A measurement system for rapid installation and measurement of elevator shafts

Abstract

This invention discloses a measurement system for rapid installation and measurement of elevator shafts. The system mainly consists of a traction lifting device, a measurement platform, and measurement equipment. The traction lifting device adopts an anti-torsion design to stably traction the equipment. The measurement platform reduces the risk of swaying through a reasonable structure. The measurement equipment integrates an IMU, a wide field-of-view and long-range lidar, a panoramic camera, a processor, and storage to achieve multi-sensor data collaboration. Through multi-sensor fusion SLAM technology, it eliminates the need for complex guidance and limiting mechanisms and a large number of reference elements, enabling the measurement of shafts hundreds of meters or even higher within half an hour. The system boasts high measurement accuracy, can generate high-quality laser point cloud data models and color 3D reconstruction models in real time, accurately identify foreign objects in the shaft, and is widely applicable to measurement work in various types of elevator shafts, providing efficient and reliable data support for elevator installation and maintenance.

Description

Technical Field

[0001] This invention relates to the field of elevator shaft measurement technology, and in particular to a measurement system for rapid installation and measurement of elevator shafts. Background Technology

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

[0003] If the measurement device uses a drone + sensor survey, the measurement equipment generally uses a combination of multiple sensors such as IMU + laser + camera for survey. If high measurement accuracy is required, the sensors are generally large and heavy. In addition, the IMU is sensitive to vibration and shock, which requires the drone's motor to be far away from the IMU. This invisibly requires the drone to be larger, while the cross-section of the well is narrow, which is not conducive to the drone's flight.

[0004] Therefore, most traditional wellbore surveying currently employs a traction method, primarily consisting of a traction lifting device 20a, a measuring platform 30a, measuring equipment 40a, and a guide and limit device 50a. The traction lifting device drags the measuring platform and the measuring equipment on it up and down the wellbore in a Z-direction motion for surveying. The guide and limit device typically uses a rope fixed from top to bottom, guiding the measuring platform and equipment vertically upwards and limiting their rotation and sway. The measuring equipment mostly includes a horizontal laser rangefinder or a stereo camera group or a combination of both 41a, a height measuring sensor (for determining height position) 42a, an angle sensor 43a, and a horizontal positioning sensor 44a (for determining horizontal position), etc.

[0005] Traditional traction-based wellbore measurement devices typically involve lowering 1-2 ropes from the top of the shaft to the bottom pit and then fixing them in place, a time-consuming process. Furthermore, determining the height and horizontal position generally requires additional reference elements, especially for the horizontal position, where installing and adjusting the reference elements or sensors is particularly time-consuming. Currently, the mainstream methods for determining the horizontal position are: one method uses 1-2 plumb lines laid from the top to the bottom of the wellbore as a reference, measuring the distances in the X and Y directions of the plumb line cross-section using sensors mounted on platform 30a; the other method uses two laser beams 441a placed in the bottom pit of the wellbore to project onto a target on a moving platform, using sensors on the platform to identify the horizontal position of the target's laser spot. The first method is time-consuming in terms of rope laying and installation, while the second method requires significant time for laser beam installation, vertical alignment, and ensuring the laser beams remain within the effective measurement range of the target from the bottom to the top of the wellbore during measurement; otherwise, the survey must be stopped. In addition to the traction line 21a, the entire survey also requires the laying of 1-2 guide lines 51a or the laying of plumb lines for horizontal positioning. To prevent the risk of several lines getting tangled, they generally need to be laid one by one. Even if they are laid one by one, there is still a risk of tangling. The entire installation process is very time-consuming and the operation of personnel in the well is time-consuming and unsafe.

[0006] Accurate measurement of elevator shafts is crucial during elevator installation and maintenance. Traditional shaft measurement methods often require complex installation processes and numerous reference elements, making the measurement process cumbersome and time-consuming, which is difficult to meet the needs of efficient construction. With the development of technology, multi-sensor fusion SLAM technology has gradually matured in other fields, but it has not yet been widely applied in the field of elevator shaft measurement. Summary of the Invention

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

[0008] This invention is achieved through the following technical solution:

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

[0010] Traction lifting device

[0011] The system employs a manual or electric winch structure, fixed near the traction hole or top floor doorway. The traction line extends from the traction hole or doorway into the elevator shaft via a guide device. The traction measurement platform and measuring equipment move up and down in the Z direction within the shaft to conduct surveys.

[0012] To prevent the traction line from twisting and affecting measurement accuracy, a series of anti-twist measures are taken: a cable laying device is added to the front end of the winch drum to automatically wind the traction line in multiple layers evenly; a high-speed rotary bearing and a rotatable hook are installed at the end where the traction line connects to the measuring platform, which can rotate 360° in both directions, facilitating the release of air from the wire rope; during measurement, the measurement is performed from the bottom of the shaft to the top, with a weight first hung at the top to release the line, thus eliminating the twisting caused by the traction rope due to winding and other reasons, and the measuring device is raised and lowered at a uniform speed to reduce errors caused by vertical acceleration.

