Elevator shaft installation apparatus adjustment method, device, equipment and storage medium

Abstract

The application relates to an elevator shaft mounting device adjustment method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a shaft side wall image containing a mounting target point; determining a mounting plane containing the mounting target point on a shaft side wall region corresponding to the shaft side wall image; determining a first reference point pair and a second reference point pair which are not collinear and not parallel in the mounting plane; acquiring a first deviation angle and a second deviation angle between a clamping plane and the mounting plane according to the distances between the first reference point pair and the second reference point pair on the shaft side wall and the distances between the clamping plane and each reference point in the first reference point pair and the second reference point pair; and adjusting the clamping plane based on the first deviation angle and the second deviation angle, so that the clamping plane and the mounting plane satisfy a preset inter-plane relationship. The application can adjust the clamping plane of the elevator shaft mounting device and guarantee the mounting quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the elevator technical field, and in particular to an elevator shaft installation device adjustment method and device, computer equipment, storage medium and computer program product. BACKGROUND

[0002] With the development of elevator installation technology, automatic installation devices for elevator components have appeared, which can run up and down in the elevator shaft and can be used for elevator components or non-elevator components. When using the automatic installation device for automatic installation, the device can clamp the installation object through the clamping mechanism and install it into the installation target area of the elevator shaft side wall at a specified angle. However, since the installation device is prone to tilting when moving in the shaft, the angle between the clamping plane formed by the clamping mechanism and the shaft side wall is difficult to guarantee, thereby leading to a decrease in installation quality. SUMMARY

[0003] Therefore, it is necessary to provide an elevator shaft installation device adjustment method, device, computer equipment, computer readable storage medium and computer program product to solve the above technical problems.

[0004] In a first aspect, the present application provides an elevator shaft installation device adjustment method. The method comprises:

[0005] obtaining a shaft side wall image containing an installation target point;

[0006] determining an installation plane containing the installation target point on a shaft side wall region corresponding to the shaft side wall image according to the shaft side wall image;

[0007] determining a first reference point pair and a second reference point pair in the installation plane; the first reference point pair and the second reference point pair are not collinear and not parallel;

[0008] obtaining a first deviation angle between the clamping plane of the elevator shaft installation device and the installation plane according to the distance between the first reference point pair on the shaft side wall and the distance between the clamping plane of the elevator shaft installation device and each reference point in the first reference point pair;

[0009] obtaining a second deviation angle between the clamping plane of the elevator shaft installation device and the installation plane according to the distance between the second reference point pair on the shaft side wall and the distance between the clamping plane of the elevator shaft installation device and each reference point in the second reference point pair;

[0010] adjusting the clamping plane based on the first deviation angle and the second deviation angle, so that the clamping plane and the installation plane satisfy a preset inter-plane relationship.

[0011] In one of the embodiments, the method further comprises:

[0012] In one of the embodiments, the method further comprises:

[0013] In one of the embodiments, the method further comprises:

[0014] In one of the embodiments, the method further comprises:

[0015] In one of the embodiments, the first reference point pair is perpendicular to the second reference point pair; and the adjusting the clamping plane based on the first deviation angle and the second deviation angle comprises:

[0016] In one of the embodiments, the first preset inter-plane relationship and the second preset inter-plane relationship comprise a first preset angle range and a second preset angle range; and the adjusting the clamping plane based on the first deviation angle and the second deviation angle comprises:

[0017] In one of the embodiments, the adjusting the clamping plane based on the first deviation angle and the second deviation angle comprises:

[0018] In one of the embodiments, the adjusting the clamping plane based on the first deviation angle and the second deviation angle comprises:

[0019] In a second aspect, the application provides an elevator shaft installation device adjustment apparatus. The apparatus comprises:

[0020] An image acquisition module is configured to acquire a hoistway sidewall image containing an installation target point;

[0021] A plane determination module is configured to determine, according to the hoistway sidewall image, an installation plane containing the installation target point on a hoistway sidewall region corresponding to the hoistway sidewall image;

[0022] A reference point pair determination module is configured to determine a first reference point pair and a second reference point pair in the installation plane; the first reference point pair and the second reference point pair are not collinear and not parallel;

[0023] A first deviation angle acquisition module is configured to acquire a first deviation angle between a clamping plane of the elevator hoistway installation device and the installation plane according to distances of the first reference point pair on the hoistway sidewall and distances of the clamping plane to each reference point in the first reference point pair;

[0024] A second deviation angle acquisition module is configured to acquire a second deviation angle between the clamping plane of the elevator hoistway installation device and the installation plane according to distances of the second reference point pair on the hoistway sidewall and distances of the clamping plane to each reference point in the second reference point pair;

[0025] An adjustment module is configured to adjust the clamping plane based on the first deviation angle and the second deviation angle, so that the clamping plane and the installation plane satisfy a preset inter-plane relationship.

