Portable elevator shaft lidar measuring device

Abstract

The application discloses a portable elevator shaft laser radar measuring device, which comprises a fixed frame, a guide line wheel set, a driving and signal transmission assembly, a lifting line wheel set, a lifting measuring assembly, a communication control device, a guide hanging weight assembly and a base. The guide line wheel set controls the lifting of the guide hanging weight assembly through a guide line, the lifting line wheel set controls the lifting of the lifting measuring assembly through a lifting line, and the lifting measuring assembly is used for measuring elevator shaft data. The driving and signal transmission assembly is used for receiving an instruction signal and controlling the running direction and speed of the guide line wheel set and the lifting line wheel set. The communication control device is connected with a control end and is used for sending an instruction signal through a wireless signal. The communication control device is also used for receiving data measured by the lifting measuring assembly through a wireless signal, transmitting the data to the control end and finally obtaining elevator shaft data. The device is designed in a portable and integrated manner, is convenient to carry, can be quickly installed and used, and has the advantages of high practicability and wide application.

Description

Technical Field

[0001] This invention relates to the field of three-dimensional measurement technology, and in particular to a portable elevator shaft lidar measurement device. Background Technology

[0002] In recent years, with the gradual advancement of modern social productivity, the civil engineering and construction industry has also developed rapidly, a significant feature being the increasing height of buildings and the widespread use of elevators. This has greatly facilitated people's travel and daily life. The design and installation of elevators are inseparable from the measurement of elevator shaft dimensions. Elevator shafts require the measurement of many sets of data, including shaft width, shaft depth, floor height, top height, and floor depth, many of which require measurements at high altitudes. Therefore, elevator shaft construction measurement has always been a major challenge in the surveying industry. Currently, most design companies use workers to measure elevator shafts floor by floor using single-point distance measuring instruments (such as steel rulers and levels). However, low precision, low work efficiency, and extremely harsh working environments are all factors that restrict elevator shaft measurement. Furthermore, as the number of floors increases, the difficulty and risk of elevator shaft measurement significantly increase. The accuracy of elevator shaft construction dimension measurements is particularly critical for elevator design and installation; finding safe and efficient inspection methods is crucial to solving this problem.

[0003] 3D reconstruction relies on modern computer technology to acquire actual data of the object to be detected. The most fundamental and basic aspect of 3D reconstruction lies in the stitching together of point clouds. 3D reconstruction can be achieved using various sensors; currently, 3D scene remodeling often employs lasers and cameras as multimedia sensors. Due to cost limitations, traditional scene reconstruction largely relied on algorithms to identify position and distance from photographs. However, this technology suffers from significant errors in geometric and distance accuracy, resulting in substantial errors and omissions in the obtained 3D information, and it also has high requirements for the detection environment. With the implementation of LiDAR technology and the recent surge in autonomous driving technology, the mass production issues of LiDAR are gradually being resolved. The cost of LiDAR has further decreased, making it a new option for detection and 3D reconstruction. LiDAR uses invisible light for measurement, offering advantages such as short wavelength, high scanning frequency, and low environmental requirements. Compared to cameras, which have high requirements for light and the detection environment, LiDAR performs better in dimly lit elevator shafts.

[0004] Commonly used lidar measurement devices require the pre-installation of complex measurement equipment. Overall, while improving the accuracy of measurement results, they have not effectively reduced the time spent on measurement. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention proposes the following technical solution:

[0006] A portable elevator shaft lidar measuring device includes: a fixed frame, a guide wheel assembly, a drive and signal transmission assembly, a lifting wheel assembly, a lifting measurement assembly, a communication control device, a guide plumb bob assembly, and a base;

[0007] The fixed frame is a hollow prismatic frame structure. The guide line wheel assembly, drive and signal transmission component, and lifting line wheel assembly are sequentially fixed within the fixed frame. The guide line wheel assembly controls the lifting and lowering of the guide hammer assembly via guide lines, and the lifting line wheel assembly controls the lifting and lowering of the lifting measurement component via lifting lines. The guide hammer assembly and the guide lines together form the lifting and lowering channel of the lifting measurement component. The lifting measurement component is used to measure elevator shaft data and convert it into a transmittable signal output. The base is fixed to the bottom of the fixed frame and is detachable to constrain the swaying of components within the fixed frame.