[0013] Measurement platform

[0014] As a platform for the vertical movement of measuring equipment, the traction point connected to the rotatable hook is higher than the center of gravity and located on the center line. Three or more traction lifting points are used, and the traction lifting rope is set at an angle of ≥45° to reduce the risk of swaying, tilting, and tipping of the measuring equipment. A turntable can also be added to the platform in the opposite direction of the lidar's rotation to counteract the rotation, tipping, and vibration caused by the measuring equipment's rotation.

[0015] Measuring equipment

[0016] IMU: Employing a 9-axis inertial measurement unit (three-axis gyroscope, three-axis accelerometer, and three-axis magnetometer), it is used to sense the spatial attitude and position of the lidar. The gyroscope and accelerometer sense the three-dimensional acceleration of the moving coordinate system, and through integration, obtain the velocity and displacement to determine the lidar's position and attitude information. A vibration-resistant gyroscope is used to adapt to the complex airflow environment of the wellbore. A three-axis magnetometer is used to assist in improving horizontal drift errors. Accumulated errors are corrected through inertial navigation data fusion, extending the high-precision navigation time and suppressing error growth.

[0017] A multi-line lidar system with a large field of view, long range, high frequency, and high precision is used to detect the precise distance of the lidar to each scanning point on the four walls for later modeling. It is also deeply integrated with an IMU (Inertial Measurement Unit) to provide continuous and accurate positioning data for high-rise or ultra-high-rise shafts, ensuring positioning accuracy. The large field of view ensures a 360° horizontal view and ideally covers more than 180° in the Z-axis direction. Its long range allows for rapid and efficient scanning, shortening the work cycle and reducing the accumulation of inertial navigation positioning errors. During movement, it can capture four edge points on the ceiling (top plane) or the ground (bottom plane), compare them with the initial positioning point, and fuse them with the inertial navigation system to obtain continuously accurate position and attitude parameters. Alternatively, a lidar with a moderate range can be selected, supplementing the range with additional feature points. For example, a target ball can be supported against a wall away from the doorway using a long rod, with a weight on the other end of the rod for fixation, to improve accuracy.

[0018] Panoramic camera: Primarily used to acquire shaft texture and color visual information to assist IMU positioning. Multiple cameras simultaneously capture images from different angles, which are then synthesized into a panoramic image using software algorithms to achieve a 360-degree, blind-spot-free shooting effect.

[0019] Processor and Storage: Equipped with a high-efficiency processor and storage, combined with AI intelligent algorithms, it can generate high-quality laser point cloud data models in real time, enabling the measurement and output of measurement data of the wellbore. The output point cloud data can be converted into a 3D surface model after software post-processing. The images captured by the camera are mapped onto the reconstructed model to generate a color 3D reconstruction model of the wellbore, which can be used for measurement and analysis of the wellbore, such as foreign object identification.

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

[0021] This invention applies multi-sensor fusion SLAM technology to elevator shaft measurement. It eliminates the need for guide limit devices, too many reference elements on the measured body, and too many additional positioning reference elements. It can quickly install and complete shaft surveys, such as for shafts of 100 meters or even higher. The entire survey process can be completed in just half an hour, greatly improving work efficiency.

[0022] This invention effectively reduces errors caused by factors such as equipment rotation, flipping, and vibration during the measurement process by employing anti-torsion measures in the traction lifting device, a special design of the measurement platform, and the coordinated operation of various components in the measurement equipment, thereby improving measurement accuracy.

[0023] This invention utilizes a multi-line lidar with a large laser field of view and long range, combined with a panoramic camera and IMU, as well as a high-efficiency processor and storage, to generate high-quality laser point cloud data models and shaft color 3D reconstruction models in real time. This provides rich and accurate data support for the measurement and analysis of elevator shafts, facilitating comprehensive and detailed evaluation and analysis of the shaft, such as foreign object identification. Attached Figure Description

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

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

[0026] Figure 2 This is a schematic diagram of wellbore surveying according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the cross-section of the target ball installed in the wellbore according to an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application are clearly and completely described. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] Reference Figure 2 and Figure 3 This invention relates to a rapid installation and measurement system for elevator shafts. It applies multi-sensor fusion SLAM technology from existing mobile measurement equipment to shaft measurement, providing a rapid installation and measurement device and system for elevator shafts. The system utilizes a traction lifting device 20 to move the measurement platform 30 and the measurement equipment 40 on the platform up and down Z-axis within the shaft 10 for surveying. It eliminates the need for guide and limit devices, reduces the number of reference elements on the measured body, and minimizes the need for additional positioning reference elements. This allows for rapid installation and completion of shaft surveys; for shafts 100 meters or even higher, the entire process can be easily completed within half an hour. A schematic diagram of the shaft survey is shown below. Figure 2 .