[0026] In a third aspect, the present application further provides a computer device. The computer device comprises a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0027] An image acquisition module is configured to acquire a hoistway sidewall image containing an installation target point; a plane determination module is configured to determine, according to the hoistway sidewall image, an installation plane containing the installation target point on a hoistway sidewall region corresponding to the hoistway sidewall image; a reference point pair determination module is configured to determine a first reference point pair and a second reference point pair in the installation plane; the first reference point pair and the second reference point pair are not collinear and not parallel; a first deviation angle acquisition module is configured to acquire a first deviation angle between a clamping plane of the elevator hoistway installation device and the installation plane according to distances of the first reference point pair on the hoistway sidewall and distances of the clamping plane to each reference point in the first reference point pair; a second deviation angle acquisition module is configured to acquire a second deviation angle between the clamping plane of the elevator hoistway installation device and the installation plane according to distances of the second reference point pair on the hoistway sidewall and distances of the clamping plane to each reference point in the second reference point pair; and an adjustment module is configured to adjust the clamping plane based on the first deviation angle and the second deviation angle, so that the clamping plane and the installation plane satisfy a preset inter-plane relationship.

[0028] In a fourth aspect, the present application also provides a computer readable storage medium. The computer readable storage medium has a computer program stored thereon, and the computer program, when executed by a processor, implements the following steps:

[0029] obtaining a hoistway side wall image containing an installation target point; determining, according to the hoistway side wall image, an installation plane containing the installation target point on a hoistway side wall region corresponding to the hoistway side wall image; determining a first reference point pair and a second reference point pair in the installation plane; the first reference point pair and the second reference point pair are not collinear and not parallel;

[0030] obtaining a first deviation angle between the clamping plane and the installation plane according to the distance of the first reference point pair on the hoistway side wall and the distance between the clamping plane of the elevator hoistway installation equipment and each reference point in the first reference point pair; obtaining a second deviation angle between the clamping plane and the installation plane according to the distance of the second reference point pair on the hoistway side wall and the distance between the clamping plane of the elevator hoistway installation equipment and each reference point in the second reference point pair; adjusting the clamping plane based on the first deviation angle and the second deviation angle, so that the clamping plane and the installation plane satisfy a preset inter-plane relationship.

[0031] In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program, and the computer program, when executed by a processor, implements the following steps:

[0032] obtaining a hoistway side wall image containing an installation target point; determining, according to the hoistway side wall image, an installation plane containing the installation target point on a hoistway side wall region corresponding to the hoistway side wall image; determining a first reference point pair and a second reference point pair in the installation plane; the first reference point pair and the second reference point pair are not collinear and not parallel; obtaining a first deviation angle between the clamping plane and the installation plane according to the distance of the first reference point pair on the hoistway side wall and the distance between the clamping plane of the elevator hoistway installation equipment and each reference point in the first reference point pair; obtaining a second deviation angle between the clamping plane and the installation plane according to the distance of the second reference point pair on the hoistway side wall and the distance between the clamping plane of the elevator hoistway installation equipment and each reference point in the second reference point pair; adjusting the clamping plane based on the first deviation angle and the second deviation angle, so that the clamping plane and the installation plane satisfy a preset inter-plane relationship.

[0033] The aforementioned elevator shaft installation equipment adjustment method, device, computer equipment, storage medium, and computer program product determine the installation plane containing the installation target point on the shaft sidewall, calculate the distance between the clamping plane of the installation equipment and the installation plane to obtain the angle between the two, and then adjust the clamping plane so that the angle between it and the installation plane meets the requirements of the installation object. On the one hand, this allows the installation equipment to adjust the clamping plane in real time, avoiding a decrease in installation quality caused by equipment tilting or swaying. On the other hand, considering that elevator shaft sidewalls are often uneven due to construction reasons in real-world scenarios, this solution uses image recognition technology to find the installation plane containing the installation target point on the shaft sidewall and uses this plane in subsequent calculations. This avoids the impact of uneven parts of the shaft sidewall on the accuracy of angle calculation, further improving the subsequent installation quality. Attached Figure Description

[0034] Figure 1 This is a flowchart illustrating an elevator shaft installation equipment adjustment method in one embodiment;

[0035] Figure 2 This is an illustrative diagram illustrating the adjustment process of the elevator shaft installation equipment in one embodiment;

[0036] Figure 3 This is an illustrative diagram illustrating the acquisition of the first deviation angle and the second deviation angle in one embodiment;

[0037] Figure 4 This is a structural block diagram of an elevator shaft installation equipment adjustment device in one embodiment;

[0038] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0040] In one embodiment, such as Figure 1 As shown, an elevator shaft installation equipment adjustment method is provided. This embodiment illustrates the method applied to a terminal, but it is understood that the method can also be applied to a server, or to a system including both a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0041] Step S101: Obtain an image of the well wall containing the installation target point.

[0042] Specifically, according to the installation target region to be installed in the installation process, the center point of the installation target region can be used as the installation target point.

[0043] According to the position of the installation target point on the shaft side wall, the elevator shaft installation device can be moved to the corresponding height in the shaft, and a camera can be used to capture the shaft region containing the installation target point, so as to obtain the shaft side wall image containing the installation target point.

[0044] In step S102, an installation plane containing the installation target point is determined on the shaft side wall region corresponding to the shaft side wall image according to the shaft side wall image.

[0045] Specifically, according to the shaft side wall image obtained in step S101, the flatness of the shaft side wall region in the image can be calculated, and a region containing the installation target point in the region is determined as the installation plane according to a preset flatness condition.

