Construction method and system of elevator shaft model

Abstract

The invention provides a construction method and system of an elevator shaft model. The construction method comprises the steps that an elevator shaft is divided into a plurality of elevator shaft intervals; installing point cloud acquisition equipment on the lifting device; when the lifting device moves to each elevator shaft interval, point cloud data of the shaft walls of the elevator shaft intervals are collected through point cloud collecting equipment; determining the section contour of one section of the shaft wall by using the point cloud data of each elevator shaft interval; and splicing the obtained section contours of the plurality of vertical shaft walls to obtain an elevator shaft model of the elevator shaft.

Description

Technical Field

[0001] At least one embodiment of the present invention relates to a method for measuring elevator shaft parameters, and more specifically, to a method for constructing an elevator shaft model and a system for constructing an elevator shaft model. Background Art

[0002] Before installing the elevator, the elevator shaft needs to be inspected to obtain information about the shaft wall in the elevator shaft, and then to detect whether the shaft wall is flat or tilted. After the inspection, the shaft wall can be corrected so that the shaft wall of the elevator shaft meets the installation requirements of the elevator, ensuring that the installed elevator can run smoothly and safely.

[0003] At present, elevator shaft inspection is usually carried out by manual measurement floor by floor, and then the spatial model of the elevator shaft is constructed based on the parameters measured floor by floor. This has low inspection efficiency, and it is difficult to manually measure the size of the elevator shaft in some high and low elevator shaft areas without floor doors, resulting in low accuracy of the final elevator shaft model. Summary of the invention

[0004] In order to at least partially overcome the technical defects of at least one or other inventions mentioned above, the method for constructing at least one elevator shaft model of the present invention can obtain point cloud data of the vertical shaft wall of each elevator shaft section by setting a lifting device, and then construct an elevator shaft model based on these point cloud data to improve the elevator shaft detection efficiency and detection accuracy.

[0005] In view of this, an embodiment of the present invention provides a method for constructing an elevator shaft model, comprising: dividing the elevator shaft into multiple elevator shaft sections; installing a point cloud acquisition device on a lifting device; when the lifting device moves to each elevator shaft section, using the point cloud acquisition device to collect point cloud data of the shaft wall of the elevator shaft section; using the point cloud data of each elevator shaft section to determine the cross-sectional profile of a section of the shaft wall; and splicing the obtained cross-sectional profiles of the multiple shaft walls to obtain an elevator shaft model of the elevator shaft.

[0006] In some embodiments, the point cloud acquisition device includes a first laser, which rotates around a rotation axis perpendicular to the supporting base plate of the lifting device to obtain a plurality of point cloud data of the shaft wall located on the same plane.

[0007] In some embodiments, before using a point cloud acquisition device to acquire point cloud data of the shaft wall of the elevator shaft section, it also includes: adjusting the support base plate of the lifting device to be parallel to the horizontal plane.

[0008] In some embodiments, the construction method also includes: when the lifting device moves to each elevator shaft section, obtaining the offset information of the supporting base of the lifting device relative to the initial surface; and correcting the cross-sectional profile according to the offset information to obtain the horizontal cross-sectional profile of the horizontal cross-sectional area of ​​the elevator shaft section, and obtaining the elevator shaft model of the elevator shaft based on multiple horizontal cross-sectional profiles.

[0009] In some embodiments, obtaining the offset information of the support substrate relative to the initial surface includes: setting a fixing device at the bottom of the elevator shaft; adjusting a fixed platform on the fixing device so that the fixed platform is parallel to a horizontal plane; marking a plurality of detection positions on the fixed platform; installing a second laser on the fixed platform; when the lifting device moves to each elevator shaft section, using a second laser to emit a light beam to the lifting device at a plurality of the detection positions in sequence; and determining the offset information of the receiving surface relative to the initial surface based on the deviation between each receiving position on the receiving surface on the lower side of the support substrate that receives the light beam and its corresponding detection position.

[0010] In some embodiments, a second laser is installed on the fixed platform, including: opening a ring-shaped track on the fixed platform, the detection position is located on the track; embedding a plurality of rolling elements in the track; installing a rotating table on the rolling elements, the rotating table rotates around the track driven by the rolling elements; and installing the second laser on the rotating table; wherein, when the lifting device moves to each elevator shaft section, the second laser passes through the detection position in sequence driven by the rotating table, and emits a light beam to the receiving surface at the detection position.

[0011] In some embodiments, adjusting the fixed platform on the fixing device includes: installing a first accelerometer on the fixed platform; installing a plurality of first driving devices on the lower side of the fixed platform; and controlling the first driving devices to drive the fixed platform to move to a horizontal position based on a horizontal parameter of the fixed platform output by the first accelerometer.

[0012] In some embodiments, the supporting base plate of the lifting device is adjusted to be parallel to the horizontal plane, including: installing a second accelerometer on the supporting base plate; using a plurality of suspension parts to drive the lifting device to move in the elevator shaft; and when the lifting device is moved to the elevator shaft section by using the suspension parts, controlling the second driving device to drive the lifting device to move to a horizontal state based on the horizontal parameters of the supporting base plate output by the second accelerometer.

[0013] In some embodiments, obtaining an elevator shaft model of the elevator shaft based on multiple horizontal cross-sectional profiles also includes: obtaining height information of the lifting device when the lifting device moves to each elevator shaft section; and splicing the horizontal cross-sectional profiles based on multiple horizontal cross-sectional profiles and multiple height information to obtain the elevator shaft model of the elevator shaft.

[0014] In some embodiments, the construction method further includes: when the lifting device moves to each elevator shaft section, controlling the telescopic frame of the lifting device to extend to the shaft wall to fix the lifting device.

[0015] An embodiment of the present invention also provides a system for constructing an elevator shaft model, including: a lifting device, configured to move along multiple elevator shaft sections of the elevator shaft, the lifting device including: a traction device; a supporting base plate, configured to be lifted and lowered in the elevator shaft under the traction of the traction device; a point cloud acquisition device, installed on the supporting base plate and configured to collect point cloud data of the vertical shaft wall of the elevator shaft section when the lifting device moves to each of the elevator shaft sections; a processing device, configured to use the point cloud data of each elevator shaft section to determine the cross-sectional profile of a cross section of the vertical shaft wall, and splice the obtained cross-sectional profiles of the multiple vertical shaft walls to obtain an elevator shaft model of the elevator shaft.

[0016] In some embodiments, the construction system also includes: a correction device, suitable for obtaining the offset information of the supporting substrate relative to the initial surface, the processing device corrects the cross-sectional profile based on the offset information, thereby obtaining the horizontal cross-sectional profile of the horizontal cross-sectional area of ​​the elevator shaft section, and obtaining the elevator shaft model of the elevator shaft based on multiple horizontal cross-sectional profiles.