[0030] II. Overall Structure and Working Principle

[0031] 1) Traction lifting device 20

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

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

[0034] The traction lifting device 20 can adopt a series of anti-torsion measures: such as adding a cable routing device at the front end of the winch drum, so that the traction rope can be automatically wound evenly on the winch drum in multiple layers through the cable routing device, thus preventing local stacking and tangled twisting; in addition, a high-speed rotary bearing 211 and a rotatable hook 212 are provided at the end where the traction rope 21 connects to the measuring platform, which can rotate 360° in both directions, which is conducive to the release of air from the wire rope and reduces the rotation and flipping of the platform and measuring equipment caused by the twisting of the wire rope and the resulting vibration; furthermore... One measurement method is to measure from the bottom to the top of the shaft. This way, the traction rope is first laid down with a certain weight attached to it at the top, which can release the twisting caused by the traction rope winding on the drum, etc. Then, the measurement is taken from the bottom to the top of the shaft. This greatly reduces the rotation, overturning and vibration of the measuring platform 30+ measuring equipment 40 caused by the twisting of the wire rope itself. It is best to control the uniform speed of the lifting and lowering of the measuring device to reduce the large error caused by vertical acceleration, because inertial navigation has difficulty in accurately distinguishing between gravitational acceleration and vertical acceleration, which can easily produce a large error in vertical distance.

[0035] 2) Measurement platform 30

[0036] The mounting platform for the vertical movement of the measuring equipment 40.

[0037] To mitigate the rotation, tilting, 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 traction point is located on the center line of the measuring platform 30 + measuring equipment 40; three or more traction traction points 31 are used on the platform to reduce the risk of swaying and tilting of the measuring equipment; the traction hoisting rope is set to ≥45° to balance the force and reduce the risk of tipping; the high-precision lidar 41 may rotate clockwise or counterclockwise around the Z direction, and a turntable opposite to the rotation direction of the lidar 41 can be added to the measuring platform to resist the rotation, tilting, and vibration caused by the rotation of the measuring equipment.

[0038] 3) Measuring equipment 40

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

[0040] a)IMU42

[0041] IMU42 is used to sense the spatial attitude and position of lidar 41.

[0042] The IMU42 can be equipped with a 9-axis inertial measurement unit (three-axis gyroscope, three-axis accelerometer, and three-axis magnetometer), which can output three-axis acceleration, three-axis rotational speed, and three-axis geomagnetic field strength. The gyroscope is designed to be vibration-resistant.

[0043] By sensing the three-dimensional acceleration of the motion coordinate system of the measurement platform and measuring equipment using gyroscopes and accelerometers, the velocity is obtained through a first integration operation, and the displacement is obtained through a second integration operation. This allows the determination of the position and attitude information of the lidar 41.

[0044] Inertial navigation systems have the following disadvantages:

[0045] Since inertial navigation systems calculate position and velocity based on integration, positioning accuracy errors will accumulate and increase over time.

[0046] Furthermore, the inertial navigation system is a sensitive instrument, and vibrations and strong magnetic interference can cause errors in attitude calculation. In particular, during operation, the inertial navigation system has difficulty accurately distinguishing between gravitational acceleration and vertical acceleration, resulting in relatively large displacement errors in the vertical direction; while the horizontal direction is not affected by gravity, it may be greatly affected by magnetic field interference.

[0047] The main purpose of using a three-axis magnetometer is to help improve the horizontal error caused by drift. The magnetometer provides additional geomagnetic information, which, through inertial navigation data fusion, can correct the accumulated error, extend the high-precision navigation time of the inertial navigation system, and suppress error growth.

[0048] The use of anti-vibration gyroscopes is mainly due to the complex airflow in the shaft. When reaching the shaft entrance, the airflow may be turbulent. Even in environments with shaking, swaying, and rotation, the measuring equipment can still stably track the dynamic attitude using anti-vibration gyroscopes.

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

[0050] It is used to detect the precise distance of the laser radar to 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 super high-rise shaft data positioning, ensuring positioning accuracy.

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

[0052] In addition to ensuring a 360° horizontal field of view, a large laser field of view also needs to ensure a 180° or higher vertical field of view, and ideally, a long range.

[0053] The advantages of using this radar are that it can scan quickly and efficiently, complete large-area scans in a short time, shorten the working cycle, reduce the accumulation of positioning errors of inertial navigation over time, and efficiently complete measurements and ensure high-precision data acquisition.

