An automatic measurement system and method for elevator shaft shape

Abstract

The present invention discloses an automatic measurement system and method for the elevator shaft morphology, wherein the measurement system includes an upper and lower computer control system, a laser ranging module, a real-time positioning module, and a lifting tension support module; the present invention uses three tensioned fishing lines with a hanging hammer as a track, and matches the wire wheel of the lifting platform with the track, so that the lifting platform moves up and down along the track composed of the fishing lines, which not only greatly reduces the shaking problem of the lifting platform during the up and down movement, but also the transparent fishing line avoids the problem of blocking interference of the measuring instrument, thereby reducing the measurement error and improving the accuracy. The present invention is simple and convenient to use, can adapt to different elevator shaft environments, avoids the dangers brought by manual detection, and obtains elevator shaft data more accurately.

Description

Technical Field

[0001] The present invention relates to the field of elevator shaft morphology detection, and in particular to an elevator shaft morphology automatic measurement system and method. Background Art

[0002] In recent years, with the gradual improvement of productivity in modern society, the civil engineering industry has also developed rapidly. A notable feature is the gradual increase in floor heights and the widespread use of elevators. This has greatly facilitated people's travel and life. The design and installation of elevators are inseparable from the measurement of elevator shaft dimensions.

[0003] However, elevator shaft construction measurement has always been a major problem in the surveying and mapping industry. So far, most design companies have workers use single-point distance measuring instruments (such as steel rulers, levels, etc.) to measure elevator shafts layer by layer. However, low precision, low work efficiency, and extremely harsh working environment are all factors that restrict elevator shaft measurement. As the number of floors increases, the difficulty and risk of elevator shaft measurement increase significantly. The accuracy of elevator shaft construction size measurement is particularly critical to the design and installation of elevators. Finding a safe and efficient detection method is crucial to solving such problems.

[0004] Elevator shafts require many sets of data to be measured, many of which need to be measured at high altitudes. If these different dimensional data rely on manual inspection, it will not only waste a lot of time, but also pose a great safety hazard. Therefore, it is very necessary to use a measurement system to automatically measure the three-dimensional reconstruction of the elevator shaft, which is also one of the problems that the civil engineering industry urgently needs to solve.

[0005] The Chinese patent document with publication number CN113607056A discloses a laser measurement device and method for an elevator shaft, which uses a horizontal telescopic rod to support an unfolding platform bracket, and a laser detection platform is suspended on one side of the unfolding platform bracket and the horizontal telescopic rod through a horizontal descending drive assembly, thereby acquiring various parameter data of the elevator shaft. The Chinese patent document with publication number CN114624727A discloses an automatic measurement device for an elevator shaft, which measures the inner wall of the elevator shaft based on a drone.

[0006] However, the current measuring devices and methods cannot solve the problem of measurement shaking during the 360° measurement of the inner wall of the elevator shaft, resulting in inaccurate measurement results. Summary of the invention

[0007] The present invention provides an automatic measurement system and method for the topography of an elevator shaft, which greatly reduces the shaking problem generated during the detection work, thereby reducing errors and improving accuracy.

[0008] An automatic measurement system for elevator shaft topography includes a lifting and tensioning support module, wherein the lifting and tensioning support module includes an upper support plate, a sling connection frame, a lifting platform and a lower support plate arranged in sequence from top to bottom;

[0009] The upper support plate is fixed with a first fishing reel and a second fishing reel. The fishing line on the first fishing reel is divided into three first fishing lines in three directions after passing through the line dividing support frame. The three first fishing lines respectively pass through the wire reel corresponding to the outer edge of the upper support plate, the wire reel corresponding to the outer edge of the lifting platform, and the hanger tensioner corresponding to the outer edge of the lower support plate in sequence and are connected to the load-bearing mechanism.

[0010] The sling connection frame is fixed to the lower end surface of the upper support plate, and a hollow sling penetrating the sling connection frame is fixed to the sling connection frame. The second fishing line on the second fishing reel passes through the hollow sling and is fixed to the lifting platform below, so as to move the lifting platform up and down along the three first fishing lines.

[0011] The lifting platform is provided with upper and lower computer control modules and a laser ranging module, and the lower support plate is fixed with a real-time positioning module facing the lower end surface of the lifting platform; wherein, the laser ranging module is used to measure the distance data of the 360° plane in the elevator shaft while the lifting platform rises steadily, and transmit the data to the upper and lower computer control modules; the real-time positioning module is used to obtain the distance data in the vertical direction in the elevator shaft and send it to the upper and lower control modules, so as to realize the real-time positioning function of the laser ranging module.

