Measuring system for rapid installation and measurement of elevator shaft

Abstract

The invention discloses a measuring system for rapid installation and measurement of an elevator shaft. The system is mainly composed of a traction lifting device, a measuring platform and measuring equipment. And the traction lifting device adopts an anti-twisting design, so that traction equipment can be stabilized. The measuring platform reduces the shaking risk through a reasonable structure. The measuring device integrates an IMU, a large-field-angle and long-range laser radar, a panoramic camera, a processor and a memory, and multi-sensor data collaboration is achieved. The multi-sensor fusion SLAM technology is adopted, complex guiding and limiting and a large number of reference elements are not needed, measurement of a hundred meters or even higher hoistway can be completed within half an hour, the measurement precision is high, a high-quality laser point cloud data model and a color three-dimensional reconstruction model can be generated in real time, foreign matter in the hoistway can be accurately recognized, and the method is widely applied to measurement work of various elevator hoistways and has wide application prospects. And efficient and reliable data support is provided for elevator installation and maintenance.

Description

Technical Field

[0001] The invention relates to the technical field of elevator shaft measurement, in particular to a measurement system for rapid installation and measurement of an elevator shaft. Background Art

[0002] Reference Figure 1 In the original shaft survey diagram, the elevator shaft 10 is a closed, narrow, and elongated space, and the GPS model for measuring and positioning is weak. In addition, the four walls of the shaft are all concrete walls, or the brick wall + the guide rail installation position is a concrete wall, and there are few reference elements for measuring and positioning the shaft body.

[0003] If the measuring device uses drone + sensor survey, the measuring equipment generally uses IMU + laser + camera and other multi-sensor combination survey. If the measurement accuracy is high, the general sensor is large and heavy. In addition, the IMU is sensitive to vibration and impact, which requires the motor of the drone to be away from the IMU, which invisibly requires the size of the drone to be larger, and the narrow cross-section of the well is not conducive to the navigation of the drone.

[0004] Therefore, most of the traditional shaft surveys currently choose the traction method, which mainly consists of a traction lifting device 20a, a measuring platform 30a, a measuring device 40a, and a guide limit device 50a. The traction lifting device drags the measuring platform and the measuring device on the platform to move up and down in the Z direction in the shaft for surveying. The guide limit device generally uses a rope fixed from top to bottom to guide the measuring platform + measuring device to move vertically upward and limit the rotation and swing of the measuring platform + measuring device. The measuring equipment mostly uses a horizontal laser rangefinder or a stereo camera group or a combination of the two 41a, a height measurement sensor (height position determination) 42a, an angle sensor 43a, a horizontal positioning sensor 44a (horizontal position determination), etc.

[0005] In the traditional traction method of the shaft measurement device, the guide limit device 50a is generally to place 1-2 ropes from the top of the shaft to the bottom pit, and then fix it, and the laying and installation takes a long time. In addition, the height position determination and the horizontal position determination generally require additional reference elements, especially the horizontal position determination, the installation of reference elements or the installation and debugging of sensors takes a long time. The current mainstream method for determining the horizontal position is: one method is to use 1-2 plumb lines from the top to the bottom of the shaft as the reference source, and the distance in the X and Y directions of the plumb line cross section is measured by the sensor mounted on the platform 30a to determine the horizontal position; the other is to shoot two beams of laser 441a placed in the bottom pit of the shaft to the target on the mobile platform, and the horizontal position of the target spot is identified by the sensor on the platform. The first method is that the laying and installation takes a long time, and the second method is that the installation and debugging of the laser beam takes a long time to be vertical and aligned, and it is necessary to ensure that the laser beam can hit the effective measurement range of the target from the bottom to the top of the shaft during the measurement operation, otherwise the survey needs to be stopped. The entire survey requires, in addition to the traction line 21a, 1-2 guide lines 51a or a plumb line for horizontal positioning. To prevent the risk of entanglement of several lines, they are generally placed one by one. Even if they are placed one by one, there is still a risk of entanglement. The entire installation process takes a very long time and the operation process of personnel in the shaft is time-consuming and unsafe.

[0006] During the installation and maintenance of elevators, accurate measurement of the elevator shaft is crucial. Traditional shaft measurement methods often require complex installation processes and a large number of reference elements. The measurement process is cumbersome and time-consuming, and it is difficult to meet the needs of efficient construction. With the development of technology, the application of multi-sensor fusion SLAM technology in other fields has gradually matured, but it has not yet been widely used in the field of elevator shaft measurement. Summary of the invention

[0007] The purpose of the present invention is to provide a measurement system for rapid installation and measurement of elevator shafts, which can utilize the existing mature multi-sensor fusion SLAM technology to achieve fast, efficient and accurate shaft measurement without the need for complex guide limit devices and excessive reference elements, thereby reducing the difficulty of installation and measurement and improving work efficiency.

[0008] The present invention is achieved through the following technical solutions:

[0009] A measurement system for rapid installation and measurement of an elevator shaft, comprising:

[0010] Traction lifting device

[0011] A manual or electric winch structure is used, which is fixed near the traction hole or the top floor doorway. The traction line extends from the traction hole or the doorway into the elevator shaft through a guide device. The traction measurement platform and the measuring equipment run up and down in the shaft in the Z direction for survey.

[0012] In order to prevent the distortion of the traction line from affecting the measurement accuracy, a series of anti-twisting measures are taken: a wire arrangement device is added to the front end of the winch drum to allow the traction line to be automatically and evenly wound in multiple layers; a high-speed rotating bearing and a rotatable hook are provided at the end where the traction line is connected to the measuring platform, which can rotate 360° in both directions to facilitate the deflation of the wire rope; when measuring, measure from the bottom of the well to the top, first hang a heavy object on the top to release the line, release the distortion of the traction rope caused by winding and other reasons, and control the uniform lifting and lowering of the measuring device to reduce the error caused by vertical acceleration.