[0054] The primary reason is the complex airflow in the shaft. Upon reaching the shaft entrance, the turbulent airflow can cause the measuring platform and equipment (40) to vibrate, shake, and rotate due to the lack of a guiding and limiting device. With this vibration, especially during operation due to gravity, the inertial navigation system (INS) struggles to accurately distinguish between gravitational acceleration and vertical acceleration, resulting in significant displacement errors in the height direction. Relying solely on the INS's attitude measurement in the height direction is most prone to errors.

[0055] This necessitates relying on panoramic cameras to capture visual feature points and LiDAR-generated point cloud feature points in real time, combined with inertial navigation fusion technology to obtain continuous and accurate position parameters. However, the reference elements for shaft body measurement and positioning are few. Although there are feature points such as doorways, the feature points of each doorway are similar. If panoramic cameras and LiDAR with small field of view and short range are used, it is difficult to capture effective positioning reference elements unless additional, relatively continuous reference elements are added from the bottom to the top of the shaft during the shaft measurement process.

[0056] If a radar with a large viewing angle and long range in the height direction is used, it is possible to capture the top plane of the ceiling or the bottom plane of the ground. Relatively speaking, the top plane of the ceiling and the bottom plane of the ground are relatively obvious features compared to other parts of the shaft, which can locate the displacement in the height direction and make up for the possibility of large displacement error or even calculation error in the height direction of inertial navigation in this special environment.

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

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

[0059] Of course, the range of the lidar cannot increase indefinitely with the height of the shaft, otherwise the price would be very expensive. A moderate range can be selected, and additional feature points can be added appropriately within the height range, such as adding three non-collinear target spheres 232 as feature points. However, to improve accuracy, three target spheres can be added at a fixed height. To reduce installation workload, the target spheres 232 can be supported against the wall away from the doorway using a long rod 231, and the other end of the long rod 231 away from the target sphere can be secured with a weight. A schematic diagram of the cross-section of the target sphere installed in the shaft is shown below. Figure 3 .

[0060] c) Panoramic camera 43

[0061] It is mainly used to acquire wellbore texture and color visual information; and to assist in IMU positioning.

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

[0063] d) Processor and storage 50

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

[0065] The output point cloud data can be converted into a 3D surface model after software post-processing. The images captured by the camera are mapped onto the reconstructed model to generate a colored 3D reconstruction model of the wellbore, which can be used for measurement and analysis of the wellbore, such as foreign object identification.

[0066] Important considerations for the survey route:

[0067] Measuring from bottom to top involves first letting the traction line run from top to bottom, completing one cycle of traction line unwinding. This reduces the rotation of the measuring device and equipment during the measurement process, thus improving measurement accuracy.

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

[0069] Currently, multi-sensor SLAM reconstruction measurement equipment with large field of view, long range, high frequency, and high precision, combining LiDAR, inertial navigation, and panoramic cameras, is becoming increasingly mature. Existing mature handheld or vehicle-mounted mobile measurement equipment can be used to measure well shafts, such as the Lingguang L2Pro measurement device (which includes LiDAR hardware with a laser range of 0.5m-120m or 0.5m-300m, a scanning rate of 320,000 points / second (16 threads) or 640,000 points / second (32 threads), and a laser field of view of 360°×270°). Driving it via a traction lifting device 20 allows for efficient and rapid well shaft measurement. Software processing combined with point cloud algorithms generates high-density point clouds, which can then be converted into a 3D surface model. The images captured by the camera are mapped onto the reconstructed model to generate a colored 3D reconstructed model of the well shaft, enabling measurement and analysis of the well shaft, such as foreign object identification.

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

[0071] Significantly Improved Measurement Efficiency: The innovative application of multi-sensor fusion SLAM technology in elevator shaft measurement eliminates the need for traditional, complex guide and limit devices and numerous additional reference elements. In practice, for shafts up to 100 meters or even higher, the entire measurement process, from equipment installation to completion, can be easily finished in just half an hour. This greatly shortens the measurement cycle, significantly improves work efficiency, and provides strong support for the rapid advancement of elevator installation and maintenance projects.

[0072] Precise Measurement Accuracy: A series of meticulously designed technologies effectively reduce measurement errors. The traction lifting device is equipped with unique anti-torsion measures, such as a cable winding device that ensures uniform winding of the traction line and avoids twisting; the high-speed rotating bearing and rotatable hook at the end can flexibly release the stress on the wire rope, reducing the rotation, tilting, and vibration of the measurement platform and equipment caused by wire rope twisting, thereby reducing the impact on IMU positioning accuracy. From a structural design perspective, the measurement platform reduces the risk of equipment swaying and tilting by setting traction points higher than the center of gravity and located on the center line, multiple traction lifting points, and a reasonable lifting rope angle; an additional turntable with the opposite rotation direction to the lidar further suppresses instability caused by rotation. The IMU in the measurement 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 lidar has a large field of view and long range, capable of capturing key feature points and compensating for the inertial navigation system's errors in the height direction; a panoramic camera assists positioning, and multiple sensors work together to ensure continuous and accurate acquisition of position and attitude parameters, achieving high-precision measurement.