[0012] Furthermore, the upper and lower computer control modules include an upper computer Raspberry Pi and a lower computer Arduino. The upper computer is connected to the lower computer Arduino via a USB data cable. The lower computer Arduino receives the data scanned by the laser ranging module and the real-time positioning module through a wire and stores it in the upper computer Raspberry Pi. After the scanning is completed, the data is taken out for post-processing.

[0013] The laser ranging module uses a two-dimensional laser radar. The lower computer Arduino obtains the 360° plane distance data measured by the two-dimensional laser radar in real time and sends it to the upper computer;

[0014] The real-time positioning module includes a laser ruler and an inertial sensor; the lower computer Arduino obtains the coordinate axis inclination data of the inertial sensor and the vertical distance data measured by the laser ruler in real time, and sends them to the upper computer.

[0015] Furthermore, the lifting platform includes an upper platform and a lower platform, and three wire wheels are provided on the outer edges of the upper platform and the lower platform, and the upper platform and the lower platform are fixed by a hollow connecting rod; the laser ranging module is arranged on the upper platform, and the upper and lower computer control modules are arranged on the lower platform, and the wires of the upper and lower computer control modules and the serial port connection data cable are connected to the laser radar of the upper platform through the hollow connecting rod.

[0016] Furthermore, the lower end of the hollow sling is evenly hinged with three wire wheel frames, and the outer end of each wire wheel frame is provided with a wire wheel. The hollow sling is provided with a frame support plate at a position close to the lower end surface of the sling connection frame, and the frame support plate is fixed to one end of the three frames, and the other ends of the three frames are respectively fixed to the corresponding wire wheel frames;

[0017] The three first fishing lines respectively pass through the wire pulley corresponding to the outer edge of the upper support plate, the wire pulley at the outer end of the wire pulley frame, the wire pulley corresponding to the outer edge of the lifting platform, and the sling tensioner corresponding to the outer edge of the lower support plate, and are then connected to the load-bearing mechanism.

[0018] Furthermore, the hanger connecting frame is fixed with a hanger support plate by long screws and flat washers, and the hanger support plate is used to cooperate and fix with the cover plate at the top of the elevator shaft.

[0019] Furthermore, the load-bearing mechanism includes a hanging hammer and a hanging hammer seat, and the lower end of the first fishing line is fixed to the hanging hammer seat.

[0020] Furthermore, the upper support plate and the lower support plate are both in the shape of a disc, a through hole is provided in the center of the disc, and a plurality of weight-reducing holes are provided around the disc.

[0021] The present invention also provides an automatic measurement method for elevator shaft morphology, using the above-mentioned automatic measurement system for elevator shaft morphology, comprising the following steps:

[0022] On the elevator shaft platform at the top floor, the sling support plate is fixed to the sling connection frame by long screws and flat washers, and the whole system is supported on the cover plate at the top of the elevator shaft by the sling support plate;

[0023] The first fishing line wheel is controlled to rotate by a motor, the load-bearing mechanism is lowered to the bottom of the elevator shaft, and the hanger tensioner tightens the first fishing line by a screw;

[0024] The second fishing line wheel is controlled by a motor, and after the lifting platform is lowered to the bottom of the elevator shaft, it starts to be lifted from the bottom. Since the lifting platform is surrounded by wire wheels as sliding pairs connected to the first fishing line, and the load-bearing mechanism provides a vertical downward force, the shaking of the lifting platform is suppressed;

[0025] During the lifting process, the laser ranging module and the real-time positioning module are turned on. The laser ranging module detects the distance data between the lifting platform and the side wall of the shaft by rotating 360°. The angle offset and height change of the lifting platform measured by the real-time positioning module are packaged and sent to the host computer Raspberry Pi for storage. After the detection is completed, it is read and processed by the computer to obtain a three-dimensional image of the interior of the elevator shaft.

[0026] The device of the present invention is simple to use, low in cost, and highly adaptable to the environment. It can effectively replace the cost of manual measurement, reduce measurement risks, and obtain more accurate data. At the same time, the lifting platform moves up and down along the tensioned fishing line guide rail through the wire wheel, which can greatly reduce the shaking problem generated during the detection work. At the same time, the transparent fishing line guide rail can avoid blocking interference with the measuring equipment, thereby reducing errors and improving accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of an automatic measurement system for elevator shaft shape according to the present invention;

[0028] Figure 2 It is a schematic diagram of the upper half of the present invention;

[0029] Figure 3 It is a schematic diagram of the lower half of the present invention. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be pointed out that the embodiments described below are intended to facilitate the understanding of the present invention and do not have any limiting effect on the present invention.