[0046] The flatness is determined by the concave-convex and fluctuation of the shaft side wall region reflected in the image, and the preset flatness condition can be a pre-set acceptable flatness range. When the flatness of a region meets the preset flatness condition, it can be considered that the surface of the region is substantially flat.

[0047] In step S103, a first reference point pair and a second reference point pair are determined in the installation plane; the first reference point pair and the second reference point pair are not collinear and not parallel.

[0048] Specifically, according to the installation plane obtained in step S102, two pairs of reference points can be determined in the range thereof, wherein the connecting line of each pair of reference points is neither collinear nor parallel, so that the two pairs of reference points can form two different directions representing the installation plane.

[0049] For example, three non-collinear reference points can be determined on the installation plane, and any two reference point pairs are not collinear and not parallel, and the corresponding installation plane can be determined through the two reference point pairs.

[0050] In step S104, a first deviation angle between the clamping plane and the installation plane is obtained according to the distance between the first reference point pair on the shaft side wall and the distance between the clamping plane and each reference point in the first reference point pair.

[0051] Specifically, the distance of the first reference point pair can be calculated by image recognition method based on the shaft side wall image to calculate the actual distance of the two reference points on the shaft side wall.

[0052] For the measurement of the distance between the clamping plane and each reference point, the distance sensor can be used, or the camera can be used to capture the reference points on the clamping plane, and then the image recognition method can be used to measure the distance.

[0053] As shown in the example, Figure 2 The distance between the clamping plane and the reference point obtained can be understood as the length of the perpendicular line from the clamping plane to the mounting plane with the reference point as the foot point. After obtaining the distance L between the two reference points in the first reference point pair and the distances D1 and D2 of the clamping plane to each reference point, the first deviation angle α between the clamping plane and the mounting plane can be calculated according to the following formula:

[0054]

[0055] Wherein, α is the first deviation angle, D1 is the distance from the first reference point in the first reference point pair to the clamping plane, D2 is the distance from the second reference point to the clamping plane, and L is the distance between the two reference points on the shaft side wall.

[0056] In another case, the distance between the clamping plane and the reference point can be the length of the perpendicular line from the clamping plane to the reference point. After obtaining the distance between the two reference points in the first reference point pair and the distances of the clamping plane to each reference point, the first deviation angle α between the clamping plane and the mounting plane can be calculated according to the following formula:

[0057]

[0058] Wherein, α is the first deviation angle, D1 is the distance from the first reference point in the first reference point pair to the clamping plane, D2 is the distance from the second reference point to the clamping plane, and L is the distance between the two reference points on the shaft side wall.

[0059] According to the above method, the angle between the clamping plane and the straight line on which the first reference point pair is located can be obtained.

[0060] In step S105, according to the distance between the second reference point pair on the shaft side wall and the distance between the clamping plane of the elevator shaft mounting device and each reference point in the second reference point pair, the second deviation angle α between the clamping plane and the mounting plane is obtained.

[0061] Specifically, the distance between the two reference points in the second reference point pair, the distance between the two reference points and the clamping plane, and the calculation process of the second deviation angle can refer to the corresponding methods of the first reference point pair in step S104, which will not be described here.

[0062] According to the method, the angle between the clamping plane and the straight line on which the second reference point pair is located can be obtained in this step.

[0063] In step S106, the clamping plane is adjusted based on the first deviation angle and the second deviation angle, so that the clamping plane and the mounting plane satisfy the preset inter-plane relationship.

[0064] Specifically, according to the construction requirements of the mounting object, an angle range that the clamping plane and the mounting plane should satisfy can be obtained, and then the angle range can be used as the preset inter-plane relationship in the present adjustment process.

[0065] According to the first deviation angle and the second deviation angle obtained in steps S104 and S105, an actual angle relationship between the clamping plane and the mounting plane can be calculated.

[0066] By judging whether the actual angle relationship is within the angle range of the preset inter-plane relationship, it can be judged whether the state of the clamping plane meets the construction requirements of the mounting object. If it meets, the next installation process can be performed. If it does not meet, an adjustment path of the clamping plane can be obtained according to the actual angle relationship and the preset inter-plane relationship, so that the clamping plane rotates according to the adjustment path, and reaches a position that can satisfy the preset inter-plane relationship with the mounting plane.

[0067] In the embodiment, the mounting plane containing the mounting target point is determined on the shaft side wall, the distance between the clamping plane of the mounting device and the mounting plane is calculated, the angle between the two is obtained, and the clamping plane is adjusted so that the included angle between the clamping plane and the mounting plane meets the angle required by the mounting object. On the one hand, the mounting device can adjust the clamping plane in real time, avoiding the decline of installation quality caused by the inclination or swing of the device. On the other hand, according to the characteristics that the shaft side wall is often uneven due to construction reasons in actual scenarios, the mounting plane containing the mounting target point is found on the shaft side wall by using image recognition technology, and the plane is used in subsequent calculation, which can avoid the influence of the uneven part of the shaft side wall on the accuracy of angle calculation, and further improve the installation quality.