[0017] In some embodiments, the correction device includes: a fixing device, installed at the bottom of the elevator shaft, including: a fixed platform, parallel to the horizontal plane, including multiple detection positions; and a second laser, installed on the fixed platform; and a receiving surface, arranged on the lower side of the supporting substrate, the second laser is configured to emit a light beam to the receiving surface at the multiple detection positions, and the processing device determines the offset information of the receiving surface relative to the initial surface based on the deviation between each receiving position on the receiving surface that receives the light beam and its corresponding detection position.

[0018] In some embodiments, the fixing device further includes: a moving track formed on the fixed platform, the detection position being located on the track; a plurality of rolling elements embedded in the track, the turntable rotating around the track driven by the rolling elements; and a turntable mounted on the rolling elements, the second laser being mounted on the turntable, wherein when the lifting device moves to each elevator shaft section, the second laser passes through the detection position in sequence driven by the turntable, and emits a light beam to the receiving surface at the detection position to form a corresponding receiving position on the receiving surface.

[0019] In some embodiments, the fixing device also includes: a first accelerometer, installed on the fixed platform and configured to output the horizontal parameters of the fixed platform; and a plurality of first driving devices, respectively installed on the lower side of the fixed platform, the first driving devices being configured to drive the fixed platform to a horizontal position based on the horizontal parameters of the fixed platform.

[0020] In some embodiments, the lifting device further includes: a second accelerometer mounted on the supporting substrate and configured to output a horizontal parameter of the supporting substrate, and the traction device is configured to drive the supporting substrate to a horizontal position based on the horizontal parameter of the supporting substrate.

[0021] In some embodiments, the traction device includes: a plurality of cables, one end of each of the cables being connected to the top of the elevator shaft; and a plurality of second driving devices, the other end of each of the cables being connected to the second driving devices, the second driving devices being configured to drive the steel wires to wind or unwind so as to raise or lower the lifting device, and to drive the supporting base to a horizontal position based on the horizontal parameters of the supporting base.

[0022] In some embodiments, the lifting device also includes: a ranging device installed on the supporting base plate, the ranging device is configured to obtain height information of the lifting device when the lifting device moves to each elevator shaft section, and the processing device splices the horizontal cross-sectional profile based on multiple horizontal cross-sectional profiles and multiple height information to obtain an elevator shaft model of the elevator shaft.

[0023] In some embodiments, the lifting device further includes: two telescopic frames respectively installed on both sides of the supporting base plate, and when the lifting device moves to each elevator shaft section, the telescopic frames extend to the shaft wall to fix the lifting device.

[0024] According to an embodiment of the present invention, by arranging a point cloud acquisition device on a lifting device and using the lifting device to drive the point cloud acquisition device to move in the elevator shaft, point cloud data of the shaft wall of each elevator shaft section can be obtained, and the point cloud data can be used to determine the cross-sectional contour corresponding to the shaft wall of each elevator shaft section. After all the cross-sectional contours corresponding to the elevator shaft sections are spliced ​​in sequence, an elevator shaft model of the elevator shaft can be obtained. The obtained elevator shaft model is composed of point cloud data of the shaft wall, which can more realistically reflect the elevator shaft situation, so as to determine whether the elevator shaft is flat, whether it is tilted, and the specific location of the tilted and uneven areas, thereby achieving the purpose of improving the elevator shaft detection efficiency and detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0026] Figure 1 A schematic diagram shows a front view of a system for constructing an elevator shaft model according to an embodiment of the present invention;

[0027] Figure 2 A perspective view of an elevator shaft according to an embodiment of the present invention is schematically shown;

[0028] Figure 3 A perspective view of an elevator shaft model according to an embodiment of the present invention is schematically shown;

[0029] Figure 4 A perspective view schematically showing a cross-sectional profile according to an embodiment of the present invention;

[0030] Figure 5 A schematic diagram shows a front view of a lifting device according to an embodiment of the present invention;

[0031] Figure 6 A front view of a fixing device according to an embodiment of the present invention is schematically shown;

[0032] Figure 7 A flowchart of a method for constructing an elevator shaft model according to an embodiment of the present invention is schematically shown;

[0033] Figure 8 A flowchart of obtaining the offset information of the supporting substrate relative to the initial surface according to an embodiment of the present invention is schematically shown;

[0034] Fig. 9 Schematically shows a flow chart of installing a second laser on a fixed platform according to an embodiment of the present invention;

[0035] Fig.10A flow chart of adjusting the upper fixed platform of the fixing device according to an embodiment of the present invention is schematically shown;

[0036] Fig.11 A flowchart of adjusting a support base plate of a lifting device to be parallel to a horizontal plane according to an embodiment of the present invention is schematically shown;

[0037] Fig.12 Schematically showing a flow chart of obtaining an elevator shaft model of an elevator shaft based on a plurality of horizontal cross-sectional profiles according to an embodiment of the present invention; and

[0038] Fig.13 The coordinate diagram of the receiving position and the calibration position according to an embodiment of the present invention is schematically shown.

[0039] 100: Elevator shaft;

[0040] 101: Elevator shaft area;

[0041] 102: Shaft wall;

[0042] 200: Well model;

[0043] 201: Section profile;

[0044] 1: Lifting device;

[0045] 11: traction device;

[0046] 111: Cable;

[0047] 112: second driving device;

[0048] 12: supporting substrate;

[0049] 13: Point cloud acquisition equipment;

[0050] 14: second accelerometer;

[0051] 15: Distance measuring equipment;

[0052] 16: Telescopic frame;

[0053] 2: Fixing device;

[0054] 21: Set the platform;

[0055] 22: second laser;

[0056] 23: rolling parts;

[0057] 24: rotating table;

[0058] 25: first accelerometer;

[0059] 26: first driving device;

[0060] 3: Receiving surface. DETAILED DESCRIPTION

[0061] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0062] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0063] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0064] In the case of using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.). In the case of using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, or C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0065] Manually measure each floor, and then build a spatial model of the elevator shaft based on the parameters measured floor by floor. This has low detection efficiency, and it is difficult to manually measure the size of the elevator shaft in some high and low elevator shaft areas without floor doors, resulting in low accuracy of the final elevator shaft model. The lifting device can be used to obtain the point cloud data of the shaft wall of each elevator shaft section, and then the elevator shaft model can be built based on these point cloud data to improve the elevator shaft detection efficiency and detection accuracy.

[0066] Figure 1 A front view of a system for constructing an elevator shaft model according to an embodiment of the present invention is schematically shown. Figure 2 A perspective view of an elevator shaft according to an embodiment of the present invention is schematically shown. Figure 3 A perspective view of an elevator shaft model according to an embodiment of the present invention is schematically shown. Figure 4 A perspective view schematically shows a cross-sectional profile of an embodiment according to the present invention.