[0013] Measuring platform

[0014] As the carrying platform for the measuring equipment to move up and down, the towing point connected to the rotatable hook is higher than the center of gravity and is set on the center of gravity line. Three or more towing points are used, and the towing hoisting rope is set to ≥45° to reduce the risk of shaking, tilting and rollover of the measuring equipment. A turntable in the opposite direction of the laser radar can also be added to the platform to resist the rotation, flipping and vibration caused by the rotation of the measuring equipment.

[0015] Measuring equipment

[0016] IMU: A 9-axis inertial measurement unit (three-axis gyroscope, three-axis accelerometer, and three-axis magnetic field meter) is used to sense the spatial attitude and position of the laser radar. The three-dimensional acceleration of the motion coordinate system is sensed by the gyroscope and accelerometer, and the velocity and displacement are obtained through integration operations to determine the position and attitude information of the laser radar. A gyroscope with anti-vibration design is used to adapt to the complex airflow environment of the well, and a three-axis magnetometer is used to assist in improving the error caused by drift in the horizontal direction. The accumulated error is corrected through inertial navigation data fusion, which prolongs the high-precision navigation time and suppresses the error growth.

[0017] Multi-line laser radar with large laser field of view, long range, high frequency and high precision: used to detect the precise distance between the laser radar and each scanning point on the four walls for later modeling, and deeply combined with IMU to provide continuity and accuracy of high-rise or super-high-rise shaft data positioning, ensuring positioning accuracy. The laser field of view is large. In addition to ensuring a 360° horizontal viewing angle, the height Z direction viewing angle should preferably cover more than 180°, and the range is long. It can scan quickly and efficiently, shorten the working cycle, and reduce the accumulation of inertial positioning errors. During the movement, the four edge points of the ceiling on the top plane or the ground on the bottom plane of the shaft can be captured, compared with the initial positioning point and fused with the inertial navigation to obtain continuous and accurate position and attitude parameters. You can also choose a radar with a moderate range, and appropriately add some additional feature points within the height range, such as supporting the target ball to the wall away from the door opening with a long pole, and fixing the other end of the long pole with a heavy object to improve accuracy.

[0018] Panoramic camera: mainly used to obtain shaft texture and color visual information, and assist IMU positioning. Multiple cameras simultaneously shoot pictures from different angles, and the software algorithm synthesizes the panoramic image to achieve a 360-degree shooting effect without blind spots.

[0019] Processor and storage: With efficient processor and storage, combined with AI intelligent algorithm, it can generate high-quality laser point cloud data model in real time, realize the measurement of wells and output measurement data. The output point cloud data can be converted into a three-dimensional surface model after software post-processing, and the image taken by the camera can be mapped to the reconstructed model to generate a color three-dimensional reconstruction model of the well, which can be used for measurement and analysis of the well, such as foreign body recognition.

[0020] In summary, the present invention has the following beneficial effects:

[0021] The present invention applies multi-sensor fusion SLAM technology to elevator shaft measurement. It does not need to guide the limit device and too many reference elements of the measured body, nor does it need to add too many additional positioning reference elements. It can quickly install and complete the shaft survey. For example, for shaft measurement of 100 meters or even higher, the installation and completion of the entire survey process can be easily completed within half an hour, which greatly improves work efficiency.

[0022] The present invention effectively reduces errors caused by factors such as equipment rotation, flipping, and vibration during the measurement process and improves measurement accuracy through anti-twisting measures of the traction lifting device, special design of the measuring platform, and coordinated work of various components in the measuring equipment.

[0023] The present invention utilizes a multi-line laser radar with a large laser field of view and long range, combined with a panoramic camera and IMU, as well as an efficient processor and storage, to generate high-quality laser point cloud data models and a color 3D reconstruction model of the shaft in real time, providing rich and accurate data support for the measurement and analysis of the elevator shaft, and facilitating a comprehensive and detailed evaluation and analysis of the shaft, such as foreign object recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0025] Figure 1 This is a schematic diagram of the original shaft survey;

[0026] Figure 2 A schematic diagram of a shaft survey according to an embodiment of the present invention;

[0027] Figure 3 This is a cross-sectional schematic diagram of the installation of a target ball in a well according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, features, and advantages of this application more obvious and easy to understand, the technical solutions in the embodiments of this application are clearly and completely described. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] Reference Figure 2 and Figure 3 A measurement system for rapid installation and measurement of elevator shafts applies the existing mobile measurement equipment multi-sensor fusion SLAM technology to shaft measurement, providing a measurement equipment and system for rapid installation and measurement of elevator shafts. The traction lifting device 20 is used to drag the measurement platform 30 and the measurement equipment 40 on the platform to move up and down in the shaft 10 in the Z direction for surveying. There is no need for a guide limit device, too many reference elements of the measured body, and too many additional positioning reference elements. The shaft survey can be quickly installed and completed. For example, for shaft measurements of 100 meters or even higher, the installation and completion of the entire survey process can be easily completed within half an hour. See the schematic diagram of the shaft survey Figure 2 .

[0030] 2. Overall structure and working principle

[0031] 1) Traction lifting device 20

[0032] The traction lifting device 20 adopts a manual or electric winch structure. In order to reduce the installation process of the traction lifting device in the hoistway, the traction lifting device 20 is fixed near the traction hole or the top floor doorway 12, and the traction line 21 extends from the traction hole or the doorway into the elevator hoistway through the guide device 22, and the traction measurement platform + measurement equipment runs up and down in the hoistway in the Z direction for survey.

