Measuring device, elevator system, and installation position confirmation method

Abstract

The present application provides a kind of measuring device, elevator system and installation position confirmation method, in the measuring device for measuring the information about the movement of mobile body, the relative distance and angle relative to the stationary structure as reference are measured with high accuracy, determine and output whether the measuring device is placed in the specified installation position with proper accuracy.When confirming the installation position of measuring device (110) relative to stationary structure (guide rail 140), image processing unit (240) calculates the translational error along a certain direction or the rotational error with the direction as axis of the placement position of measuring device (110) relative to the specified installation design position for at least one of x, y, z direction based on the electrical signal converted by camera unit (230), determines whether the placement position conforms to the installation design position based on the calculated result, and sends installation site determination information about the determination.

Description

Technical Field

[0001] This invention relates to a measuring device, an elevator system, and a method for confirming installation position, and is suitable for use in calculating information about the movement of a moving body. Background Technology

[0002] In the prior art, in elevators where the car (hereinafter referred to as "elevator car" or "car") is the moving body, a speed controller cable is used as a safety device for monitoring the position and speed of the elevator car. In recent years, as a device to replace the speed controller cable, a non-contact sensor (hereinafter referred to as "position and speed sensor") for measuring the position and speed of the elevator car has been known.

[0003] For example, Patent Document 1 discloses an optical position and speed sensor that uses an image sensor mounted on an elevator car to capture images of structures within the elevator shaft and measure the position and speed of the elevator car. This non-contact measuring device eliminates the need for long structures like speed controller cables, thus improving installation and maintainability, and preventing measurement errors caused by slippage.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: International Publication No. 2019 / 239536 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, in the optical position and speed sensor disclosed in Patent Document 1, to obtain sufficient measurement performance (accuracy) for the position and speed of the car, it is required to measure and determine the relative distance and angle with respect to the guide rail when mounting the position and speed sensor on the car, thus placing the measuring device with high installation accuracy. However, in the prior art, to place the position and speed sensor with the aforementioned sufficient installation accuracy, a dedicated measuring tool other than the position and speed sensor is required. Furthermore, even when using a dedicated measuring tool, there is a problem that the installation accuracy is affected by the skill level of the installation personnel related to measurement technology and optical adjustment technology.

[0009] The present invention is derived from the above considerations and proposes a measuring device, an elevator system, and an installation position confirmation method, which, in measuring information about the movement of a moving body, can measure with high precision the relative distance and angle with respect to a stationary structure serving as a reference, and determine and output whether the measuring device is placed in a specified installation position with appropriate precision.

[0010] Methods for solving problems

[0011] To address this problem, the present invention provides a measuring device installed on an elevator car moving in a hoistway for measuring at least one of the moving distance or speed of the elevator car, characterized in that it comprises: a light transmitting unit that transmits light illuminating a stationary structure disposed in the hoistway along a first direction parallel to the moving direction of the elevator car; an imaging unit that images the scattered light from the stationary structure generated by the light onto a camera surface; an imaging unit that receives the light signal of the scattered light imaged on the camera surface, converts it into an electrical signal, and performs imaging; and an image processing unit that calculates and transmits the moving distance or speed of the elevator car based on the electrical signal converted by the imaging unit. When confirming the installation position of the measuring device relative to the stationary structure, if the direction of the imaging surface of the camera unit, which is perpendicular to the first direction, is defined as the second direction, and the direction orthogonal to both the first and second directions is defined as the third direction, the image processing unit, based on the electrical signal converted by the camera unit, calculates the translational error or rotational error of the mounting position of the measuring device relative to the predetermined installation design position along the direction for at least one of the first to the third directions. Based on the result of the calculation, it determines whether the mounting position conforms to the installation design position and sends installation position determination information regarding the determination.

[0012] In addition, to solve this problem, the present invention provides an elevator system, characterized in that it includes: an elevator car that moves in an elevator shaft; a guide rail disposed in the elevator shaft along a first direction parallel to the direction of movement of the elevator car; an elevator control unit that controls the movement of the elevator car; and a measuring device mounted on the elevator car and measuring at least one of the moving distance or speed of the elevator car; the measuring device comprising: a light transmitting unit that transmits light illuminating the guide rail in the elevator shaft; an imaging unit that images the scattered light from the guide rail generated by the light onto a camera surface; a camera unit that receives the light signal of the scattered light imaged on the camera surface, converts it into an electrical signal, and performs imaging; and an image processing unit that processes the image based on the imaging... The image processing unit calculates and sends at least one of the moving distance or speed of the elevator car based on the electrical signal obtained by the conversion of the camera unit. When confirming the installation position of the measuring device relative to the stationary structure, if the direction including the imaging surface of the camera unit is defined as the second direction and the direction orthogonal to both the first and second directions is defined as the third direction, the image processing unit calculates the translational error or rotational error along the direction relative to the predetermined installation design position of the measuring device, based on the electrical signal converted by the camera unit, for at least one of the first to the third directions. Based on the result of the calculation, it determines whether the installation position conforms to the installation design position and sends installation position determination information regarding the determination.

[0013] Furthermore, to address this issue, the present invention provides a method for confirming the installation position using a measuring device installed on an elevator car moving in a hoistway, for measuring at least one of the moving distance or speed of the elevator car. The measuring device comprises: a light transmitting unit that transmits light illuminating a stationary structure disposed in the hoistway along a first direction parallel to the moving direction of the elevator car; an imaging unit that images the scattered light from the stationary structure generated by the light onto a camera surface; an imaging unit that receives the light signal of the scattered light imaged on the camera surface, converts it into an electrical signal, and performs imaging; and an image processing unit that calculates and transmits the measurement position based on the electrical signal converted by the imaging unit. When determining the installation position of the measuring device relative to the stationary structure, based on the electrical signal converted by the camera unit, the image processing unit calculates the translational error or rotational error of the mounting position of the measuring device relative to the predetermined installation design position along the direction of at least one of the two directions perpendicular to the first direction (including the imaging surface captured by the camera unit) for at least one of the first to the third directions. Based on the calculation result, it determines whether the mounting position conforms to the installation design position and sends installation position determination information regarding the determination.

[0014] Invention Effects

[0015] According to the present invention, in a measuring device for measuring information about the movement of a moving body, it is possible to measure the relative distance and angle with respect to a stationary structure as a reference with high precision, and to determine and output whether the measuring device is mounted in a specified installation position with appropriate precision. Attached Figure Description

[0016] Figure 1 This is a diagram illustrating a structural example of the elevator system 10 according to the first embodiment of the present invention.

[0017] Figure 2 This is a diagram showing a first internal structure example of the measuring device 110 and the elevator control unit 130.

[0018] Figure 3 This is a diagram showing a second internal structure example of the measuring device 110 and the elevator control unit 130.

[0019] Figure 4 This is a diagram showing a third example of the internal structure of the measuring device 110 and the elevator control unit 130.

[0020] Figure 5This is a diagram showing an example of the configuration of the indicator unit 260.

[0021] Figure 6 This is a diagram showing one example of the internal structure of the indicator section 260.

[0022] Figure 7 This is a diagram showing an example (two) of the internal structure of the indicator section 260.

[0023] Figure 8 This is a diagram showing an example (3) of the internal structure of the indicator section 260.

[0024] Figure 9 This is a diagram illustrating an example of the internal structure of the image processing unit 240, which determines the translational or rotational error of the measuring device 110.

[0025] Figure 10 This is a conceptual diagram illustrating a method for determining the translation error of a measuring device 110 along the x-axis direction based on the difference value in the x-direction.

[0026] Figure 11 This is a conceptual diagram illustrating a method for determining the rotational error (tilt) of a measuring device 110 about the x-axis based on the difference value in the y-direction.

[0027] Figure 12 This is a conceptual diagram used to illustrate the brightness distribution of the scattered light from the guide rail 140 at each scattering angle.

[0028] Figure 13 This is a conceptual diagram (one of) used to illustrate the direction of the illumination light from the light transmitting unit 210 and its scattered light and positively reflected light.

[0029] Figure 14 This is a conceptual diagram (part two) used to illustrate the direction of the illumination light from the light transmitting unit 210, as well as its scattered light and positively reflected light.

[0030] Figure 15 This is a conceptual diagram (Part 3) used to illustrate the direction of the illumination light from the light transmitting unit 210, as well as its scattered light and positively reflected light.

[0031] Figure 16 This is a conceptual diagram illustrating a method for determining the rotational error (tilt) of a measuring device 110 about the y-axis based on the difference value in the x-direction.

[0032] Figure 17 This is a diagram illustrating an example of the internal structure of the image processing unit 240, which determines translational errors in the x-axis direction and rotational errors around the y-axis during the installation location determination process.

[0033] Figure 18This is a diagram illustrating an example of the internal structure of the image processing unit 240, which determines the translation error in the z-axis direction during the installation location determination process.

[0034] Figure 19 This is one of the figures showing a specific example of the installation design location of the measuring device 110.

[0035] Figure 20 This is a diagram (Part 2) showing a specific example of the installation design location of the measuring device 110.

[0036] Figure 21 This is a diagram (Part 3) showing a specific example of the installation design location of the measuring device 110.

[0037] Figure 22 This is a diagram (fourth in a series) showing a specific example of the installation design location of the measuring device 110.

[0038] Figure 23 This is a flowchart illustrating an example of the installation process.

[0039] Figure 24 This is a flowchart illustrating an example of the workflow for an inspection task.

[0040] Figure 25 This is a flowchart illustrating an example of an error adjustment workflow.

[0041] Figure 26 This is a diagram showing a structural example of the installation position adjustment fixture 1600.

[0042] Figure 27 This is a diagram showing a structural example of the installation position adjustment fixture 1700.

[0043] Figure 28 This is a diagram showing an example of the internal structure of the measuring device 110 and the elevator control unit 130 in the second embodiment of the present invention.

[0044] Figure 29 This is a diagram illustrating a structural example of a vehicle movement information detection system 1900 in which the measuring device 110 is applied to a vehicle.

[0045] Figure 30 This is a diagram illustrating a structural example of a crane movement information detection system 2000 in which the measuring device 110 is applied to a crane.

[0046] Explanation of reference numerals in the attached figures

[0047] 10, 20 lifting system

[0048] 110 measuring device

[0049] 120 elevator car

[0050] 130 Elevator Control Department

[0051] 140 guide rail

[0052] 210 Optical Transmission Unit

[0053] 220 Imaging Unit

[0054] 230 Camera Department

[0055] 240 Image Processing Unit

[0056] 250 Car Movement Related Information Output Department

[0057] 260 Command Department

[0058] 270 workers

[0059] 280 Installation Location Determination Information Output Unit

[0060] 290 display terminal

[0061] 310 Result Display

[0062] 320 Correction Direction Indicator

[0063] 330 Correction Indicator

[0064] 405, 1003 Decision Circuit

[0065] 1001 Total Circuit

[0066] 1002 Difference Plot

[0067] 1101 Fourier Transform Circuit

[0068] 1201 Guide Roller

[0069] 1202 Umbrella Section

[0070] 1600, 1700 Installation position adjustment fixture

[0071] 1610 and 1710 adjustment components rotating around the z-axis

[0072] 1620, 1720 Rotation Adjustment Components around the X-axis

[0073] 1630, 1730x-axis translation adjustment parts

[0074] 1640 and 1740 Z-axis translation adjustment parts

[0075] 1800 actuator

[0076] 1900 Vehicle Mobility Information Detection System

[0077] 1910 vehicles

[0078] 1920 road surface

[0079] 2000 Crane Movement Information Detection System

[0080] 2010 Crane

[0081] 2020 Orbit Detailed Implementation

[0082] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0083] The various embodiments of the present invention described below detail techniques for measuring information (position or distance traveled, speed, or acceleration, etc.) about the movement of a moving body (using a measuring device, elevator system, and installation position confirmation method) at high speed and with high precision, measuring relative distances and angles with respect to a stationary structure as a reference, determining whether the measuring device is mounted in a prescribed installation position with appropriate precision (i.e., whether the mounting position of the measuring device conforms to the prescribed installation position), and notifying (e.g., displaying) the determination result to installation personnel or inspection personnel. However, the present invention is not limited to the embodiments described below.