[0067] like Figures 1 to 4 As shown, an embodiment of the present invention further provides a system for constructing an elevator shaft model 200. The construction system includes a lifting device 1 and a processing device (not shown in the figure). The lifting device 1 can move along multiple elevator shaft sections 101 of the elevator shaft 100. The lifting device 1 may include a traction device 11, a support base plate 12 and a point cloud acquisition device 13. The support base plate 12 is lifted and lowered in the elevator shaft 100 under the traction of the traction device 11. The point cloud acquisition device 13 may include a first laser and a control module of the first laser, and the control module may be used to control the first laser to emit a light beam to the shaft wall 102, and determine the point cloud data of the shaft wall 102 based on the light beam returned by the shaft wall 102. An encoder may be provided in the control module, so that the angle at which the first laser emits the laser can be adjusted. The point cloud acquisition device 13 may be installed on the support base plate 12, and when the lifting device 1 moves to each elevator shaft section 101, the point cloud data of the shaft wall 102 of the elevator shaft section 101 can be collected. The processing device can be configured to use the point cloud data of each elevator shaft section 101 to determine the cross-sectional profile 201 of a section of the shaft wall 102, and splice the obtained cross-sectional profiles 201 of multiple shaft walls 102 to obtain an elevator shaft model 200 of the elevator shaft 100.

[0068] In the process of constructing the elevator shaft model 200 of the elevator shaft 100 using the construction system of the above embodiment, see Figure 2 , the elevator shaft 100 is divided into a plurality of elevator shaft sections 101, for example, each elevator shaft section 101 is divided by the height of a floor. The lifting device 1 can stop once or multiple times in each elevator shaft section 101, and collects point cloud data of the shaft wall 102 of the elevator shaft section 101 by rotating the point cloud acquisition device 13 at the height of each stop. The processing device uses these point cloud data to obtain a cross-sectional profile 201 corresponding to the current stop height (see Figure 4). In this way, one or more cross-sectional profiles 201 can be obtained in each elevator shaft section 101. The processing device splices the obtained multiple cross-sectional profiles 201 of the shaft wall 102. It can be understood that the planes where these cross-sectional profiles 201 are located are parallel to each other. These cross-sectional profiles 201 are connected by multiple lines perpendicular to the cross-sectional profiles 201 to obtain the elevator shaft model 200 of the elevator shaft 100 (see Figure 3 ).

[0069] According to an embodiment of the present invention, by arranging a point cloud acquisition device 13 on the lifting device 1, and using the lifting device 1 to drive the point cloud acquisition device 13 to move in the elevator shaft 100, the point cloud data of the shaft wall 102 of each elevator shaft section 101 can be obtained, and the point cloud data can be used to determine one or more cross-sectional profiles 201 corresponding to the shaft wall 102 of each elevator shaft section 101. After all the cross-sectional profiles 201 corresponding to the elevator shaft section 101 are spliced ​​in sequence, an elevator shaft model 200 of the elevator shaft 100 can be obtained. The obtained elevator shaft model 200 is composed of the point cloud data of the shaft wall 102, which can more realistically reflect the situation of the elevator shaft 100, so as to determine whether the elevator shaft 100 is flat, whether it is tilted, and the specific location of the tilted and uneven areas, thereby achieving the purpose of improving the detection efficiency and detection accuracy of the elevator shaft 100.

[0070] Figure 5 A front view of a lifting device according to an embodiment of the present invention is schematically shown. Figure 6 A front view of a fixing device according to an embodiment of the present invention is schematically shown.

[0071] According to an embodiment of the present invention, the lifting device 1 further includes a correction device. The correction device can be used to obtain the offset information of the support base plate 12 relative to the initial surface, and the processing device can correct the cross-sectional profile 201 based on the offset information, thereby obtaining the horizontal cross-sectional profile 201 of the horizontal cross section of the elevator shaft section 101, and obtaining the elevator shaft model 200 of the elevator shaft 100 based on the multiple horizontal cross-sectional profiles 201.

[0072] Those skilled in the art can understand that during the lifting process of the lifting device 1, the support substrate 12 may be tilted, translated, twisted, etc. due to interference from the external environment (for example, uneven force on the cable 111 of the traction device 11, horizontal thrust on the lifting device 1, etc.), and these movements may cause the support substrate 12 to deviate from the ideal initial surface. Obviously, the deviation of the support substrate 12 from the initial surface will affect the accuracy of the point cloud data.

[0073] According to an embodiment of the present invention, the first laser on the support substrate 12 can be rotated around a rotation axis perpendicular to the support substrate 12, and then can emit laser light to the shaft wall 102 of the elevator shaft 100 within an angle range of 360°. Multiple point cloud data of the shaft wall 102 of each elevator shaft section 101 can form one or more cross-sectional profiles 201 corresponding to the shaft wall 102. The offset information obtained by the correction device can be used to rotate and move the cross-sectional profile 201 accordingly, so that the corrected cross-sectional profile 201 is parallel to the elevator shaft section 101, and then the corrected cross-sectional profile 201 can be characterized as a horizontal cross-sectional profile 201 of a horizontal cross section of the elevator shaft section 101. By splicing multiple horizontal cross-sectional profiles 201, an elevator shaft model 200 of the elevator shaft 100 can be obtained.

[0074] According to an embodiment of the present invention, the correction device includes a fixing device 2 and a receiving surface 3. The fixing device 2 can be installed at the center of the bottom of the elevator shaft 100. The fixing device 2 includes a fixed platform 21 and a second laser 22. The fixed platform 21 is parallel to the horizontal plane, and the fixed platform 21 includes a plurality of detection positions. The second laser 22 is installed on the fixed platform 21. The receiving surface 3 can be arranged on the lower side of the supporting substrate 12, and the second laser 22 is configured to emit a light beam to the receiving surface 3 at a plurality of detection positions. The processing device determines the offset information of the receiving surface 3 relative to the initial surface based on the deviation between each receiving position of the receiving light beam on the receiving surface 3 and its corresponding detection position. The offset information of the receiving surface 3 relative to the initial surface can be determined by the deviation between the coordinates of each receiving position on the receiving surface 3 and the coordinates of the corresponding detection position. The receiving surface 3 can be composed of an optical sensor array, and a plurality of optical sensors constitute a laser sensing area. The initial surface can be characterized as a plane composed of a plurality of receiving positions corresponding to the detection position on the supporting substrate 12 when the lifting device 1 is at the bottom of the shaft and has not risen.

