Digital Installation Method of Elevator Guide Rails Based on Laser Tracker and Motion Capture System

Abstract

This invention provides a digital installation method for elevator guide rails based on a laser tracker and motion capture system, comprising: A1. Constructing a global coordinate system for the shaft and forming a local measurement network for the shaft, wherein the lifting platform is equipped with a guide structure that cooperates with the installed guide rails; A2. After collecting multiple sets of target ball spatial coordinate data, using an optimization method based on rigid body distance constraints, calculating the transformation relationship between the coordinate system of the motion capture camera array and the coordinate system of the laser tracker; A3. Converting the installation position data of the elevator guide rail bracket into a two-dimensional projection image through coordinate transformation and projection correction algorithms, and projecting it onto the shaft wall through a projection device; A4. Collecting the three-dimensional coordinate data of the reflective markers of the installed guide rails through the motion capture camera array, calculating the deviation matrix between the actual installation position and the design model, and correcting the guide rail installation deviation; A5. Repeating steps A2 to A4 to install the next section of guide rail, and eliminating the cumulative error of the reference by recalibration.

Description

Technical Field

[0001] This invention belongs to the technical fields of special equipment installation and elevator guide rail installation. Specifically, it relates to a digital installation method for elevator guide rails based on a laser tracker and motion capture system. It is particularly suitable for high-precision spatial positioning, real-time quality monitoring and deviation correction of guide rails in elevator shafts of high-rise buildings, and solves the problems of accurate layout and verticality control in the elevator installation process. Background Technology

[0002] As a core guiding component of the elevator system, the installation accuracy of elevator guide rails directly affects the smoothness, safety, and service life of the elevator. With the rapid development of high-rise buildings and the continuous increase in elevator shaft height, traditional guide rail installation methods face severe challenges in terms of reference transfer, construction efficiency, and precision control.

[0003] Several technical solutions exist for elevator guide rail installation. Chinese patent CN116062586A proposes an adjustable bracket system that uses the bent surfaces of a split guide rail bracket and a shaft bracket to achieve position adjustment via elongated bolts. While this solution shifts the adjustment target from the guide rail to the lighter bracket, it still has the following drawbacks: First, it relies on manual operation of magnetic clamps for fine-tuning (each adjustment takes approximately 15 minutes), and the adjustment accuracy is affected by operator experience; actual measurement data shows a repeatability error of ±1.5mm. Second, the bracket adjustment fixture needs to be rigidly connected to the elevator car (see the attached manual). Figure 8 In high-altitude operations, the support is easily affected by the swaying of the car, resulting in a deviation of more than 2 mm / m in the parallelism between the mounting surface of the support and the shaft wall; thirdly, there is a lack of global digital benchmark, and the adjustment of the support still relies on physical contact measurement, which cannot achieve continuous error compensation for multiple sections of the guide rail.

[0004] Chinese patent CN101495396B employs segmented laser alignment technology, using a movable directional laser and a magnetic alignment device to install the guide rail segment by segment. While this approach reduces the scattering problem of long-distance laser beams, it still has the following drawbacks: First, the laser needs frequent repositioning (adjusted every 10 meters), resulting in cumulative errors in the transfer of the reference position and making it difficult to ensure consistency of the reference in the height direction; second, it relies on manual operation of the magnetic clamps for alignment, leading to low installation efficiency (approximately 30 minutes per segment) and significant dependence on the operator's skill level on operational accuracy; third, it lacks a means to monitor the global deviation of the installed guide rails, making real-time quality control and deviation correction during the installation process impossible.

