SLAM (Simultaneous Localization and Mapping) technology-based elevator hoistway space digital modeling and lofting method

Abstract

The invention relates to an SLAM (Simultaneous Localization and Mapping) technology-based elevator shaft space digital modeling and lofting method, which comprises the following steps of: moving a depth camera along the vertical direction of a shaft, rotating a rotating holder at the same time, and carrying out all-around scanning on the periphery of the elevator shaft by the depth camera; dividing map points which do not have motion consistency by utilizing correlation among the map points, and performing pose estimation and static map construction by adopting static map points to obtain a high-precision three-dimensional model of an elevator hoistway space; projecting the elevator guide rail bracket mounting hole to the surface of the three-dimensional model to obtain accurate mounting position information of the surface of the elevator guide rail bracket mounting hole; a high-precision three-dimensional digital model of an elevator shaft is used as a basis, sample line placement and position marking are carried out, a high-precision gradienter is used as a reference, the spatial position and posture of a lofting reference relative to the elevator shaft model are determined according to elevator installation requirements, and full-digital lofting of the shaft is achieved. According to the invention, the installation error caused by the drifting of the traditional lofting reference can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of elevators, and in particular to a method for digital modeling and layout of an elevator shaft space based on SLAM technology. Background Art

[0002] Elevators are special equipment for transporting people or goods. Unlike ordinary industrial electromechanical products, they need to be assembled on site at the user's construction site and can only be delivered for use after acceptance. Therefore, the performance quality of an elevator depends not only on the manufacturing quality of the factory, but also on the installation quality of the construction site. Traditionally, elevators installed in the hoistway generally require the installation benchmark to be set by setting up a sample frame. Usually, the base line of the machine room lobby is used as the benchmark to complete the placement and position marking of the sample line, and then a plumb bob is hung at the corresponding position to guide subsequent construction. This installation process requires the placement of a plumb line to obtain a vertical benchmark during construction, and to determine the verticality of the guide rail. However, the plumb line will produce extremely slight swings due to external interference. However, as the building height increases, it is very easy to produce a large horizontal displacement at the end, which inevitably affects the installation accuracy of the elevator. Summary of the invention

[0003] The purpose of the present invention is to provide a method for digital modeling and layout of elevator shaft space based on SLAM technology, which can solve the problems of layout reference drift and large installation error in traditional installation, and ensure high-quality installation of elevators under complex and harsh working conditions.

[0004] To achieve the above object, the present invention provides the following technical solution: a method for digital modeling and layout of elevator shaft space based on SLAM technology, the method comprising the following steps:

[0005] Step S1, fix the depth camera, the rotating pan-tilt head and the high-precision level on the lifting platform. Driven by the lifting system, the depth camera moves in the vertical direction of the shaft, and the rotating pan-tilt head rotates at the same time, and the depth camera performs a comprehensive scan around the elevator shaft;

[0006] Step S2: To address the problem of scarce static textures in the shaft, the correlation between map points is used to segment map points that do not have motion consistency, and static map points are used to perform pose estimation and static map construction to obtain a high-precision three-dimensional model of the elevator shaft space;

[0007] Step S3: Based on the high-precision three-dimensional digital model of the elevator shaft, the sample line is placed and the position is marked, and the spatial position and posture of the layout reference relative to the elevator shaft model are determined based on the high-precision level meter and the elevator installation requirements;

[0008] Step S4: Project the installation holes of the elevator guide rail bracket onto the surface of the three-dimensional model to obtain accurate installation position information of the installation holes of the elevator guide rail bracket, thereby realizing full digital layout of the hoistway.

[0009] Furthermore, the "depth camera performs a comprehensive scan of the elevator shaft" in step S1 is further: the depth camera achieves 360-degree continuous rotation through the gimbal, and the depth camera is lowered to perform a comprehensive scan of the elevator shaft.

[0010] Furthermore, the descending speed V of the depth camera is less than the vertical height H of the depth camera field of view*the angular velocity of the gimbal w / 360.

[0011] Furthermore, the map points in step S2 are point clouds measured by a depth camera.

[0012] Furthermore, the step S2 of "using the correlation between map points to segment map points that do not have motion consistency" is further as follows: the point cloud continuously scanned by the depth camera will scan the same area multiple times, that is, the point cloud data at different times will overlap, and the duplicate point cloud data is removed from the point cloud data collected at different times.