[0084] The measuring device described in detail below, according to various embodiments of the present invention, is mounted at a predetermined installation position on a moving body and measures information about the movement of the moving body along a path (movement path) that guides the moving body (specifically, at least one of the moving body's position (movement distance), speed, acceleration, or vibration). For example, in response to a gate signal generated in the control unit, the measuring device uses a light transmitting unit to irradiate (emit) light from the moving body onto the surface of a stationary structure that is the subject. Then, the measuring device causes the light reflected from the surface of the stationary structure (which may include positively reflected light and diffusely reflected light, hereinafter referred to as "scattered light") to be incident on the imaging surface of the imaging unit via the imaging unit, where the light signal is photoelectrically converted into an electrical signal. Then, based on the image generated from the converted electrical signal, the measuring device measures information about the movement of the moving body in the image processing unit. Then, based on the information about the movement of the moving body, the measuring device sends the information to the moving body control unit, which performs operation control of the moving body or control of safety devices. Then, based on the information about the movement of the moving body calculated by the measuring device, the moving body control unit controls the operation of the moving body and the safety devices.

[0085] Furthermore, in some embodiments, an elevator car is used as an example of a moving body equipped with the measuring device according to the present invention, but the moving body to which the present invention can be applied is not limited to an elevator car. The technology shown in each embodiment can also be applied to moving bodies (e.g., automatic doors, trains, vehicles, cranes, etc.) that move along stationary structures (e.g., guide rails, tracks, roads, etc.) with artificial abrasion damage. In addition, "light" in this specification refers to electromagnetic waves, specifically, in addition to visible light, it can also be one of microwaves, terahertz waves, infrared rays, ultraviolet rays, X-rays, etc. Similarly, the measuring system to which the present invention can be applied is not limited to a measuring system embedded in an elevator system, but can also be applied, for example, to a positioning system for a vehicle controlling automatic driving, or a positioning system for a crane, etc.

[0086] Furthermore, in the following description, when describing elements of the same type without distinguishing between them, the common part of the reference symbol including the sub-number (the part other than the sub-number) is used. When describing elements of the same type, the reference symbol including the sub-number is sometimes used. For example, when describing the measuring device without special distinction, it is referred to as "measuring device 110". In contrast, when describing each measuring device 110 separately, it is sometimes referred to as "measuring device 110-A" or "measuring device 110-B".

[0087] (1) First Embodiment

[0088] (1-1) Structure of the elevator system 10

[0089] Figure 1 This is a diagram illustrating a structural example of the elevator system 10 according to the first embodiment of the present invention.

[0090] like Figure 1 As shown, the elevator system 10 comprises measuring devices 110 (110-A and 110-B, respectively) mounted on the upper part of an elevator car 120 that moves within a hoistway (movement path of a moving body) of a building (not shown). Additionally, as... Figure 1 As shown, the elevator system 10 includes an elevator car 120, an elevator control unit 130, and guide rails 140 (140-A and 140-B, respectively), but at least one of these components may also be included in the measuring device 110.

[0091] The measuring device 110 outputs signal information useful for controlling the operation of the elevator car 120 (such as signal information about the position, speed, or acceleration of the elevator car 120) to the elevator control unit 130. The elevator control unit 130 controls the operation of the elevator car 120 and controls safety devices, etc. Furthermore, the measuring device 110 is not limited to the upper part of the elevator car 120; it can also be installed elsewhere, such as on the side or lower part (details will be described later). Figure 1 The measuring device 110 shown is redundantly structured by using measuring device 110-A and measuring device 110-B for redundancy. However, the redundant structure of the measuring device 110 in this embodiment is not limited to a dual structure. It may also use a single system structure instead of redundancy, or it may be a triple or more redundant structure.

[0092] Guide rail 140 is an example of a stationary structure that serves as a reference for measuring relative distances and angles between the measuring device 110, and is disposed within the elevator shaft. Guide rail 140 is positioned within the elevator shaft along the direction of movement of the moving body. Figure 1 The middle part (in the y-axis direction) is configured to contact the guide rollers of the elevator car 120, supporting the movement of the moving body (elevator car 120).

[0093] In the following description, a coordinate system is used to represent the directions of translational and rotational errors of the measuring device 110. For example... Figure 1 As shown, let the direction of movement of the moving body be the y-axis direction, and its position relative to the camera plane ( Figure 1 The direction perpendicular to the top surface of the protrusion of guide rail 140 is defined as the z-axis direction, and the direction perpendicular to both the y-axis and z-axis is defined as the x-axis direction, thus defining a coordinate system. Furthermore, unless otherwise specified, the terms x-direction, y-direction, and z-direction can be considered synonymous with x-axis direction, y-axis direction, and z-axis direction.

[0094] Figure 2 This is a diagram showing a first example of the internal structure of the measuring device 110 and the elevator control unit 130. (See diagram below.) Figure 2 As shown, the measuring device 110 is configured with a light transmitting unit 210, an imaging unit 220, a camera unit 230, an image processing unit 240, a car movement-related information output unit 250, and an indicator unit 260. Furthermore, Figure 2 In the diagram, dashed lines with arrows represent optical paths, and solid lines with arrows represent electrical signal paths.

[0095] The light transmitting unit 210 includes a light source (not shown) and is configured to illuminate the guide rail 140, which is the subject. As the light source of the light transmitting unit 210, a light source that is incoherent in time and space, such as an LED (Light Emitting Diode) or a halogen lamp, can be used, or a light source that is coherent in time and space, such as a laser source, can be used.

[0096] The imaging unit 220 is configured as an optical system that causes the scattered light (emitted light) from the light emanating from the light transmitting unit 210 onto the surface of the guide rail 140 to form an image on the imaging surface of the imaging unit 230. As the imaging unit 220, for example, a single lens or multiple lens groups made of glass or resin, or a concave mirror, can be used.

[0097] The imaging unit 230 converts the light signal (representing the scattered brightness distribution on the surface of the guide rail 140) from the imaging unit 220, which is imaged on an imaging surface including multiple pixels, into an electrical signal corresponding to the brightness of the pixels. This converted electrical signal is then synchronously transmitted as an image signal to the image processing unit 240, along with a timing signal indicating the start and end times of the image capture, sent from the image processing unit 240. The imaging unit 230 can be, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. Furthermore, the imaging unit 230 can be a two-dimensional surface sensor or a one-dimensional line sensor with spatial resolution in the lifting direction of the car 120.

[0098] Furthermore, in the measuring device 110, a wavelength-selective filter, such as a bandpass filter, can be provided outside the imaging unit 220 in the path of the emitted light and scattered light from the light transmitting unit 210 to remove external light other than the required wavelength. Additionally, in order to protect the measuring device 110 from sand or dust entering its interior, a window component or the like can be provided in the path of the incident and scattered light.

[0099] The image processing unit 240 performs image processing on the image signal (which is converted from the light signal that will be imaged on the camera surface) received from the camera unit 230. Based on the captured image generated by the image processing, it calculates information about the movement of the elevator car 120 (specifically, the measurement result of at least one of the moving distance (movement amount) or speed of the elevator car 120, hereinafter referred to as car movement association information), and sends this information to the car movement association information output unit 250.

[0100] In calculating the car movement correlation information, the image processing unit 240 compares images of the guide rail 140 taken in multiple frames from different times, and measures the amount of movement. For example, when the subject, i.e., the guide rail 140, is photographed from the moving elevator car 120, in two images of the subject surface (the surface of the guide rail 140) at different times, a deviation occurs in the direction of movement that corresponds to the amount of movement of the elevator car 120. Therefore, the image processing unit 240 can measure the amount of movement of the elevator car 120 by calculating the amount of deviation in the direction of movement between the images. Furthermore, regarding the method for comparing two images, for example, the correlation function between the two images can be calculated using the correlation function method, or the displacement vector of feature points within the image can be calculated using the optical flow method.

[0101] Furthermore, the image processing unit 240 performs prescribed computational processing (details described later) on the image signal received from the camera unit 230 to determine whether the measuring device 110 is mounted with appropriate accuracy at an appropriate mounting position (hereinafter referred to as the mounting design position) determined based on the guide rail 140 (mounting position determination processing), and sends information about this determination (mounting position determination information) to the instruction unit 260. The mounting position determination information can include not only determination result information indicating whether the measuring device 110 is currently mounted at a position with appropriate accuracy relative to the mounting design position, but also adjustment information such as in which direction and to what extent the current mounting position deviates from the mounting design position relative to the mounting design position (or, in which direction and to what extent the measuring device 110 can be moved to correct to the mounting design position).

[0102] Specifically, the image processing unit 240 can be composed of an information processing and storage medium such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), or microcontroller, or a logic circuit element such as an FPGA (Field-Programmable Gate Array). The image processing unit 240 converts the installation location determination information according to a communication protocol (such as CAN (Controller Area Network) communication, USB (Universal Serial Bus) communication, etc.) that can be received by the elevator control unit 130, and outputs the converted signal information to the car movement-related information output unit 250.

[0103] The car movement correlation information output unit 250 outputs the car movement correlation information received from the image processing unit 240 to the outside of the measuring device 110. Figure 2In this case, the measuring device 110 is connected to the elevator control unit 130 via a cable through the car movement-related information output unit 250, and sends car movement-related information to the elevator control unit 130. Alternatively, the car movement-related information output unit 250 can be a connector for connecting the cable or an antenna for wireless communication. The car movement-related information output by the car movement-related information output unit 250 can be used for implementing prescribed elevator control for the elevator control unit 130 and other control devices not shown, or it can be used to notify the operator 270. Furthermore, the car movement-related information output unit 250 can send car movement-related information to the indicator unit 260, which has a car movement-related information display function, to notify the operator 270.

[0104] The indicator unit 260 notifies the operator 270 by displaying the installation location determination information received from the image processing unit 240 on the outside of the measuring device. If the operator 270 is an installation operator, based on the display on the indicator unit 260, the operator 270 places the measuring device 110 on the upper part of the elevator car 120 and installs it in the designed installation position. Alternatively, if the operator 270 is an inspection operator, based on the display on the indicator unit 260, the operator 270 checks whether the measuring device 110 placed on the upper part of the elevator car 120 is installed in the designed installation position. Furthermore, the ideal installation position is one where the scattered light from the guide rail 140 is uniformly incident on the entire imaging surface of the camera unit 230 with minimal blur (details will be described later).

[0105] Specifically, the indicator unit 260 can be constructed by combining single light sources such as LEDs or bulbs, or it can be constructed by a digital indicator using an LCD display, or other components that allow the operator 270 to visually recognize the judgment result. Alternatively, the components constituting the indicator unit 260 can be speakers or buzzers that transmit sound guidance, or other components that allow the operator 270 to auditorily recognize the judgment result.

[0106] Furthermore, in the elevator system 10 of this embodiment, the internal structures of the measuring device 110 and the elevator control unit 130 are not limited to... Figure 2 The structure shown could also be, for example, like... Figure 3 or Figure 4 The structure shown.