[0005] Chinese patent CN112239116B discloses a pre-adjustment installation system based on a transportation platform, which pre-adjusts the position of the guide rail bracket by measuring the vertical shaft structure. The shortcomings of this solution are: first, it requires a complex pre-assembly workbench, resulting in large equipment size, difficult handling, and poor on-site adaptability, especially hindering construction in confined shaft environments; second, it relies on physical contact measuring tools (such as total stations), making non-contact real-time measurement and dynamic calibration impossible, leading to low measurement efficiency; and third, it does not solve the problem of cumulative error transmission when splicing multiple guide rail segments. Actual measurement data shows that after installing five consecutive guide rail segments, the verticality deviation can reach ±5mm, seriously affecting the elevator's operational stability and passenger comfort.

[0006] Based on the analysis of existing technologies, the following three key technical problems generally exist in the field of elevator guide rail installation:

[0007] First, the reference transmission is unreliable: traditional plumb lines or segmented lasers are difficult to maintain reference consistency in high-rise elevator shafts, causing installation errors to accumulate with height. Due to reference deviations, high-speed elevators are prone to lateral vibrations during operation, reducing comfort, accelerating guide rail wear, and shortening equipment lifespan.

[0008] Second, quality control is lagging: existing methods mostly adopt a post-installation inspection model, conducting random checks after installation, which cannot monitor guide rail position deviations in real time. Actual construction data shows that the rework rate for guide rail installation projects is as high as 12%, mainly due to irreversible installation defects discovered during post-installation inspections. This not only increases project costs but also significantly extends the construction period. This is particularly pronounced for elevator projects in super high-rise buildings, where rework costs and time losses are especially significant.

[0009] Third, the level of digitalization is low: traditional installation methods rely excessively on human experience and manual operation, with manual recording and adjustment accounting for more than 60% of the installation time. There is a lack of end-to-end digital closed-loop management from layout to calibration. Key parameters during construction (such as guide rail bracket positions and guide rail connection deviations) are difficult to quantify accurately and record systematically, lacking data-driven intelligent decision support. This results in large fluctuations in construction quality, making it difficult to meet the requirements of modern high-rise building elevators for high-precision, high-efficiency, and high-reliability installation. Summary of the Invention

[0010] To address the shortcomings and deficiencies of existing technologies, this invention provides a digital installation method for elevator guide rails based on a laser tracker and motion capture system, solving the problems of unreliable reference transfer, lagging quality control, and low digitization in the installation of guide rails in high-rise elevator shafts. The method first installs a laser tracker with a measurement accuracy better than ±20μm at the top of the elevator shaft to construct a global coordinate system for the shaft. Simultaneously, on a lifting work platform with a guide structure (slipper), a motion capture camera array containing 4-12 synchronous high frame rate cameras and a projection device with autofocus function are integrated to form a local measurement network for the shaft. Calibration rods adapted to dual-system target spheres are installed at both ends, moving within the workspace in various postures such as horizontal, vertical, 45° tilt, and compound angles (covering more than 80% of the work area and involving at least 3 different height levels). After collecting no less than 6 sets of target sphere coordinate data, the transformation relationship between the two system coordinate systems is calculated using an optimization method based on rigid body distance constraints. Finally, 3-5 non-coplanar target spheres are arranged on the projection device to construct a projected rigid body, and its six-degree-of-freedom pose parameters are acquired in real time through the motion capture camera array. Based on the aforementioned transformation relationship and pose parameters, coordinate transformation and projection correction algorithms are used to convert the three-dimensional installation data of the guide rail bracket into a two-dimensional projected image. Before projection, high-contrast optimization processing is performed, and the projection brightness is dynamically adjusted based on ambient lighting data collected by the motion capture camera array to achieve precise layout of the guide rail bracket installation points. After the initial installation of the guide rail and bracket, the three-dimensional coordinate data of the high-reflectivity target plates (two are pasted at the horizontal height of the bracket installation point on each guide rail, and one is pasted at each end) on the installed guide rails are collected by the motion capture camera array. After noise filtering and outlier removal, the deviation matrix between the actual position and the design model is calculated. Based on this matrix, graded correction is performed: when the deviation in the X direction exceeds a threshold, the adjustable pressure block of the guide rail is adjusted; when the deviation in the Y direction or perpendicularity exceeds a threshold, the guide rail shims with a 0.1mm gradient are adjusted; when the deviation exceeds the second threshold, an alarm is issued and reinstallation is required. After the current section is installed, the lifting platform is raised to the top of the current section of the guide rail using a sliding shoe in conjunction with the installed guide rail. Coordinate system calibration is then performed again. Before recalibration, target balls are placed at the middle and lower ends of the current section and the middle of the previous section to check straightness and eliminate segmentation errors. The layout, inspection, and correction process is repeated cyclically to ensure consistent installation accuracy throughout the shaft. This invention significantly improves guide rail installation accuracy and construction efficiency, reduces rework rates, and supports data storage and quality traceability during the installation process through global-local dual-reference coordination, full-process digital closed-loop control, and iterative error elimination design. It is suitable for precision installation scenarios of elevator guide rails in high-rise buildings.