[0068] In one embodiment, the above step S102 can include:

[0069] According to the shaft side wall image, a maximum region around the mounting target point that satisfies a preset flatness condition is obtained as the mounting plane on the shaft side wall region corresponding to the shaft side wall image.

[0070] Specifically, in the process of obtaining the mounting plane, the mounting target point can be taken as a starting point, and the flatness of the shaft side wall region around the starting point is calculated. If the flatness satisfies the preset flatness condition, the region is continuously expanded outward until a region that does not satisfy the preset flatness condition is reached. The boundary of the region before the expansion is the boundary of the maximum region around the mounting target point that satisfies the preset flatness condition, and the region surrounded by the boundary is the mounting plane.

[0071] The expansion process can be asymmetric, that is, if expansion in one direction reaches a region that does not satisfy the preset flatness condition, while the region in the other direction still meets the preset flatness, expansion can continue in the direction that meets the preset flatness. This is beneficial to obtain a larger installation plane.

[0072] The embodiment expands the selectable range of the reference point pair by searching for the largest installation plane around the installation target point, so that a reference point pair with a larger distance can be selected in the plane, thereby improving the calculation accuracy of the subsequent deviation angle and more effectively guaranteeing the adjustment effect.

[0073] In one embodiment, the above step S103 can include:

[0074] Two reference point pairs are obtained by respectively searching for the two reference points with the largest distance in two different directions in the installation plane.

[0075] For example, different first and second directions can be arbitrarily specified, and for the first direction, a plurality of reference point pairs whose connecting lines meet the direction are searched for on the edge of the installation plane, and the reference point pair with the largest distance between the two points is the first reference point pair.

[0076] Using the same method, the second reference point pair can be obtained in the installation plane according to the second direction.

[0077] The embodiment can make the distances of the two reference points from the clamping plane have a larger difference by searching for the two reference points with the largest distance in the same direction on the installation plane as the reference point pair, thereby improving the calculation accuracy of the deviation angle and improving the reliability of the adjustment method.

[0078] In one embodiment, the method further includes:

[0079] The connecting line of the first reference point pair is perpendicular to the connecting line of the second reference point pair; and based on the first deviation angle and the second deviation angle, the clamping plane is adjusted to make the clamping plane and the installation plane satisfy the preset inter-plane relationship, including: determining a first adjustment path of the clamping plane according to the first deviation angle; determining a second adjustment path of the clamping plane according to the second deviation angle; and adjusting the clamping plane according to the first adjustment path and the second adjustment path in sequence to make the clamping plane and the installation plane satisfy the preset inter-plane relationship.

[0080] Specifically, when the connecting line of the first reference point pair is perpendicular to the connecting line of the second reference point pair, the two reference point pairs can respectively indicate two perpendicular directions, so that the first deviation angle and the second deviation angle calculated therefrom respectively indicate the angles of the clamping plane relative to two mutually perpendicular straight lines on the installation plane.

[0081] Further, the first adjustment path and the second adjustment path can be set according to the first deviation angle, the second deviation angle and the preset inter-plane relationship, and the first adjustment path and the second adjustment path can be rotated by a certain angle in the specified direction, respectively.

[0082] Since the first reference point pair and the second reference point pair are perpendicular to each other, the first adjustment path and the second adjustment path which are not affected each other can be directly obtained according to the first deviation angle and the second deviation angle, so that the adjustment can be sequentially performed in different directions.

[0083] For example, in a mounting process, the mounting object needs to be attached to the shaft side wall in parallel, and the clamping plane of the elevator shaft mounting device and the mounting plane need to satisfy the preset inter-plane relationship of being approximately parallel to each other. Two reference points in the vertical direction on the mounting plane are selected as the first reference point pair, and two reference points in the horizontal direction are selected as the second reference point pair. The first deviation angle obtained according to the first reference point pair is the angle between the clamping plane and the mounting plane in the vertical direction, and the second deviation angle obtained according to the second reference point pair is the angle between the clamping plane and the mounting plane in the horizontal direction.

[0084] Accordingly, the first adjustment path can be specified as rotating by a corresponding angle around a horizontal axis, so that the clamping plane is parallel to the mounting plane in the vertical direction after moving along the first adjustment path. For the second deviation angle, the second adjustment path can also be specified as rotating by a corresponding angle around a vertical axis, so that the clamping plane is parallel to the mounting plane in the horizontal direction after moving along the second adjustment path. Further, the clamping plane and the mounting plane can satisfy the preset inter-plane relationship.

[0085] The first reference point pair and the second reference point pair are selected in two perpendicular directions in the embodiment, so that the first deviation angle and the second deviation angle obtained according to the two reference point pairs can be directly converted into the rotation angle of the clamping plane in the two perpendicular directions, and the calculation process of the adjustment path is simplified. On the other hand, since the rotation process of the clamping plane in each direction does not affect the deviation angle in the other direction, for the mounting device which is difficult to rotate in multiple directions, such as the mounting device shown in the figure which relies on the length of the adjustment support to adjust the vertical angle and then relies on the horizontal swing of the clamping arm to adjust the horizontal angle, the adjustment in one direction can be completed first, and then the adjustment in the other direction can be performed, so that the application range of the adjustment method is effectively expanded. Figure 2

[0086] ​In one embodiment, the preset inter-plane relationship includes a first preset angle range and a second preset angle range; and the adjusting the clamping plane according to the first adjustment path and the second adjustment path in sequence to make the clamping plane satisfy the preset inter-plane relationship with the mounting plane includes: moving the clamping plane according to the first adjustment path until a first deviation angle changed due to the movement satisfies the first preset angle range; and moving the clamping plane according to the second adjustment path until a second deviation angle changed due to the movement satisfies the second preset angle range.