[0033] The twisting of the traction wire 21 will cause the measuring platform 30 and the measuring device 40 on the platform to rotate, flip and vibrate during operation, and the rotation, flip and vibration will affect the IMU and reduce its positioning and measurement accuracy.

[0034] The traction lifting device 20 can take a series of anti-twisting measures: for example, a wire arrangement device is added to the front end of the winch drum, and the traction rope can be automatically and evenly wound on the winch drum in multiple layers through the wire arrangement device, so that local stacking and disordered wire twisting will not occur; in addition, a high-speed rotating bearing 211 + a rotatable hook 212 is provided at the end where the traction rope 21 is connected to the measuring platform, which can rotate 360° in both directions, which is conducive to the deflation of the wire rope and reduces the rotation and flipping of the carrying platform + measuring equipment caused by the twisting of the wire rope and the vibration caused thereby; in addition, the measuring platform The measurement method can be to measure from the bottom of the well to the top of the well, so that the traction rope is first hung with a certain weight from the top to pay out the line, which can release the distortion of the traction rope caused by winding on the drum, etc., and then measure from the bottom of the well to the top of the well, which greatly reduces the rotation, flipping and vibration of the measuring platform 30 + measuring equipment 40 caused by the distortion of the wire rope itself; it is best to control the uniform lifting and lowering of the measuring device to reduce the large error caused by the vertical acceleration, because it is difficult for the inertial navigation to accurately distinguish between the gravity acceleration and the vertical acceleration, which is easy to cause a large error in the vertical distance.

[0035] 2) Measuring platform 30

[0036] The measuring device 40 is mounted on a platform that moves up and down.

[0037] In order to alleviate the rotation, flipping and vibration of the measuring equipment 40, the measuring platform 30 can take a series of measures: the traction point connected to the rotatable hook 212 is higher than the center of gravity, and the lifting point is set on the center of gravity line of the measuring platform 30 + measuring equipment 40; 3 or more traction lifting points 31 are used on the platform to reduce the risk of shaking and tilting of the measuring equipment; the traction lifting rope is set to ≥45° to balance the force and reduce the risk of rollover; the high-precision laser radar 41 may rotate clockwise or counterclockwise around the Z direction, and a turntable with a rotation direction opposite to that of the laser radar 41 can be added to the measuring platform to resist the rotation, flipping and vibration caused by the rotation of the measuring equipment.

[0038] 3) Measuring equipment 40

[0039] The measuring device 40 is mainly composed of a multi-line laser radar 41 with a large laser field of view, a long range, a high frequency and high precision, an IMU 42, a panoramic camera 43, a processor and a storage 44, etc.

[0040] a)IMU42

[0041] IMU42 is used to sense the spatial posture and position of the laser radar 41.

[0042] IMU42 can use a 9-axis inertial measurement unit (three-axis gyroscope, three-axis accelerometer, three-axis magnetic field meter), which can output three-axis acceleration, three-axis rotation speed and three-axis geomagnetic field strength, and the gyroscope adopts a vibration-resistant design.

[0043] The gyroscope and accelerometer sense the three-dimensional acceleration of the motion coordinate system of the measurement platform + measurement device, and the velocity is obtained by a first integral operation, and the displacement is obtained by a second integral operation. The position and attitude information of the laser radar 41 can be determined.

[0044] The inertial navigation system has the following disadvantages:

[0045] Since the inertial navigation system calculates information such as position and speed based on integration, the positioning accuracy error will accumulate over time.

[0046] In addition, the inertial navigation system is a sensitive instrument, and the vibration and strong magnetic environment interference may also cause errors in attitude calculation. In particular, it is difficult for the inertial navigation to accurately distinguish between gravity acceleration and vertical acceleration during operation, and the displacement error in the height direction will be relatively large; the horizontal direction is not affected by gravity, but may be greatly disturbed by the magnetic field.

[0047] The main purpose of using a three-axis magnetometer is to assist in improving errors caused by drift in the horizontal direction. The magnetometer provides additional geomagnetic information. Through inertial navigation data fusion, the accumulated error can be corrected, the high-precision navigation time of the inertial navigation system can be extended, and the error growth can be suppressed.

[0048] The anti-vibration gyroscope is used mainly because the airflow in the shaft is complex. When reaching the shaft door opening, the measuring device 40 may be bumped, shaken, and rotated due to turbulent airflow. The anti-vibration gyroscope can still stably track the dynamic posture.

[0049] b) Multi-line laser radar with large laser field of view, long range, high frequency and high precision 41

[0050] It is used to detect the precise distance between the laser radar and each scanning point on the four walls for later modeling; it is also deeply integrated with the IMU to provide the continuity and accuracy of high-rise or ultra-high-rise shaft data positioning to ensure positioning accuracy.

[0051] High-precision, high-efficiency multi-line laser radar 41 with a large laser field of view and long range.

[0052] In addition to ensuring a 360° horizontal viewing angle, a large laser field of view must also ensure a viewing angle in the height Z direction. The viewing angle in the height direction should preferably cover more than 180°, and it is also best to have a long range.

[0053] The advantage of using this radar is that it can scan quickly and efficiently, can complete the scanning of a large area in a short time, shorten the working cycle, reduce the increasing accumulation of inertial navigation positioning errors over time, efficiently complete the measurement and ensure high-precision data collection.

[0054] The main reason is that the airflow in the well is complex. When reaching the well opening, the measuring device 40 may be bumpy, shaken, and rotated without a guide limiter to guide the measuring platform + measuring device posture due to the turbulent airflow. With vibration, especially under the influence of gravity during operation, it is difficult for the inertial navigation to accurately distinguish between gravity acceleration and vertical acceleration, and the displacement error in the height direction is large. If the posture in the height direction is only based on the inertial navigation, it is most likely to be wrong.