[0011] The specific technical solution adopted by this invention to solve its technical problem is as follows:

[0012] A digital installation method for elevator guide rails based on a laser tracker and motion capture system includes:

[0013] A1. A laser tracker is installed at the top of the elevator shaft to construct a global coordinate system for the shaft; a motion capture camera array and projection equipment are integrated on the lifting operation platform to form a local measurement network for the shaft, and the lifting operation platform is equipped with a guide structure that cooperates with the installed guide rails;

[0014] A2. Install a first target ball and a second target ball at both ends of the calibration rod, respectively, and adapt them to the laser tracker and the motion capture camera array; make the calibration rod move in multiple non-single postures in the workspace, collect multiple sets of target ball spatial coordinate data, and then use an optimization method based on rigid body distance constraints to calculate the transformation relationship between the coordinate system of the motion capture camera array and the coordinate system of the laser tracker; arrange several non-coplanar target balls on the projection device to construct a projection rigid body, and obtain the six-degree-of-freedom pose parameters of the projection device in real time through the motion capture camera array;

[0015] A3. Based on the transformation relationship and the six-degree-of-freedom pose parameters, the three-dimensional installation position data of the elevator guide rail bracket is converted into a two-dimensional projection image through coordinate transformation and projection correction algorithm, and then projected onto the shaft wall through a projection device.

[0016] A4. After the guide rail and bracket are initially installed, the three-dimensional coordinate data of the reflective markers on the installed guide rail are collected by a motion capture camera array. The deviation matrix between the actual installation position and the design model is calculated to correct the guide rail installation deviation.

[0017] A5. Using the guide structure in conjunction with the installed guide rail, lift the lifting platform to the top of the current section of the guide rail, and repeat steps A2 to A4 to install the next section of the guide rail. Recalibrate to eliminate the cumulative error of the reference and ensure the consistency of the installation accuracy of the entire well.

[0018] Furthermore, the measurement accuracy of the laser tracker is better than ±20μm;

[0019] The motion capture camera array includes 4 to 12 high frame rate cameras, with overlapping fields of view and synchronized signals between the cameras.

[0020] The guide structure is a sliding shoe that slides in conjunction with the installed guide rail;

[0021] The projection device is a laser projector, which has automatic focusing and keystone correction functions;

[0022] The motion capture camera array is installed around the lifting platform, and the projection device is installed in the center of the lifting platform.

[0023] Furthermore, the calibration rod can be placed in multiple non-single postures, including horizontal to the ground, vertical to the ground, 45° tilt, and composite angles; when the calibration rod moves, it needs to cover more than 80% of the working area and collect target ball coordinate data at at least 3 different height levels.