[0087] Specifically, the preset inter-plane relationship can be decomposed into two perpendicular direction preset angle ranges according to the directions in which the first reference point pair and the second reference point pair are located respectively.

[0088] When the clamping plane is moved according to the first adjustment path, the distance between the clamping plane and each reference point in the first reference point pair can be measured in real time respectively, and a new first deviation angle can be calculated. When the first deviation angle changes to satisfy the first preset angle range, it can be considered that the clamping plane has completed the movement according to the first adjustment path.

[0089] Similarly, when the clamping plane is moved according to the second adjustment path, a new second deviation angle can also be obtained in real time. When the second deviation angle changes to satisfy the first preset angle range, it can be considered that the clamping plane has completed the movement according to the second adjustment path.

[0090] By continuously calculating the changes of the first deviation angle and the second deviation angle during the adjustment of the clamping plane, the embodiment can provide real-time visual feedback for the adjustment process, so that the construction personnel can conveniently monitor the adjustment process.

[0091] In one embodiment, based on the first deviation angle and the second deviation angle, the adjusting the clamping plane includes: moving a camera for shooting the shaft side wall image to follow the clamping plane and continuously collecting the shaft side wall image, and adjusting the clamping plane based on the first deviation angle and the second deviation angle obtained by continuously determining the mounting plane based on the continuously collected shaft side wall image.

[0092] Specifically, during the adjustment of the clamping plane according to the first deviation angle and the second deviation angle, the camera can be moved synchronously, and new shaft side wall images can be continuously shot. Further, new mounting planes can be determined based on the new shaft side wall images, and the first deviation angle and the second deviation angle can be obtained. Then, the movement mode of the clamping plane can be adjusted in real time according to the new first deviation angle and the new second deviation angle.

[0093] The embodiment can provide real-time feedback for the adjustment process, and can avoid unexpected swinging or tilting during the adjustment process to affect the final adjustment effect. The adjusted clamping plane and the installation plane can effectively meet the preset plane relationship, thereby ensuring the subsequent installation quality.

[0094] In one specific embodiment, the guide rail bracket of an elevator is taken as the installation object, which needs to be attached in parallel to the designated position of the shaft side wall. Based on this, the installation device as shown in Figure 2 may be adjusted according to the following process:

[0095] First, according to the area where the guide rail bracket needs to be installed, an installation target point is determined on the shaft side wall. According to the positioning of the installation target point in the shaft, the installation device is moved to the corresponding height, and the clamping arm clamping the guide rail bracket is directed towards the shaft side wall where the installation target point is located, so that the center of the guide rail bracket corresponds to the installation target point.

[0096] Then, the camera is used to shoot the shaft side wall to collect the image of the shaft side wall containing the installation target point. The shaft side wall range reflected by the image can be expanded by using multiple cameras or a movable camera.

[0097] According to the collected shaft side wall image, the flatness of the region around the installation target point in the image is judged to see whether it meets the preset flatness condition. If it does, the region is expanded until the place where the flatness does not meet the preset flatness condition is reached, i.e., a maximum region range containing the installation target point that meets the preset flatness condition is determined, and the range is set as the installation plane.

[0098] Further, the two points farthest apart in the vertical direction of the installation plane are taken as the first reference point pair, and the two points farthest apart in the horizontal direction are taken as the second reference point pair.

[0099] The distance of the first reference point pair on the shaft side wall and the distance of the clamping plane relative to each reference point of the first reference point pair are measured respectively to calculate the first deviation angle; the second deviation angle is calculated based on the second reference point pair using the same method. The first deviation angle and the second deviation angle can respectively reflect the angle of the clamping plane of the installation device relative to the installation plane in the vertical direction and the horizontal direction. As shown in Figure 3 the first deviation angle of the clamping plane and the installation plane in the vertical direction is calculated to be -1.74 degrees by image recognition, and the second deviation angle in the horizontal direction is -1.01 degrees.

[0100] Further, according to the installation requirement that the guide rail support needs to be substantially parallel to the shaft side wall, it can be obtained that the preset inter-surface relationship that the clamping plane and the installation plane should meet is substantially parallel. According to the preset inter-surface relationship, it can be obtained that the angle of the clamping plane relative to the installation plane in the vertical direction and the horizontal direction should be substantially equal to 0 degrees, that is, the first preset angle range and the second angle range are both 0 degrees plus a permissible error angle.

[0101] Then, the length of the support rod in different directions of the installation device is adjusted according to the first deviation angle, and the angle of the whole device relative to the vertical direction is adjusted. During the adjustment process, the image of the shaft side wall is continuously collected, and the installation plane is re-determined and the calculation of the first deviation angle is performed, until the first deviation angle falls within the first preset angle range, that is, it is considered that the adjustment process for the first deviation angle has been completed.