[0107] Figure 3 This is a diagram showing a second internal structure example of the measuring device 110 and the elevator control unit 130. Figure 3 In the structure shown, the measuring device 110 is configured to... Figure 2In addition to the light transmitting unit 210, imaging unit 220, camera unit 230, image processing unit 240, and car movement-related information output unit 250 shown, it also has an installation position determination information output unit 280. Figure 3 In the structure shown, Figure 2 The indicator 260, which is built into the measuring device 110, is included in the elevator control unit 130. Figure 3 In the structure shown, the light transmitting unit 210, imaging unit 220, camera unit 230, and indicator unit 260 have the same functions as... Figure 2 The functions of the parts already described are the same, therefore the explanation is omitted. Additionally, with... Figure 2 Similarly, Figure 3 In the diagram, dashed lines with arrows represent optical paths, and solid lines with arrows represent electrical signal paths.

[0108] Figure 3 In the structure shown, the image processing unit 240 sends the installation location determination information to the instruction unit 260 instead of the installation location determination information.

[0109] Then, the installation location determination information output unit 280 outputs the installation location determination information received from the image processing unit 240 to the outside of the measuring device 110 (e.g., the indicator unit 260 of the elevator control unit 130). Figure 3 In this case, the measuring device 110 is connected to the elevator control unit 130 via a cable through the installation location determination information output unit 280, and sends the installation location determination information to the elevator control unit 130. Alternatively, the installation location determination information output unit 280 can be a connector for connecting cables or an antenna for wireless communication.

[0110] Figure 4 This is a diagram showing a third example of the internal structure of the measuring device 110 and the elevator control unit 130. Figure 4 In the structure shown, the measuring device 110 has a similar function to... Figure 3 The same components are formed. However, as with Figure 3 Differences Figure 4 In the structure shown, the installation location determination information output unit 280 sends installation location determination information to the display terminal 290 held by the operator 270. Figure 2 and Figure 3 Similarly, Figure 4 In the diagram, dashed lines with arrows represent optical paths, and solid lines with arrows represent electrical signal paths.

[0111] Display terminal 290 is a portable terminal that can be carried by operator 270 when installing or inspecting measuring device 110 in a building where elevator system 10 is installed. Specifically, it is such as a tablet, smartphone, or personal computer.

[0112] Figure 4 In the structure shown, the image processing unit 240 converts the installation location determination information according to a communication protocol that the display terminal 290 can receive, and outputs the converted signal information to the installation location determination information output unit 280. Then, the installation location determination information output unit 280 sends the installation location determination information received from the image processing unit 240 to the display terminal 290, and the display terminal 290 displays the received installation location determination information to the operator 270. The method of displaying the information in the display terminal 290 is not particularly limited; for example, it can be the same as that of the indicator unit 260 (see reference). Figures 6-8 It can also display more detailed information on the screen. By confirming the installation location determination information displayed on the display terminal 290, the operator 270 can accurately install or inspect the measuring device 110.

[0113] Furthermore, in this embodiment, the operator 270 can remotely operate the measuring device 110 from a work site far from the building where the elevator system 10 is located, to perform installation or inspection. In this case, even if... Figure 2 or Figure 3 As shown, the installation location determination information is displayed on the indicator 260 inside the building, but the operator 270 cannot confirm it. Therefore, as... Figure 4 As shown in the structure, for example, it is effective to configure the display terminal 290 to communicate with the measuring device 110 via the Internet and to display the installation location determination information on the display terminal 290 held by the operator 270.

[0114] (1-2) Structure of the indicator section 260

[0115] The following is a detailed explanation of the indicator unit 260. Additionally, as... Figure 4 As already explained, the display terminal 290 also has the function of notifying the operator 270, so the following description of the display performed by the instruction unit 260 can also be applied to the display terminal 290.

[0116] Figure 5 This is a diagram showing an example of the configuration of the indicator unit 260. Additionally, Figures 6-8 These are diagrams showing examples (one to three) of the internal structure of the indicator section 260. They will be used in the following description. Figure 2 The structure of the measuring device 110 shown is an example, but it can also be appropriately applied to other devices. Figure 3 and Figure 4The structure example shown is shown below.

[0117] Figure 5 It shows Figure 2 Example of the configuration of the indicator 260 in the shown structure. The indicator 260 is as follows... Figure 5 As shown, the display is included outside the measuring device 110 so that the operator 270 can visually recognize its content.

[0118] Then, the instruction unit 260 includes Figures 6-8 The various displays shown herein display information to the operator 270 based on the installation location determination information generated by the image processing unit 240. As a result, by checking the display content of such an indicator unit 260, the operator 270 can visually identify the determination result of whether the measuring device 110 is positioned with appropriate accuracy at the installation design position based on the guide rail 140, and further, if the positioning is inappropriate, can know what correction information should be made to position it with appropriate accuracy at the installation design position.

[0119] Figure 6 The indicator unit 260 shown includes a determination result display 310. The determination result display 310 outputs whether the measuring device 110 is positioned at the installation design position with appropriate accuracy (appropriate positioning), for example, it is composed of a single light source such as an LED or a bulb. The determination result display 310, for example, "lights up" when the positioning is appropriate and "flickers" when the positioning is inappropriate.

[0120] Furthermore, the single-light source display method is not limited to simply lighting up and blinking; it is possible to combine various lighting modes (lighting up, blinking, and off) and lighting colors, as is the case in other displays described later. Additionally, besides a visual display, the indicator 260 may also use an auditory output device (notifier), for example, a buzzer that emits a beeping sound may be included inside the measuring device 110. In this case, the buzzer will sound, for example, when the measuring device 110 is not positioned with appropriate accuracy in its intended installation location.

[0121] Figure 7 The indicator unit 260 shown includes a correction direction indicator 320 in addition to the judgment result display 310. When the current mounting position of the measuring device 110 is inappropriate, the correction direction indicator 320 displays the direction of at least one of the translational error or rotational error (tilt) of the current mounting position relative to the installation design position, thereby informing the operator 270 of the adjustment method for mounting in the installation design position. The correction direction indicator 320 is, for example, composed of a combination of single light sources such as LEDs or bulbs, and displays the direction of the measurement device 110 in a manner such as... Figure 7The cross-shaped arrangement of single light sources, as shown, informs the operator 270 of the direction of translational or rotational errors (either the direction in which the error occurs or the direction that should be corrected).

[0122] Figure 8 The indicator unit 260 shown includes a correction amount indicator 330 in addition to the judgment result display 310 and the correction direction indicator 320. When the current mounting position of the measuring device 110 does not conform to the installation design position, the correction amount indicator 330 displays the magnitude of at least one of the translational error or rotational error (tilt) of the current mounting position relative to the installation design position, thereby informing the operator 270 of the adjustment method for mounting in the installation design position. The correction amount indicator 330 is, for example, composed of a combination of single light sources such as LEDs or bulbs, and displays the correction amount indicator 330 by means of a single light source such as an LED or a bulb. Figure 8 The multiple parallel arrangement of single light sources, as shown, illuminates the operator 270 by informing them of the magnitude of translational or rotational errors. Additionally, if an audible indicator with the same function as the correction indicator 330 is provided, the adjustment method can be communicated through the pitch or intensity of the beep, or sound guidance can be played from a speaker.

[0123] (1-3) Determination and handling of installation location

[0124] The following is a detailed explanation of the mounting position determination process by which the image processing unit 240 determines whether the measuring device 110 is mounted at the installation design position with appropriate accuracy.

[0125] In the installation location determination process, the image processing unit 240 determines the displacement along the x-axis and z-axis as translational errors along each axis, and the tilt around the x-axis and y-axis as rotational errors, relative to the installation design position of the measuring device 110. Then, based on the magnitude of these errors, the image processing unit 240 calculates the correction amount required to ensure that the current measuring device 110 is installed at the installation design position with appropriate accuracy.

[0126] Furthermore, regarding the displacement along the y-axis and the tilt around the z-axis, which are not mentioned above, no adjustment is needed for the following reasons. The displacement along the y-axis is in the direction of movement of the moving body (elevator car 120), and any deviation in the y-axis direction during installation will not affect the measured values ​​of the relative moving distance and speed of the elevator car 120 (measuring device 110) relative to the guide rail 140. Regarding the tilt around the z-axis, since the tilt of the captured image can be corrected using image processing in the image processing unit 240, no adjustment is needed. That is, in the comparison processing of two images at different times, the displacement in both the y-direction and x-direction between frames can be calculated using the correlation function method, and the tilt angle of the car can be measured.

[0127] Figure 9 This diagram illustrates an example of the internal structure of the image processing unit 240, which determines the translational or rotational error of the measuring device 110. The image processing unit 240 determines the translational error of the measuring device 110 along the x-axis or the rotational error of the measuring device 110 around the x-axis or y-axis by performing prescribed computational processing on the image signal received from the camera unit 230.

[0128] Image processing unit 240 receives image signals about the scattered light from guide rail 140 from camera unit 230, such as Figure 9 As shown, the captured image is divided into four quadrants (quadrants 401, 402, 403, and 404) that are each bisected in the x and y directions. The image processing unit 240 calculates the sum or average of the pixel values ​​in each quadrant, and calculates the difference values ​​in the x and y directions based on the calculated pixel values ​​of each quadrant.

[0129] Here, let P be the pixel value of quadrant 401 of the captured image (equivalent to the total or average pixel value in that quadrant, the same applies below). 401 Similarly, let the pixel value of quadrants 402, 403, and 404 be P. 402 P 403 P 404 At this time, the pixel value "P" on the positive x-axis of the captured image. x，+ According to "P" x，+ =P 402 +P 404 "Calculations show that the pixel value 'P' on the negative side of the x-axis..." x，- According to "P" x，- =P 401 +P 403 "Calculated. Additionally, the pixel value 'P' on the positive side of the y-axis of the captured image." y，+ According to "P" y，+ =P 401 +P 402 "Calculations show that the pixel value 'P' on the negative side of the y-axis..." y，- According to "P" y，- =P 403 +P 404 "Calculated."

[0130] Therefore, the difference value in the x-direction can be obtained, for example, from the pixel value "P" on the positive side of the x-axis. x，+ "Subtract the pixel values ​​on the negative side of the x-axis from the middle" P x，- ", defined as "P" x，+ -P x，- Similarly, the difference value in the y-direction can be obtained, for example, from the pixel value "P" on the positive side of the y-axis. y，+ "Subtract the pixel value on the negative side of the y-axis from the middle" P y，-", defined as "P" y，+ -P y，- ".

[0131] Based on the difference values ​​in the x-direction and y-direction calculated as described above, the image processing unit 240 determines in the determination circuit 405 whether there is a translation error of the measuring device 110 along the x-axis or a rotation error of the measuring device 110 around the x-axis or y-axis. Each determination method will be described in detail below. Then, the image processing unit 240 sends the determination result obtained by the determination circuit 405 to the indication unit 260.

[0132] (1-3-1) Method for determining translation error along the x-axis

[0133] Figure 10 This is a conceptual diagram illustrating a method for determining the translation error of a measuring device 110 along the x-axis direction based on the difference value in the x-direction. Figure 10 In (A), examples of the positional relationship between the guide rail 140 and the measuring device 110 (the imaging area 501 of the imaging unit 230) are shown for measuring devices 110 located at different positions in the x-axis direction relative to the guide rail 140. In (B), a conceptual diagram of the captured image 502 under the above positional relationships is shown. In (C), a conceptual diagram showing the shift in the relationship between the displacement of the measuring device 110 in the x-direction relative to the installation design position and the difference value in the x-direction is shown.