[0008] The drive and signal transmission component is used to receive command signals and control the running direction and speed of the guide sheave group and the lifting sheave group; the communication control device is arranged outside the fixed frame and connected to the control terminal, and is used to send command signals to the drive and signal transmission component and the lifting measurement component to start or end the measurement via wireless signals; the communication control device is also used to receive the data measured by the lifting measurement component via wireless signals and transmit the data to the control terminal to finally obtain the elevator shaft data.

[0009] Furthermore, the guide wire reel assembly includes: a guide wire collecting gear, a drive gear, a guide wire, and a collecting reel; the drive and signal transmission components include: a guide wire reduction motor, a power supply, a lifting wire reduction motor, and a control module; the lifting wire reel assembly includes: a lifting wire collecting gear and a lifting wire;

[0010] The collecting reel and the guide line collecting gear are coaxially arranged and rotate synchronously. The guide line collecting gear divides the collecting reel into several segments, and a guide line is wound on each segment. The guide line is led out through a fixed pulley and its direction is changed to a vertical direction before being lowered. It passes through the outer edge through hole of the lifting and measuring component and is fixedly connected to the guide hammer component. The guide line collecting gear meshes with the drive gear, and the drive gear is coaxially arranged with the output end of the guide line reduction motor and rotates synchronously.

[0011] The lifting line collecting gear and its hub are arranged coaxially and rotate synchronously. The lifting line collecting gear is fixed to the upper and lower end faces of the hub respectively. A lifting line is wound on the hub. The lifting line is vertically lowered from the center of the bottom surface of the lifting line collecting gear located on the lower end face of the hub through a pulley system and is fixedly connected to the center of the top surface of the lifting measurement component.

[0012] The guide wire geared motor, power supply, lifting wire geared motor, and control module are fixed on the same plane; the power supply is used to supply power to the guide wire geared motor, lifting wire geared motor, and control module; the control module is used to receive instructions from the communication control device and control the rotation direction and speed of the guide wire geared motor or the lifting wire geared motor.

[0013] Furthermore, there are multiple guide line collecting gears, and a guide line is independently wound on the collecting wheel between two adjacent guide line collecting gears. A pulley is fixed at the corresponding height of the guide line to lead out the guide line and change its direction to the vertical direction. After passing through the lifting and measuring component, the guide line is fixedly connected to the guide hammer component.

[0014] Furthermore, the lifting measurement component includes: a guide line wheel, a lifting bracket, a lidar, a power supply, an inertial sensor, a communication module, a counterweight, and a laser ranging module;

[0015] The lifting support is a hollow prism structure with the same cross-section as the fixed frame. The lifting support houses the lidar for measuring elevator shaft data. The center of the upper surface of the lifting support is fixedly connected to the lifting line. Guide rollers are fixedly connected to corresponding positions on the upper and lower surfaces of the lifting support. The guide line passes through the guide rollers, allowing the lifting measurement component to run along the lifting channel formed by the guide line. The power supply, inertial sensor, communication module, and counterweight are fixedly mounted on the base plate of the lifting support. The laser ranging module is fixedly mounted on the lower surface of the lifting support for measuring the distance from the lifting support to the guide hammer assembly. The power supply provides power to the lidar, inertial sensor, communication module, and laser ranging module. The inertial sensor measures the swing amplitude of the lifting measurement component. The counterweight is positioned at different locations on the base plate of the lifting support to ensure the center of gravity of the lifting measurement component is on the central axis.

[0016] The communication module is used to collect data measured by the lidar, inertial sensor, and laser ranging module, process it into a transmittable signal, and transmit it to the communication control device via wireless signal. The communication module is also used to receive command signals issued by the communication control device and control the lidar, inertial sensor, and laser ranging module to start or stop measurement.

[0017] Furthermore, the guide line roller consists of three rollers arranged in a vertical triangle, and the guide line passes around the three rollers in sequence to increase the friction between the guide line and the guide line roller.