[0024] Furthermore, the acquisition of multiple sets of target ball spatial coordinate data specifically involves acquiring no less than 6 sets of spatial coordinate data for the first target ball and the second target ball; if any target ball is obstructed during the acquisition process, the tilt angle and position of the calibration rod are adjusted to ensure that the two types of target balls are recognized by the laser tracker and the motion capture camera array respectively;

[0025] The arrangement of several non-coplanar target spheres on the projection device specifically involves arranging 4 to 6 target spheres, with any 4 target spheres being non-coplanar, to ensure that the motion capture camera array can calculate the six-degree-of-freedom pose parameters of the projection device using the target sphere coordinates.

[0026] Furthermore, the coordinate transformation and projection correction algorithm specifically includes:

[0027] The three-dimensional installation position data of the guide rail bracket is transformed from the design coordinate system to the projection equipment coordinate system using a homogeneous coordinate transformation matrix.

[0028] Using the intrinsic parameter matrix of the projection device, three-dimensional coordinates are projected onto a two-dimensional image plane;

[0029] The image distortion caused by the projection angle is compensated by the trapezoidal correction algorithm to ensure that the projected image fits the shaft wall.

[0030] Furthermore, before projecting the two-dimensional projection image, the image is subjected to high-contrast optimization processing, and the projection brightness of the projection device is dynamically adjusted according to the ambient light intensity of the shaft environment. The dynamic adjustment of brightness is based on the ambient light data collected by the motion capture camera array.

[0031] Furthermore, between steps A3 and A4, there is also a step of projecting the ideal template for guide rail installation: based on the three-dimensional design coordinates of the guide rail, the ideal template for guide rail installation is projected onto the actual installation area through a projection device. The ideal template for guide rail installation is adapted to the outline of the guide rail in the theoretically correct installation position, in order to assist the construction personnel in initially aligning the guide rail.

[0032] Furthermore, the reflective marker is a high reflectivity target sheet; two target sheets are pasted on each guide rail at the same horizontal height as the bracket mounting point, and one target sheet is pasted on each end of the guide rail;

[0033] Before calculating the deviation matrix, noise filtering and outlier removal are performed on the collected target 3D coordinate data to eliminate coordinate errors caused by environmental interference.

[0034] Furthermore, the guide rail installation deviation is corrected using a bracket fine-tuning device, which includes an adjustable guide rail pressure block and guide rail shims; the guide rail shims are graded in 0.1mm increments; when calculating the deviation matrix between the actual installation position and the design model, a graded correction step is also included.

[0035] The X direction is defined as the intersection of the symmetrical center plane of the left and right guide rails on the same floor and the ground; the Z direction is the vertical direction; and the Y direction is determined by the right-hand rule.

[0036] If the deviation of the guide rail in the X direction exceeds the first threshold, adjust the adjustable pressure block of the guide rail in the bracket fine-tuning device; if the deviation in the Y direction or perpendicularity exceeds the first threshold, adjust the thickness of the guide rail shim.

[0037] If the deviation exceeds the second threshold, an alarm will be issued, requiring the removal of the installed bracket and re-execution of steps A3 to A4.

[0038] Furthermore, in step A5, before re-executing step A2, a guide rail straightness detection step is also included: one target ball is arranged in the middle of the current guide rail segment, the lower end of the current guide rail segment, and the middle of the previous guide rail segment. The coordinates of the target balls are collected by a motion capture camera array, and the guide rail straightness deviation is calculated to eliminate the cumulative error of segment splicing.

[0039] And, an elevator guide rail digital installation system based on a laser tracker and motion capture system for implementing the method described above, comprising:

[0040] Global reference unit: includes a laser tracker, which is installed at the reference point at the top of the shaft and configured to output global coordinate system data of the shaft;

[0041] Local measurement and projection unit: includes a lifting work platform, a motion capture camera array and a projection device. The motion capture camera array and the projection device are integrated into the lifting work platform. The motion capture camera array is configured to acquire the coordinates of the target ball and / or reflective markers. The projection device is configured to project the lofting image.