[0031] like Figure 1-3 As shown, an automatic measurement system for the elevator shaft shape includes an upper and lower computer control system, a laser ranging module, a real-time positioning module, and a lifting and tensioning support module.

[0032] The lifting and tensioning support module includes an upper support plate 31, a sling connecting frame 14, a lifting platform 32 and a lower support plate 33 which are arranged in sequence from top to bottom.

[0033] A first fishing reel 1 and a second fishing reel 2 are fixed on the upper support plate 31 , wherein the first fishing reel 1 is fixed to the upper support plate 31 via a fishing reel bracket 4 , and the second fishing reel 2 is directly fixed to the upper support plate 31 via bolts 5 , flat washers 6 , and hexagonal nuts 7 .

[0034] A line splitting support frame 3 is also fixed on the fishing reel bracket 4, and the fishing line on the first fishing reel 1 is divided into three first fishing lines in three directions after passing through the line splitting support frame 3. Three wire reel support plates 8 are fixed to the outer edge of the upper support plate 31 by bolts 9, and the wire reel support plates 8 are equipped with wire reels.

[0035] The sling connecting frame 14 is fixed to the lower end surface of the upper support plate 31 , and a hollow sling 10 penetrating the sling connecting frame is fixed to the sling connecting frame 14 , and the second fishing line on the second fishing line wheel passes through the hollow sling 10 and is fixed to the lifting platform 32 below.

[0036] The hanger connecting frame 14 is fixed with a hanger support plate 13 by means of a long screw 11 and a flat washer 12. The hanger support plate 13 is used to cooperate and fix with the cover plate at the top of the elevator shaft. The hanger support plate 13 contacts the plane of the cover plate, thereby providing vertical force, and the size of the hanger support plate 13 can be adjusted to adapt to cover plates with different apertures.

[0037] The lower end of the hollow hanger 10 is evenly hinged with three wire pulley frames 19, and the outer end of each wire pulley frame 19 is provided with a wire pulley 24. The hollow hanger 10 is provided with a frame support plate 15 near the lower end surface of the hanger connecting frame 14. The frame support plate 15 is fixed to one end of the three frames 16, and the other ends of the three frames 16 are fixed to the corresponding wire pulley frames 19 by bolts 17 and flat washers 18 respectively.

[0038] In order to adapt to the direction of the fishing line in different environments, the wire reel frame 19 is adjusted in direction through the frame support plate 15 and the frame 16.

[0039] The guide wheel 24 is a non-standard part with a bearing as the core. Compared with the fixed pulley, the guide wheel 24 has a smaller volume. Since the interior is closed and contains grease, no special lubrication is required. The guide wheel 24 is connected to the bolt 21 through a copper sleeve 23, a gasket 22, a nut 20, and a bolt 21. It not only has appropriate strength, but also is easy to disassemble and assemble. It is suitable for occasions where frequent disassembly and assembly are required when measuring different elevator shafts.

[0040] The lifting platform 32 includes an upper platform 321 and a lower platform 322. The outer edges of the upper platform 321 and the lower platform 322 are each provided with three wire wheels. The upper platform 321 and the lower platform 322 are fixed by a hollow connecting rod 323. The laser ranging module is arranged on the upper platform 321, and the upper and lower control modules are arranged on the lower platform 322. The wires of the upper and lower control modules and the serial port connection data cable are connected to the laser radar of the upper platform 321 through the hollow connecting rod 323. A real-time positioning module 29 facing the bottom surface of the lifting platform 32 is fixed on the lower support plate 33 through a ranging bracket 30.

[0041] The upper and lower computer control modules include an upper computer Raspberry Pi and a lower computer Arduino. The upper computer is connected to the lower computer Arduino via a USB data cable. The lower computer Arduino receives the data scanned by the laser ranging module and the real-time positioning module through the wire and stores it in the upper computer Raspberry Pi. After the scanning is completed, the data is taken out for post-processing.

[0042] The laser ranging module uses a two-dimensional laser radar. The lower computer Arduino obtains the 360° plane distance data measured by the two-dimensional laser radar in real time and sends it to the upper computer; the real-time positioning module 29 includes a laser ruler and an inertial sensor. The lower computer Arduino obtains the coordinate axis inclination data of the inertial sensor and the vertical distance data measured by the laser ruler in real time, and sends them to the upper computer.

