix the rail position; when the rail 8 has a position deviation in the Y direction, for example, the rail 8 is too far away from the center axis of the elevator shaft, the correction is performed by replacing the thicker rail gasket 16; when the rail 8 has a verticality deviation, for example, the upper part of the rail is inclined towards the center axis of the elevator shaft, the rail verticality correction is performed by replacing the rail gasket 16 of the upper end support fine adjustment device with a gasket with thinner thickness; Step S6: After completing the installation and correction of the adjacent two sections of the rail, lift the lifting work platform 4 to the top of the installed rail, and during the lifting process, the lifting work platform 4 cooperates with the rail 8 through the sliding shoe 19 fixedly connected thereto; the motion capture camera array 2 receives the shaft reference coordinate data from the laser tracker 1, and re-performs spatial calibration; cyclically execute the digital construction process of steps S2 to S5 to ensure the consistency of the whole shaft installation accuracy.

[0055] It should be noted that, unless otherwise defined, technical terms or scientific terms used in the present application shall have the common meaning understood by one of ordinary skill in the art to which the present application pertains. The terms "first", "second", and similar terms used in the present application do not denote any order, quantity, or importance, but are used to distinguish different components. The terms "comprise", "comprising", and similar terms mean that the elements or objects before the term encompass the elements or objects listed after the term and their equivalents, and do not exclude other elements or objects. The terms "connected" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right", and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships can also change accordingly.

[0056] The above description is only the preferred embodiments of the present application, and is not intended to limit the present application in other forms. Any person skilled in the art can modify or change the above-mentioned disclosed technology into equivalent embodiments with equivalent changes. However, any simple modification, equivalent change, and modification of the above-mentioned embodiments made without departing from the technical solution of the present application and in accordance with the technical essence of the present application shall still fall within the protection scope of the present application.

[0057] The present application is not limited to the above-mentioned preferred embodiments, and anyone can derive other various forms of elevator guide rail digitization installation methods based on laser trackers and motion capture systems under the inspiration of the present application. Any equivalent changes and modifications made in accordance with the scope of the present application shall fall within the scope of the present application.

Claims

1. A digital installation method for elevator guide rails based on a laser tracker and a motion capture system, characterized in that: include: A1. Install a laser tracker at the top of the elevator shaft to construct a global shaft coordinate system. A motion capture camera array and projection equipment are integrated on a lifting platform equipped with a guide structure that mates with the installed guide rails to form a local shaft measurement network. A2. Install a first target sphere and a second target sphere at each end of a calibration rod, each adapted for a laser tracker and a motion capture camera array. Move the calibration rod in a variety of non-single poses within the workspace, collect multiple sets of target sphere spatial coordinate data, and then calculate the transformation relationship between the motion capture camera array coordinate system and the laser tracker coordinate system using an optimization method based on rigid body distance constraints. Arrange several non-coplanar target spheres on the projection device to construct a projection rigid body, and obtain the six-degree-of-freedom pose parameters of the projection device in real time through the motion capture camera array. A3. Based on the conversion relationship and the six-degree-of-freedom pose parameters, the three-dimensional installation position data of the elevator guide rail bracket is converted into a two-dimensional projection image through coordinate transformation and projection correction algorithm, and then projected onto the hoistway wall through a projection device; A4. After the guide rails and brackets are initially installed, the motion capture camera array is used to collect the 3D coordinate data of the reflective markers on the installed guide rails. The deviation matrix between the actual installation position and the design model is calculated to correct the guide rail installation deviation. A5. Use the guide structure to coordinate with the installed guide rails to lift the lifting platform to the top of the current section of guide rails. Re-execute steps A2 to A4 to install the next section of guide rails. Eliminate the benchmark cumulative error through recalibration to ensure the consistency of installation accuracy throughout the entire shaft.

2. The method for digitally installing elevator guide rails based on a laser tracker and a motion capture system according to claim 1, wherein: The measurement accuracy of the laser tracker is better than ±20μm; The motion capture camera array includes 4 to 12 high-frame rate cameras, with overlapping fields of view and synchronized signals between the cameras; The guide structure is a sliding shoe that slides with the installed guide rail; The projection device is a laser projector with automatic focusing and keystone correction functions; The motion capture camera array is installed around the lifting work platform, and the projection equipment is installed in the center of the lifting work platform.

3. The method for digitally installing elevator guide rails based on a laser tracker and a motion capture system according to claim 1, wherein: The calibration pole can be positioned horizontally on the ground, vertically on the ground, at a 45° angle, and at a composite angle. The pole must cover more than 80% of the working area when moved, and target sphere coordinate data must be collected at at least three different altitudes. The collecting of multiple sets of target ball spatial coordinate data specifically includes collecting no less than six sets of spatial coordinate data of the first target ball and the second target ball; if any target ball is blocked during the collection process, adjusting the tilt angle and position of the calibration rod to ensure that the two target balls are respectively recognized by the laser tracker and the motion capture camera array; Arranging a number of non-coplanar target balls on the projection device specifically involves arranging 4 to 6 target balls, and any 4 target balls are not coplanar, so as to ensure that the motion capture camera array can calculate the six-degree-of-freedom pose parameters of the projection device through the target ball coordinates.