[0042] Calibration module: includes calibration rod, first target ball and second target ball, configured to realize coordinate system calibration of motion capture camera array and laser tracker;

[0043] Deviation correction unit: includes a support fine-tuning device and a coordinate matching module. The support fine-tuning device includes an adjustable guide rail pressure block and a guide rail pad. The coordinate matching module is electrically connected to the motion capture camera array and is configured to calculate the deviation matrix and output correction commands to the support fine-tuning device.

[0044] Central control unit: Electrically connected to other units, configured to receive deviation matrix data from coordinate matching module, send correction commands to bracket fine-tuning device, control the cyclic execution of steps A2~A5, and store coordinate data, deviation data and correction records during installation.

[0045] Compared with the prior art, the present invention and its preferred embodiments have at least the following beneficial effects:

[0046] Improved installation accuracy and benchmark stability: A global benchmark coordinate system is constructed by a laser tracker, and combined with the dynamic calibration technology of the motion capture system, the benchmark drift problem caused by traditional segmented measurement is eliminated, and the consistency of benchmark transfer in high-rise shafts is achieved; a coordinate transformation algorithm based on rigid body distance constraints and six-degree-of-freedom pose tracking are adopted to ensure high-precision matching between projector lofting and guide rail pose measurement, providing reliable data support for the step-by-step correction of minor deviations.

[0047] The digitalization of the construction process and the enhanced quality controllability are achieved by directly converting 3D design data into a visual layout image of the shaft wall through coordinate transformation and projection correction, replacing traditional procedures such as manual stringing and plumb bob installation, thus reducing human error. The ideal line is projected in real time and compared with the actual installation position. Combined with target coordinate acquisition and deviation matrix analysis, the installation quality has been transformed from "post-inspection" to "dynamic process monitoring," reducing the risk of rework caused by irreversible defects.

[0048] Full-process closed-loop management and cumulative error control: Through the guide shoe of the liftable work platform and the segmented cyclic calibration mechanism, the coordinate system is recalibrated and the straightness is checked after each section of the guide rail is installed, which effectively avoids the cumulative transmission of segmented errors; the graded correction strategy (adjustable pressure block / X direction, gradient shim / Y direction) combined with the visualization of three-dimensional deviation vector diagram makes the correction process more precise and controllable, ensuring the consistency of the installation accuracy of the entire well.

[0049] System integration and construction adaptability optimization: The motion capture camera array, laser projector and control unit are integrated into the liftable platform, eliminating the need for complex pre-assembly equipment and adapting to the space-constrained shaft environment; high-brightness projection and dynamic brightness adjustment technology ensure the clarity of layout under complex lighting conditions, and non-contact measurement of the target reduces interference with the construction process and improves on-site operation efficiency.

[0050] This invention systematically solves the problems of unreliable benchmarks, quality lag, and low efficiency in traditional installation methods through an integrated design of global-local collaborative measurement, digital layout, and closed-loop correction, providing technical support for the precision installation of elevator guide rails. Attached Figure Description

[0051] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0052] Figure 1 This is a schematic diagram of the system equipment deployment according to an embodiment of the present invention;

[0053] Figure 2 This is a digital layout effect diagram of the support structure according to an embodiment of the present invention;

[0054] Figure 3This is a diagram illustrating the auxiliary installation effect of guide rail layout in an embodiment of the present invention.

[0055] Figure 4 This is a schematic diagram of installation quality inspection according to an embodiment of the present invention;

[0056] Figure 5 This is a schematic diagram of the overall system architecture according to an embodiment of the present invention;

[0057] Figure 6 This is the main flowchart of the installation method according to an embodiment of the present invention.

[0058] Figure 7 This is a structural diagram of the calibration rod used for aligning the coordinate system of the motion capture system and the laser tracker in an embodiment of the present invention;

[0059] Figure 8 This is a schematic diagram showing the placement of the target piece during the guide rail calibration process according to an embodiment of the present invention;

[0060] Figure 9 This is a schematic diagram of the bracket fine-tuning device according to an embodiment of the present invention;

[0061] Figure 10 This is an assembly diagram of the connection between the work platform and the guide rail in an embodiment of the present invention.