[0055] In this case, it is necessary to rely on panoramic cameras to capture visual feature points and laser radar to generate point cloud feature points in real time and inertial navigation fusion technology to obtain continuous and accurate position parameters. However, there are few reference elements for measuring and positioning the shaft body. Although there are feature points such as doorways, the feature points of each doorway are similar. If panoramic cameras and laser radars with small laser field angles and short range are used, it is difficult to capture effective positioning reference elements, unless additional reference elements that are relatively continuous from the bottom of the shaft to the top of the shaft are added during the shaft measurement process.

[0056] If a radar with a large viewing angle and long range in the height direction is used, the upper plane ceiling at the top or the lower plane ground at the bottom of the shaft can be captured. Relatively speaking, the upper plane ceiling at the top of the shaft and the lower plane ground at the bottom of the shaft have more obvious features than other parts of the shaft. They can locate the displacement in the height direction and compensate for the large displacement error in the height direction of the inertial navigation in this special environment, or even the possibility of calculation errors.

[0057] If a radar with a small laser field of view and a short range is used, a height sensor can also be added as a supplement. However, since the measuring device 40 has no guide limit device, the swing angle may be large. If a single-line height sensor is used, it may not capture the top upper plane ceiling 13 or the bottom lower plane ground 11 of the shaft during operation, and there is a risk of capturing the four walls of the shaft.

[0058] By using a radar with a large viewing angle and long range in the height direction, the four edge points of the top upper plane ceiling 13 or the bottom lower plane ground 11 of the shaft can be captured during movement. They can be compared with the initial positioning points of the four edge points of the top upper plane ceiling or the bottom lower plane ground of the shaft initially measured by the measuring equipment 40 placed in the shaft. By fusing with the inertial navigation, continuous and accurate position and attitude parameters can be obtained.

[0059] Of course, the range of the laser radar cannot be infinitely increased as the height of the shaft increases, otherwise the price will be very expensive. You can choose a moderate range and appropriately add some additional feature points within the height range, such as adding three target balls 232 that are not in the same line as feature points. However, in order to improve the accuracy, you can also add three target balls at a proper height. To reduce the installation workload, the target ball 232 can be supported by a long rod 231 and pressed against the wall away from the doorway. The other end of the long rod 231 away from the target ball can be fixed with a heavy object. See the cross-sectional diagram of the target ball installed in the shaft. Figure 3 .

[0060] c) Panoramic camera 43

[0061] Mainly used to obtain shaft texture and color visual information; assist IMU positioning.

[0062] A panoramic camera can use multiple cameras to capture images from different angles simultaneously, and then use software algorithms to combine these images into a panoramic image, thus achieving a 360-degree shooting effect without blind spots.

[0063] d) Processor and storage 50

[0064] Equipped with an efficient processor and 50% storage, combined with AI intelligent algorithms, it can generate high-quality laser point cloud data models in real time, realizing the measurement of the wellbore and the output of measurement data.

[0065] The output point cloud data can be converted into a three-dimensional surface model through software post-processing. The image taken by the camera can be mapped onto the reconstructed model to generate a color three-dimensional reconstruction model of the shaft, which can be used for measurement and analysis of the shaft, such as foreign object recognition.

[0066] Things to note when measuring the route:

[0067] Measure from bottom to top, first let the tow line go from top to bottom, complete the tow line twisting, reduce the rotation of the measuring device + measuring equipment during the measurement operation, and improve the measurement accuracy.

[0068] It is best to initialize statically in the shaft pit for more accurate attitude determination. Combined with the radar system-assisted inertial navigation initialization, the initial positioning feature information such as the shaft pit ground and ceiling can be obtained to lay the foundation for subsequent high-precision navigation.

[0069] At present, multi-sensor SLAM reconstruction and measurement equipment with large field of view, long range, high frequency and high precision of laser radar + inertial navigation + panoramic camera is becoming more and more mature. The wellbore can be measured by using the existing mature handheld or vehicle-mounted mobile measurement equipment, such as the Lingguang L2Pro measurement equipment on the market (including laser radar hardware, laser range of 0.5m-120m or 0.5m-300m, scanning rate of 320,000 points / second (16 threads) or 640,000 points / second (32 threads), laser field of view of 360°×270°). By dragging it through the traction and lifting device 20 to survey the wellbore, the wellbore measurement can be completed well and quickly. After software processing and point cloud algorithm, a high-density point cloud can be generated, which can be converted into a three-dimensional surface model after software post-processing. The image taken by the camera is mapped to the reconstructed model to generate a color three-dimensional reconstruction model of the wellbore, which can be used for measurement and analysis of the wellbore, such as foreign object recognition.

[0070] Compared with the prior art, the present invention has the following beneficial effects:

[0071] Significantly improve measurement efficiency: The multi-sensor fusion SLAM technology is innovatively applied to the field of elevator shaft measurement, eliminating the traditional complex guide limit device and the need to set up a large number of additional reference elements. In actual operation, for shafts up to 100 meters or even higher, the entire measurement process from equipment installation to completion can be easily completed in just half an hour, greatly shortening the measurement cycle and significantly improving work efficiency, providing a strong guarantee for the rapid advancement of elevator installation and maintenance projects.