[0073] It provides comprehensive and high-quality data support: the system's processors and storage, combined with AI intelligent algorithms, can generate high-quality laser point cloud data models in real time. After post-processing, the point cloud data can be converted into a 3D surface model, and camera images can be mapped onto it to generate a color 3D reconstruction model of the elevator shaft. This not only provides accurate data for measuring the dimensions of the elevator shaft, but also intuitively presents the overall condition of the shaft, facilitating the accurate identification of foreign objects such as protruding steel bars within the shaft. It provides comprehensive, detailed, and reliable data for the safe installation and subsequent maintenance of the elevator, helping to identify potential problems in advance, reduce safety hazards, and improve the overall reliability and stability of the elevator system.

[0074] With broad applicability and convenience, the entire measurement equipment and system is designed to fully consider the actual conditions of different elevator shafts. It is highly effective for both shaft measurement in new buildings and maintenance and inspection of existing elevator shafts. The equipment is relatively easy to install and operate, requiring no large-scale modifications to the shaft or complex preliminary preparations, thus reducing the difficulty and cost of measurement work. Furthermore, the appropriate range of the lidar can be flexibly selected based on the shaft height, and measurement accuracy can be further improved by adding simple additional feature points (such as target spheres), demonstrating strong adaptability and flexibility, and bringing a new and efficient solution to shaft measurement work in the elevator industry.

[0075] Example:

[0076] The measurement equipment and system for rapid installation and measurement of elevator shafts of the present invention will be described in detail below.

[0077] I. Installation and Operation of Traction Lifting Device 20

[0078] Installation location selection

[0079] First, based on the actual conditions of the elevator shaft, select a suitable location to fix the traction lifting device 20. Typically, it is fixed near the traction hole or the top floor doorway 12, ensuring the installation position is firm and reliable, capable of withstanding the weight of the entire measuring system and the tension during operation.

[0080] During the fixing process, the horizontal and verticality of the traction lifting device 20 must be ensured. Tools such as a level can be used for calibration to ensure the stability and safety of the traction lifting device 20 during operation.

[0081] Arrangement of traction line 21

[0082] The traction line 21 is extended from the traction hole or doorway into the elevator shaft through the guide device 22. The guide device 22 is designed to ensure that the traction line 21 can pass smoothly during operation, avoiding jamming or excessive friction.

[0083] To achieve the anti-torsion function of the traction lifting device 20, a wire guiding device is installed at the front end of the winch drum. The wire guiding device can adopt a mechanical structure or an electric control method to ensure that the traction line 21 is automatically wound evenly in multiple layers on the drum, avoiding local stacking and tangled wire twisting. For example, a wire guiding device with a wire guiding wheel can be used. The wire guiding wheel rotates synchronously with the drum through a screw drive mechanism, and at the same time, the wire guiding wheel moves left and right on the screw to achieve uniform wire guiding of the traction line 21.

[0084] At the end where the traction line 21 connects to the measuring platform, a high-speed rotary bearing 211 and a rotatable hook 212 are installed. The high-speed rotary bearing 211 should be selected with a low coefficient of friction and high load-bearing capacity to ensure smooth rotation during the operation of the measuring platform 30 and the measuring equipment 40. The rotatable hook 212 can adopt a universal hook structure, enabling 360° rotation in both directions, and the opening size of the hook should match the connecting parts of the measuring platform 30 to ensure a firm and reliable connection.

[0085] II. Design and Installation of Measurement Platform 30

[0086] Structural Design and Material Selection

[0087] The structural design of the measurement platform 30 should fully consider its load-bearing capacity and stability. Lightweight, high-strength materials, such as aluminum alloys or carbon fiber composites, should be used to reduce the overall weight while ensuring structural strength and stability during operation within the shaft. For example, the frame of the measurement platform 30 can be welded from aluminum alloy profiles and anodized to improve corrosion resistance and wear resistance.

[0088] Based on the layout and weight distribution of the measuring equipment 40, the connection point between the measuring platform 30 and the rotatable hook 212 is determined. The connection point should be higher than the center of gravity of the measuring platform 30 and the measuring equipment 40, and located on the center line to ensure the balance of the measuring platform 30 during operation. Through mechanical calculations and simulation analysis, the optimal location and number of connection points are determined to ensure that the measuring platform 30 remains stable under various working conditions.