[0102] Then, the clamping arm of the device is rotated around a vertical axis according to the second deviation angle. During this process, the image of the shaft side wall is continuously collected, and the installation plane is re-determined and the calculation of the second deviation angle is performed, until the second deviation angle falls within the second preset angle range, that is, it is considered that the adjustment process for the second deviation angle has been completed.

[0103] After the installation device is adjusted according to the above method, it can be ensured that the clamping plane and the installation plane meet the preset inter-surface relationship, so that the clamped guide rail support can be attached to the shaft side wall in a nearly parallel manner, thereby ensuring the installation effect.

[0104] It should be understood that, although each step in the flowchart involved in each of the above-described embodiments is displayed in sequence according to the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each of the above-described embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or stages.

[0105] Based on the same inventive concept, the embodiments of the present application also provide an elevator shaft installation device adjustment apparatus for implementing the above-mentioned elevator shaft installation device adjustment method. The solution implementation scheme provided by the apparatus is similar to the implementation scheme described in the above method, and therefore the specific limitations in one or more elevator shaft installation device adjustment apparatus embodiments provided below can refer to the limitations of the elevator shaft installation device adjustment method described above, which will not be described here again.

[0106] In one embodiment, as shown in Figure 4 An elevator shaft installation equipment adjustment apparatus 400 is provided, comprising:

[0107] An image acquisition module 401 configured to acquire an image of a shaft side wall containing an installation target point.

[0108] A plane determination module 402 configured to determine, according to the image of the shaft side wall, an installation plane containing the installation target point on a region of the shaft side wall corresponding to the image of the shaft side wall.

[0109] A reference point pair determination module 403 configured to determine a first reference point pair and a second reference point pair in the installation plane. The first reference point pair and the second reference point pair are not collinear and not parallel.

[0110] A first deviation angle acquisition module 404 configured to acquire a first deviation angle between a clamping plane of the elevator shaft installation equipment and the installation plane according to a distance between the first reference point pair on the shaft side wall and a distance between the clamping plane and each reference point in the first reference point pair.

[0111] A second deviation angle acquisition module 405 configured to acquire a second deviation angle between the clamping plane of the elevator shaft installation equipment and the installation plane according to a distance between the second reference point pair on the shaft side wall and a distance between the clamping plane and each reference point in the second reference point pair.

[0112] An adjustment module 406 configured to adjust the clamping plane based on the first deviation angle and the second deviation angle, so that the clamping plane and the installation plane satisfy a preset inter-plane relationship.

[0113] In one embodiment, the plane determination module 402 is further configured to:

[0114] acquire, according to the image of the shaft side wall, a largest region around the installation target point on the region of the shaft side wall corresponding to the image of the shaft side wall as the installation plane, the largest region satisfying a preset flatness condition.

[0115] In one embodiment, the reference point pair determination module 403 is further configured to:

[0116] acquire two reference points with the largest distance in two different directions from the installation plane respectively to obtain the first reference point pair and the second reference point pair.

[0117] In one embodiment, a line connecting the first reference point pair is perpendicular to a line connecting the second reference point pair, and the adjustment module 406 is further configured to determine a first adjustment path of the clamping plane according to the first deviation angle, determine a second adjustment path of the clamping plane according to the second deviation angle, and adjust the clamping plane according to the first adjustment path and the second adjustment path in sequence, so that the clamping plane and the installation plane satisfy the preset inter-plane relationship.

[0118] In one embodiment, the preset plane relationship includes a first preset angle range and a second preset angle range; the adjustment module 406 is further configured to move the clamping plane along a first adjustment path until the first deviation angle changed by the movement satisfies the first preset angle range; and to move the clamping plane along a second adjustment path until the second deviation angle changed by the movement satisfies the second preset angle range.

[0119] In one embodiment, the adjustment module 406 is further configured to cause the camera capturing images of the shaft sidewall to follow the movement of the clamping plane and continuously acquire images of the shaft sidewall, and adjust the clamping plane based on the first deviation angle and the second deviation angle obtained by the continuously redefined mounting plane based on the continuously acquired images of the shaft sidewall.

[0120] Each module in the aforementioned elevator shaft installation equipment adjustment device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0121] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for adjusting elevator shaft installation equipment. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0122] Those skilled in the art can understand that Figure 5 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0123] In one embodiment, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0124] obtaining a hoistway side wall image containing an installation target point; determining an installation plane containing the installation target point on a hoistway side wall region corresponding to the hoistway side wall image according to the hoistway side wall image; determining a first reference point pair and a second reference point pair in the installation plane; the first reference point pair and the second reference point pair are not collinear and not parallel; obtaining a first deviation angle between the clamping plane and the installation plane according to the distance of the first reference point pair on the hoistway side wall and the distance between the clamping plane of the elevator hoistway installation device and each reference point in the first reference point pair; obtaining a second deviation angle between the clamping plane and the installation plane according to the distance of the second reference point pair on the hoistway side wall and the distance between the clamping plane of the elevator hoistway installation device and each reference point in the second reference point pair; adjusting the clamping plane based on the first deviation angle and the second deviation angle, so that the clamping plane and the installation plane satisfy a preset inter-plane relationship.