[0018] Furthermore, the guide plumb bob assembly includes: a guide reel, a pendulum, and a plumb bob housing; the plumb bob housing is a hollow structure with a bottom circle diameter larger than the bottom dimension of the fixed frame; the pendulum is fixedly connected to the center of the upper wall of the internal cavity of the plumb bob housing; the pendulum is immersed in a high-viscosity, non-corrosive liquid and can swing freely; the guide reel is fixedly connected to the upper surface of the plumb bob housing; the guide line passes through the guide reel and is fixed to the plumb bob housing, so that the guide lines are parallel to each other and always in a vertical state.

[0019] Furthermore, a limiting block is fixedly connected to the fixed frame, and the limiting block is used to limit the highest axial position of the lifting measuring component.

[0020] Furthermore, it also includes a fixing joint, which is fixed to the upper surface of the fixing frame for fixing the portable elevator shaft lidar measuring device to the upper end cover at the top of the elevator shaft.

[0021] Furthermore, the base includes a fixed base and a circular bottom cover. The fixed base is fixedly connected to the bottom of the fixed frame, and the circular bottom cover is a hollow, open cylinder with threads on its inner side. The fixed base and the circular bottom cover are fixed together by threaded engagement.

[0022] The beneficial effects of this invention are:

[0023] (1) The device of the present invention adopts a portable assembly design, is integrated for storage, is easy to carry, and can be quickly installed and used.

[0024] (2) The device of the present invention is applicable to a wide range of elevator shafts, has high measurement accuracy, and does not require the prior installation of complex measuring devices, making it relatively simple to operate.

[0025] (3) The guide hammer assembly of the device of the present invention is equipped with a pendulum immersed in high viscosity silicone oil; it can effectively reduce the swing of the hammer in the well. At the same time, in conjunction with the inertial sensor, it corrects the measurement error caused by the swing at the software data processing level and improves the accuracy of the measurement data.

[0026] (4) The device of the present invention uses two-dimensional lidar to realize elevator shaft measurement, which greatly reduces the detection cost. Attached Figure Description

[0027] Figure 1 This is a schematic diagram showing the stored state of a portable elevator shaft lidar measuring device.

[0028] Figure 2 This is a schematic diagram of the working status of a portable elevator shaft lidar measurement device.

[0029] Figure 3This is a schematic diagram of the guide wheel assembly, lifting wheel assembly, drive and signal transmission components of a portable elevator shaft lidar measuring device after the outer casing has been cut open.

[0030] Figure 4 This is a schematic diagram of the lifting measurement component of a portable elevator shaft lidar measurement device.

[0031] Figure 5 This is a schematic diagram of the guide hammer assembly of a portable elevator shaft lidar measuring device after its outer casing has been cut open.

[0032] In the diagram, the components are: 1. Fixed connector; 2. Fixed frame; 3. Guide line wheel assembly; 3-1. Guide line collecting gear; 3-2. Drive gear; 3-3. Guide line; 3-4. Collecting wheel; 4. Drive and signal transmission assembly; 4. Guide line reduction motor; 4-1. Power supply one; 4-2. Lifting line reduction motor; 4-3. Control module; 4-4. Lifting line wheel assembly; 5. Lifting line collecting gear; 5-2. Lifting line; 6. Lifting measurement assembly; 6-1. Guide line guide wheel; 6-2. Lifting bracket; 6-3. Lifting radar; 6-4. Power supply two; 6-5. Inertial sensor; 6-6. Communication module; 6-7. Balance weight; 6-8. Laser ranging module; 7. Communication control device; 8. Guide plumb bob assembly; 8-1. Guide line wheel; 8-2. Inorganic silicone oil; 8-3. Pendulum; 8-4. Plumb bob shell; 9. Base; 9-1. Fixed base; 9-2. Circular bottom cover; 10. Limiting block. Detailed Implementation

[0033] The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments. The objectives and effects of the present invention will become clearer as a result. The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0034] like Figure 1 The diagram shown is a schematic of the portable elevator shaft lidar measuring device of the present invention in its stowed state. Figure 2 This is a schematic diagram of the portable elevator shaft lidar measuring device of the present invention in working condition. The portable elevator shaft lidar measuring device includes: a fixed connector 1, a fixed frame 2, a guide wheel assembly 3, a drive and signal transmission assembly 4, a lifting wheel assembly 5, a lifting measurement assembly 6, a communication control device 7, a guide plumb bob assembly 8, and a base 9.