[0089] At least three traction lifting points 31 shall be set on the measuring platform 30, with the traction lifting rope forming an angle ≥45° with the horizontal direction. The positions of the traction lifting points 31 shall be evenly distributed on the measuring platform 30 and form a stable triangular or polygonal structure with the connection points to reduce the risk of swaying and tilting of the measuring equipment. High-strength steel wire ropes may be selected for the traction lifting ropes, and their diameter and strength shall 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 the turntable

[0091] To further reduce rotation, tilting, and vibration caused by the rotation of the measuring equipment, a turntable is installed on the measuring platform 30 in the opposite direction to the rotation of the lidar 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 lidar 41 to ensure that the turntable can stably support the lidar 41 and achieve smooth rotation.

[0092] When installing the turntable, ensure a secure connection between the turntable and the measuring platform 30, and that the rotation axis of the turntable coincides with the rotation axis of the lidar 41. After installation, test the turntable to check for smooth rotation and any issues such as jamming or abnormal noise. The rotation of the turntable can be observed by manually rotating the lidar 41; if any problems are found, adjust the turntable's installation position or replace bearings or other components.

[0093] III. Configuration and Integration of Measuring Equipment 40

[0094] Installation and Calibration of IMU42

[0095] Install the IMU42 on the measurement platform 30, choosing a relatively stable location to avoid interference from other components of the measurement equipment. The installation orientation of the IMU42 should be consistent with the coordinate system of the measurement platform 30 to accurately sense the spatial attitude and position of the lidar 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 surface and left to stand for a period of time, allowing the IMU 42 to collect static data. The zero bias and scale factor of the gyroscope, accelerometer, and magnetometer are calibrated using software algorithms. During dynamic calibration, the measuring device 40 can be mounted on a platform with a known motion trajectory, such as a turntable or slide rail. The measuring device 40 is then moved along a predetermined trajectory, and data is collected during the motion process to further calibrate the parameters of the IMU 42, improving its measurement accuracy and stability.

[0097] Installation and parameter settings of a multi-line lidar 41 with a large field of view, long range, high frequency, and high precision.

[0098] The lidar 41 is mounted on a turntable on the measurement platform 30, ensuring that its installation position and angle meet the measurement requirements. The lidar 41 has a horizontal field of view of 360° and a vertical field of view of over 180° in the Z direction. The range is selected based on the height of the elevator shaft. For example, for a 100-meter-high shaft, a lidar 41 with a range of 150 meters can be selected to ensure that the entire shaft measurement range is covered.

[0099] After the lidar 41 is installed, parameter settings are performed. Based on measurement requirements, parameters such as the lidar 41's scanning frequency, resolution, and number of sampling points are set. For example, the scanning frequency is set to 10 scans per second, the resolution to 0.5°, and the number of sampling points to 10,000 points to obtain sufficiently detailed and accurate wellbore data. Simultaneously, the lidar 41 is connected to and data synchronized with the IMU 42 to ensure they can work together to provide accurate position and attitude information.

[0100] Installation and debugging of panoramic camera 43

[0101] The panoramic camera 43 is mounted on the measurement platform 30, and a location with a wide field of view is selected to ensure that it can capture images from all directions of the shaft. The panoramic camera 43 consists of multiple cameras, for example, six cameras can be used, evenly distributed around the measurement platform 30. Each camera has a 60° field of view, and the images captured by these cameras are combined into a panoramic image using software algorithms.

[0102] When installing the panoramic camera 43, pay attention to the installation angle and position of the camera to ensure that the perspectives of each camera can be seamlessly stitched together to form a complete panoramic image. After installation, test the panoramic camera 43, checking parameters such as image sharpness and color reproduction of each camera. If any problems are found, adjust the camera's focus, white balance, and other settings promptly. Simultaneously, connect the panoramic camera 43 to the processor and storage 44 to ensure that captured images can be transmitted and stored in real time.

[0103] Processor and storage configuration and software integration 44

[0104] High-performance processors and high-capacity storage devices, such as multi-core processors and solid-state drives, are selected to meet the requirements of real-time generation of high-quality laser point cloud data models and processing of large amounts of measurement data. The processor and storage 44 are installed in a suitable location on the measurement platform 30, ensuring good heat dissipation and stable operation.

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

[0106] It receives data from LiDAR 41, IMU 42, and panoramic camera 43 in real time, and performs data fusion and processing to generate a laser point cloud data model.

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

[0108] The images captured by the panoramic camera 43 are mapped onto the reconstructed model to generate a colored 3D reconstruction 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, and can store measurement data in a certain format in the storage device, and supports data query, export and backup operations.

[0110] Implementation Cases

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

[0112] I. Project Background

[0113] This high-rise office building has 30 floors, and the elevator shaft is approximately 100 meters high. Precise measurements of the elevator shaft are required to provide accurate data support for elevator installation and maintenance. Traditional measurement methods require complex scaffolding, are cumbersome, inefficient, and lack guaranteed accuracy. Therefore, it was decided to use the elevator shaft rapid installation and measurement measurement equipment and system of this invention.