[0134] The measuring device 110 images the scattered light from a predetermined imaging area 501 on the surface of the guide rail 140 onto the imaging unit 230, and sends it as an image signal to the image processing unit 240. The captured image 502 schematically shows the image signal received by the image processing unit 240. Figure 10 In this context, let the image captured in camera area 501-B when the measuring device 110 is placed in the designed installation position be image 502-B; let the image captured in camera area 501-A when the measuring device 110 has a translation error relative to the designed installation position in the negative x-axis direction be image 502-A; and let the image captured in camera area 501-C when the measuring device 110 has a translation error relative to the designed installation position in the positive x-axis direction be image 502-C.

[0135] When the measuring device 110 is positioned as designed, the scattered light from the guide rail 140 is incident on the entire imaging surface of the camera unit 230, thus preventing dark areas from being generated in the captured image 502-B. However, if the measuring device 110 is shifted relative to the designed mounting position in a certain direction along the x-axis, and a portion of the guide rail 140 deviates from the imaging area 501, then scattered light from the guide rail 140 is not incident on a portion of the imaging surface, resulting in a dark area 503 in a portion of the captured images 502-A and 502-C.

[0136] Based on the above, the difference value in the x-direction will be explained. Regarding the difference value in the x-direction calculated from image 502-B taken when the measuring device 110 is mounted in the designed installation position, there is almost no difference between the total pixel values ​​on the positive x-axis side (quadrants 402, 404) and the total pixel values ​​on the negative x-axis side (quadrants 401, 403), and the difference value is approximately 0. On the other hand, the difference value in the x-direction calculated from images 502-A and 502-C taken when the measuring device 110 is not mounted in the designed installation position increases proportionally to the area of ​​the dark region included in the image and the pixel value of the scattered light from the guide rail 140, thus producing a finite difference value 504 as shown in (C).

[0137] Therefore, the determination circuit 405 determines "OK" (no translation error in the x direction relative to the installation design position) when the difference value (absolute value) in the x direction is below the specified threshold T, and determines "NG" (there is a translation error in the x direction relative to the installation design position) when the difference value (absolute value) in the x direction exceeds the specified threshold T, and outputs these determination results to the installation position determination processing of the indicator 260.

[0138] Here, the threshold T is further explained quantitatively. Consider the pixels in the camera unit 230 where scattered light from the guide rail 140 is incident. Let the average pixel value of these pixels be I0 and the standard deviation be σ. I Assume that the pixel values ​​follow a normal distribution. Furthermore, let N be the number of pixels in the x-direction of the camera unit 230. x The number of pixels in the y direction is N y .

[0139] In image 502-B, the difference value in the x-direction has the same degree of error as the pixel value, and its magnitude conforms to σ. I / (√(N x ×N yThe standard deviation is a normal distribution. On the other hand, if the measuring device 110 has a translation error in the x-direction and generates a dark region 503 in the x-direction, a difference value proportional to the area of ​​the dark region 503 is generated. For example, if only a dark region 503 equivalent to one column of pixels is generated, the magnitude of the difference value is I0×N. y They are largely the same.

[0140] Therefore, in this embodiment, the threshold T for the difference value is defined as being greater than the error of the pixel value (e.g., 5 times the standard deviation) and less than the difference value generated by the smallest dark area. Such a threshold T is determined, for example, by the relationship in Equation 1 below.

[0141]

[0142] By using the threshold T determined by Equation 1 above to perform the above installation location determination process, the determination circuit 405 can determine OK when the difference value in the x direction is consistent with "0 (or approximately 0)" within the error range of the pixel value, and output NG determination when a dark area is generated in at least one column in the x direction.

[0143] Next, the required installation accuracy in the x-direction of the measuring device 110 will be explained. The required installation accuracy refers to the accuracy used as a reference for determining whether the measuring device 110 is positioned correctly during installation or inspection; sufficient and appropriate accuracy is required. Ideally, the installation position in the x-direction is a configuration where the central axis 505 of the guide rail 140 in the x-direction coincides with the central axis 506 of the imaging range of the measuring device 110 in the x-direction. Even if the central axis 506 of the imaging range shifts relative to the central axis 505 of the guide rail 140, the positional variation in the x-direction is permissible as long as the scattered light from the guide rail 140 is incident on the entire imaging surface of the camera unit 230. Therefore, let W be the width of the imaging range of the measuring device 110 in the x-direction. im The width of guide rail 140 in the x direction is W. rail When the allowable translation error in the x-direction (i.e. the installation accuracy requirement in the x-direction) is given by the value of Equation 2.

[0144]

[0145] Specifically, for example, W in measuring device 110 im =13mm, guide rail 140W rail When the value is 15mm, the allowable displacement in the x-direction (the installation accuracy requirement in the x-direction) is 1mm.

[0146] Next, the method by which the image processing unit 240 calculates the magnitude and direction of the translation error based on the magnitude and sign of the difference value in the x-direction will be explained when a translation error exists in the x-direction. The magnitude of the difference value in the x-direction is proportional to the width of the dark region in the x-direction, so the adjustment amount can be calculated based on the magnitude of the difference value in the x-direction. In addition, the sign of the difference value in the x-direction determines whether the shift occurred to the left or right.

[0147] This example illustrates dividing the captured image into four quadrants, each bisected in the x and y directions. However, the number of divisions is not limited to four. For instance, by processing the internal structure of the captured image into a total of 16 quadrants, each bisected in the x and y directions, the image processing unit 240 can estimate the adjustment amount with higher accuracy compared to the case of four quadrants.

[0148] Furthermore, when calculating the magnitude of the translation error based on the difference component in the x-direction, the measuring device 110 needs to have sufficient accuracy (displacement less than W). rail / 2) Mounting. For example, if the displacement is greater than that of the captured image 502-A, and all pixels in quadrants 401 and 403 become dark areas 503, and dark areas 503 are also generated in parts of quadrants 402 and 404, and the mounting position of the measuring device 110 deviates significantly from the installation design position, the proportion of bright areas other than dark areas 503 in the captured image 502 is too small. The translation error cannot be accurately calculated using the quadrant division method described above. In this case, it is necessary to divide the image into pixels with a finer division number than four equal parts, and adjust the amount of movement based on the smaller bright areas.

[0149] (1-3-2) Method for determining the rotational error about the x-axis

[0150] Figure 11 This is a conceptual diagram illustrating a method for determining the rotational error (tilt) of a measuring device 110 about the x-axis based on the difference value in the y-direction. Figure 11 In (A), examples of the positional relationship between the guide rail 140 and the measuring device 110 are shown for measuring devices 110 at different positions relative to the guide rail 140 about the x-axis. In (B), a conceptual diagram of the captured image 602 under the above positional relationships is shown. In (C), a conceptual diagram showing the shift in the relationship between the tilt angle of the measuring device 110 about the x-axis and the difference value in the y-direction relative to the installation design position is shown.

[0151] Figure 11 In this context, the image captured when the measuring device 110 is placed in the designed installation position is image 602-B, and the images captured when the measuring device 110 is tilted about the x-axis relative to the designed installation position are images 602-A and 602-C.

[0152] When the measuring device 110 is tilted about the x-axis relative to its designed mounting position, as shown in the captured images 602-A and 602-C in (B), the pixel value decreases slowly. This is because, as explained later, the scattered brightness from the guide rail 140 decreases as the scattering angle increases. When the measuring device 110 is mounted at its designed mounting position, the difference value in the y-direction is approximately equal to 0. On the other hand, when the measuring device 110 is tilted about the y-axis relative to its designed mounting position, it exhibits asymmetry in the left and right quadrants (pixel value unevenness 603), thus producing a finite difference value 604 as shown in (C). Therefore, the image processing unit 240 (determination circuit 405) can determine the tilt of the measuring device 110 about the x-axis based on the difference value in the y-direction.

[0153] Specifically, the determination circuit 405 determines "OK" (no tilt (rotation error) about the x-axis relative to the installation design position) when the difference value (absolute value) in the y-direction is below a predetermined threshold T, and determines "NG" (tilt (rotation error) exists) when the difference value (absolute value) in the y-direction exceeds the predetermined threshold T. These determination results are then output to the installation location determination processing of the indicator unit 260. Furthermore, the threshold T can be used as a reference. Figure 10 The threshold T used in determining the translation error along the x-axis direction is determined using the same method, and can also be set to the same value.

[0154] Next, the required accuracy for the installation of the measuring device 110 regarding its tilt around the x-axis will be explained. The ideal installation design position is a non-tilted configuration of the measuring device 110, that is, a configuration where the optical axis of the imaging unit 220 in the measuring device 110 is aligned with the z-axis direction. On the other hand, when tilting around the x-axis occurs, the optical axis of the imaging unit 220 is not orthogonal to the top surface of the protrusion of the guide rail 140, and the magnification in the y-direction decreases. That is, let the tilt angle around the x-axis during installation be θ. set，x When, the magnification in the y-direction is related to cos(θ) set，x The distance measured by the measuring device 110 decreases proportionally to cos(θ). As a result, compared to the actual distance traveled, the distance traveled is proportional to the distance traveled by the measuring device 110. set，x It decreases proportionally, resulting in systematic error.

[0155] Let the relative tolerance of this system error be δr, then the tolerance for tilt around the x-axis at the installation design position is acos(1-δr). Specifically, for example, to suppress the system error to within 0.1% (δr≤0.001), an accuracy of less than 2.5 degrees (i.e., θ) is required. set，x Installation accuracy of ≤2.5°.

[0156] Next, focusing on the “pixel value unevenness” that occurs on the entire imaging surface of the imaging unit 230 due to the tilt of the measuring device 110 when the measuring device 110 is installed or inspected with the aforementioned installation requirements, the structure of the light transmitting unit 210 and the imaging unit 220 in the present invention will be described.

[0157] Figure 12 This is a conceptual diagram used to illustrate the brightness distribution of the scattered light from guide rail 140 at various scattering angles. In detail, Figure 12 The diagram shows the relationship between the light transmission direction of the light transmitting unit 210, the grinding direction of the guide rail 140, and the scattering angle direction of the scattered light from the guide rail 140. In the inserted figure 701, a schematic diagram of the unevenness of the scattered light caused by the grinding direction of the guide rail 140 is shown.

[0158] In a structure where the grinding direction of guide rail 140 is along the y-axis, the surface of guide rail 140 is rough in the x-axis direction perpendicular to the grinding (refer to insert Figure 701(B)). As a result, in the xz plane perpendicular to the grinding direction (y-direction), the direction of scattered light from the grinding damage is significantly uneven. On the other hand, in the yz plane parallel to the grinding direction (y-direction), the inclination of the surface of guide rail 140 is uniform along the grinding, so scattered light is difficult to generate (refer to insert Figure 701(C)), and is concentrated in the emission direction of positively reflected light, with less angular unevenness.

[0159] Therefore, when the grinding direction of guide rail 140 is along the y-axis, if a structure is adopted as follows... Figure 12 As shown, in the structure of the light transmitting unit 210, the light transmitting direction is within the xz plane, so the emission direction of the positively reflected light is also within the xz plane. As a result, regarding the scattering angle distribution, it is strongly distributed around the xz plane (refer to (A) in insert figure 701), and the high-brightness scattered light is incident on the imaging unit 220.

[0160] Figures 13-15 These are conceptual diagrams (first to third) used to illustrate the directions of the illumination light from the light transmitting unit 210, as well as its scattered light and positively reflected light.