[0035] The fixed frame 2 includes three 120° V-shaped metal plates on the sides and a regular hexagonal metal plate on the top. The three 120° V-shaped metal plates are fixed to three non-adjacent corners of the regular hexagonal metal plate. The fixed joint 1 is fixed to the top surface of the fixed frame 2 for connection to the top of the elevator shaft. The base 9 includes a fixed base 9-1 and a circular bottom cover 9-2. The fixed base 9-1 is a cylinder with an inscribed hollow regular hexagon and threads on its outer side. The bottom surface of the fixed frame 2 is fixed to the fixed base 9-1. The circular bottom cover 9-2 is a hollow, open cylinder with threads on its inner side. The fixed base 9-1 and the circular bottom cover 9-2 are fixed by threaded engagement to restrain the shaking of components within the fixed frame and facilitate the carrying of the portable elevator shaft lidar measuring device.

[0036] The guide wire pulley assembly 3, drive and signal transmission assembly 4, and lifting wire pulley assembly 5 are fixed sequentially within the fixed frame 2 from top to bottom. The guide wire pulley assembly 3 controls the lifting and lowering of the guide plumb bob assembly 8, and the lifting wire pulley assembly 5 controls the lifting and lowering of the lifting measurement assembly 6. The drive and signal transmission assembly 4 receives command signals and drives the movement of the guide wire pulley assembly 3 and the lifting wire pulley assembly 5. The communication control device 7 is located outside the fixed frame 2 and connected to the control terminal. It sends commands to the drive and signal transmission assembly 4 and the lifting measurement assembly 6 via wireless signals to control the speed and direction of the lifting wire reduction motor 4-3 and the guide wire reduction motor 4-1, and to control the lifting measurement assembly 6 to start or stop measurement. The communication control device 7 is also used to receive data measured by the lifting measurement assembly 6 via wireless signals and transmit the data to the control terminal.

[0037] like Figure 3 As shown, the guide wire reel assembly 3 includes: a guide wire collecting gear 3-1, a drive gear 3-2, a guide wire 3-3, and a collecting reel 3-4. The drive and signal transmission assembly 4 includes: a guide wire reduction motor 4-1, a power supply 4-2, a lifting wire reduction motor 4-3, and a control module 4-4. The lifting wire reel assembly 5 includes: a lifting wire collecting gear 5-1 and a lifting wire 5-2. The guide wire reduction motor 4-1, the power supply 4-2, the lifting wire reduction motor 4-3, and the control module 4-4 are fixed on the same plane. The power supply 4-2 supplies power to the guide wire reduction motor 4-1, the lifting wire reduction motor 4-3, and the control module 4-4. Both the guide wire 3-3 and the lifting wire 5-2 are made of PE material. PE wire has high tensile strength and almost no ductility, which can effectively avoid measurement errors caused by cable deformation.

[0038] The collecting reel 3-4 and four guide wire collecting gears 3-1 are arranged coaxially and rotate synchronously. Two of the guide wire collecting gears 3-1 are fixed to the upper and lower end faces of the collecting reel 3-4, respectively. The other two guide wire collecting gears 3-1 divide the collecting reel 3-4 into three sections. A guide wire 3-3 is wound on each of the three sections of the collecting reel 3-4. The guide wire 3-3 is led out through a fixed pulley and changed to a vertical direction before being lowered. It passes through the outer edge through hole of the lifting and measuring component 6 and is fixedly connected to the guide hammer component 8. The four guide wire collecting gears 3-1 mesh with the drive gears 3-2, and the four drive gears 3-2 are arranged coaxially with the output end of the guide wire reduction motor 4-1 and rotate synchronously. Two lifting line collecting gears 5-1 are arranged coaxially with their hubs and rotate synchronously. The two lifting line collecting gears 5-1 are fixed on the upper and lower end faces of the hub, respectively. A lifting line 5-2 is wound around the hub. The lifting line 5-2 is vertically lowered from the center of the bottom surface of the lifting line collecting gear 5-1 located on the lower end face of the hub through a pulley system and is fixedly connected to the center of the top surface of the lifting measurement component 6.