[0125] In one embodiment, the processor further implements the following steps when executing the computer program:

[0126] obtaining, according to the hoistway side wall image, a maximum region around the installation target point on the hoistway side wall region corresponding to the hoistway side wall image as the installation plane, the maximum region satisfying a preset flatness condition.

[0127] In one embodiment, the processor further implements the following steps when executing the computer program:

[0128] obtaining two reference points with the maximum distance in two different directions from the installation plane respectively to obtain the first reference point pair and the second reference point pair.

[0129] In one embodiment, the processor further implements the following steps when executing the computer program:

[0130] the connecting line of the first reference point pair is perpendicular to the connecting line of the second reference point pair; determining a first adjustment path of the clamping plane according to the first deviation angle; determining a second adjustment path of the clamping plane according to the second deviation angle; adjusting the clamping plane according to the first adjustment path and the second adjustment path in sequence, so that the clamping plane and the installation plane satisfy the preset inter-plane relationship.

[0131] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0132] The preset inter-plane relationship comprises a first preset angle range and a second preset angle range; the clamping plane is moved according to the first adjustment path until a first deviation angle changed due to the movement satisfies the first preset angle range; the clamping plane is moved according to the second adjustment path until a second deviation angle changed due to the movement satisfies the second preset angle range.

[0133] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0134] The camera for shooting the shaft side wall image is caused to follow the movement of the clamping plane and continuously collect the shaft side wall image, and the clamping plane is adjusted based on the first deviation angle and the second deviation angle of the continuously re-determined installation plane obtained from the continuously collected shaft side wall image.

[0135] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program, when executed by a processor, implements the following steps:

[0136] An image of a shaft side wall containing an installation target point is obtained; an installation plane containing the installation target point is determined on a shaft side wall region corresponding to the image of the shaft side wall according to the image of the shaft side wall; a first reference point pair and a second reference point pair are determined in the installation plane; the first reference point pair and the second reference point pair are not collinear and not parallel; a first deviation angle between the clamping plane and the installation plane is obtained according to the distance of the first reference point pair on the shaft side wall and the distance between the clamping plane of the elevator shaft installation device and each reference point in the first reference point pair; a second deviation angle between the clamping plane and the installation plane is obtained according to the distance of the second reference point pair on the shaft side wall and the distance between the clamping plane of the elevator shaft installation device and each reference point in the second reference point pair; and the clamping plane is adjusted based on the first deviation angle and the second deviation angle so that the clamping plane and the installation plane satisfy a preset inter-plane relationship.

[0137] In one embodiment, the computer program, when executed by the processor, also implements the following steps:

[0138] The largest region around the installation target point that satisfies a preset flatness condition on a shaft side wall region corresponding to the image of the shaft side wall is obtained as the installation plane according to the image of the shaft side wall.

[0139] In one embodiment, the computer program, when executed by the processor, also implements the following steps:

[0140] Two reference points with the largest distance in two different directions from the installation plane are obtained to obtain the first reference point pair and the second reference point pair.

[0141] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0142] the line connecting the first pair of reference points is perpendicular to the line connecting the second pair of reference points; determining a first adjustment path of the clamping plane according to the first deviation angle; determining a second adjustment path of the clamping plane according to the second deviation angle; adjusting the clamping plane according to the first adjustment path and the second adjustment path in sequence, so that the clamping plane and the mounting plane satisfy the preset inter-plane relationship.

[0143] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0144] the preset inter-plane relationship comprises a first preset angle range and a second preset angle range; moving the clamping plane according to the first adjustment path until the first deviation angle, which changes due to the movement, satisfies the first preset angle range; moving the clamping plane according to the second adjustment path until the second deviation angle, which changes due to the movement, satisfies the second preset angle range.

[0145] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0146] the camera for shooting the shaft side wall image follows the movement of the clamping plane and continuously collects the shaft side wall image, and the clamping plane is adjusted based on the first deviation angle and the second deviation angle of the continuously re-determined mounting plane obtained from the continuously collected shaft side wall image.

[0147] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the following steps:

[0148] obtaining a shaft side wall image containing a mounting target point; determining a mounting plane containing the mounting target point on a shaft side wall region corresponding to the shaft side wall image according to the shaft side wall image; determining a first pair of reference points and a second pair of reference points in the mounting plane; the first pair of reference points and the second pair of reference points are not collinear and not parallel; obtaining a first deviation angle between the clamping plane and the mounting plane according to the distance of the first pair of reference points on the shaft side wall and the distance between the clamping plane of the elevator shaft installation equipment and each reference point in the first pair of reference points; obtaining a second deviation angle between the clamping plane and the mounting plane according to the distance of the second pair of reference points on the shaft side wall and the distance between the clamping plane of the elevator shaft installation equipment and each reference point in the second pair of reference points; adjusting the clamping plane based on the first deviation angle and the second deviation angle, so that the clamping plane and the mounting plane satisfy a preset inter-plane relationship.