[0075] like Figures 5 and 6As shown, according to an embodiment of the present invention, the fixing device 2 further includes a moving track (not shown in the figure), a plurality of rolling elements 23 and a rotating table 24. The moving track is formed on the fixed platform 21, and the detection position is located on the track. A plurality of rolling elements 23 are embedded in the track, and the rotating table 24 rotates around the track driven by the rolling elements 23. The rotating table 24 is mounted on the rolling elements 23, and the second laser 22 is mounted on the rotating table 24. According to an embodiment of the present invention, when the lifting device 1 moves to each elevator shaft section 101, the second laser 22 passes through the detection position in sequence driven by the rotating table 24, and emits a light beam to the receiving surface 3 at the detection position to form a corresponding receiving position on the receiving surface 3. Each time the lifting device 1 stops in the elevator shaft section 101, the second laser 22 passes through the detection position in sequence driven by the rotating table 24, and emits a light beam to the receiving surface 3 at the detection position. After adjusting the fixed platform 21 to be parallel to the horizontal plane, the rotating table 24 and the second laser 22 mounted on the fixed platform 21 are also parallel to the horizontal plane. The rolling element 23 may be a universal ball. When the rolling element 23 rolls along the track, the rolling element 23 drives the rotating table 24 to rotate around the center of the rotating table 24. A rotary motor may be provided to drive the universal ball to move. The rotary motor and the universal ball work in coordination to ensure the smooth rotation of the rotating table 24. The universal ball may also reduce the torque requirement for the rotary motor.

[0076] According to an embodiment of the present invention, the fixing device 2 further includes a first accelerometer 25 and a plurality of first driving devices 26. The first accelerometer 25 is mounted on the fixed platform 21, and the first accelerometer 25 can output the horizontal parameters of the fixed platform 21. The plurality of first driving devices 26 are respectively mounted on the lower side of the fixed platform 21, and the first driving devices 26 are configured to drive the fixed platform 21 to a horizontal position based on the horizontal parameters of the fixed platform 21. There can be four first driving devices 26, which are respectively mounted at the four vertices of the fixed platform.

[0077] Specifically, the first driving device 26 may include a motor. A plurality of first driving devices 26 may be evenly mounted on the end of the lower side of the fixed platform 21, and the fixed platform 21 may be adjusted to move or rotate by adjusting the driving force of each first driving device 26 to drive the fixed platform 21, thereby adjusting the fixed platform 21 to be parallel to the horizontal plane.

[0078] According to an embodiment of the present invention, the lifting device 1 further includes a second accelerometer 14. The second accelerometer 14 is mounted on the supporting base plate 12, and the second accelerometer 14 can output a horizontal parameter of the supporting base plate 12. The traction device 11 can drive the supporting base plate 12 to be in a horizontal position based on the horizontal parameter of the supporting base plate 12.

[0079] According to an embodiment of the present invention, each traction device 11 may include a plurality of cables 111 and a plurality of second driving devices 112. The lifting device 1 is connected to the top of the elevator shaft 100 through the cables 111. The second driving device 112 is installed between the cables 111 and the receiving surface 3, and the second driving device 112 can drive the cables 111 to wind or unwind so that the lifting device 1 rises or falls, and drives the support base 12 to be in a horizontal position based on the horizontal parameters of the support base 12.

[0080] Specifically, the second driving device 112 can be evenly installed at the end of the upper side of the lifting device 1, one end of the cable 111 is connected to the top of the elevator shaft 100, and the other end of the cable 111 is connected to the second driving device 112. By adjusting the driving force of each second driving device 112 to drive the receiving surface 3, the receiving surface 3 can be adjusted to move or rotate, and the receiving surface 3 can be adjusted to be parallel to the horizontal plane.

[0081] Specifically, the second driving device 112 may include a motor and a reel, the output shaft of the motor is connected to the reel, one end of the cable 111 may be connected to the top of the elevator shaft 100, the other end of the cable 111 may be connected to the reel, and the motor may drive the reel to rotate so that the cable 111 is wound around or unwound from the reel. A plurality of motor devices may be evenly installed at the ends of the upper side of the lifting device 1, and the lifting device 1 may be adjusted to move or rotate by adjusting the driving force of each motor driving the cable 111, and the lifting device 1 may be adjusted to be parallel to the horizontal plane.

[0082] In an alternative embodiment, the motor and the reel of the second driving device 112 are installed at the top of the elevator shaft, and the two ends of the cable 111 are respectively connected between the reel of the second driving device 112 and the supporting base plate 12, thereby driving the supporting base plate 12 to rise and fall.

[0083] According to an embodiment of the present invention, the lifting device 1 further includes a distance measuring device 15. The distance measuring device 15 is installed on the supporting base plate 12. When the lifting device 1 moves to each elevator shaft section 101, the distance measuring device 15 can obtain the height information of the lifting device 1. The processing device splices the horizontal section profiles 201 based on the multiple horizontal section profiles 201 and the multiple height information to obtain the elevator shaft model 200 of the elevator shaft 100.

[0084] Specifically, the distance measuring device 15 can be installed on the lower side of the supporting substrate 12. By setting the distance measuring device 15, the height information of the lifting device 1 can be obtained, and then the height information when the horizontal cross-sectional profile 201 is obtained can be determined.

[0085] In an alternative embodiment, the height information of the lifting device 1 can be directly obtained by using a second laser.

[0086] According to an embodiment of the present invention, the lifting device 1 further includes two telescopic frames 16. The telescopic frames 16 are respectively installed on both sides of the support base plate 12. When the lifting device 1 moves to each elevator shaft section 101 and the support base plate 12 is parallel to the horizontal plane, the telescopic frames 16 extend to the shaft wall 102 to fix the lifting device 1. When the lifting device 1 moves to each elevator shaft section 101, the telescopic frames 16 extend to the shaft wall 102 to fix the lifting device 1. Before the lifting device 1 starts to move, the telescopic frames 16 are retracted to facilitate the movement of the lifting device 1.

[0087] According to the embodiment of the present invention, the receiving surface 3, the second accelerometer 14, the traction device 11, the distance measuring device 15 and the first laser can be arranged on the supporting base plate 12, and the telescopic frame 16 can be installed on both sides of the supporting base plate 12. The fixing device 2 and the lifting device 1 can be installed with an automatically unlocking locking device and an energy supply device.

[0088] Figure 7 The flowchart of the method for constructing an elevator shaft model according to an embodiment of the present invention is schematically shown.

[0089] like Figure 7 As shown, the method 100 may include the following operations S110 to S150.

[0090] In operation S110 , the elevator shaft 100 is divided into a plurality of elevator shaft sections 101 .

[0091] In operation S120 , the point cloud acquisition device 13 is installed on the lifting device 1 .

[0092] In operation S130 , when the lifting device 1 moves to each elevator shaft section 101 , the point cloud data of the shaft wall 102 of the elevator shaft section 101 is collected by using the point cloud collection device 13 .

[0093] In operation S140 , a cross-sectional profile 201 of a cross section of the shaft wall 102 is determined using the point cloud data of each elevator shaft section 101 .

[0094] In operation S150 , the obtained cross-sectional profiles 201 of the plurality of shaft walls 102 are spliced ​​to obtain an elevator shaft model 200 of the elevator shaft 100 .