[0114] II. Measurement Preparation

[0115] Equipment inspection and commissioning

[0116] Before measurement, a comprehensive inspection of the measuring equipment and system is conducted, including the appearance, connections, and electrical performance of each component such as the traction lifting device 20, measuring platform 30, and measuring equipment 40. This ensures that the equipment is undamaged, connections are secure, and the electrical system is functioning properly.

[0117] Following the methods described in the specific embodiments above, the measuring device 40 is calibrated and debugged, including the calibration of the IMU 42, the parameter setting of the lidar 41, the debugging of the panoramic camera 43, and the testing of the software system. This ensures that all devices and systems can operate normally and that the measurement data is accurate and reliable.

[0118] On-site preparation

[0119] Clear debris and obstacles from the elevator shaft to ensure there are no objects that could affect the operation of the measuring equipment. Additionally, install safety measures at the bottom of the shaft, such as guardrails, to prevent the measuring equipment from accidentally falling and causing injury or damage to the equipment.

[0120] Select a suitable location near the top floor doorway 12 to install the traction lifting device 20, and use expansion bolts to firmly fix the traction lifting device 20 to the building structure. Install the guide device 22 to ensure that the traction line 21 can smoothly pass through the doorway and enter the shaft.

[0121] III. Measurement Process

[0122] Equipment installation and initialization

[0123] Connect the measuring platform 30 to the traction line 21 of the traction lifting device 20 via the rotatable hook 212, ensuring a secure and reliable connection. Install the measuring equipment 40 on the measuring platform 30, and install components such as the lidar 41, IMU 42, and panoramic camera 43 according to the predetermined positions and angles, and connect the data cables and power cables.

[0124] The measuring device 40 is placed in the pit at the bottom of the shaft and left to stand for a period of time for initialization. During the initialization process, the lidar 41 scans feature points such as the ground and ceiling of the pit, the IMU 42 collects static data, and the software system in the processor and storage 44 performs initialization calculations based on this data to obtain the initial position and attitude information of the pit at the bottom of the shaft, providing a reference for subsequent measurements.

[0125] Survey route planning and execution

[0126] Based on the structure of the shaft and the measurement requirements, a measurement route is planned. In this case, a bottom-up measurement route is adopted. First, the traction line 21 is extended from the top of the shaft to the bottom to complete one unwinding of the traction line, reducing the rotation of the measuring device and equipment during the measurement operation. Then, the traction lifting device 20 is started, controlling the measuring platform 30 and measuring equipment 40 to move upward from the bottom of the shaft at a uniform speed, with the running speed controlled at more than 15 meters per minute.

[0127] During the operation of the measurement platform 30, the lidar 41 scans various points on the four walls, top and bottom of the shaft in real time to obtain the precise distance data of the lidar to each scanning point; the IMU 42 senses the spatial attitude and position information of the measurement platform 30 and the measurement equipment 40 in real time, including three-axis acceleration, three-axis rotational speed and three-axis geomagnetic field strength; 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 LiDAR 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 from the LiDAR 41, the attitude and position data from the IMU 42, and the visual data from the panoramic camera 43 are fused to generate a high-quality laser point cloud data model. Simultaneously, the software system employs AI intelligent algorithms to optimize and analyze the laser point cloud data model, removing noise points, extracting feature points, and improving data quality and measurement accuracy.

[0129] To further improve measurement accuracy during the measurement process, additional feature points were set inside the shaft. The target ball 232 was supported against the wall away from the doorway by a long rod 231, with a weight placed on the other end of the rod 231 away from the target ball for fixation. The lidar 41 could capture the position of the target ball 232 during its movement, using it as an additional feature point to fuse with other measurement data, further improving positioning accuracy.

[0130] Data storage and visualization

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

[0132] The software system provides a visual interface, allowing users to view the laser point cloud data model and panoramic images during the measurement process in real time. After the measurement is completed, the software system converts the laser point cloud data model into a 3D surface model and maps the images captured by the panoramic camera 43 onto the reconstructed model, generating a colored 3D reconstructed model of the wellbore. Users can rotate, scale, and translate the colored 3D reconstructed model of the wellbore through the visual interface, intuitively viewing the structure and details of the wellbore, such as its size, shape, surface flatness, and the presence of foreign objects.

[0133] IV. 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, calculating various dimensional parameters of the shaft, such as width, height, and diagonal length, and comparing them with the design drawings to check whether the construction quality of the shaft meets the requirements.

[0136] By analyzing panoramic images, the surface of the shaft is inspected for defects such as cracks, protrusions, and depressions, as well as the presence of foreign objects. Simultaneously, by combining laser point cloud data models and panoramic images, detailed measurements and analyses are performed on key components within the shaft, such as doorways and embedded parts, providing accurate location and dimensional information for elevator installation.