[0039] The control module 4-4 receives instructions from the control terminal via the communication control device 7, controlling the guide wire reduction motor 4-1 to start rotating, and adjusting its rotation direction and speed according to the instructions. The rotation of the guide wire reduction motor 4-1 drives the four drive gears 3-2 fixed on the same shaft to rotate, thereby causing the guide wire collecting gear 3-1, which meshes with the drive gears 3-2, to rotate. This, in turn, drives the collecting wheel 3-4, which is coaxial with the guide wire collecting gear 3-1, to rotate, thus realizing the winding of the guide wire 3-3 on the collecting wheel 3-4. The guide wires are wound and released; on the collecting wheel 3-4 between two adjacent guide wire collecting gears 3-1, a guide wire 3-3 is independently wound. A certain pulley is fixed at the corresponding height of the guide wire 3-3 to lead out the guide wire 3-3 and change its direction to the vertical direction; the distances from the three guide wires to the axis of the guide wire collecting gear 3-1 are equal, and the included angle of the projection is 120°. The three guide wires 3-3 pass through the outer edge through hole of the lifting measuring component 6 and are fixedly connected to the guide hammer assembly 8 to control the lifting and lowering of the guide hammer assembly 8.

[0040] The control module 4-4 receives instructions from the control terminal via the communication control device 7, controls the lifting line reduction motor 4-3 to start rotating, and adjusts its rotation direction and speed according to the instructions. Following the same operating principle as the guide line wheel assembly 3, the lifting line reduction motor 4-3 drives the lifting line collecting gear 5-1 to rotate via a gear meshing with it, thereby causing the hub coaxial with the lifting line collecting gear 5-1 to rotate, realizing the winding and unwinding of the lifting line 5-2 wound on the hub. The lifting line collecting gear 5-1 and the guide line collecting gear 3-1 have collinear axes. A pulley system is fixed at the corresponding height of the lifting line 5-2, used to output the lifting line 5-2 from the axial position below the lifting line collecting gear 5-1 and change its direction to vertical, fixing it to the center of the top of the lifting measurement component 6, controlling the lifting and lowering of the lifting measurement component 6.

[0041] like Figure 4 As shown, the lifting measurement component 6 includes: guide line roller 6-1, lifting bracket 6-2, lidar 6-3, power supply 6-4, inertial sensor 6-5, communication module 6-6, balance weight 6-7, and laser ranging module 6-8.

[0042] The lifting bracket 6-2 includes regular hexagonal plates located at the top and bottom, and three parallel ribs connecting the two regular hexagonal plates. An isolation plate is installed inside the lifting bracket 6-2 for accommodating the lidar 6-3. The center of the upper surface of the lifting bracket 6-2 is fixedly connected to the lifting line 5-2. On the upper and lower surfaces of the lifting bracket 6-2, corresponding to the positions of the three guide lines 3-3, guide line rollers 6-1 are fixedly connected. Each guide line roller 6-1 consists of three rollers arranged in a vertical triangle. The guide line 3-3 passes around the three rollers in sequence, forming an inverted Ω shape. This structure increases the friction between the guide line 3-3 and the guide line rollers 6-1, making the lifting bracket 6-2 run more stably on the track formed by the three guide lines 3-3 and reducing swaying.