[0095] According to an embodiment of the present invention, the number of divided elevator shaft sections 101 can be determined based on the parameters of the point cloud acquisition device 13 and the overall height of the elevator shaft 100. The point cloud data can be the coordinate data of each point of the shaft wall 102. Each cross-sectional profile 201 can be characterized as the inner contour of the corresponding elevator shaft section 101. After the cross-sectional profiles 201 corresponding to each elevator shaft section 101 are spliced, the inner contour of the entire elevator shaft 100 can be obtained.

[0096] According to an embodiment of the present invention, by arranging a point cloud acquisition device 13 on the lifting device 1, and using the lifting device 1 to drive the point cloud acquisition device 13 to move in the elevator shaft 100, the point cloud data of the shaft wall 102 of each elevator shaft section 101 can be obtained, and the point cloud data can be used to determine one or more cross-sectional profiles 201 corresponding to the shaft wall 102 of each elevator shaft section 101. After all the cross-sectional profiles 201 corresponding to the elevator shaft section 101 are spliced ​​in sequence, an elevator shaft model 200 of the elevator shaft 100 can be obtained. The obtained elevator shaft model 200 is composed of the point cloud data of the shaft wall 102, which can more realistically reflect the situation of the elevator shaft 100, so as to determine whether the elevator shaft 100 is flat, whether it is tilted, and the specific location of the tilted and uneven areas, thereby achieving the purpose of improving the detection efficiency and detection accuracy of the elevator shaft 100.

[0097] According to an embodiment of the present invention, the point cloud acquisition device 13 includes a first laser. The first laser rotates around a rotation axis perpendicular to the support base plate 12 of the lifting device 1 to obtain a plurality of point cloud data of the shaft wall 102 located on the same plane. The first laser can be a laser radar. After the laser radar emits laser to the shaft wall 102, the laser is reflected back to the laser radar by the shaft wall 102. The reflected laser is received by the laser radar, and the laser radar can determine the point cloud data according to the angle and time of the laser reflection. The rotation axis can be set to be parallel to the center line of the first laser in a state perpendicular to the support base plate 12. In other words, when the first laser is perpendicular to the support base plate 12, the center line of the first laser is parallel to the rotation axis. The first laser can rotate around the rotation axis, and then can emit laser to the shaft wall 102 of the elevator shaft 100 at 360°.

[0098] According to an embodiment of the present invention, before using the point cloud acquisition device 13 to collect the point cloud data of the shaft wall 102 of the elevator shaft section 101, it also includes adjusting the support base plate 12 of the lifting device 1 to be parallel to the horizontal plane to avoid the elevator shaft section 101 from tilting due to splicing. By adjusting the support base plate 12 to be parallel to the horizontal plane, the point cloud acquisition device 13 on the support base plate 12 can remain parallel to the horizontal plane when collecting point cloud data, and the cross-sectional profile 201 obtained can remain parallel to the horizontal plane, that is, each cross-sectional profile 201 can be parallel to each other, which can improve the accuracy of the elevator shaft model 200 after splicing, and can avoid the misalignment between the cross-sectional profiles 201 during splicing due to the tilt of the lifting device 1, and the overall tilt of the elevator shaft section 101 after splicing.

[0099] According to the embodiment of the present invention, the method may further include the following operations S210 to S220.

[0100] In operation S210, when the lifting device 1 moves to each elevator shaft section 101, the offset information of the support base plate 12 of the lifting device 1 relative to the initial surface is obtained.

[0101] In operation S220 , the cross-sectional profile 201 is corrected according to the offset information to obtain a horizontal cross-sectional profile 201 of a horizontal cross section of the elevator shaft section 101 , and an elevator shaft model 200 of the elevator shaft 100 is obtained based on the plurality of horizontal cross-sectional profiles 201 .

[0102] According to the embodiment of the present invention, the offset information may be characterized as the displacement and rotation angle of the supporting substrate in the horizontal direction relative to the initial surface.

[0103] In detail, before the lifting device 1 moves, a plurality of first fixed positions can be set on the horizontal plane, and a plurality of second fixed positions corresponding to the first fixed positions can be set on the support base plate 12. The coordinates of each first fixed position and each second fixed position can be obtained by establishing a three-axis coordinate system, for example, taking the center of the bottom of the elevator shaft 100 as the first coordinate origin. Before the lifting device 1 moves, the coordinates of each first fixed position and its corresponding second fixed position are different in the height direction of the elevator shaft 100, and are the same in the radial direction of the elevator shaft 100. If the height of the elevator shaft 100 is the Z axis, the long direction of the elevator shaft 100 is the X1 axis, and the width direction of the elevator shaft 100 is the Y1 axis, each first fixed position and its corresponding second fixed position have the same coordinates in the X1 axis and Y1 axis directions, and different coordinates in the Z axis direction.

[0104] When the lifting device 1 moves to a certain elevator shaft section 101, multiple correction mark positions corresponding to the first fixed position on the supporting substrate 12 are obtained. At this time, each correction mark position has the same coordinates as its corresponding first fixed position in the X1 axis and Y1 axis directions, but different coordinates in the Z axis direction.

[0105] Furthermore, a plane coordinate system can be established with the center of the supporting substrate 12 as the second coordinate origin, the long direction of the supporting substrate 12 as the X2 axis, and the wide direction of the supporting substrate 12 as the Y2 axis, and the coordinates of each second fixed position and each correction position in the plane coordinate system can be obtained. Then, the displacement and rotation angle of the supporting substrate 12 in the plane coordinate system before and after the movement of the lifting device 1 can be calculated through the coordinates of each second fixed position and its corresponding correction position. In other words, the displacement and rotation angle of the supporting substrate 12 in the X1 axis and Y1 axis directions in the three-axis coordinate system can be calculated, that is, the offset information of the supporting substrate 12 relative to the initial surface can be calculated.

[0106] Furthermore, the cross-sectional profile 201 can be rotated and moved accordingly through the offset information, so that the corrected cross-sectional profile 201 is parallel to the elevator shaft section 101, and the corrected cross-sectional profile 201 can be represented as a horizontal cross-sectional profile 201 of the horizontal cross-sectional area of ​​the elevator shaft section 101. By splicing multiple horizontal cross-sectional profiles 201, an elevator shaft model 200 of the elevator shaft 100 can be obtained.

[0107] Figure 8 The flowchart of obtaining the offset information of the support substrate relative to the initial surface according to an embodiment of the present invention is schematically shown.

[0108] like Figure 8 As shown, the method 300 may include the following operations S310 to S360.

[0109] In operation S310 , the fixing device 2 is provided at the bottom of the elevator shaft 100 .

[0110] In operation S320, the fixed platform 21 on the fixing device 2 is adjusted so that the fixed platform 21 is parallel to the horizontal plane.

[0111] In operation S330 , a plurality of detection positions are marked on the fixed platform 21 .

[0112] In operation S340 , the second laser 22 is mounted on the fixed platform 21 .