[0137] Measurement accuracy assessment

[0138] To evaluate the measurement accuracy of the measuring equipment and system of the present invention, multiple control points with known locations were set within the shaft during the measurement process. The coordinates of these control points were measured using a high-precision total station. The coordinates of the control points measured by the measuring equipment and system of the present invention were compared with the coordinates measured by the total station, and the error between the two was calculated.

[0139] Comparative analysis shows that the measuring equipment and system of this invention can achieve a horizontal measurement accuracy of ±5mm and a vertical measurement accuracy of ±10mm, meeting the accuracy requirements for elevator shaft measurement. Furthermore, measuring the entire 100-meter-high shaft takes only about 30 minutes, significantly improving measurement efficiency and saving considerable time and labor costs compared to traditional measurement methods.

[0140] As can be seen from the above implementation examples, the measuring equipment and system for rapid installation and measurement of elevator shafts of the present invention have the advantages of rapid installation, high measurement accuracy, and high efficiency. It 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 have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the embodiments of the present invention. The descriptions of the embodiments above are only for helping to understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the embodiments of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A measurement system for rapid installation and measurement of elevator shafts, characterized in that, include: The traction lifting device (20) is fixed near the traction hole or the top floor doorway (12). The traction line (21) extends from the traction hole or the top floor doorway into the elevator shaft via the guide device (22) to pull the measuring platform (30) and the measuring equipment (40) to move up and down along the Z direction in the shaft (10) for surveying. The traction lifting device (20) has an anti-torsion structure, which includes: a cable laying device at the front end of the winch drum so that the traction line (21) can be automatically wound evenly on the drum in multiple layers; and a high-speed rotating bearing (211) that can rotate 360° in both directions and a rotatable hook (212) is provided at the end of the traction line (21) connected to the measuring platform. The measuring platform (30), as the mounting platform for the measuring device (40), has a connection point with the rotatable hook (212) that is higher than the center of gravity of the measuring platform (30) and the measuring device (40) and located on the center line. The measuring platform (30) is provided with no less than 3 traction lifting points (31), and the traction lifting rope connected to the traction lifting point (31) has an angle ≥45° with the horizontal direction. The measuring device (40) includes: IMU (42) is used to sense the spatial attitude and position of the multi-line lidar (41); A multi-line lidar (41) is used to detect the precise distance of the lidar to each scanning point on the four walls of the shaft for later modeling, and is electrically connected to the IMU (42); the horizontal field of view of the multi-line lidar is 360°, the field of view in the height Z direction covers more than 180°, and the range meets the requirements for elevator shaft measurement. A panoramic camera (43) is used to acquire wellbore texture and color visual information to assist the IMU (42) in positioning. Multiple cameras simultaneously capture images from different angles and synthesize panoramic images using software algorithms. The processor and storage (44) are used to generate high-quality laser point cloud data models in real time, realize well measurement and measurement data output, and the output point cloud data is converted into a three-dimensional surface model by software post-processing, and the image captured by the camera is mapped onto the reconstructed model to generate a colored three-dimensional reconstruction model of the well for measurement and analysis of the well. The multi-line lidar (41) has an additional feature point within its height range. This additional feature point is a target ball (232) supported by a long rod (231) and attached to the well wall away from the doorway. A weight is pressed on the end of the long rod (231) away from the target ball (232) to fix it in place.

2. The measurement system for rapid installation and measurement of elevator shafts according to claim 1, characterized in that: The IMU (42) is a nine-axis inertial measurement unit, consisting of a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. 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. The velocity and displacement are obtained through integration to determine the position and attitude information of the multi-line lidar (41). The three-axis magnetometer is used to help improve the error caused by drift in the horizontal direction.

3. The measurement system for rapid installation and measurement of elevator shafts according to claim 1, characterized in that: The measurement platform (30) is also equipped with a turntable that rotates in the opposite direction to the multi-line lidar (41) to counteract the rotation, tumbling and vibration caused by the rotation of the measurement equipment.

4. The measurement system for rapid installation and measurement of elevator shafts according to claim 1, characterized in that: The measurement route of the measuring device (40) is from bottom to top. Before measurement, the traction line (21) is extended from the top of the shaft to the bottom to complete the release of the traction line, reduce the rotation of the measuring device and measuring equipment during the measurement process, and is statically initialized in the shaft pit. Combined with the radar system-assisted inertial navigation initialization, the initial positioning feature information of the shaft pit floor and ceiling is obtained.

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

6. The measurement system for rapid installation and measurement of elevator shafts according to claim 1, characterized in that: The panoramic camera (43) has multiple cameras with the same resolution, and the lens surface of the cameras is provided with a scratch-resistant and wear-resistant coating.

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

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

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