[0072] Precisely ensure measurement accuracy: Through a series of carefully designed technical means, the measurement error is effectively reduced. The traction and lifting device is equipped with unique anti-twist measures, such as the cable arrangement device to ensure that the traction line is evenly wound to avoid twisting; the high-speed rotating bearing and rotatable hook at the end can flexibly release the stress of the wire rope, reduce the rotation, flipping and vibration of the measuring platform and equipment caused by the twisting of the wire rope, and thus reduce the impact on the positioning accuracy of the IMU. From the structural design of the measuring platform, the risk of equipment shaking and tilting is reduced by setting a traction point higher than the center of gravity and located on the center of gravity line, multiple traction points and a reasonable lifting rope angle; adding a turntable in the opposite direction of the laser radar rotation further suppresses the instability caused by self-rotation. The IMU in the measuring equipment uses a 9-axis inertial measurement unit combined with an anti-vibration gyroscope and a three-axis magnetometer to effectively cope with complex environmental interference and correct accumulated errors; the laser radar has a large field of view and a long range, which can capture key feature points and compensate for the error of the inertial navigation in the height direction; the panoramic camera assists in positioning, and multiple sensors work together to ensure the acquisition of continuous and accurate position and attitude parameters to achieve high-precision measurement.

[0073] Provide comprehensive and high-quality data support: The processor and storage in the system are combined with AI intelligent algorithms to generate high-quality laser point cloud data models in real time. After post-processing, the point cloud data can be converted into a three-dimensional surface model, and the camera image can be mapped onto it to generate a color three-dimensional reconstruction model of the shaft. This not only provides accurate data for the dimensional measurement of the elevator shaft, but also can intuitively present the overall condition of the shaft, facilitate the accurate identification of foreign objects such as protruding steel bars in the shaft, and provide a comprehensive, detailed and reliable data basis for the safe installation and subsequent maintenance of the elevator, which helps to discover potential problems in advance, reduce safety hazards, and improve the overall reliability and stability of the elevator system.

[0074] It has wide applicability and convenience: The design of the entire set of measuring equipment and systems fully considers the actual conditions of different elevator shafts, and can be efficiently applied whether it is shaft measurement of new buildings or maintenance and inspection of elevator shafts of existing buildings. The installation and operation of the equipment are relatively simple, and there is no need for large-scale transformation of the shaft or complicated preliminary preparations, which reduces the difficulty and cost of the measurement operation. At the same time, the laser radar with a suitable range can be flexibly selected according to the shaft height, and the measurement accuracy can be further improved by adding simple additional feature points (such as target balls), showing strong adaptability and flexibility, and bringing a new and efficient solution to shaft measurement in the elevator industry.

[0075] Example:

[0076] The specific implementation process of the measuring device and system for rapid installation and measurement of the elevator shaft of the present invention will be described in detail below.

[0077] 1. Installation and operation of traction lifting device 20

[0078] Installation location selection

[0079] First, according to the actual situation of the elevator shaft, select a suitable position to fix the traction lifting device 20. Usually, it is fixed near the traction hole or the top floor door hole 12 to ensure that the installation position is firm and reliable and can withstand the weight of the entire measurement system and the tension during operation.

[0080] During the fixing process, the horizontality and verticality of the traction lifting device 20 must be ensured, and a level meter or other tool may be used for calibration to ensure the stability and safety of the traction lifting device 20 during operation.

[0081] Arrangement of the traction line 21

[0082] The traction wire 21 is extended from the traction hole or door hole to the elevator shaft through the guide device 22. The design of the guide device 22 should ensure that the traction wire 21 can pass smoothly during operation to avoid jamming or excessive friction.

[0083] In order to realize the anti-twisting function of the traction lifting device 20, a wire arrangement device is installed at the front end of the winch drum. The wire arrangement device can adopt a mechanical structure or an electric control method to ensure that the traction line 21 is automatically wound on the drum in multiple layers and uniformly to avoid local stacking and twisting of the wires. For example, a wire arrangement device with a wire arrangement wheel can be used. The wire arrangement wheel rotates synchronously with the drum through a screw transmission mechanism, and the wire arrangement wheel moves left and right on the screw to achieve uniform wire arrangement of the traction line 21.

[0084] At the end where the traction line 21 is connected to the measuring platform, a high-speed rotating bearing 211 and a rotatable hook 212 are installed. The high-speed rotating bearing 211 should be selected with a model having a low friction coefficient and a high load-bearing capacity to ensure smooth rotation during the operation of the measuring platform 30 and the measuring device 40. The rotatable hook 212 can adopt a universal hook structure, which can achieve bidirectional 360° rotation, and the opening size of the hook should match the connecting part of the measuring platform 30 to ensure a firm and reliable connection.

[0085] 2. Design and installation of measuring platform 30

[0086] Structural design and material selection

[0087] The structural design of the measuring platform 30 should fully consider its bearing capacity and stability. Lightweight and high-strength materials, such as aluminum alloy or carbon fiber composite materials, are used to reduce the overall weight while ensuring the structural strength and stability when running in the well. For example, the frame of the measuring platform 30 can be welded with aluminum alloy profiles, and the surface is anodized to improve corrosion resistance and wear resistance.

[0088] The connection point position between the measuring platform 30 and the rotatable hook 212 is determined according to the layout and weight distribution of the measuring device 40. The connection point should be higher than the center of gravity of the measuring platform 30 and the measuring device 40 and located on the center of gravity line to ensure the balance of the measuring platform 30 during operation. The optimal connection point position and number are determined through mechanical calculation and simulation analysis to ensure that the measuring platform 30 can remain stable under various working conditions.

[0089] No less than three traction points 31 are set on the measuring platform 30, and the angle between the traction hoisting rope and the horizontal direction is ≥45°. The positions of the traction hoisting points 31 should be evenly distributed on the measuring platform 30, and form a stable triangle or polygonal structure with the connection points to reduce the risk of shaking and tilting of the measuring equipment. The traction hoisting rope can be made of high-strength steel wire rope, and its diameter and strength should be selected according to the total weight of the measuring platform 30 and the measuring equipment 40 to ensure safety and reliability.