[0113] In operation S350, when the lifting device 1 moves to each elevator shaft section 101, the second laser 22 is used to sequentially emit a light beam to the lifting device 1 at a plurality of detection positions.

[0114] In operation S360, based on the deviation between each receiving position of the receiving light beam on the receiving surface 3 on the lower side of the support substrate 12 and its corresponding detection position, the offset information of the receiving surface 3 relative to the initial surface is determined.

[0115] According to an embodiment of the present invention, the fixing device 2 can be set at the center position of the bottom of the elevator shaft 100. After adjusting the fixed platform 21 to be parallel to the horizontal plane, the detection position can be characterized as the above-mentioned first fixed position, and the detection position and its corresponding first fixed position can have the same coordinates in the X1 axis and Y1 axis directions.

[0116] Furthermore, when the lifting device 1 moves to each elevator shaft section 101, the second laser 22 is used to emit a light beam to the lifting device 1 at multiple detection positions in sequence, so that the correction position on the supporting substrate 12 can be confirmed, that is, the receiving position can be characterized as the above-mentioned correction position.

[0117] By using the above-mentioned plane coordinate system, the coordinates of each receiving position in the plane coordinate system can be obtained, and then the displacement and rotation angle of the support substrate 12 in the plane coordinate system before and after the movement of the lifting device 1 can be calculated through the coordinates of each second fixed position and its corresponding receiving position. In other words, the displacement and rotation angle of the support substrate 12 in the X1 axis and Y1 axis directions in the three-axis coordinate system can be calculated, that is, the offset information of the support substrate 12 relative to the initial surface can be calculated. The initial surface can be composed of multiple second fixed positions, that is, the initial surface can be characterized as a plane composed of multiple receiving positions on the support substrate 12 corresponding to the detection position before the lifting device 1 moves.

[0118] Fig. 9 The flowchart of installing a second laser on a fixed platform according to an embodiment of the present invention is schematically shown.

[0119] like Fig. 9 As shown, the method 400 may include the following operations S410 to S440.

[0120] In operation S410, a circular track is opened on the fixed platform 21, and the detection position is located on the track.

[0121] In operation S420, a plurality of rolling elements 23 are embedded in the track.

[0122] In operation S430 , the rotating table 24 is installed on the rolling member 23 , and the rotating table 24 is driven by the rolling member 23 to rotate around the track.

[0123] In operation S440 , the second laser 22 is mounted on the rotating stage 24 .

[0124] According to the embodiment of the present invention, when the lifting device 1 moves to each elevator shaft section 101, the second laser 22 passes through the detection position in sequence under the drive of the rotating table 24, and emits a light beam to the receiving surface 3 at the detection position.

[0125] Furthermore, after the fixed platform 21 is adjusted to be parallel to the horizontal plane, the rotating platform 24 and the second laser 22 installed on the fixed platform 21 are also parallel to the horizontal plane. The rolling member 23 can be a universal ball. When the rolling member 23 rolls along the track, the rolling member 23 drives the rotating platform 24 to rotate around the center of the rotating platform 24. Four detection positions can be evenly set on the track. The lines connecting the four detection positions and the center of the rotating platform 24 form two vertical lines. The center of the rotating platform 24 can be used as the coordinate origin of the three-axis coordinate system. The X1 axis and the Y1 axis of the three-axis coordinate system can be parallel to the two vertical lines respectively. The rotating platform 24 can reach a detection position every 90° rotation.

[0126] Fig.10A flow chart of adjusting the upper fixed platform of the fixing device according to an embodiment of the present invention is schematically shown.

[0127] like Fig.10 As shown, the method 500 may include the following operations S510 to S530.

[0128] In operation S510 , the first accelerometer 25 is installed on the fixed platform 21 .

[0129] In operation S520 , a plurality of first driving devices 26 are installed on the lower side of the fixed platform 21 .

[0130] In operation S530 , the first driving device 26 is controlled to drive the stationary platform 21 to move to a horizontal position based on the horizontal parameter of the stationary platform 21 output by the first accelerometer 25 .

[0131] Specifically, the first driving device 26 may include a motor. A plurality of first driving devices 26 may be evenly mounted at the end of the lower side of the fixed platform 21. By adjusting the driving force of each first driving device 26 to drive the fixed platform 21, the fixed platform 21 may be adjusted to move or rotate, and the fixed platform 21 may be adjusted to be parallel to the horizontal plane. The required driving force may be calculated using the PI algorithm based on the horizontal parameter of the fixed platform 21 output by the first accelerometer 25.

[0132] Fig.11 The flowchart of adjusting the supporting base plate of the lifting device to be parallel to the horizontal plane according to an embodiment of the present invention is schematically shown.

[0133] like Fig.11 As shown, the method 600 may include the following operations S610 to S630.

[0134] In operation S610 , the second accelerometer 14 is mounted on the support substrate 12 .

[0135] In operation S620 , the lifting device 1 is driven to move in the elevator shaft 100 by using a plurality of traction devices 11 .

[0136] In operation S630 , when the lifting device 1 is moved to the elevator shaft section 101 by the traction device 11 , the second driving device is controlled based on the horizontal parameter of the supporting base 12 output by the second accelerometer 14 to drive the supporting base 12 to move horizontally.

[0137] Specifically, the traction device 11 can be installed on the upper side of the support base 12, and the driving force of the traction device 11 to drive the support base 12 can be adjusted to adjust the movement or rotation of the support base 12, so that the support base 12 can be adjusted to be parallel to the horizontal plane. The required driving force can be calculated based on the horizontal parameter of the fixed platform 21 output by the second accelerometer 14 using the PI algorithm.

[0138] Fig.12 A flow chart of obtaining an elevator shaft model of an elevator shaft based on a plurality of horizontal cross-sectional profiles according to an embodiment of the present invention is schematically shown.

[0139] like Fig.12 As shown, the method 700 may include the following operations S710 to S720.

[0140] In operation S710, when the lifting device 1 moves to each elevator shaft section 101, height information of the lifting device 1 is obtained.

[0141] In operation S720 , the horizontal cross-sectional profiles 201 are spliced ​​based on the plurality of horizontal cross-sectional profiles 201 and the plurality of height information to obtain an elevator shaft model 200 of the elevator shaft 100 .

[0142] According to an embodiment of the present invention, the distance measuring device 15 can be installed on the lower side of the supporting substrate 12. By setting the distance measuring device 15, the height information of the lifting device 1 can be obtained, and then the height information when obtaining the horizontal cross-sectional profile 201 can be determined.

[0143] According to the embodiment of the present invention, the receiving surface 3 disposed on the lower side of the supporting substrate 12 may be an optical sensor array, and the height information of the lifting device 1 may be directly calculated through the receiving surface 3. Specifically, after the second laser 22 emits a light beam to the receiving surface 3 of the lifting device 1, the height information of the lifting device 1 may be calculated based on the time and angle at which the receiving surface 3 receives the light beam.