[0062] The components include: 1. Laser tracker, 2. Motion capture camera array, 3. Laser projector, 4. Lifting work platform, 5. Well wall, 6. Guide rail bracket template projection, 7. Guide rail installation ideal template projection, 8. Guide rail, 9. Target 3D coordinate data, 10. Motion capture target ball, 11. Laser tracker target ball, 12. Calibration rod, 13. Guide rail bracket, 14. Target, 15. Guide rail adjustable pressure block, 16. Guide rail gasket, 17. Screw, 18. Nut, 19. Slipper, 20. Guide rail installation ideal template. Detailed Implementation

[0063] To make the features and advantages of the present invention more apparent and understandable, specific embodiments are described below in detail:

[0064] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0065] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0066] This invention addresses issues such as reference drift, error accumulation, and lagging quality control during elevator guide rail installation. It proposes a digital installation system integrating laser global positioning, motion capture, and real-time projection correction. This system constructs a closed-loop workflow of "millimeter-level reference establishment - intelligent layout - online monitoring - dynamic correction," achieving high-precision and high-efficiency guide rail installation. To this end, a digital layout, quality monitoring, and correction scheme for elevator guide rail installation is proposed:

[0067] This invention includes a digital installation method and system for elevator guide rails based on a laser tracker and motion capture system. A global and local coordinate system is established using a high-precision laser tracker at the top of the shaft and a motion capture camera array on the lifting platform to track the spatial pose of the projector in real time. A three-dimensional geometric transformation algorithm is used to convert the installation data of the bracket and guide rail into projected images, achieving precise digital layout on the shaft wall. An ideal baseline is dynamically projected using a high-brightness projector, and a visual comparison is made with the actual installation position. Actual installation coordinates are collected using a high-reflectivity target sphere (sheet), and a coordinate matching algorithm is used to calculate deviations and generate a three-dimensional correction strategy. The construction process is executed iteratively to ensure consistent installation accuracy throughout the shaft. This invention solves the problems of baseline drift and accumulated errors in traditional methods, achieving high installation accuracy and significantly improving construction efficiency and quality reliability. It is particularly suitable for precision installation projects in elevator shafts of high-rise buildings.

[0068] The possible implementation process includes the following steps:

[0069] Step S1: Fix the high-precision laser tracker to the top reference point of the elevator shaft to construct a global reference coordinate system for the shaft; integrate the high-speed motion capture camera array and the high-brightness laser projector and install them on the liftable work platform to form a shaft measurement network;

[0070] Step S2: Using the design center axis of the elevator shaft as a reference, perform intrinsic parameter calibration of the motion capture camera array; then, during the calibration of the motion capture system and laser tracker coordinate system, the target ball is placed: Motion capture target balls and laser tracker target balls are installed at the left and right ends of the calibration rod, respectively. During the calibration process, the calibration rod appears in various different postures in the workspace, such as: horizontally placed, perpendicular to the ground, tilted in various directions (e.g., 45°), and placed at composite angles; it cannot always maintain the same angle; the calibration rod moves throughout the entire workspace, covering at least 80% of the work area, and sufficient positional changes are required in all three coordinate axes (X, Y, Z); calibration points cannot all be on the same plane or nearly on the same plane; data needs to be collected at different height levels, and there must be at least three significantly different height levels; target balls... The target balls are evenly distributed throughout the workspace, covering the workspace boundaries. If any target ball is obstructed, the tilt angle of the calibration rod is adjusted and its position is finely tuned to ensure that both target balls can be observed by the motion capture system and the laser tracker, respectively, to obtain their spatial position coordinates in the laser tracker coordinate system and the motion capture system coordinate system. After obtaining no less than 6 sets of coordinate data for the motion capture target balls and the laser tracker target balls, the coordinate system rotation matrix and translation vector between the motion capture system coordinate system and the laser tracker coordinate system are calculated using an optimization method based on rigid body distance constraints. Four to six motion capture target balls are arranged on the laser projector, with each set of four target balls being non-coplanar. This constructs a rigid body for the projector in the motion capture system, and the motion capture system tracks and calculates the pose of the rigid body in real time, thereby obtaining the six-degree-of-freedom pose parameters of the laser projector.