[0043] The three first fishing lines are connected to the load-bearing mechanism after passing through the wire pulley 25 corresponding to the outer edge of the upper support plate 31, the wire pulley 24 at the outer end of the wire pulley frame 19, the wire pulley 26 corresponding to the outer edge of the upper platform 321, the wire pulley 27 corresponding to the outer edge of the lower platform 322, and the hanger tensioner 28 corresponding to the outer edge of the lower support plate 33. The vertical downward gravity of the load-bearing mechanism reduces the shaking of the lifting platform 32. The load-bearing mechanism includes a hanging hammer 34 and a hanging hammer seat 35, and the lower end of the first fishing line is fixed to the hanging hammer seat 35.

[0044] In the embodiment of the present invention, the upper support plate 31, the lower support plate 33, the upper platform 321 and the lower platform 322 are all disc-shaped, wherein the upper support plate 31 and the lower support plate 33 are provided with a through hole in the center and a plurality of weight-reducing holes are provided around them.

[0045] In the present invention, after the path of the lifting platform 32 is constrained by the sling tensioner 28, the lifting platform 32 equipped with the laser rangefinder module controls the second fishing line to rise steadily through the second fishing line wheel. The laser ruler of the real-time positioning module 29 detects the position distance of the lifting platform 32 after it rises, and transmits the signal to the host computer. At the same time, the inertial sensor of the real-time positioning module 29 detects the change angle of the lifting platform, obtains the offset data by unit position conversion, and helps improve the accuracy of laser radar detection.

[0046] An automatic measurement method for elevator shaft shape, using the above-mentioned automatic measurement system for elevator shaft shape, comprises the following steps:

[0047] On the elevator shaft platform at the top floor, the hanger support plate 13 is fixed to the hanger connection frame 14 by means of long screws 11 and flat washers 12, and the whole system is supported on the cover plate at the top of the elevator shaft by the hanger support plate 13;

[0048] The first fishing line wheel 1 is controlled to rotate by a motor, the load-bearing mechanism is lowered to the bottom of the elevator shaft, and the hanger tensioner 28 tightens the first fishing line through a screw;

[0049] The second fishing line wheel 2 is controlled by the motor to lower the lifting platform 32 to the bottom of the elevator shaft, and then it starts to lift from the bottom. Since the lifting platform 32 is surrounded by wire wheels as sliding pairs connected to the first fishing line, and the load-bearing mechanism provides a vertical downward force, the shaking of the lifting platform 32 is suppressed;

[0050] During the lifting process, the laser ranging module and the real-time positioning module are turned on. The laser ranging module detects the distance data between the position of the lifting platform 32 and the side wall of the shaft by rotating 360°. The angle offset and height change of the lifting platform 32 measured by the real-time positioning module are packaged and sent to the host computer Raspberry Pi for storage. After the detection is completed, it is read and processed by the computer to obtain a three-dimensional image of the interior of the elevator shaft.

[0051] The embodiments described above provide a detailed description of the technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, supplements and equivalent substitutions made within the scope of the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic measurement system for elevator shaft morphology, characterized in that: It comprises a lifting and tensioning support module, wherein the lifting and tensioning support module comprises an upper support plate (31), a sling connecting frame (14), a lifting platform (32) and a lower support plate (33) which are arranged in sequence from top to bottom; The upper support plate (31) is fixed with a first fishing reel (1) and a second fishing reel (2). The fishing line on the first fishing reel (1) is divided into three first fishing lines in three directions after passing through the line dividing support frame (3). The three first fishing lines respectively pass through the guide wheel corresponding to the outer edge of the upper support plate (31), the guide wheel corresponding to the outer edge of the lifting platform (32), and the hanger tensioner (28) corresponding to the outer edge of the lower support plate (33) and are connected to the load-bearing mechanism. The sling connection frame (14) is fixed to the lower end surface of the upper support plate (31), and a hollow sling (10) penetrating the sling connection frame is fixed to the sling connection frame (14); the second fishing line on the second fishing reel passes through the hollow sling (10) and is fixed to the lifting platform (32) below, so as to move the lifting platform (32) up and down along the three first fishing lines; The lifting platform (32) is provided with an upper and lower control module and a laser ranging module, and the lower support plate (33) is fixed with a real-time positioning module facing the lower end surface of the lifting platform (32); wherein the laser ranging module is used to measure the distance data of the 360° plane in the elevator shaft while the lifting platform (32) is stably rising, and transmit the data to the upper and lower control modules; the real-time positioning module is used to obtain the distance data in the vertical direction of the elevator shaft and send it to the upper and lower control modules, so as to realize the real-time positioning function of the laser ranging module; The lifting platform (32) comprises an upper platform (321) and a lower platform (322), the outer edges of the upper platform (321) and the lower platform (322) are each provided with three wire wheels, and the upper platform (321) and the lower platform (322) are fixed via a hollow connecting rod (323); the laser ranging module is arranged on the upper platform (321), and the upper and lower computer control modules are arranged on the lower platform (322), and the wires of the upper and lower computer control modules and the serial port connection data cable are connected to the laser radar of the upper platform (321) via the hollow connecting rod (323).