[0043] Power supply 6-4, inertial sensor 6-5, communication module 6-6, and counterweight 6-7 are fixedly mounted on the base plate of lifting support 6-2. Power supply 6-4 supplies power to lidar 6-3, inertial sensor 6-5, communication module 6-6, and laser ranging module 6-8. Inertial sensor 6-5 measures the swing amplitude of lifting measurement component 6. Counterweight 6-7, arranged at different positions on the base plate of lifting support 6-2, adjusts the center of gravity of the entire lifting measurement component 6, ensuring its center of gravity is on the central axis and guaranteeing the horizontality and stability of lifting measurement component 6. Laser ranging module 6-8 is fixedly mounted on the lower surface of the base plate of lifting support 6-2 and measures the distance from lifting support 6-2 to the upper surface of guide hammer assembly 8. The communication module 6-6 is used to collect data measured by the lidar 6-3, the inertial sensor 6-5, and the laser ranging module 6-8, and process it into a transmittable signal, which is then transmitted to the communication control device 7 via wireless signal. The communication module 6-6 is also used to receive instructions from the communication control device 7 and control the lidar 6-3, the inertial sensor 6-5, and the laser ranging module 6-8 to start or stop the measurement.

[0044] like Figure 5 As shown, the guide pendulum assembly 8 includes: guide rollers 8-1, a pendulum 8-3, and a pendulum housing 8-4. The pendulum housing 8-4 is a circular hollow structure with a bottom cross-sectional diameter larger than the external dimensions of the fixed frame 2. The pendulum 8-3 is fixed at the center of the upper wall of its inner cavity. The pendulum 8-3 is immersed in a non-corrosive liquid with high viscosity and can swing freely. In this embodiment, inorganic silicone oil 8-2 is used. Three guide rollers 8-1 are fixed on the upper surface of the pendulum housing 8-4. Three guide lines 3-3 pass through the guide rollers 8-1 and are fixed on the pendulum housing 8-4. The fixing points of the guide lines are not on the same vertical line as the guide rollers 8-1, so that the guide lines 3-3 can be closely attached to the guide rollers 8-1. After the guide rollers 8-1 fix the direction of the guide lines 3-3, the three guide lines 3-3 are always in a vertical state and remain parallel to each other, avoiding the problem of unstable resistance when the lifting support moves on the guide line track due to non-parallel guide lines. When the guide pendulum assembly 8 is subjected to an external force (such as wind), the guide pendulum assembly 8 will swing. Since the pendulum 8-3 is suspended inside the guide pendulum assembly 8 and can swing freely, the swing of the guide pendulum assembly 8 will cause the pendulum 8-3 to swing in the opposite direction, thereby reducing the swing amplitude of the guide pendulum assembly 8 under the external force. At the same time, since the pendulum 8-3 is immersed in high-viscosity inorganic silicone oil 8-2, the viscous resistance of the inorganic silicone oil 8-2 will inhibit the movement of the pendulum 8-3, thereby dissipating the kinetic energy of the pendulum 8-3 and achieving the purpose of quickly stabilizing the guide pendulum assembly 8.

[0045] Portable elevator shaft lidar measuring device is in such a position Figure 2In the operating state shown, the portable elevator shaft lidar measuring device is fixed to the upper end cover at the top of the elevator shaft through the screw holes of the fixing connector 1. The circular bottom cover 9-2 is rotated to remove it from the fixing base 9-1. The power switches of each component are turned on, and the USB connector of the communication control device 7 is connected to the control terminal. The data acquisition software is opened on the control terminal, and a command is issued to control the guide wire reduction motor 4-1 to rotate, which drives the collection wire wheel 3-4 to rotate, releasing the guide wire 3-3. At this time, the guide hammer assembly 8 will slowly descend to the bottom of the elevator shaft under the action of gravity. After the guide hammer assembly 8 stabilizes, the control terminal issues a command to control the lifting wire reduction motor 4-3 to rotate and start the lidar 6-3 to start collecting data. The lifting wire reduction motor 4-3 drives the lifting wire collection gear 5-1 to rotate and release the lifting wire 5-2, so that the lifting measuring assembly 6 slowly descends along the three guide wires 3-3. The laser ranging module 6-8 collects real-time data on the height of the lidar 6-3, and the inertial sensor 6-5 measures the swing amplitude of the lifting measurement component 6. After being transmitted to the control terminal, the data is used to correct the measurement error of the lidar 6-3.