[0090] Installation and debugging of turntable

[0091] In order to further reduce the rotation, flipping and vibration caused by the self-rotation of the measuring equipment, a turntable is installed on the measuring platform 30 in the opposite direction of the rotation of the laser radar 41. The turntable can be supported by ball bearings, and the accuracy and load-bearing capacity of the bearings should meet the requirements of the measuring equipment. The diameter and thickness of the turntable should be designed according to the size and weight of the laser radar 41 to ensure that the turntable can stably support the laser radar 41 and achieve smooth rotation.

[0092] When installing the turntable, ensure that the turntable is firmly connected to the measuring platform 30 and that the rotation axis of the turntable coincides with the rotation axis of the laser radar 41. After installation, debug the turntable to check whether it rotates smoothly and whether there are any problems such as jamming or abnormal noise. You can manually rotate the laser radar 41 to observe the rotation of the turntable. If there is any problem, adjust the installation position of the turntable or replace components such as bearings in time.

[0093] 3. Configuration and integration of measuring equipment 40

[0094] IMU42 installation and calibration

[0095] Install the IMU 42 on the measuring platform 30 and select a relatively stable position to avoid interference from other components of the measuring equipment. The installation direction of the IMU 42 should be consistent with the coordinate system of the measuring platform 30 so as to accurately perceive the spatial posture and position of the laser radar 41.

[0096] Before the measuring device 40 is used for the first time, the IMU 42 needs to be calibrated. The calibration process includes static calibration and dynamic calibration. During static calibration, the measuring device 40 is placed on a horizontal plane and left to stand for a period of time to allow the IMU 42 to collect static data, and the zero bias, scale factor and other parameters of the gyroscope, accelerometer and magnetic field meter are calibrated through software algorithms. During dynamic calibration, the measuring device 40 can be installed on a platform with a known motion trajectory, such as a turntable or a slide rail, and the measuring device 40 is allowed to move along a predetermined trajectory to collect data during the motion process, and the parameters of the IMU 42 are further calibrated to improve its measurement accuracy and stability.

[0097] Installation and parameter setting of multi-line laser radar 41 with large laser field of view, long range, high frequency and high precision

[0098] The laser radar 41 is installed on the turntable on the measuring platform 30 to ensure that the installation position and angle of the laser radar 41 can meet the measurement requirements. The horizontal field of view of the laser radar 41 is 360°, and the field of view in the height Z direction covers more than 180°. The range is selected according to the height of the elevator shaft. For example, for a shaft 100 meters high, a laser radar 41 with a range of 150 meters can be selected to ensure that the measurement range of the entire shaft can be covered.

[0099] After the laser radar 41 is installed, set the parameters. According to the measurement requirements, set the parameters of the laser radar 41 such as scanning frequency, resolution, and number of sampling points. For example, set the scanning frequency to 10 times per second, the resolution to 0.5°, and the number of sampling points to 10,000 points to obtain sufficiently detailed and accurate well data. At the same time, connect the laser radar 41 and IMU 42 and synchronize the data to ensure that the two can work together to provide accurate position and attitude information.

[0100] Installation and debugging of panoramic camera 43

[0101] The panoramic camera 43 is installed on the measuring platform 30, and a position with a wide field of view is selected to ensure that all directions of the well can be photographed. The panoramic camera 43 is composed of multiple cameras, for example, 6 cameras can be used, which are evenly distributed around the measuring platform 30, and the viewing angle of each camera is 60°. The pictures taken by these cameras are synthesized into a panoramic image through a software algorithm.

[0102] When installing the panoramic camera 43, attention should be paid to the installation angle and position of the camera to ensure that the viewing angles of the cameras can be seamlessly spliced ​​to form a complete panoramic image. After installation, the panoramic camera 43 is debugged to check the image clarity, color reproduction and other parameters of each camera. If there is a problem, the camera's focal length, white balance and other settings are adjusted in time. At the same time, the panoramic camera 43 is connected to the processor and storage 44 to ensure that the captured images can be transmitted and stored in real time.

[0103] Configuration and software integration of processor and storage 44

[0104] Select high-performance processors and large-capacity storage devices, such as multi-core processors and solid-state hard disks, to meet the requirements of real-time generation of high-quality laser point cloud data models and processing of large amounts of measurement data. Install the processor and storage 44 at a suitable location on the measurement platform 30 to ensure good heat dissipation and stable operation.

[0105] Develop a dedicated software system that integrates the data collection, processing and storage functions of the laser radar 41, IMU 42 and panoramic camera 43. The software system should have the following functions:

[0106] The data of the laser radar 41, IMU 42 and panoramic camera 43 are received in real time, and data fusion and processing are performed to generate a laser point cloud data model.

[0107] AI intelligent algorithms are used to optimize and analyze laser point cloud data models, such as removing noise points, extracting feature points, etc., to improve data quality and measurement accuracy.

[0108] The images captured by the panoramic camera 43 are mapped onto the reconstructed model to generate a colored three-dimensional reconstructed model of the shaft, and a visualization interface is provided to facilitate users to view and analyze the measurement results.

[0109] It has data storage and management functions, can store measurement data in a storage device in a certain format, and supports operations such as data query, export and backup.

[0110] Implementation Cases

[0111] The following is a specific implementation case, taking the elevator shaft measurement of a high-rise office building as an example to illustrate the actual application process of the measurement device and system of the present invention.

[0112] 1. Project Background

[0113] The high-rise office building has 30 floors and the elevator shaft is about 100 meters high. It is necessary to accurately measure the elevator shaft to provide accurate data support for the installation and maintenance of the elevator. The traditional measurement method requires the construction of complex scaffolding, the measurement process is cumbersome, inefficient, and the measurement accuracy is difficult to guarantee. Therefore, it is decided to use the measurement equipment and system for rapid installation and measurement of the elevator shaft of the present invention for measurement.