2. The automatic measurement system for elevator shaft shape according to claim 1 is characterized in that: The upper and lower computer control modules include an upper computer Raspberry Pi and a lower computer Arduino. The upper computer is connected to the lower computer Arduino via a USB data cable. The lower computer Arduino receives data scanned by a laser ranging module and a real-time positioning module via a wire and stores the data in the upper computer Raspberry Pi. After the scanning is completed, the data is taken out for post-processing.

3. The automatic measurement system for elevator shaft shape according to claim 2 is characterized in that: The laser ranging module uses a two-dimensional laser radar. The lower computer Arduino obtains the 360° plane distance data measured by the two-dimensional laser radar in real time and sends it to the upper computer; The real-time positioning module includes a laser ruler and an inertial sensor; the lower computer Arduino obtains the coordinate axis inclination data of the inertial sensor and the vertical distance data measured by the laser ruler in real time, and sends them to the upper computer.

4. The automatic measurement system for elevator shaft shape according to claim 1 is characterized in that: The lower end of the hollow sling (10) is evenly hinged with three wire wheel frames (19), and the outer end of each wire wheel frame (19) is provided with a wire wheel. The hollow sling (10) is provided with a frame support plate (15) near the lower end surface of the sling connection frame. The frame support plate (15) is fixed to one end of the three frames (16), and the other ends of the three frames (16) are respectively fixed to the corresponding wire wheel frames (19); The three first fishing lines are respectively passed through the wire pulley corresponding to the outer edge of the upper support plate (31), the wire pulley at the outer end of the wire pulley frame (19), the wire pulley corresponding to the outer edge of the lifting platform (32), and the sling tensioner (28) corresponding to the outer edge of the lower support plate (33) and then connected to the load-bearing mechanism.

5. The automatic measurement system for elevator shaft shape according to claim 1 is characterized in that: The hanger connecting frame (14) is fixed with a hanger support plate (13) via long screws (11) and flat washers (12), and the hanger support plate (13) is used to cooperate and fix with the cover plate at the top of the elevator shaft.

6. The automatic measurement system for elevator shaft shape according to claim 1 is characterized in that: The load-bearing mechanism comprises a hanging hammer (34) and a hanging hammer seat (35), and the lower end of the first fishing line is fixed to the hanging hammer seat (35).

7. The automatic measurement system for elevator shaft shape according to claim 1 is characterized in that: The upper support plate (31) and the lower support plate (33) are both disc-shaped, a through hole is provided at the center of the disc, and a plurality of weight-reducing holes are provided around the disc.

8. An automatic measurement method for elevator shaft morphology, characterized in that: The automatic measurement system for the elevator shaft morphology according to any one of claims 1 to 7 comprises the following steps: On the elevator shaft platform at the top floor, a hanger support plate (13) is fixed to a hanger connection frame (14) by means of long screws (11) and flat washers (12), and the entire system is supported on the cover plate at the top of the elevator shaft by means of the hanger support plate (13); The first fishing line wheel (1) is controlled to rotate by a motor, the load-bearing mechanism is lowered to the bottom of the elevator shaft, and the hanger tensioner (28) tightens the first fishing line by means of a screw; The second fishing line wheel (2) is controlled by a motor to lower the lifting platform (32) to the bottom of the elevator shaft and then start to lift it from the bottom. Since the lifting platform (32) is surrounded by wire wheels as sliding pairs connected to the first fishing line, and a load-bearing mechanism provides a vertical downward force, the shaking of the lifting platform (32) is suppressed; During the lifting process, the laser distance measurement module and the real-time positioning module are turned on, wherein the laser distance measurement module detects the distance data between the position of the lifting platform (32) and the side wall of the shaft by rotating 360°, and cooperates with the angle offset and the height change of the lifting platform (32) measured by the real-time positioning module, and packages these data and sends them to the host computer Raspberry Pi for storage, and after the detection is completed, the computer reads and processes them to obtain a three-dimensional image of the interior of the elevator shaft.

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