[0161] Figure 13 The image shows the state when the measuring device 110 is mounted in an ideal installation design position with respect to its tilt about the x-axis (the optical axis of the imaging unit 220 is aligned with the z-axis). In such a case... Figure 13 The ideal installation design position shown places the orthogonal reflected light within the imaging range in the xz plane. When the emission position of the illumination light from the light transmitting unit 210 is distributed in the y direction at a length equal to the width of the imaging range, the orthogonal reflected light from the imaging range is uniformly incident on the imaging unit 220.

[0162] on the other hand, Figure 15 The diagram shows the state of the measuring device 110 when it is tilted significantly about the x-axis relative to its ideal mounting design position. For example... Figure 15 As shown, when a significant tilt occurs around the x-axis, there is no light source at the position where the orthogonal reflected light, which should be reflected within the shooting range and incident as the principal ray of the imaging unit 220, is incident on the imaging unit 220. Consequently, there is no orthogonal reflected light from a portion of the shooting range incident on the imaging unit 220. As a result, a gradual decrease in brightness occurs in the captured image.

[0163] Figure 14 This is a conceptual diagram used to illustrate the conditions under which orthogonally reflected light from the shooting range no longer incident on the imaging unit 220.

[0164] like Figure 14 As shown, let H be the height of the light transmitting unit 210 in the y direction. LED The height of the camera area is H im The z-component of the displacement of the optical transmitting unit 210 relative to the guide rail 140 is L. z At this point, the tilt angle at which the gradual decrease in pixel values ​​begins is "atan((H)". LED -H im ) / (2×L z Therefore, in order to make the orthogonally reflected light from the shooting range incident on the imaging unit 220, the height H of the light transmitting unit 210 can be determined, for example, by the following formula 3. LED The upper limit boundary.

[0165] H LED ≤H im +2L z ×tan(2θ set，x ...(Equation 3)

[0166] If H is constructed as shown in Equation 3 above LED Then, the required installation accuracy "θ" exceeds the tilt around the x-axis. set，x When the image processing unit 240 (determination circuit 405) determines the mounting location as "NG" (there is an inclination about the x-axis relative to the mounting design position) during the mounting location determination process.

[0167] Furthermore, the installation accuracy required for the tilt of the x-axis in Equation 3 above is "θ". set，x When “”, it is expressed as shown in Equation 4 below. The right side of Equation 4 represents the measurable minimum value of the rotational error about the x-axis.

[0168]

[0169] Furthermore, the measuring device 110 sometimes tilts around the x-axis during travel due to car swaying. In order to obtain a uniform image when such tilting occurs, the size of the light transmitting unit 210 needs to be sufficiently expanded, and a margin for tilting needs to be preset. Therefore, assuming the magnitude of the tilt caused by car swaying is "θvib,x", the height H of the light transmitting unit 210 is determined, for example, as shown in Equation 5 below. LED The lower bound is thus determined, which ensures sufficient margin for tilt.

[0170] H LED ≥H im +2L z ×tan(2θ vib，x ...(Equation 5)

[0171] Using Equations 3 and 5 above, the height H in the y-direction of the light transmitting unit 210 is specifically calculated. LED For example, suppose the measuring device 110 is configured such that the z-component of the displacement of the light transmitting unit 210 relative to the guide rail 140 is 70 mm, and the height H of the imaging area is... im It is 12.8mm. At this point, assuming the car sway is 1 degree, in order to install the measuring device 110 with the required accuracy (magnification variation within 0.1%) for an installation angle of less than 2.5 degrees, if the height H in the y-direction of the light transmitting unit 210 is... LED Height H of the camera area im Compared to larger values, if the difference is selected to be greater than 3.5mm and less than 8.9mm, it is possible to determine the tilt around the x-axis that is above the installation requirement accuracy relative to the installation design position, and a uniform image is always obtained even if the car shakes.

[0172] (1-3-3) Method for determining rotational error about the y-axis

[0173] Figure 16 This is a conceptual diagram illustrating a method for determining the rotational error (tilt) of a measuring device 110 about the y-axis based on the difference value in the x-direction. Figure 16 In (A), examples of the positional relationship between the guide rail 140 and each measuring device 110 are shown for measuring devices 110 located at different positions about the y-axis relative to the guide rail 140. In (B), a conceptual diagram of the captured image 902 under the above positional relationships is shown. In (C), a conceptual diagram showing the shift in the relationship between the tilt angle of the measuring device 110 about the y-axis and the difference value in the x-direction relative to the installation design position is shown.

[0174] Figure 16 In the above, the image taken when the measuring device 110 is placed in the installation design position is called image 902-B, and the images taken when the measuring device 110 is tilted about the y-axis relative to the installation design position are called images 902-A and 902-C.

[0175] When the measuring device 110 is tilted about the y-axis relative to its designed mounting position, as shown in the captured images 902-A and 902-C in (B), the pixel value decreases gradually. This is because the scattered brightness from the guide rail 140 decreases as the scattering angle increases. Therefore, similar to the translation error in the x-direction and the rotation error about the x-axis mentioned above, as shown in (C), the tilt of the measuring device 110 about the y-axis can be determined based on the difference value in the x-direction from the captured images 902-A to 902-C.

[0176] Next, the required installation accuracy for tilting around the y-axis in this structure will be explained. (Refer to...) Figure 12 As mentioned above, the grinding damage on guide rail 140 is parallel to the direction of movement (y-axis direction), therefore the angular distribution of scattered light from the grinding damage is significantly uneven in the xz plane (see reference). Figure 12 (See Figure 701(A)). As a result, even with a slight tilt around the y-axis, the large diffusion range of the angular distribution of the scattered brightness makes it difficult for phenomena such as... Figure 16 (B) shows a gradual decrease in pixel values, which always results in a uniform image. That is, tilting around the y-axis has less error sensitivity and is easier to adjust compared to tilting around the x-axis.

[0177] On the other hand, let θ be the diffusion angle in the x-direction of the angular distribution of scattered light caused by grinding damage. scat，x At that time, the measuring device 110 significantly exceeded θ. scat，x When the ground is tilted around the y-axis, a gradual decrease in pixel value (pixel value unevenness 903) occurs in the captured images 902-A and 902-C, as shown in (B). Therefore, the required accuracy for installation tilted around the y-axis is determined by the diffusion angle "θ" in the x-direction of the angular distribution of scattered light caused by abrasion damage. scat，x "Decide.

[0178] (1-3-4) Determining the translation error along the x-axis and the rotation error around the y-axis as explained in (1-3-1) above. Figure 10 The captured images 502-A to 502-C, and those described in (1-3-3) Figure 16 When comparing the captured images 902-A to 902-C, it can be seen that a gradual decrease in pixel value may occur in the x-direction in either image. This means that similar captured images can be obtained when the measuring device 110 has a translational error in the x-axis direction and a rotational error about the y-axis. In order to accurately determine the mounting position of the measuring device 110 relative to the installation design position, it is preferable to be able to determine the cause of these errors.

[0179] Figure 17This is a diagram illustrating an example of the internal structure of the image processing unit 240, which determines translational errors in the x-axis direction and rotational errors around the y-axis during the installation location determination process. Figure 17 The image processing unit 240 shown includes a total circuit 1001 and a determination circuit 1003.

[0180] The decrease in accuracy is caused by the deviation of the guide rail 140 from the shooting range and the creation of dark areas in a portion of the shooting range during the positional variation in the x-direction of the measuring device 110. On the other hand, the decrease in accuracy is also caused by the reduction in the gradual brightness distribution along the x-direction due to the tilting of the measuring device 110 about the y-axis.

[0181] Figure 17 In the internal structure of the image processing unit 240 shown, the summing circuit 1001 calculates the sum of the pixels in the y-axis direction for the image signal received from the imaging unit 230, and calculates the difference between adjacent pixels in the x-axis direction, thereby generating a difference map 1002. In this difference map 1002, if a positional change occurs in the x-direction, a steep and high peak is generated at the end of the guide rail 140 (difference map 1002-A). On the other hand, if a tilt occurs around the y-axis, no steep peak appears, but a gentle and low peak is generated (difference map 1002-B).

[0182] The determination circuit 1003 focuses on the differences between the difference maps 1002-A and 1002-B as described above, calculates the height and width of the difference map 1002, and determines, based on the magnitude of the height and width, whether the decrease in pixel value in the captured image is due to a change in position in the x-axis direction (translation error), a tilt around the y-axis (rotation error), or both. In the height determination, the determination circuit 1003, for example, uses the average pixel value I0 as a reference. If the height in the difference map 1002 is equal to or greater than the average value I0, it is determined to be a change in position in the x-axis direction; if it is less than the average value I0 to a certain extent, it is determined to be a tilt around the y-axis. In this case, the height threshold used as the determination reference for tilt around the y-axis is set, for example, to half the average pixel value I0. Similarly, in the width determination, the determination circuit 1003, for example, determines that if the width is equal to or less than one pixel, it is determined to be a change in position in the x-axis direction; if the width is greater than one pixel to a certain extent, it is determined to be a tilt around the y-axis. At this point, the threshold of the width, which serves as the criterion for determining tilt around the y-axis, is set to, for example, several pixels (2 to 3 pixels).

[0183] Then, the determination circuit 1003 determines the adjustment information (adjustment direction and adjustment movement amount) needed to eliminate each error based on the determination result of whether the measuring device 110 is placed in the installation design position (determined to be OK or NG), and in the case of NG, outputs the adjustment information (adjustment direction and adjustment movement amount) to the indicator unit 260, etc.

[0184] Furthermore, as mentioned above, the scattered light from the guide rail 140 diffuses significantly in the x-direction due to the grinding damage on the surface of the guide rail 140 in the y-axis direction. Therefore, the tilt around the y-axis has a smaller error sensitivity and is easier to adjust compared to the tilt around the x-axis. Thus, the determination circuit 1003 can finely adjust the translation error in the x-direction by referring to the difference value in the x-direction after coarsely adjusting the rotational error around the y-axis.

[0185] Furthermore, the rotational error about the x-axis described in (1-3-2) can also be addressed in the same way. Figure 17 The internal structure of the image processing unit 240 shown in the figure involves exchanging the x-axis and y-axis, and determining whether the error is caused by tilting (rotation) around the x-axis or something else (e.g., displacement in the y-axis direction). In this case, specifically, the summing circuit 1001 calculates the sum of pixels in the x-axis direction and calculates the difference between adjacent pixels in the y-axis direction, generating a difference map 1002 along the y-axis direction. Then, the determination circuit 1003 determines the magnitude and direction (or one or the other) of the rotation error around the x-axis based on the position of the peaks in the difference map 1002.

[0186] (1-3-5) Method for determining translation error along the z-axis

[0187] Figure 18 This is a diagram illustrating an example of the internal structure of the image processing unit 240, which determines the translation error in the z-axis direction during the installation location determination process. Figure 18 The image processing unit 240 shown includes a Fourier transform circuit 1101 and a determination circuit 1102.

[0188] Figure 18 The image processing unit 240 shown receives an image signal about the scattered light from the guide rail 140 from the camera unit 230. In the Fourier transform circuit 1101, two-dimensional Fourier transforms are performed for the x-axis and y-axis directions respectively. At this time, the measuring device 110 is displaced in the z-axis direction relative to its designed mounting position, resulting in blurring in the captured image. Figure 18As shown in the graph, the higher spatial frequency components decrease. Therefore, the determination circuit 1102 determines the positional variation along the z-axis based on the decrease in the Fourier intensity of the high-frequency components. For example, if the Fourier intensity of the high-frequency components is lower than that envisioned based on the image captured by the guide rail 140, it is determined as "NG" (there is a translational error in the z-axis direction relative to the installation design position), and an NG signal is sent to the indicator unit 260. On the other hand, if the Fourier intensity obtained through the Fourier transform is higher than the aforementioned envisioned Fourier intensity of the high-frequency components, the determination circuit 1102 determines as "OK" (there is no translational error in the z-axis direction relative to the installation design position), and an OK signal is sent to the indicator unit 260. Furthermore, the determination circuit 1102 can calculate the adjustment amount (correction amount) required to eliminate the error relative to the installation design position based on the amount of decrease in the Fourier intensity of the high-frequency components.