[0046] The lidar 6-3 used in this invention is a low-cost, mid-range two-dimensional lidar. Compared to three-dimensional lidar, it has advantages such as small size, low cost, and low power consumption. It can achieve 360° omnidirectional laser ranging and scanning in a two-dimensional plane through motor rotation. Combined with the mechanical lifting device of this invention, it can well adapt to the structural characteristics of elevator shafts, which have small horizontal dimensions but large vertical dimensions. In the actual measurement process, the lifting support slowly descends or rises at an appropriate speed. The lidar scans the two-dimensional data point cloud at each moment, while the laser ranging module 6-8 records the vertical position data at that moment. The inertial sensor 6-5 records the motion information of the lifting support 6-2 at that moment. The communication module 6-6 packages and transmits the data to the communication control device 7 in real time. The communication control device 7 then transmits the data to the control terminal. After processing, the control terminal finally obtains the accurate measurement distance information of the elevator shaft. Through multiple rises and falls of the lifting measurement component 6, multiple data acquisitions of the elevator shaft can be achieved.

[0047] The portable elevator shaft lidar measuring device has been restored from its working state to normal operation. Figure 1In the storage state shown, the control terminal sends a command to control the lifting line reduction motor 4-3 to rotate, so that when the lifting measuring component 6 rises to the highest point, the limit block 10 fixed to the fixed frame 2 prevents the lifting measuring component 6 from rising further. When the control terminal sends a command to control the guide line reduction motor 4-1 to rotate, so that when the guide hammer component 8 rises to the bottom of the fixed frame 2, since the bottom diameter of the hammer shell 8-4 is larger than the internal size of the fixed frame 2, the fixed frame 2 will prevent the guide hammer component 8 from rising further. At this time, the circular bottom cover 9-2 is then threadedly connected to the fixed base 9-1 to prevent the movement of the components inside the fixed frame 2, reduce the overall size of the device, and facilitate storage and carrying.

[0048] It will be understood by those skilled in the art that the above descriptions are merely preferred examples of the invention and are not intended to limit the invention. Although the invention has been described in detail with reference to the foregoing examples, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. All modifications and equivalent substitutions made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A portable elevator shaft lidar measuring device, characterized in that, include: Fixed frame, guide sheave assembly, drive and signal transmission assembly, lifting sheave assembly, lifting measurement assembly, communication control device, guide plumb bob assembly, base; The fixed frame is a hollow prismatic frame structure. The guide line wheel assembly, drive and signal transmission component, and lifting line wheel assembly are sequentially fixed within the fixed frame. The guide line wheel assembly controls the lifting and lowering of the guide hammer assembly via guide lines, and the lifting line wheel assembly controls the lifting and lowering of the lifting measurement component via lifting lines. The guide hammer assembly and the guide lines together form the lifting and lowering channel of the lifting measurement component. The lifting measurement component is used to measure elevator shaft data and convert it into a transmittable signal output. The base is fixed to the bottom of the fixed frame and is detachable to constrain the swaying of components within the fixed frame. The drive and signal transmission component is used to receive command signals and control the running direction and speed of the guide sheave group and the lifting sheave group; the communication control device is arranged outside the fixed frame and connected to the control terminal, and is used to send command signals to the drive and signal transmission component and the lifting measurement component to start or end the measurement via wireless signals; the communication control device is also used to receive the data measured by the lifting measurement component via wireless signals and transmit the data to the control terminal to finally obtain the elevator shaft data; The lifting measurement component includes: a guide line wheel, a lifting bracket, a lidar, a power supply, an inertial sensor, a communication module, a counterweight, and a laser ranging module. The lifting support is a hollow prism structure with the same cross-section as the fixed frame. The lifting support houses the lidar for measuring elevator shaft data. The center of the upper surface of the lifting support is fixedly connected to the lifting line. Guide rollers are fixedly connected to corresponding positions on the upper and lower surfaces of the lifting support. The guide line passes through the guide rollers, allowing the lifting measurement component to run along the lifting channel formed by the guide line. The power supply, inertial sensor, communication module, and counterweight are fixedly mounted on the base plate of the lifting support. The laser ranging module is fixedly mounted on the lower surface of the lifting support for measuring the distance from the lifting support to the guide hammer assembly. The power supply provides power to the lidar, inertial sensor, communication module, and laser ranging module. The inertial sensor measures the swing amplitude of the lifting measurement component. The counterweight is positioned at different locations on the base plate of the lifting support to ensure the center of gravity of the lifting measurement component is on the central axis. The communication module is used to collect data measured by the lidar, inertial sensor, and laser ranging module, process it into a transmittable signal, and transmit it to the communication control device via wireless signal. The communication module is also used to receive command signals issued by the communication control device and control the lidar, inertial sensor, and laser ranging module to start or stop measurement. The guide line roller consists of three rollers arranged in a vertical triangle. The guide line passes around the three rollers in sequence to increase the friction between the guide line and the guide line roller. The guide plumb bob assembly includes: a guide reel, a pendulum, and a plumb bob housing; the plumb bob housing is a hollow structure with a bottom diameter larger than the bottom size of the fixed frame; the pendulum is fixed to the center of the upper wall of the internal cavity of the plumb bob housing; the pendulum is immersed in a high-viscosity, non-corrosive liquid and can swing freely; the guide reel is fixed to the upper surface of the plumb bob housing; the guide line passes through the guide reel and is fixed to the plumb bob housing, so that the guide lines are parallel to each other and always in a vertical state.