[0149] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0150] Based on the shaft sidewall image, the largest area around the installation target point that meets the preset flatness condition is obtained on the shaft sidewall area corresponding to the shaft sidewall image as the installation plane.

[0151] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0152] Two reference points with the largest distance are obtained from two different directions within the mounting plane to obtain the first reference point pair and the second reference point pair.

[0153] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0154] The line connecting the first pair of reference points is perpendicular to the line connecting the second pair of reference points; the first adjustment path of the clamping plane is determined according to the first deviation angle; the second adjustment path of the clamping plane is determined according to the second deviation angle; the clamping plane is adjusted according to the first adjustment path and the second adjustment path in sequence so that the clamping plane and the mounting plane satisfy the preset plane relationship.

[0155] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0156] The preset plane relationship includes a first preset angle range and a second preset angle range; the clamping plane moves along a first adjustment path until the first deviation angle that changes due to the movement satisfies the first preset angle range; the clamping plane moves along a second adjustment path until the second deviation angle that changes due to the movement satisfies the second preset angle range.

[0157] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0158] The camera that captures images of the shaft sidewall follows the movement of the clamping plane and continuously acquires images of the shaft sidewall. Based on the continuously acquired images of the shaft sidewall, the first deviation angle and the second deviation angle obtained by continuously re-determining the installation plane are used to adjust the clamping plane.

[0159] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0160] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0161] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for adjusting elevator shaft installation equipment, characterized in that, The method includes: Acquire images of the shaft sidewalls containing the installation target points; Based on the wellbore sidewall image, determine the largest area around the installation target point that meets the preset flatness condition as the installation plane on the wellbore sidewall area corresponding to the wellbore sidewall image. Two reference points with the largest distance are obtained from two different directions within the mounting plane to obtain a first pair of reference points and a second pair of reference points within the mounting plane; the first pair of reference points and the second pair of reference points are not collinear and are not parallel. Based on the distance between the first reference point and the side wall of the shaft, and the distance between the clamping plane of the elevator shaft installation equipment and each reference point of the first reference point, the first deviation angle between the clamping plane and the installation plane is obtained. Based on the distance between the second reference point and the side wall of the shaft, and the distance between the clamping plane of the elevator shaft installation equipment and each reference point of the second reference point, a second deviation angle between the clamping plane and the installation plane is obtained; Based on the first deviation angle and the second deviation angle, the clamping plane is adjusted so that the clamping plane and the mounting plane satisfy a preset plane relationship.

2. The method according to claim 1, characterized in that, The line connecting the first pair of reference points is perpendicular to the line connecting the second pair of reference points; adjusting the clamping plane based on the first and second deviation angles to ensure that the clamping plane and the mounting plane satisfy a preset plane relationship includes: The first adjustment path of the clamping plane is determined based on the first deviation angle; The second adjustment path of the clamping plane is determined based on the second deviation angle; The clamping plane is adjusted sequentially according to the first adjustment path and the second adjustment path so that the clamping plane and the mounting plane satisfy a preset plane relationship.

3. The method according to claim 2, characterized in that, The preset interplane relationship includes a first preset angle range and a second preset angle range; adjusting the clamping plane sequentially according to the first adjustment path and the second adjustment path to make the clamping plane and the mounting plane satisfy the preset interplane relationship includes: The clamping plane is moved along the first adjustment path until the first deviation angle, which changes due to the movement, meets the first preset angle range. The clamping plane is moved along the second adjustment path until the second deviation angle, which changes due to the movement, meets the second preset angle range.

4. The method according to any one of claims 1 to 3, characterized in that, The adjustment of the clamping plane based on the first deviation angle and the second deviation angle includes: The camera that captures images of the shaft sidewall follows the movement of the clamping plane and continuously acquires images of the shaft sidewall. Based on the continuously acquired images of the shaft sidewall, the installation plane is continuously redefined, and the first deviation angle and the second deviation angle are obtained. The clamping plane is then adjusted.

5. An elevator shaft installation equipment adjustment device, characterized in that, The device includes: The image acquisition module is used to acquire images of the wellbore sidewall containing the installation target point; The plane determination module is used to determine, based on the wellbore sidewall image, the largest area around the installation target point that meets the preset flatness condition as the installation plane on the wellbore sidewall area corresponding to the wellbore sidewall image. The reference point pair determination module is used to obtain the two reference points with the largest distance from two different directions within the mounting plane, thereby obtaining a first reference point pair and a second reference point pair within the mounting plane; the first reference point pair and the second reference point pair are not collinear and are not parallel. The first deviation angle acquisition module is used to acquire the first deviation angle between the clamping plane and the installation plane based on the distance between the first reference point and the side wall of the shaft, and the distance between the clamping plane of the elevator shaft installation equipment and each reference point of the first reference point. The second deviation angle acquisition module is used to acquire the second deviation angle between the clamping plane and the installation plane based on the distance between the second reference point and the side wall of the shaft, and the distance between the clamping plane of the elevator shaft installation equipment and each reference point of the second reference point alignment. The adjustment module is used to adjust the clamping plane based on the first deviation angle and the second deviation angle, so that the clamping plane and the mounting plane satisfy a preset plane relationship.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

Images