[0013] Furthermore, the step S2 of "performing pose estimation and static map construction to obtain a high-precision three-dimensional model of the elevator shaft space" is further as follows: through the ICP registration algorithm of the point cloud, the point cloud data at different times are transformed into the same reference coordinate system, and after the registered point cloud data is simplified, triangular patches are used for fitting to obtain a three-dimensional surface, thereby obtaining a high-precision three-dimensional model of the elevator shaft space.

[0014] Furthermore, the step S3 of "establishing the spatial position and posture of the layout reference relative to the elevator shaft model according to the elevator installation requirements" is further as follows: the projector and the depth camera are fixed to the same reference, the shaft surface is scanned by the depth camera, the scanned point cloud data is aligned with the three-dimensional model of the shaft, and the position and posture information of the projector and the depth camera installation reference is obtained, and the projection pattern position is adjusted accordingly to ensure that the projection pattern is consistent with the construction position.

[0015] Furthermore, the step S3 of "placement and position marking of the sample line" is further as follows: using a projector to project the placement and position marking of the sample line onto the surface of the well.

[0016] Beneficial effects of the present invention: The accuracy of the elevator shaft layout benchmark and the accuracy of the position of the elevator guide rail bracket and the door sill door frame installation holes are the key to achieving high-quality installation of the elevator. The present invention combines a depth camera to obtain high-precision point cloud data of the shaft, and on this basis constructs a three-dimensional digital model of the elevator shaft space. Based on the three-dimensional digital model, a vertical layout benchmark is further established, and its spatial position and posture relative to the elevator shaft model are obtained, which is used as a benchmark for elevator installation. In addition, by scanning the local shaft point cloud data with a depth camera, and combining the fusion matching algorithm of the local point cloud data with the shaft digital model, accurate position information is provided for the construction of the elevator guide rail bracket and the door sill door frame installation holes. Fundamentally solve the problems of traditional layout benchmark drift and large installation errors, and ensure high-quality installation of elevators under complex and harsh working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of a depth camera scan;

[0018] Figure 2 The three-dimensional model registration diagram of the elevator shaft of the present invention;

[0019] Figure 3 This is a schematic diagram of the projector projection.

[0020] Among them: 1. Rotating gimbal and high-precision level, 2. Depth camera, 3. Elevator shaft, 4. Rotational movement direction, 5. Vertical movement direction, 6. Scanning surface, 7. Projection surface, 8 Structured light, 9. Rotating gimbal coordinate system, 10. Elevator shaft coordinate system, 11. Camera coordinate system. DETAILED DESCRIPTION

[0021] See also Figures 1 to 3 As shown, a method for digital modeling and layout of an elevator shaft space based on SLAM technology of the present invention comprises the following steps:

[0022] Step S1, fix the depth camera, the rotating pan-tilt head and the high-precision level on the lifting platform. Driven by the lifting system, the depth camera moves in the vertical direction of the shaft, and the rotating pan-tilt head rotates at the same time, and the depth camera performs a comprehensive scan around the elevator shaft;

[0023] Step S2: To address the problem of scarce static textures in the shaft, the correlation between map points is used to segment map points that do not have motion consistency, and static map points are used to perform pose estimation and static map construction to obtain a high-precision three-dimensional model of the elevator shaft space;

[0024] Step S3: Based on the high-precision three-dimensional digital model of the elevator shaft, the sample line is placed and the position is marked, and the spatial position and posture of the layout reference relative to the elevator shaft model are determined based on the high-precision level meter and the elevator installation requirements;

[0025] Step S4: Project the installation holes of the elevator guide rail bracket onto the surface of the three-dimensional model to obtain accurate installation position information of the installation holes of the elevator guide rail bracket, thereby realizing full digital layout of the hoistway.

[0026] The present invention will be further described below in conjunction with a specific embodiment:

[0027] A method for digital modeling and layout of elevator shaft space based on SLAM technology.

[0028] Step S1, fix the depth camera, the rotating pan-tilt head and the high-precision level on the lifting platform. Driven by the lifting system, the depth camera moves in the vertical direction of the shaft, and the rotating pan-tilt head rotates at the same time, and the depth camera performs a comprehensive scan around the elevator shaft;

[0029] The "depth camera performs a comprehensive scan of the elevator shaft" in step S1 is further: the depth camera achieves 360-degree continuous rotation through the gimbal, and the depth camera is lowered to perform a comprehensive scan of the elevator shaft.