2. The portable elevator shaft lidar measuring device according to claim 1, characterized in that, The guide wire reel assembly includes: a guide wire collecting gear, a drive gear, a guide wire, and a collecting reel; the drive and signal transmission components include: a guide wire reduction motor, a power supply, a lifting wire reduction motor, and a control module; the lifting wire reel assembly includes: a lifting wire collecting gear and a lifting wire; The collecting reel and the guide line collecting gear are coaxially arranged and rotate synchronously. The guide line collecting gear divides the collecting reel into several segments, and a guide line is wound on each segment. The guide line is led out through a fixed pulley and its direction is changed to a vertical direction before being lowered. It passes through the outer edge through hole of the lifting and measuring component and is fixedly connected to the guide hammer component. The guide line collecting gear meshes with the drive gear, and the drive gear is coaxially arranged with the output end of the guide line reduction motor and rotates synchronously. The lifting line collecting gear and its hub are arranged coaxially and rotate synchronously. The lifting line collecting gear is fixed to the upper and lower end faces of the hub respectively. A lifting line is wound on the hub. The lifting line is vertically lowered from the center of the bottom surface of the lifting line collecting gear located on the lower end face of the hub through a pulley system and is fixedly connected to the center of the top surface of the lifting measurement component. The guide wire geared motor, power supply, lifting wire geared motor, and control module are fixed on the same plane; the power supply is used to supply power to the guide wire geared motor, lifting wire geared motor, and control module; the control module is used to receive instructions from the communication control device and control the rotation direction and speed of the guide wire geared motor or the lifting wire geared motor.

3. The portable elevator shaft lidar measuring device according to claim 2, characterized in that, There are multiple guide line collecting gears. Each guide line is independently wound on a collecting wheel between two adjacent guide line collecting gears. A pulley is fixed at the corresponding height of the guide line to lead out the guide line and change its direction to vertical. After passing through the lifting and measuring component, the guide line is fixedly connected to the guide hammer component.

4. The portable elevator shaft lidar measuring device according to claim 1, characterized in that, A limiting block is fixedly connected to the fixed frame, and the limiting block is used to limit the highest axial position of the lifting measuring component.

5. The portable elevator shaft lidar measuring device according to claim 1, characterized in that, It also includes a fixing joint, which is fixed to the upper surface of the fixing frame and is used to fix the portable elevator shaft lidar measuring device to the upper end cover at the top of the elevator shaft.

6. The portable elevator shaft lidar measuring device according to claim 1, characterized in that, The base includes a fixed base and a circular bottom cover. The fixed base is fixedly connected to the bottom of the fixed frame. The circular bottom cover is a hollow, open cylinder with threads on the inner side. The fixed base and the circular bottom cover are fixed together by threaded engagement.

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