[0189] As explained above in (1-3-1) to (1-3-5), the measuring device 110 of this embodiment has an image processing unit 240. Figure 9 When the internal structure shown is examined, the translational error in the x-axis direction and the rotational error about the y-axis can be determined based on the difference value in the x-direction, and the rotational error about the x-axis can be determined based on the difference value in the y-direction. Furthermore, the measuring device 110 has an image processing unit 240... Figure 18 When the internal structure shown is examined, the translation error in the z-axis direction can be determined by two-dimensional Fourier transforms in the x-axis and y-axis directions. Furthermore, the measuring device 110 has an image processing unit 240... Figure 17 When examining the internal structure shown, it is possible to determine whether either the translation error in the x-axis direction or the rotation error around the y-axis is the cause of the error, or whether the rotation error around the x-axis is the cause.

[0190] Then, the above Figure 4 , Figure 17 and Figure 18 The internal structure of the image processing unit 240 shown can function independently or be appropriately combined. For example, by... Figure 4 Internal structure and Figure 18 The internal structure of the image processing unit 240 is configured to determine displacement (translation error) and tilt (rotation error) about all axes, except for displacement in the y-axis direction and tilt about the z-axis, which do not require adjustment. Furthermore, by also adding... Figure 17 Its internal structure can accurately identify the cause of errors and improve the accuracy of installation design position determination.

[0191] (1-4) Installation design location of measuring device 110

[0192] The above design places the measuring device 110 at the upper part of the elevator car 120. However, the installation position of the measuring device 110 in this embodiment is not limited to this. Various structures can be used to directly or indirectly mount the measuring device 110 on the horizontal (or approximately horizontal) surface of the elevator car 120, as illustrated below.

[0193] Figures 19-22 These are figures (one through four) showing specific examples of the installation design location of the measuring device 110. Figures 19-22 In a specific example, the position where the guide rail 140 can be clearly seen from the elevator car 120 can be selected as the installation design position of the measuring device 110.

[0194] Figure 19 This example shows the measuring device 110 mounted on an umbrella 1202 located above the guide roller 1201 of the elevator car 120. This structure has the advantage of not requiring changes to the existing structure of the elevator car 120. Furthermore, on-site workers only need to place and fix the measuring device 110 on the umbrella 1202 when performing work on the car, thus reducing the amount of installation work required.

[0195] Figure 20 This example illustrates a method where a gap is provided at the lower part of the guide rollers 1201 of the elevator car 120, and the measuring device 110 is installed in this gap. This structure allows the measuring device to be installed on the top surface of the elevator car 120, where surface accuracy is high, thus minimizing rotational errors during installation. Furthermore, by preparing threaded holes and markings at the installation design position of the measuring device 110 during the design phase of the elevator car 120, translational and / or rotational errors can be reduced, allowing for more precise installation of the measuring device 110.

[0196] Figure 21 An example is provided with an opening near the guide rail 140 of the elevator car 120, and a measuring device 110 is installed in this opening. In this configuration, by placing the indicator 260 of the measuring device 110 inside the elevator car 120, the operator 270 can install and inspect the measuring device 110 simply by working inside the car. Therefore, simplification of the operation and reduction of the operation time can be expected.

[0197] Figure 22 This example shows the measuring device 110 installed in the lower part of the elevator car 120 (below the ground or floor, etc.). This structure is effective when there is limited space above the elevator car 120. For example, this structure is effective in buildings with low ceilings where the height of the elevator shaft is limited.

[0198] Furthermore, the mounting position of the measuring device 110 in this embodiment can also be configured by combining the above examples. For example, when multiple measuring devices 110 need to be installed to improve reliability through redundancy, one can be installed in the upper part of the car ( Figure 19 The other side is placed in the lower part of the car. Figure 22 )wait.

[0199] (1-5) Installation and inspection of measuring device 110

[0200] The following details the installation process for mounting the measuring device 110 in its appropriate installation location (designed installation location) and the inspection process for maintaining and checking the installed measuring device 110. Both the installation and inspection operations are performed by operator 270. Furthermore, the internal structures of the measuring device 110 and the elevator control unit 130 can be... Figures 2-4 One of the structural examples shown in the figure.

[0201] (1-5-1) Installation work

[0202] Figure 23 This is a flowchart illustrating an example of the installation process.

[0203] according to Figure 23 First, the operator 270 places the measuring device 110 at the installation design position of the elevator car 120 (step S101).

[0204] Next, the operator 270 checks the installation location determination information displayed on the indicator unit 260 (or display terminal 290) to confirm whether the measuring device 110 is placed in the designed installation position (step S102). Specifically, the operator 270 confirms that... Figures 6-8 The determination result display 310 shows whether the determination is OK.

[0205] In addition, the connection of the measuring device 110 to the elevator control unit 130 or the display terminal 290, and the power supply to the measuring device 110, can be performed at the beginning. Figure 23 The installation process shown should be performed before, at least before, step S102.

[0206] If, during the confirmation in step S102, the measuring device 110 is not positioned as designed for installation, i.e., an NG (Not Acceptable Error) result is output (NO in step S103), the operator 270 adjusts the placement of the measuring device 110 based on the installation location determination information displayed on the indicator 260 (or display terminal 290) (step S104). Specifically, the indicator 260 or display terminal 290 includes... Figure 7 and Figure 8 In the case of the correction direction indicator 320 shown, the operator 270 adjusts the mounting position of the measuring device 110 according to the displacement and tilt indicated by the correction direction indicator 320 using the mounting position adjustment fixture described later. Alternatively, if the indicator unit 260 or display terminal 290 does not include the correction direction indicator 320, the operator 270 moves the measuring device 110 in various directions to find the designed mounting position.

[0207] After step S104, the process returns to step S102, where the operator 270 confirms whether the adjusted measuring device 110 is placed in the designed installation position based on the installation location determination information displayed on the indicator 260 or display terminal 290. The operator 270 repeats the process of steps S102 to S104 until a YES result is determined in step S103.

[0208] On the other hand, if the measuring device 110 is placed in the installation design position during the confirmation in step S102, that is, if an OK judgment is output (YES in step S103), proceed to step S105.

[0209] Then, in step S105, the operator 270 uses a fixing clamp to fix the measuring device 110 in the current mounting position, thus completing the installation operation.

[0210] As mentioned above, by conducting Figure 23 During the installation operation, the operator 270 can easily place and install the measuring device 110 with sufficient and appropriate accuracy in the installation design position without using special measuring tools and without relying on their own proficiency in measuring and optical adjustment techniques.

[0211] (1-5-2) Inspection work

[0212] Figure 24 This is a flowchart illustrating an example of the workflow for an inspection task.

[0213] according to Figure 24 First, the operator 270 checks the installation location determination information displayed on the indicator 260 in the measuring device 110 installed on the elevator car 120 to confirm whether the measuring device 110 is placed in the designed installation position (step S201). Specifically, the operator 270 confirms that... Figures 6-8The determination result display 310 shown in the figure indicates whether the determination is OK. Alternatively, the operator 270 can use the display terminal 290 instead of the indicator 260, and this is also true in the following processes. Through the confirmation in step S201, it is possible to determine, for example, whether the measuring device 110 has deviated from its designed installation position due to vibration, impact, or loosening of the clamps in the elevator car 120 during long-term operation.

[0214] If the measuring device 110 is installed in the designed installation position during the confirmation in step S201, that is, if the OK judgment is output (YES in step S202), the operator 270 ends the inspection work on the installation position of the measuring device 110.

[0215] On the other hand, if the measuring device 110 is not installed in the installation design position during the confirmation in step S201, i.e., an NG judgment is output (NO in step S202), the operator 270 removes the fixing fixture of the measuring device 110 (step S203).

[0216] Next, the operator 270 confirms whether the measuring device 110 is placed in the designed installation position based on the installation location determination information displayed by the indicator unit 260 (step S204). If the measuring device 110 is not placed in the designed installation position in the confirmation of step S204, that is, if an NG determination is output (NO in step S205), the process proceeds to step S206. In addition, if the measuring device 110 remains in the state of not being placed in the designed installation position immediately after the fixing fixture is removed in step S203, the processing of steps S204 and S205 can be skipped and the process proceeds to step S206.

[0217] In step S206, the operator 270 adjusts the mounting position of the measuring device 110 based on the installation location determination information displayed on the indicator 260 (step S206). The adjustment method in step S206 is the same as the adjustment method in the installation operation (…). Figure 23 The steps are the same as in step S104, so detailed explanations are omitted.

[0218] After step S206, the process returns to step S204. Based on the installation location determination information displayed on the indicator 260, the operator 270 confirms whether the adjusted measuring device 110 is placed in the designed installation position. The operator 270 repeats the process of steps S204 to S206 until a YES result is determined in step S205.

[0219] On the other hand, if the measuring device 110 is placed in the installation design position during the confirmation in step S204, that is, if an OK judgment is output (YES in step S205), proceed to step S207.

[0220] Then, in step S207, the operator 270 uses a fixing clamp to fix the measuring device 110 in the current mounting position, thus ending the inspection operation.

[0221] As described above, by conducting Figure 24 During the inspection operation, the operator 270 can easily check whether the measuring device 110 is placed in the installation design position with appropriate accuracy without using special measuring tools and without relying on their own measurement and optical adjustment skills. If the placement position is deviated, it can be easily repositioned to the installation design position.

[0222] in addition, Figure 24 The inspection procedure shown can be applied not only to maintenance inspections, but also to various operations such as temporarily removing (unlocking) and reinstalling the measuring device 110 from the elevator car 120 for maintenance and repair.

[0223] (1-5-3) Error Adjustment

[0224] The above Figure 23 Step S104, and Figure 24 In step S206, the operator 270 adjusts the error of the measuring device 110 relative to the designed installation position based on the installation location determination information. The workflow for this error adjustment operation is explained.

[0225] Figure 25 This is a flowchart illustrating an example of an error adjustment workflow.

[0226] according to Figure 25 First, operator 270 adjusts the tilt angle (rotation error) of measuring device 110 around the y-axis (step S301). The reason for adjusting the rotation error first in the error adjustment is that, depending on the position of the rotation axis, when the tilt angle is changed, not only the tilt angle changes, but the position of the translation direction of measuring device 110 also changes. In addition, as mentioned above, the rotation error around the y-axis has a smaller error sensitivity in the image captured by measuring device 110 compared to the rotation error around the x-axis, so the rotation error around the y-axis is adjusted first.

[0227] Next, operator 270 adjusts the tilt angle (rotation error) of measuring device 110 around the x-axis (step S302).

[0228] Next, operator 270 moves measuring device 110 along the x-axis to adjust the displacement (translation error) in the x-direction (step S303).

[0229] In error adjustment, the translation errors along the x-axis and z-axis are the targets. Of the x and z axes, the z-axis direction, which has a stronger impact on the performance of the optical system (image blur), has a greater impact on measurement performance. Then, to detect the presence of image blur during z-axis adjustment, after confirming that the guide rail 140 is located within the entire shooting range, the measurement accuracy of the z-axis translation error is higher when measuring the magnitude of the blur using the entire surface of the image. Therefore, in step S303, the translation error in the x-direction is first adjusted to ensure that the guide rail 140 is visible throughout the entire shooting range of the camera unit 230.