[0114] 2. Measurement Preparation

[0115] Equipment inspection and debugging

[0116] Before measurement, conduct a comprehensive inspection of the measuring equipment and system, including the appearance, connection, electrical performance, etc. of each component of the traction and lifting device 20, the measuring platform 30, the measuring equipment 40, etc. Ensure that the equipment is not damaged, the connection is firm, and the electrical system is working properly.

[0117] According to the method in the above specific implementation, the measuring device 40 is calibrated and debugged, including the calibration of the IMU 42, the parameter setting of the laser radar 41, the debugging of the panoramic camera 43, and the testing of the software system, etc. It is ensured that each device and system can operate normally and the measurement data is accurate and reliable.

[0118] Site preparation

[0119] Clear the debris and obstacles in the elevator shaft to ensure that there are no objects in the shaft that may affect the operation of the measuring equipment. At the same time, set up safety protection measures at the bottom of the shaft, such as installing guardrails, to prevent the measuring equipment from accidentally falling and causing personal injury and equipment damage.

[0120] A suitable position is selected near the top floor door opening 12 to install the traction lifting device 20, and expansion bolts are used to firmly fix the traction lifting device 20 to the building structure. A guide device 22 is installed to ensure that the traction line 21 can smoothly pass through the door opening into the hoistway.

[0121] 3. Measurement process

[0122] Equipment installation and initialization

[0123] Connect the measuring platform 30 to the traction line 21 of the traction lifting device 20 through the rotatable hook 212 to ensure that the connection is firm and reliable. Install the measuring equipment 40 on the measuring platform 30, install the laser radar 41, IMU 42, panoramic camera 43 and other components according to the predetermined position and angle, and connect the data cable and power cable.

[0124] The measuring device 40 is placed in the pit of the shaft and left to stand for a period of time for initialization. During the initialization process, the laser radar 41 scans the ground and ceiling of the pit of the shaft, the IMU 42 collects static data, and the processor and the software system in the storage 44 perform initialization calculations based on these data to obtain the initial position and posture information of the pit of the shaft, providing a benchmark for subsequent measurements.

[0125] Survey route planning and execution

[0126] Plan the measurement route according to the structure of the shaft and the measurement requirements. In this case, a bottom-up measurement route is adopted. First, the traction line 21 is extended from the top to the bottom of the shaft to complete the untwisting of the traction line and reduce the rotation of the measuring device and the measuring equipment during the measurement operation. Then, start the traction lifting device 20, control the measuring platform 30 and the measuring equipment 40 to run upward from the bottom of the shaft at a uniform speed, and the running speed is controlled to be more than 15 meters per minute.

[0127] During the operation of the measuring platform 30, the laser radar 41 scans each point on the four walls, top and bottom of the shaft in real time to obtain accurate distance data from the laser radar to each scanning point; the IMU 42 senses the spatial posture and position information of the measuring platform 30 and the measuring equipment 40 in real time, including three-axis acceleration, three-axis rotation speed and three-axis geomagnetic field strength, etc.; the panoramic camera 43 captures the texture and color visual information of the shaft to obtain a panoramic image of the shaft.

[0128] The software system in the processor and storage 44 receives data from the laser radar 41, IMU 42, and panoramic camera 43 in real time, and performs data fusion and processing. Through multi-sensor fusion SLAM technology, the distance data of the laser radar 41, the posture and position data of the IMU 42, and the visual data of the panoramic camera 43 are fused to generate a high-quality laser point cloud data model. At the same time, the software system uses AI intelligent algorithms to optimize and analyze the laser point cloud data model, remove noise points, extract feature points, and improve data quality and measurement accuracy.

[0129] During the measurement process, in order to further improve the measurement accuracy, additional feature points are set in the shaft. The target ball 232 is supported by a long rod 231 and pressed against the wall away from the doorway, and a weight is pressed on the other end of the long rod 231 away from the target ball to fix it. The laser radar 41 can capture the position of the target ball 232 during the movement, and use it as an additional feature point to merge with other measurement data to further improve the positioning accuracy.

[0130] Data storage and visualization

[0131] All data generated during the measurement process, including laser point cloud data, IMU data, panoramic image data, etc., are stored in real time in the processor and storage device of storage 44. The stored data is organized and managed in a certain format to facilitate subsequent data query, analysis and processing.

[0132] The software system provides a visual interface, and users can view the laser point cloud data model and panoramic images in real time during the measurement process. After the measurement is completed, the software system converts the laser point cloud data model into a three-dimensional surface model, and maps the image captured by the panoramic camera 43 onto the reconstructed model to generate a color three-dimensional reconstruction model of the shaft. Users can rotate, scale, translate, and perform other operations on the color three-dimensional reconstruction model of the shaft through the visual interface, and intuitively view the structure and details of the shaft, such as the size, shape, surface flatness, and presence of foreign matter in the shaft.

[0133] 4. Measurement results and analysis

[0134] Measurement data processing and analysis

[0135] After the measurement is completed, the stored data is further processed and analyzed. Using professional data analysis software, the laser point cloud data model is analyzed in detail, and the various dimensional parameters of the shaft, such as width, height, diagonal length, etc., are calculated and compared with the design drawings to check whether the construction quality of the shaft meets the requirements.

[0136] By analyzing the panoramic image, we can check whether there are cracks, bulges, depressions and other defects on the surface of the shaft, as well as whether there are foreign objects. At the same time, by combining the laser point cloud data model and the panoramic image, we can measure and analyze the key parts such as the door openings and embedded parts in the shaft in detail, and provide accurate position and size information for the installation of the elevator.

[0137] Measurement accuracy evaluation

[0138] In order to evaluate the measurement accuracy of the measuring device and system of the present invention, during the measurement process, multiple control points with known positions are set in the shaft, and the coordinates of these control points are measured by a high-precision total station. The coordinates of the control points measured by the measuring device and system of the present invention are compared with the coordinates measured by the total station, and the error between the two is calculated.