[0030] The descent speed V of the depth camera is less than the vertical height H of the depth camera field of view*the angular speed of the gimbal w / 360.

[0031] Step S2: To address the problem of scarce static textures in the shaft, we use the correlation between map points to segment map points that do not have motion consistency, and use static map points to perform pose estimation and static map construction to obtain a high-precision three-dimensional model of the elevator shaft space; we introduce vision-based simultaneous localization and mapping (SLAM) technology, use a high-precision depth camera to perform a global scan of the elevator shaft space, and construct a three-dimensional digital model of the elevator shaft. The depth camera, rotating gimbal, and high-precision level are set up as follows: Figure 1 shown.

[0032] The map points in step S2 are point clouds measured by the depth camera.

[0033] The step S2 of "using the correlation between map points to segment map points that do not have motion consistency" is further as follows: the point cloud continuously scanned by the depth camera will scan the same area multiple times, that is, the point cloud data at different times will overlap, and the duplicate point cloud data is removed from the point cloud data collected at different times.

[0034] The step S2 of "performing pose estimation and static map construction to obtain a high-precision three-dimensional model of the elevator shaft space" is further as follows: through the ICP registration algorithm of the point cloud, the point cloud data at different times are transformed into the same reference coordinate system, and after the registered point cloud data is simplified, triangular patches are used for fitting to obtain a three-dimensional surface, thereby obtaining a high-precision three-dimensional model of the elevator shaft space.

[0035] Step S3: Based on the high-precision three-dimensional digital model of the elevator shaft, sample lines are placed and marked, and based on a high-precision level, the spatial position and posture of the layout reference relative to the elevator shaft model are established according to the elevator installation requirements; the sample line is a marking line used as a reference line for drilling or installation.

[0036] The step S3 of "establishing the spatial position and posture of the layout reference relative to the elevator shaft model according to the elevator installation requirements" is further as follows: the projector and the depth camera are fixed to the same reference, the shaft surface is scanned by the depth camera, and the scanned point cloud data is aligned with the shaft three-dimensional model to obtain the position and posture information of the projector and depth camera installation references, and the projection pattern position is adjusted accordingly to ensure that the projection pattern is consistent with the construction position. The scanned point cloud data is aligned with the shaft three-dimensional model using the sampling ICP (Iterative Closest Point) algorithm. Before layout, a complete shaft three-dimensional point cloud model will be obtained by scanning. Figure 2 As shown in the figure, when performing layout, the depth camera will scan the local wellbore 3D data to be layouted, obtain the data of the scanned surface, and align it with the overall wellbore 3D data. After the alignment, the transformation matrix of the two point cloud data can be obtained, thereby obtaining the position and posture information of the projector and the depth camera installation reference. According to the position and posture information of the projector and the depth camera installation reference, the coordinate position of the layout line pattern is changed, and a picture of the layout line is generated. Finally, the layout line is projected onto the wellbore surface by the projector to form a Figure 2 The projection surface shown, the position information such as the camera coordinate system on the depth camera, the elevator shaft coordinate system on the elevator shaft and the rotating pan-tilt coordinate system are as shown in Figure 2 shown.

[0037] The step S3 of "placement and position marking of the sample line" further includes: using a projector to project the placement and position marking of the sample line onto the well surface, such as Figure 3 shown.

[0038] Step S4, project the installation hole of the elevator guide rail bracket onto the surface of the three-dimensional model, obtain the precise installation position information of the installation hole surface of the elevator guide rail bracket, and realize the full digital layout of the shaft. After the ideal model of the construction drawing is discretized into a point cloud, it is aligned to the measured three-dimensional model of the shaft through the ICP algorithm, and then the installation hole of the elevator guide rail bracket is projected onto the surface of the three-dimensional model to obtain the position information of the installation hole. Based on the high-precision full-digital three-dimensional model of the elevator shaft, the sample line is placed and the position is marked, and the electronic level is used as the reference. According to the elevator installation requirements, the spatial position and posture of the layout reference relative to the elevator shaft model are established, and then the coordinate position of the layout line pattern is changed, so as to generate a picture of the layout line, and the layout line is projected onto the shaft surface by a projector to realize full digital layout. The present invention fundamentally solves the installation error caused by the drift of the traditional layout reference and ensures the high-quality installation of the elevator.