[0230] Then, after the adjustment in step S303, the operator 270 moves the measuring device 110 along the z-axis to adjust the displacement (translation error) in the z-direction (step S304) and ends the error adjustment.

[0231] (1-6) Installation position adjustment fixture

[0232] The following describes in detail the mounting position adjustment fixture used to adjust the mounting position (placement position) when the measuring device 110 is mounted on the elevator car 120. Furthermore, the mounting position adjustment fixtures 1600 and 1700 described below can be considered as a structure of the measuring device 110 of this embodiment.

[0233] Figure 26 This diagram illustrates a structural example of the mounting position adjustment fixture 1600. The mounting position adjustment fixture 1600 is an example of a mounting position adjustment fixture that can be used in adjusting the position of the measuring device 110 in this embodiment. Figure 26 As shown, the installation position adjustment fixture 1600 is composed of a rotation adjustment member 1610 about the z-axis, a rotation adjustment member 1620 about the x-axis, a translation adjustment member 1630 about the x-axis, and a translation adjustment member 1640 about the z-axis.

[0234] like Figure 25 As explained in the error adjustment section, the translational position of the measuring device 110 changes due to the position of the rotation axis, therefore the mounting position adjustment fixture 1600 is configured to first adjust the rotational error and then adjust the translational error. Specifically, as... Figure 26 As shown, firstly, a rotation adjustment component (rotation adjustment component 1610 around the z-axis and rotation adjustment component 1620 around the x-axis) is installed on the elevator car 120. Then, a translation adjustment component (x-axis translation adjustment component 1630 and z-axis translation adjustment component 1640) is installed on the rotation adjustment component. Finally, a measuring device 110 is installed on the translation adjustment component (e.g., the top surface of the x-axis translation adjustment component 1630).

[0235] The z-axis rotation adjustment member 1610 includes at least two clamping layers. The lower clamping layer is fixed to the elevator car 120. The upper clamping layer is capable of rotating independently of the fixed lower clamping layer, only about the z-axis, while translational movement in any axial direction and rotational movement about axes other than the z-axis are restricted. The z-axis rotation adjustment member 1610 is, for example, a manually operated rotary platform.

[0236] The x-axis rotation adjustment 1620 includes at least two clamps. One clamp is fixed to the z-axis rotation adjustment 1610. The other clamp rotates independently of the fixed clamp only about the x-axis, with translational movement in any axial direction and rotational movement about axes other than the x-axis restricted. The x-axis rotation adjustment 1620 can be, for example, a manually operated single-axis goniometer.

[0237] The z-axis translation adjustment member 1640 includes at least two clamps. One clamp is fixed to a clamp of the x-axis rotation adjustment member 1620 that is rotatable about the x-axis, and the other clamp translates independently of the fixed clamp in the z-axis direction. Rotational movement about each axis and translational movement outside the z-axis direction are restricted. The z-axis translation adjustment member 1640 is, for example, a manually operated translation platform.

[0238] The x-axis translation adjustment member 1630 includes at least two clamps. One clamp is fixed to a clamp of the z-axis translation adjustment member 1640 that is capable of translation in the z-axis direction. The other clamp translates independently of the fixed clamp in the x-axis direction, and rotational movement about each axis and translational movement outside the x-axis direction are restricted. The x-axis translation adjustment member 1630 is, for example, a manually operated translation platform. Additionally, Figure 26 In the middle, the positional relationship between the x-axis translation adjustment component 1630 and the z-axis translation adjustment component 1640 can also be reversed.

[0239] Figure 27 This diagram illustrates a structural example of the mounting position adjustment fixture 1700. The mounting position adjustment fixture 1700 is another example of a mounting position adjustment fixture that can be used in adjusting the position of the measuring device 110 in this embodiment. To reduce manufacturing costs, it is a more advanced fixture than... Figure 26 The mounting position adjustment clamp 1600 shown has a simpler structure (e.g., a structure including fewer clamps). For example... Figure 27 As shown, the installation position adjustment fixture 1700 is composed of a rotation adjustment member 1710 about the z-axis, a rotation adjustment member 1720 about the x-axis, a translation adjustment member 1730 about the x-axis, and a translation adjustment member 1740 about the z-axis.

[0240] like Figure 27As shown, the installation position adjustment fixture 1700 first installs rotation adjustment components (rotation adjustment component 1710 about the z-axis and rotation adjustment component 1720 about the x-axis) onto the elevator car 120. Next, translation adjustment components (x-axis translation adjustment component 1730 and z-axis translation adjustment component 1740) are installed on the rotation adjustment components. Finally, a measuring device 110 is installed on the translation adjustment components (e.g., the top surface of the z-axis translation adjustment component 1740). Additionally, a smooth, cylindrical protrusion 1701 is provided on the elevator car 120.

[0241] The z-axis rotation adjustment member 1710 includes a clamping layer that forms a recess 1711 that engages with the protrusion 1701. The z-axis rotation adjustment member 1710 is structured to be able to rotate only about the z-axis with the protrusion 1701 as the center by inserting the recess 1711 into the protrusion 1701.

[0242] Furthermore, when the protrusion 1701 is installed on the elevator car 120, it is positioned so that its x-coordinate coincides with the center of the guide rail 140. Therefore, even when adjusting the rotation around the z-axis using the z-axis rotation adjustment member 1710, the distance between the measuring device 110 mounted on the mounting position adjustment fixture 1700 and the guide rail 140 remains unchanged, and adjustments via translation in the x-axis direction are no longer required. Furthermore, if the protrusion 1701 is installed in the designed z-axis position, adjustments via translation in the z-axis direction are also unnecessary.

[0243] The x-axis rotation adjustment member 1720 includes a clamp with a threaded hole formed at one end in the z-direction, which is fixed by an adjusting bolt 1721 that engages with the hole. The tilt angle around the x-axis is adjusted by changing the height of one side of the x-axis rotation adjustment member 1720 in accordance with the number of rotations of the adjusting bolt 1721. Furthermore, a smooth groove 1722 parallel to the x-axis is provided on the top surface of the clamp of the x-axis rotation adjustment member 1720 (on the side of the x-axis translation adjustment member 1730). This groove 1722 is a structure for the x-axis translation adjustment member 1730.

[0244] Alternatively, the x-axis rotation adjustment member 1720 can also be configured such that the threaded hole engaging with the adjustment bolt 1721 is provided not only at one end in the z-direction but also at the other end. With such a configuration, the rotational error around the x-axis can be adjusted in both positive and negative directions (clockwise and counterclockwise).

[0245] The x-axis translation adjustment member 1730 includes a clamp with a smooth protrusion 1731 parallel to the x-axis, which is provided on the bottom surface and engages with a groove 1722 of the x-axis rotation adjustment member 1720. The displacement in the x-axis direction is adjusted by sliding the x-axis translation adjustment member 1730 along the groove 1722 in the x-axis direction. Additionally, a smooth groove 1732 parallel to the z-axis is provided on the top surface of the clamp of the x-axis translation adjustment member 1730 (on the side of the z-axis translation adjustment member 1740). This groove 1732 is a structure for the z-axis translation adjustment member 1740.

[0246] The z-axis translation adjustment member 1740 includes a clamp with a smooth protrusion 1741 parallel to the z-axis that is provided on the bottom surface and engages with the groove 1732 of the x-axis translation adjustment member 1730. The displacement in the z-axis direction is adjusted by sliding the z-axis translation adjustment member 1740 along the groove 1732 in the z-axis direction.

[0247] The above is for reference only. Figure 26 and Figure 27 The structure of the installation position adjustment fixture is described in detail. Operator 270 uses this installation position adjustment fixture, according to... Figure 25 The error adjustment process shown involves adjusting rotational and translational errors using various adjustment components. After completion, the clamps are fixed with bolts or similar means to restrict movement in all directions.

[0248] (2) Second implementation method

[0249] In the first embodiment described above, the operator 270 uses the installation position adjustment fixture 1600 to manually adjust the installation position of the measuring device 110 on the elevator car 120 based on the display of the indicator 260 or the display terminal 290 in the measuring device 110. In the second embodiment, for example, the signal input to the indicator 260 is input to the actuator, and the actuator automatically adjusts the installation position of the measuring device 110 to the installation design position.

[0250] Figure 28 This figure shows an example of the internal structure of the measuring device 110 and the elevator control unit 130 in the second embodiment of the present invention.

[0251] like Figure 28 As shown, in the elevator system 20 of the second embodiment, the measuring device 110 is the same as that in the first embodiment. Figure 3 Similarly, it is configured with a light transmitting unit 210, an imaging unit 220, a camera unit 230, an image processing unit 240, a car movement correlation information output unit 250, and an installation position determination information output unit 280. The functions and structures of each part are similar to those of the previous unit. Figure 2 or Figure 3 The parts shown are identical, so detailed explanations are omitted.

[0252] Furthermore, as a difference from the elevator system 10 of the first embodiment, the elevator system 20 of the second embodiment is configured to include an actuator 1800 in addition to the measuring device 110.

[0253] The actuator 1800, like the mounting position adjustment fixtures 1600 and 1700 in the first embodiment, includes a rotation adjustment member about the z-axis, a rotation adjustment member about the x-axis, a translation adjustment member about the x-axis, and a translation adjustment member about the z-axis. However, unlike the first embodiment, instead of manual operation by the operator 270, it is electronically controlled by the actuator 1800. Therefore, an electrically powered adjustment platform, such as an electric translation platform, an electric rotation platform, or an electric angle measuring stage, can be used.

[0254] like Figure 18 As shown, the actuator 1800 is fixed to the elevator car 120, and the measuring device 110 is held thereon. Additionally, Figure 18 In the design, the installation location of the measuring device 110 was adopted. Figure 19 The example shown, but Figures 20-22 This implementation method can also be applied to other installation design locations illustrated in the examples.

[0255] The actuator 1800 receives installation location determination information (a determination result indicating whether the installation is in the designed installation position, and adjustment information (adjustment direction and adjustment amount)) from the installation location determination information output unit 280 of the measuring device 110. Then, based on the received installation location determination information, the actuator 1800 performs translational or rotational movement, or both, of the measuring device 110 relative to the elevator car 120, adjusting the displacement (translation error) and angle (rotation error) of the measuring device 110 until an OK determination is obtained based on the installation location determination information of the measuring device 110. The adjustment process performed by the actuator 1800 can conform to… Figure 25 The error adjustment process shown is different from the one performed by operators, so other processes are also possible (e.g., moving all adjustment components together).

[0256] As described above, in the second embodiment, the actuator 1800 can automatically adjust the installation position of the measuring device 110, so that the measuring device 110 can be easily installed with sufficient and appropriate accuracy at the installation design position without relying on the skill of the operator 270.

[0257] (3) Third implementation

[0258] The first or second embodiment described above applies the measuring device 110 to a device for measuring at least one of the position or speed of an elevator car 120 moving in the elevator system 10, 20. However, the present invention is not limited to the above-described uses and can be widely applied to various other systems, devices, methods, and procedures.

[0259] For example, the measuring device 110 of the first or second embodiment can be used not only in elevator operation, but also in vehicles (moving bodies) such as cars or trains that travel at higher speeds than the elevator car 120, for the purpose of high-precision detection of the position or speed of the moving body. For example, in autonomous vehicles, the measuring device 110 can be used for the purpose of position or speed monitoring on highways, or for high-precision positioning in parking lots, gas stations, or charging stations.