[0139] After comparative analysis, the measuring equipment and system of the present invention can achieve a horizontal measurement accuracy of ±5mm and a height measurement accuracy of ±10mm, which meets the accuracy requirements of elevator shaft measurement. At the same time, it only takes about 30 minutes to measure the entire 100-meter-high shaft, which greatly improves the measurement efficiency and saves a lot of time and labor costs compared to traditional measurement methods.

[0140] It can be seen from the above implementation cases that the measuring equipment and system for rapid installation and measurement of the elevator shaft of the present invention have the advantages of rapid installation, high measurement accuracy, high efficiency, etc., and can provide an efficient and accurate solution for the measurement of elevator shafts, and has broad application prospects and market value.

[0141] The technical solutions provided by the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the embodiments of the present invention. The description of the above embodiments is only applicable to help understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, according to the embodiments of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A measurement system for rapid installation and measurement of elevator shafts, characterized in that: include: A traction lifting device (20), wherein the traction lifting device (20) is fixed near a traction hole or a top floor doorway (12), and a traction line (21) extends from the traction hole or the top floor doorway to the elevator shaft through a guide device (22), and is used to pull a measuring platform (30) and a measuring device (40) to move up and down in the shaft (10) along the Z direction for surveying, and the traction lifting device (20) is provided with an anti-twist structure, and the anti-twist structure comprises: a wire arrangement device is provided at the front end of a winch drum, so that the traction line (21) can be automatically and evenly wound on the drum in multiple layers, and at the same time, a high-speed rotating bearing (211) and a rotatable hook (212) capable of bidirectional 360-degree rotation are provided at the end where the traction line (21) is connected to the measuring platform; The measuring platform (30) serves as a carrying platform for the measuring device (40), and the connection point between the measuring platform (30) and the rotatable hook (212) is higher than the center of gravity of the measuring platform (30) and the measuring device (40) and is located on the center of gravity line. The measuring platform (30) is provided with no less than three traction and lifting points (31), and the traction and lifting ropes connected to the traction and lifting points (31) have an angle of ≥45° with the horizontal direction.

2. A measurement system for rapid installation and measurement of an elevator shaft according to claim 1, characterized in that: The measuring device (40) comprises: An IMU (42) for sensing the spatial attitude and position of the laser radar (41); A multi-line laser radar (41) is used to detect the precise distance between the laser radar and each scanning point on the four walls of the shaft for later modeling, and is electrically connected to the IMU (42); the multi-line laser radar has a horizontal field of view of 360°, a vertical Z-direction field of view of more than 180°, and a range that meets the requirements for elevator shaft measurement; A panoramic camera (43) is used to obtain shaft texture and color visual information to assist the IMU (42) in positioning. Multiple cameras simultaneously take pictures at different angles and synthesize a panoramic image through a software algorithm. The processor and storage (44) are used to generate a high-quality laser point cloud data model in real time to achieve shaft measurement and measurement data output, and the output point cloud data is converted into a three-dimensional surface model through software post-processing, and the image taken by the camera is mapped onto the reconstructed model to generate a color three-dimensional reconstruction model of the shaft to measure and analyze the shaft.

3. A measurement system for rapid installation and measurement of an elevator shaft according to claim 2, characterized in that: The IMU (42) is a nine-axis inertial measurement unit, which is composed of a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetic field meter. The three-axis gyroscope and the three-axis accelerometer sense the three-dimensional acceleration of the motion coordinate system of the measurement platform and the measurement equipment, and obtain the speed and displacement through integration operation to determine the position and posture information of the laser radar (41), and the three-axis magnetic field meter is used to assist in improving the error caused by drift in the horizontal direction.

4. A measurement system for rapid installation and measurement of an elevator shaft according to claim 2, characterized in that: The measuring platform (30) is also provided with a turntable which rotates in the opposite direction to the laser radar (41) and is used to offset the rotation, flipping and vibration caused by the self-rotation of the measuring device.

5. A measurement system for rapid installation and measurement of an elevator shaft according to claim 2, characterized in that: An additional feature point is provided within the height range of the multi-line laser radar (41), the additional feature point being a target ball (232) supported by a long rod (231) and attached closely to a shaft wall away from the doorway, and a weight is pressed on one end of the long rod (231) away from the target ball (232) for fixation.

6. A measurement system for rapid installation and measurement of an elevator shaft according to claim 1, characterized in that: The measuring route of the measuring device (40) is from bottom to top. Before measuring, the traction line (21) is extended from the top of the shaft to the bottom to complete the torsion of the traction line, reduce the rotation of the measuring device and the measuring device during the measurement process, and initialize statically in the shaft pit, combined with the radar system to assist in inertial navigation initialization, to obtain initial positioning feature information of the shaft pit floor and ceiling.

7. A measurement system for rapid installation and measurement of an elevator shaft according to claim 1, characterized in that: The measuring platform (30) is made of a lightweight and high-strength material.

8. A measurement system for rapid installation and measurement of an elevator shaft according to claim 2, characterized in that: The multiple cameras of the panoramic camera (43) have the same resolution, and the lens surfaces of the cameras are provided with a scratch-resistant and wear-resistant coating.

9. The measurement system for rapid installation and measurement of an elevator shaft according to claim 1, characterized in that: The traction and lifting device (20) is a manual or electric winch structure; and the connection structure between the traction and lifting device (20) and the measuring platform (30) is a detachable structure.

10. The measurement system for rapid installation and measurement of an elevator shaft according to claim 1, characterized in that: The measuring device (40) also includes an environmental sensor for detecting the temperature, humidity and air pressure in the well.

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