[0039] In short, during the elevator installation process, the local shaft point cloud data around the installation work platform is scanned by the depth camera to provide accurate position information for the construction of the installation holes of the elevator guide rail bracket and the door threshold and door frame. In view of the shaking of the installation work platform, the information sources of the depth camera and the level are integrated, and the classic point cloud registration and loop test methods in SLAM are integrated. Through the method of registering the point cloud data with the shaft 3D model, the projector and the depth camera are fixed to the same reference, and the depth camera is used to scan the shaft surface. The scanned point cloud data is registered with the shaft 3D model to obtain the position and posture information of the projector and depth camera installation reference, and the projection pattern position is adjusted accordingly to ensure that the projection pattern is consistent with the construction position to eliminate the shaking effect.

[0040] The above description is only a preferred embodiment of the present invention and should not be construed as limiting the present application. All equivalent changes and modifications made within the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A method for digital modeling and layout of elevator shaft space based on SLAM technology, characterized in that: The method comprises the following steps: Step S1, fix the depth camera, the rotating pan-tilt head and the high-precision level on the lifting platform. Driven by the lifting system, the depth camera moves in the vertical direction of the shaft, and the rotating pan-tilt head rotates at the same time, and the depth camera performs a comprehensive scan around the elevator shaft; Step S2: To address the problem of scarce static textures in the shaft, the correlation between map points is used to segment map points that do not have motion consistency, and static map points are used to perform pose estimation and static map construction to obtain a high-precision three-dimensional model of the elevator shaft space; Step S3: Based on the high-precision three-dimensional digital model of the elevator shaft, the sample line is placed and the position is marked, and the spatial position and posture of the layout reference relative to the elevator shaft model are determined based on the high-precision level meter and the elevator installation requirements; Step S4: Project the installation holes of the elevator guide rail bracket onto the surface of the three-dimensional model to obtain accurate installation position information of the installation holes of the elevator guide rail bracket, thereby realizing full digital layout of the hoistway.

2. The method for digital modeling and layout of an elevator shaft space based on SLAM technology according to claim 1, characterized in that: The "depth camera performs a full-scale scan of the elevator shaft" in step S1 is further: the depth camera achieves 360-degree continuous rotation through the gimbal, allowing the depth camera to descend to perform a full-scale scan of the elevator shaft.

3. The method for digital modeling and layout of an elevator shaft space based on SLAM technology according to claim 2, characterized in that: The value V of the descent speed of the depth camera is less than the value of the vertical height H* (gimbal angular velocity w / 360) of the depth camera field of view.

4. The method for digital modeling and layout of an elevator shaft space based on SLAM technology according to claim 1, characterized in that: The map points in step S2 are point clouds measured by the depth camera.

5. The method for digital modeling and layout of elevator shaft space based on SLAM technology according to claim 1, characterized in that: The step S2 of "using the correlation between map points to segment map points that do not have motion consistency" is further as follows: the point cloud continuously scanned by the depth camera may scan the same area multiple times, that is, the point cloud data at different times may overlap, and the duplicate point cloud data is removed from the point cloud data collected at different times.

6. The method for digital modeling and layout of elevator shaft space based on SLAM technology according to claim 1, characterized in that: The step S2 of "performing pose estimation and static map construction to obtain a high-precision three-dimensional model of the elevator shaft space" is further as follows: through the ICP registration algorithm of the point cloud, the point cloud data at different times are transformed into the same reference coordinate system, and after the registered point cloud data is simplified, triangular patches are used for fitting to obtain a three-dimensional surface, thereby obtaining a high-precision three-dimensional model of the elevator shaft space.

7. The method for digital modeling and layout of elevator shaft space based on SLAM technology according to claim 1, characterized in that: The step S3 of "establishing the spatial position and posture of the lofting reference relative to the elevator shaft model according to the elevator installation requirements" is further as follows: the projector and the depth camera are fixed to the same reference, the shaft surface is scanned by the depth camera, the scanned point cloud data is aligned with the three-dimensional shaft model, and the position and posture information of the projector and the depth camera installation reference is obtained, and the projection pattern position is adjusted accordingly to ensure that the projection pattern is consistent with the construction position.

8. The method for digital modeling and layout of elevator shaft space based on SLAM technology according to claim 1, characterized in that: The step S3 of "placement and position marking of the sample line" further includes: using a projector to project the placement and position marking of the sample line onto the surface of the well.

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