[0260] Figure 29 This is a diagram illustrating a structural example of a vehicle movement information detection system 1900 in which the measuring device 110 is applied to a vehicle.

[0261] Figure 29 In the vehicle movement information detection system 1900 shown, a measuring device 110 is disposed on the side or bottom of a vehicle 1910 (e.g., a car or train) traveling on a road surface 1920 (e.g., a track). The measuring device 110 measures information about the movement of the vehicle 1910 (specifically, at least one of the following: the distance traveled by the vehicle 1910, speed, acceleration, etc.) and outputs signal information useful for the operation control of the vehicle 1910 to a vehicle control unit (not shown). The vehicle control unit then implements, for example, operation control to safely move and stop the vehicle 1910.

[0262] By applying the measuring device 110 to the vehicle 1910 as described above, the vehicle movement information detection system 1900 can accurately and quickly determine the distance or speed of movement from vehicles moving at higher speeds, thus contributing to the control of the safe operation and stopping of the vehicle 1910.

[0263] In addition, the measuring device 110 of the first or second embodiment can also be applied to the operation control of the crane.

[0264] Figure 30 This is a diagram illustrating a structural example of a crane movement information detection system 2000 in which the measuring device 110 is applied to a crane.

[0265] Figure 30 In the crane movement information detection system 2000 shown, the measuring device 110 is configured on the side or bottom of the crane 2010, which runs along the track 2020 in a single-axis direction. Figure 30In this case, Orbit 2020 is equivalent to a stationary structure.

[0266] The measuring device 110 captures images of the wall surface of the track 2020, measures information about the movement of the crane 2010 (specifically, at least one of the amount of movement or speed of the crane 2010), and outputs signal information useful for the operation control of the crane 2010 to the crane control unit (not shown). Then, based on the information input from the measuring device 110, the crane control unit monitors the operation of the crane 2010 and detects positional and speed anomalies.

[0267] By applying the measuring device 110 to the crane 2010 as described above, the crane movement information detection system 2000 can improve the safety of the crane 2010 in its operation control.

[0268] Furthermore, the embodiments described above are for the purpose of easily understanding and illustrating the present invention, and do not limit the scope of the present invention. For example, a part of the structure of one embodiment can be replaced with the structure of another embodiment, or the structure of another embodiment can be added to the structure of one embodiment. In addition, for example, for a part of the structure of each embodiment, other structures can be added, deleted, or replaced.

[0269] Furthermore, the aforementioned structures, functions, processing units, and processing modules can be partially or entirely implemented in hardware, for example, through design in integrated circuits. Alternatively, the aforementioned structures and functions can be implemented in software by a processor interpreting and executing programs that implement each function. The programs, tables, files, and other information implementing each function can be stored in recording devices such as memory, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.

[0270] Additionally, the control lines and information lines shown in the attached diagram are those deemed necessary for illustration, and do not necessarily represent all control lines and information lines on the product. In fact, it can be assumed that almost all structures are interconnected.

Claims

1. A measuring device, installed on an elevator car moving in a hoistway, for measuring at least one of the moving distance or speed of the elevator car, characterized in that, include: A light transmitting unit that transmits light to a stationary structure disposed in the elevator shaft along a first direction parallel to the direction of movement of the elevator car; An imaging unit that images the scattered light from the stationary structure generated by the light onto the imaging surface; The camera unit receives the light signal of the scattered light that is imaged on the camera surface, converts it into an electrical signal, and performs imaging. and An image processing unit calculates and transmits at least one of the moving distance or speed of the elevator car based on the electrical signal converted by the camera unit. When confirming the installation position of the measuring device relative to the stationary structure. Let the direction of the imaging surface including the camera unit, which is perpendicular to the first direction, be the second direction, and the direction orthogonal to both the first and second directions be the third direction. The image processing unit, Based on the electrical signal converted by the camera unit, for at least one of the first to third directions, the translational error or rotational error of the mounting position of the measuring device relative to a predetermined installation design position along that direction is calculated. Based on the calculation results, it is determined whether the placement position matches the installation design position, and installation location determination information is sent regarding this determination. The image processing unit, The captured image, obtained based on the electrical signal converted by the camera unit, is divided into a predetermined number. Based on the difference in pixel values ​​along the first direction between the segmented captured images, the rotation error about the second direction is calculated. Based on the difference in pixel values ​​along the second direction between the segmented captured images, the translation error along the second direction and the rotation error about the first direction are calculated. The image processing unit, For an image captured based on an electrical signal converted by the camera unit, a difference map is generated with the sum of the number of pixels in the first direction and the difference between adjacent pixels in the second direction as two axes. Based on the characteristics of the difference map, it is determined whether the error of the mounting position relative to the installation design position is due to a translation error along the second direction or a rotation error with the first direction as the axis.

2. The measuring device as described in claim 1, characterized in that: The optical axis of the light transmitting unit is disposed in a plane orthogonal to the direction of damage to the surface of the stationary structure, and is disposed obliquely relative to the stationary structure.

3. The measuring device as described in claim 1, characterized in that: The installation location determination information includes: The determination result indicating whether the placement position conforms to the installation design position; and The calculated translational or rotational errors represent the adjustment information needed to correct for the installation design position.

4. The measuring device as described in claim 1, characterized in that: The image processing unit performs a two-dimensional Fourier transform on the first and second directions for the electrical signal converted by the camera unit, and calculates the translation error along the third direction based on the degree of reduction in the obtained Fourier intensity.

5. The measuring device as described in claim 3, characterized in that: It also includes an instruction unit that receives the installation location determination information generated by the image processing unit and notifies the operator of the information included in the installation location determination information.

6. The measuring device as described in claim 5, characterized in that: The indicator unit has: The determination result display outputs the determination result of the installation location determination information; and The correction indicator outputs the adjustment information, which includes the rotational error about the first direction, the translational error along the second direction, the rotational error about the second direction, and the translational error along the third direction, as the installation location determination information.

7. The measuring device as described in claim 3, characterized in that: Let W be the length of the second direction of the imaging area of ​​the camera unit. im The length of the stationary structure along the second direction is W. rail hour, The minimum value of the translation error along the second direction that the image processing unit can calculate is... (Equation 1) Consistent.

8. The measuring device as described in claim 3, characterized in that: Let H be the length of the first direction of the transmitting surface of the optical transmitting unit. LED The length of the first direction of the imaging area of ​​the camera unit is H. im The distance L from the stationary structure to the light transmitting unit along the third direction is... z hour, The minimum value of the rotation error about the second direction that the image processing unit can calculate is... (Equation 2) Consistent.

9. A lifting system, characterized in that, include: The elevator car moves within the elevator shaft; Guide rails are arranged in the elevator shaft along a first direction parallel to the direction of movement of the elevator car; The elevator control unit controls the movement of the elevator car; and A measuring device, which is mounted on the elevator car and measures at least one of the elevator car's moving distance or speed. The measuring device includes: A light transmitting unit that transmits light that illuminates the guide rail in the elevator shaft; An imaging unit that images the scattered light from the guide rail generated by the light onto the imaging surface; The camera unit receives the light signal of scattered light imaged on the camera surface, converts it into an electrical signal, and performs imaging; and An image processing unit calculates and transmits at least one of the moving distance or speed of the elevator car based on the electrical signal converted by the camera unit. When confirming the installation position of the measuring device relative to the guide rail, Let the direction of the imaging surface including the camera unit, which is perpendicular to the first direction, be the second direction, and the direction orthogonal to both the first and second directions be the third direction. The image processing unit, Based on the electrical signal converted by the camera unit, for at least one of the first to third directions, the translational error or rotational error of the mounting position of the measuring device relative to a predetermined installation design position along that direction is calculated. Based on the calculation results, it is determined whether the placement position matches the installation design position, and installation location determination information is sent regarding this determination. The image processing unit, The captured image, obtained based on the electrical signal converted by the camera unit, is divided into a predetermined number. Based on the difference in pixel values ​​along the first direction between the segmented captured images, the rotation error about the second direction is calculated. Based on the difference in pixel values ​​along the second direction between the segmented captured images, the translation error along the second direction and the rotation error about the first direction are calculated. The image processing unit, For an image captured based on an electrical signal converted by the camera unit, a difference map is generated with the sum of the number of pixels in the first direction and the difference between adjacent pixels in the second direction as two axes. Based on the characteristics of the difference map, it is determined whether the error of the mounting position relative to the installation design position is due to a translation error along the second direction or a rotation error with the first direction as the axis.

10. The elevator system as described in claim 9, characterized in that, Also includes: An instruction device receives the installation location determination information generated by the image processing unit and notifies the operator of the information included in the installation location determination information. and An adjustment device that adjusts the placement position of the measuring device.

11. The elevator system as described in claim 10, characterized in that: An opening is provided at a predetermined position in the elevator car opposite to the guide rail. The indicator is configured to be visible from inside the elevator car. The adjustment device is configured to be operable from inside the elevator car.

12. The elevator system as described in claim 9, characterized in that, Also includes: An adjustment device that adjusts the placement position of the measuring device; and An actuator that can control the adjustment device; The adjustment device has: The x-axis translation adjustment component moves the measuring device in the translation direction along the second direction; The adjusting member is rotated about the x-axis, which moves the measuring device in a rotational direction about the second direction as the axis; The adjusting member is rotated about the y-axis, which moves the measuring device in a rotational direction about the first direction as the axis; and The z-axis translation adjustment component moves the measuring device in the translation direction along the third direction. The actuator receives the installation location determination information generated by the image processing unit and controls the operation of each adjustment component of the adjustment device so that the measuring device moves by an amount equivalent to the translation error or rotation error included in the installation location determination information.

13. A method for confirming the installation position using a measuring device installed on an elevator car moving in a hoistway, for measuring at least one of the moving distance or speed of the elevator car, characterized in that: The measuring device includes: A light transmitting unit that transmits light to a stationary structure disposed in the elevator shaft along a first direction parallel to the direction of movement of the elevator car; An imaging unit that images the scattered light from the stationary structure generated by the light onto the imaging surface; The camera unit receives the light signal of scattered light imaged on the camera surface, converts it into an electrical signal, and performs imaging; and An image processing unit calculates and transmits at least one of the moving distance or speed of the elevator car based on the electrical signal converted by the camera unit. When confirming the installation position of the measuring device relative to the stationary structure. Let the direction of the imaging surface including the camera unit, which is perpendicular to the first direction, be the second direction, and the direction orthogonal to both the first and second directions be the third direction. The image processing unit, Based on the electrical signal converted by the camera unit, for at least one of the first to third directions, the translational error or rotational error of the mounting position of the measuring device relative to a predetermined installation design position along that direction is calculated. Based on the calculation results, it is determined whether the placement position matches the installation design position, and installation location determination information is sent regarding this determination. The image processing unit, The captured image, obtained based on the electrical signal converted by the camera unit, is divided into a predetermined number. Based on the difference in pixel values ​​along the first direction between the segmented captured images, the rotation error about the second direction is calculated. Based on the difference in pixel values ​​along the second direction between the segmented captured images, the translation error along the second direction and the rotation error about the first direction are calculated. The image processing unit, For an image captured based on an electrical signal converted by the camera unit, a difference map is generated with the sum of the number of pixels in the first direction and the difference between adjacent pixels in the second direction as two axes. Based on the characteristics of the difference map, it is determined whether the error of the mounting position relative to the installation design position is due to a translation error along the second direction or a rotation error with the first direction as the axis.

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