[0144] According to the embodiment of the present invention, the second laser 22 may be a laser radar, and the height information of the lifting device 1 may be directly calculated by the second laser 22. Specifically, after the second laser 22 emits a light beam to the receiving surface 3 of the lifting device 1, the light beam may be reflected back to the second laser 22 by the receiving surface 3, and the second laser 22 may calculate the height information of the lifting device 1 by the time and angle of the reflected light beam.

[0145] According to an embodiment of the present invention, when the second laser 22 is a laser radar, and the laser radar can rotate around the central axis of the laser radar, and can then illuminate the edge of the receiving surface 3, the second laser 22 can determine the inclination of the receiving surface 3 relative to the horizontal plane through the height information of the edge of the receiving surface 3. At this time, when the lifting device 1 moves to each elevator shaft section 101, it is possible to omit adjusting the lifting device 1 to be parallel to the horizontal plane, and the elevator shaft model 200 of the elevator shaft 100 can also be obtained. Specifically, through the inclination of the receiving surface 3 relative to the horizontal plane, the inclination of the cross-sectional profile 201 can be adjusted so that the cross-sectional profile 201 is parallel to the horizontal plane, and then the cross-sectional profile 201 is corrected according to the offset information, and the multiple horizontal cross-sectional profiles 201 obtained after correction are spliced ​​to obtain the elevator shaft model 200.

[0146] According to an embodiment of the present invention, the construction method also includes controlling the telescopic frame 16 of the lifting device 1 to extend to the shaft wall 102 to fix the lifting device 1 when the lifting device 1 moves to each elevator shaft section 101, and after the lifting device 1 is fixed, using the second laser 22 to emit a light beam to the lifting device 1 at multiple detection positions in sequence, and determining the offset information of the receiving surface 3 relative to the horizontal plane based on the receiving position, correcting the cross-sectional profile 201 according to the offset information to obtain a horizontal cross-sectional profile 201 of the horizontal cross section of the elevator shaft section 101, and splicing multiple horizontal cross-sectional profiles 201 to obtain an elevator shaft model 200.

[0147] Example 1

[0148] Fig.13 The coordinate diagram of the receiving position and the calibration position according to an embodiment of the present invention is schematically shown.

[0149] After the fixing device 2 is installed at the bottom center position of the elevator shaft 100, the fixed platform 21 of the fixing device 2 is adjusted to be parallel to the horizontal plane, and the lifting device 1 is installed above the fixing device 2 through the traction device 11. The area of ​​the receiving surface 3 of the lifting device 1 is larger than the area of ​​the rotating table of the fixing device 2 to ensure that when the lifting device 1 rises or falls, the projection of the receiving surface 3 in the direction perpendicular to the bottom of the elevator shaft 100 covers the projection of the rotating table in the direction perpendicular to the bottom of the elevator shaft 100.

[0150] The lifting device 1 is lowered to a position close to the fixing device 2, and the receiving surface 3 of the lifting device 1 is adjusted to be parallel to the horizontal plane. The second laser 22 is used to emit light beams to the receiving surface 3 at the detection position of the fixing device 2. The center of the receiving surface 3 is taken as the second coordinate origin, the long direction of the receiving surface 3 is the X2 axis, and the wide direction of the receiving surface 3 is the Y2 axis. A plane coordinate system is established to obtain the coordinates of each receiving position (which can be marked as the second fixed position) on the receiving surface 3 where the light beam is received when the receiving surface 3 is close to the fixing device 2, such as Fig.13 As shown, if there are 4 detection positions and 4 receiving positions, the coordinates of the 4 second fixed positions can be expressed as (x a1 ,y a1 )、(x b1 ,y b1 )、(x c1 ,y c1 )、(x d1 ,y d1 ), the initial surface can be formed by these four second fixed positions.

[0151] The lifting device 1 is moved to each elevator shaft section 101 in sequence. When the lifting device 1 moves to each elevator shaft section 101, the receiving surface 3 of the lifting device 1 is adjusted to be parallel to the horizontal plane, and the telescopic frame 16 is controlled to extend to the shaft wall 102 to fix the lifting device 1. The second laser 22 is used to emit a light beam to the receiving surface 3 at the detection position of the fixing device 2, and the coordinates of each receiving position (which can be marked as a correction mark position) on the receiving surface 3 where the light beam is received in each elevator shaft section 101 are obtained, such as Fig.13 As shown, the coordinates of the correction mark position can be expressed as (x a2 ,y a2 )、(x b2 ,y b2 )、(x c2 ,y c2 )、(x d2 ,y d2 When the lifting device 1 moves to each elevator shaft section 101, the point cloud acquisition device 13 is used to collect point cloud data of the shaft wall 102 of the corresponding elevator shaft section 101, and the cross-sectional profile 201 of a cross section of the shaft wall 102 can be determined using the point cloud data of each elevator shaft section 101.

[0152] By calculating the deviation of the correction mark position relative to the second fixed position, the displacement and rotation angle (i.e., offset information) of the receiving surface 3 in each elevator shaft section 101 relative to the receiving surface 3 when it is close to the fixing device 2 (at the initial surface) can be calculated. Through the calculated displacement and angle, the cross-sectional profile 201 can be moved and rotated to correct the cross-sectional profile 201. The corrected cross-sectional profile 201 can be characterized as a horizontal cross-sectional profile 201 of the horizontal cross section of the elevator shaft section 101. Multiple horizontal cross-sectional profiles 201 are spliced ​​to obtain the elevator shaft model 200 of the elevator shaft 100. In the process of the lifting device 1 rising or falling, the receiving surface 3 will inevitably move or rotate. By correcting the cross-sectional profile 201 and then splicing the cross-sectional profile 201, the splicing error caused by the rotation of the receiving surface 3 can be compensated, thereby improving the accuracy of the model and the detection accuracy of the elevator shaft 100.

[0153] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination. The scope of the present invention is defined by the attached claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A method for constructing an elevator shaft model, comprising: Dividing the elevator shaft into a plurality of elevator shaft sections; Installing point cloud acquisition equipment on the lifting device; When the lifting device moves to each elevator shaft section, point cloud data of the shaft wall of the elevator shaft section is collected by using a point cloud collection device; Determine a cross-sectional profile of a cross section of the shaft wall using the point cloud data of each elevator shaft section; as well as The obtained cross-sectional profiles of the plurality of shaft walls are spliced ​​together to obtain an elevator shaft model of the elevator shaft.

2. The construction method according to claim 1, wherein: The point cloud acquisition device comprises a first laser, which rotates around a rotation axis perpendicular to a support base plate of the lifting device to obtain a plurality of point cloud data of the shaft wall located on the same plane.