4. The method for digitally installing elevator guide rails based on a laser tracker and a motion capture system according to claim 1, wherein: The coordinate transformation and projection correction algorithm specifically includes: The three-dimensional installation position data of the guide rail bracket is converted from the design coordinate system to the projection equipment coordinate system through the homogeneous coordinate transformation matrix; Using the intrinsic parameter matrix of the projection device, the three-dimensional coordinates are projected onto the two-dimensional image plane; The image distortion caused by the projection angle is compensated by the trapezoidal correction algorithm to ensure that the projected image fits the shaft wall.

5. The method for digitally installing elevator guide rails based on a laser tracker and a motion capture system according to claim 1, wherein: Before projecting the two-dimensional projection image, the image is optimized for high contrast, and the projection brightness of the projection equipment is dynamically adjusted according to the ambient light intensity in the shaft. The dynamic brightness adjustment is achieved based on the ambient light data collected by the motion capture camera array.

6. The method for digitally installing elevator guide rails based on a laser tracker and a motion capture system according to claim 1, wherein: Between steps A3 and A4, there is also a step of projecting the ideal sample line for guide rail installation: based on the three-dimensional design coordinates of the guide rail, the ideal sample line for guide rail installation is projected onto the actual installation area through a projection device. The ideal sample line for guide rail installation is adapted to the contour of the guide rail in the theoretically correct installation position to assist construction personnel in preliminarily aligning the guide rail.

7. The method for digitally installing elevator guide rails based on a laser tracker and a motion capture system according to claim 1, wherein: The reflective marker is a high-reflectivity target sheet; two target sheets are pasted on each guide rail at the same level as the bracket installation point, and one target sheet is pasted on each end of the guide rail; Before calculating the deviation matrix, the collected three-dimensional coordinate data of the target piece are subjected to noise filtering and outlier removal to eliminate the coordinate error caused by environmental interference.

8. The method for digitally installing elevator guide rails based on a laser tracker and a motion capture system according to claim 1, wherein: The guide rail installation deviation is corrected by a bracket fine-tuning device, which includes an adjustable guide rail pressure block and guide rail gaskets. The thickness of the guide rail gaskets used is graded in 0.1mm gradients. When calculating the deviation matrix between the actual installation position and the design model, a graded correction step is also included: Define the X direction as the intersection of the symmetrical center plane of the left and right guide rails on the same floor and the ground, the Z direction is the vertical direction, and the Y direction is determined by the right-hand rule; If the deviation of the guide rail in the X direction exceeds the first threshold, the guide rail adjustable pressure block in the bracket fine-tuning device is adjusted; if the deviation in the Y direction or the verticality exceeds the first threshold, the thickness of the guide rail gasket is adjusted; If the deviation exceeds the second threshold, an alarm is issued, requiring the installed bracket to be removed and steps A3 to A4 to be performed again.

9. The method for digitally installing elevator guide rails based on a laser tracker and a motion capture system according to claim 1, wherein: In the step A5, before re-executing step A2, it also includes a guide rail straightness detection step: a target ball is arranged in the middle of the current guide rail section, the lower end of the current guide rail section and the middle of the previous guide rail section, the target ball coordinates are collected by the motion capture camera array, and the guide rail straightness deviation is calculated to eliminate the cumulative error of segment splicing.

10. An elevator guide rail digital installation system based on a laser tracker and a motion capture system for implementing the method according to any one of claims 1 to 9, characterized in that: include: Global reference unit: including a laser tracker, which is installed at the top reference point of the shaft and is configured to output the shaft global coordinate system data; Local measurement and projection unit: including a lifting work platform, a motion capture camera array and a projection device, wherein the motion capture camera array and the projection device are integrated into the lifting work platform, the motion capture camera array is configured to collect the coordinates of the target sphere and / or reflective marker, and the projection device is configured to project the lofted image; Calibration module: including a calibration rod, a first target ball and a second target ball, configured to realize coordinate system calibration of the motion capture camera array and the laser tracker; Deviation correction unit: including a bracket fine-tuning device and a coordinate matching module. The bracket fine-tuning device includes a guide rail adjustable pressure block and a guide rail gasket. The coordinate matching module is electrically connected to the motion capture camera array and is configured to calculate the deviation matrix and output correction instructions to the bracket fine-tuning device; Central control unit: electrically connected to other units, configured to receive the deviation matrix data of the coordinate matching module, send correction instructions to the bracket fine-tuning device, control the cyclic execution of steps A2 to A5, and store the coordinate data, deviation data and correction records during the installation process.

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