3. The construction method according to claim 1, wherein: Before using the point cloud acquisition device to acquire the point cloud data of the shaft wall of the elevator shaft section, the method further includes: The supporting base plate of the lifting device is adjusted to be parallel to the horizontal plane.

4. The construction method according to any one of claims 1 to 3, further comprising: When the lifting device moves to each elevator shaft section, obtaining the offset information of the support base plate of the lifting device relative to the initial surface; as well as The cross-sectional profile is corrected according to the offset information to obtain a horizontal cross-sectional profile of a horizontal cross-sectional area of ​​the elevator shaft section, and an elevator shaft model of the elevator shaft is obtained based on a plurality of horizontal cross-sectional profiles.

5. The construction method according to claim 4, wherein: Obtaining the offset information of the support substrate relative to the initial surface, comprising: A fixing device is provided at the bottom of the elevator shaft; Adjusting the fixed platform on the fixing device so that the fixed platform is parallel to the horizontal plane; Marking a plurality of detection positions on the fixed platform; Installing a second laser on the fixed platform; When the lifting device moves to each elevator shaft section, using a second laser to sequentially emit a light beam to the lifting device at a plurality of the detection positions; and Based on the deviation between each receiving position on the receiving surface on the lower side of the support substrate that receives the light beam and the corresponding detection position, the offset information of the receiving surface relative to the initial surface is determined.

6. The construction method according to claim 5, wherein: Installing a second laser on the fixed platform includes: A circular track is provided on the fixed platform, and the detection position is located on the track; A plurality of rolling elements are embedded in the track; A rotating platform is installed on the rolling element, and the rotating platform rotates around the track under the drive of the rolling element; and Install the second laser on the rotating table; When the lifting device moves to each elevator shaft section, the second laser passes through the detection position in sequence under the drive of the rotating table, and emits a light beam to the receiving surface at the detection position.

7. The construction method according to claim 5, wherein: The upper platform of the adjusting fixture includes: Installing a first accelerometer on the fixed platform; A plurality of first driving devices are installed on the lower side of the fixed platform; and Based on the horizontal parameter of the fixed platform output by the first accelerometer, the first driving device is controlled to drive the fixed platform to move to a horizontal state.

8. The construction method according to claim 3, wherein the supporting base plate of the lifting device is adjusted to be parallel to a horizontal plane, comprising: mounting a second accelerometer on the support substrate; Using a plurality of suspension parts to drive the lifting device to move in the elevator shaft; as well as When the lifting device is moved to the elevator shaft section by using the suspension part, the second driving device is controlled based on the horizontal parameter of the support base plate output by the second accelerometer to drive the lifting device to move to the horizontal.

9. The construction method according to claim 4, wherein obtaining the elevator shaft model of the elevator shaft based on a plurality of horizontal cross-sectional profiles further comprises: When the lifting device moves to each elevator shaft section, obtaining height information of the lifting device; as well as The horizontal cross-sectional profiles are spliced ​​based on the multiple horizontal cross-sectional profiles and the multiple height information to obtain an elevator shaft model of the elevator shaft.

10. The construction method according to claim 1, further comprising: When the lifting device moves to each elevator shaft section, the telescopic frame of the lifting device is controlled to extend to the shaft wall to fix the lifting device.

11. A system for constructing an elevator shaft model, comprising: A lifting device is configured to move along a plurality of elevator shaft sections of the elevator shaft, the lifting device comprising: Traction device; a supporting base plate configured to be lifted and lowered in the elevator shaft under the traction of the traction device; A point cloud acquisition device, mounted on the support base plate and configured to acquire point cloud data of a shaft wall of each elevator shaft section when the lifting device moves to each elevator shaft section; The processing device is configured to determine the cross-sectional profile of a cross section of the shaft wall using the point cloud data of each elevator shaft section, and to splice the obtained cross-sectional profiles of multiple shaft walls to obtain an elevator shaft model of the elevator shaft.

12. The construction system according to claim 11, further comprising: The correction device is suitable for obtaining the offset information of the support substrate relative to the initial surface. The processing device corrects the cross-sectional profile based on the offset information to obtain the horizontal cross-sectional profile of the horizontal cross-sectional area of ​​the elevator shaft section, and obtains the elevator shaft model of the elevator shaft based on multiple horizontal cross-sectional profiles.

13. The construction system according to claim 12, wherein: The correction device comprises: A fixing device, installed at the bottom of the elevator shaft, comprises: A fixed platform, parallel to the horizontal plane, comprising a plurality of detection positions; and A second laser is mounted on the fixed platform; and A receiving surface is arranged on the lower side of the supporting substrate, the second laser is configured to emit a light beam to the receiving surface at a plurality of detection positions, and the processing device determines the offset information of the receiving surface relative to the initial surface based on the deviation between each receiving position on the receiving surface that receives the light beam and its corresponding detection position.

14. The construction system according to claim 12, wherein: The fixing device also includes: A moving track is formed on the fixed platform, and the detection position is located on the track; A plurality of rolling elements are embedded in the track, and the rotating platform rotates around the track driven by the rolling elements; and A rotating table is mounted on the rolling element, and the second laser is mounted on the rotating table. When the lifting device moves to each elevator shaft section, the second laser passes through the detection position in sequence under the drive of the rotating table, and emits a light beam to the receiving surface at the detection position to form a corresponding receiving position on the receiving surface.

15. The construction system according to claim 13, wherein: The fixing device also includes: A first accelerometer, mounted on the fixed platform, configured to output a horizontal parameter of the fixed platform; and A plurality of first driving devices are respectively installed on the lower side of the fixed platform, and the first driving devices are configured to drive the fixed platform to a horizontal position based on the horizontal parameters of the fixed platform.

16. The construction system according to claim 13, wherein: The lifting device also includes: The second accelerometer is mounted on the support substrate and is configured to output a horizontal parameter of the support substrate. The traction device is configured to drive the support substrate to a horizontal position based on the horizontal parameter of the support substrate.

17. The construction system according to claim 16, wherein: The traction device comprises: a plurality of cables, one end of each of the cables being connected to the top of the elevator shaft; and A plurality of second driving devices, the other end of the cable is connected to the second driving device, and the second driving device is configured to drive the steel wire to wind or unwind so as to make the lifting device rise or fall, and drive the supporting base plate to a horizontal position based on the horizontal parameters of the supporting base plate.

18. The construction system according to claim 12, wherein: The lifting device also includes: A distance measuring device is installed on the supporting base plate, and the distance measuring device is configured to obtain height information of the lifting device when the lifting device moves to each elevator shaft section. The processing device splices the horizontal cross-sectional profile based on multiple horizontal cross-sectional profiles and multiple height information to obtain an elevator shaft model of the elevator shaft.

19. The construction system according to claim 11, wherein the lifting device further comprises: Two telescopic frames are respectively installed on both sides of the supporting base plate. When the lifting device moves to each elevator shaft section, the telescopic frames extend to the shaft wall to fix the lifting device.

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