[0071] Step S3: Based on homogeneous coordinate transformation and projection correction algorithm, the three-dimensional installation position data of elevator guide rail bracket is converted into a two-dimensional projection image; the projection deformation is corrected using spatial pose parameters, and the corrected projection image is accurately projected onto the shaft wall through a laser projector to realize the digital layout of the guide rail bracket installation point;

[0072] Step S4: After the guide rail bracket and guide rail are initially installed, the ideal installation line of the guide rail is projected onto the actual installation area in real time using a projector. The ideal installation line of the guide rail is located at the center line of the two faces of the left and right guide rails that are in the theoretically correct installation position. The construction personnel can visually compare the deviation between the actual installation position and the projected ideal line to achieve real-time visual detection of the installation quality.

[0073] Step S5: Paste a high reflectivity target for the motion capture system onto the guide rail plane facing the center of the well at the same horizontal height as the mounting point of the guide rail and the bracket. Since a guide rail is generally supported by two brackets, two target plates will be pasted on each guide rail. Then, paste high reflectivity target plates on both ends of the guide rail. The determination of the layout area of ​​the motion capture system target plates on the guide rail is based on the key measurement points of the guide rail, including (1) the two endpoints and (2) the midpoint of the intersection line between the guide rail plane facing the center of the well and the horizontal plane where the guide rail and the bracket mounting point are located.

[0074] The motion capture system is used to collect the three-dimensional coordinate data of the target plate; the coordinate deviation matrix between the actual installation position and the design model is calculated, and a three-dimensional deviation vector diagram is generated based on the magnitude of the deviation, followed by auxiliary correction; assuming the intersection of the symmetrical center plane of the two guide rails on the same floor with the ground is the X direction, and the perpendicular direction is the Z direction, the Y direction is determined according to the right-hand rule. When there is a deviation in the X direction of the guide rail, the position of the adjustable pressure block in the bracket fine-tuning device is adjusted for correction; when there is a deviation in the Y direction or a deviation in perpendicularity of the guide rail, the thickness of the shims is adjusted for correction.

[0075] Step S6: After completing the installation and correction of two adjacent guide rail sections, lift the work platform to the top of the installed guide rail. During the lifting process, the work platform cooperates with the guide rail through the sliding shoes fixed to it. The motion capture camera array receives the wellbore reference coordinate data from the laser tracker and recalibrates the coordinate system. Repeatedly execute the digital construction process from steps S2 to S5 to ensure the consistency of the installation accuracy of the entire wellbore.

[0076] During the process of lifting the work platform to the next construction section, the position of the motion capture system also changes. At this time, after the coordinate system of the motion capture system is calibrated, the motion capture system can be used for guide rail positioning and auxiliary installation.

[0077] As a preferred option, the high-precision laser tracker in step S1 uses laser measurement technology, with a measurement accuracy better than ±20μm, and is suitable for high-precision industrial measurement scenarios.

[0078] As a preferred option, the motion capture camera array in step S2 uses multiple high frame rate motion capture cameras, forming an overlapping field of view between the cameras to ensure that the target ball can be captured by multiple cameras simultaneously, and that the signals between the cameras are synchronized. The number of motion capture cameras in step S2 is 4 to 12, using high frame rate motion capture cameras to capture the pose information of the projector in real time.

[0079] As a preferred option, the three-dimensional geometric transformation algorithm in step S3 includes coordinate transformation, projection correction, and image optimization to ensure that the projected pattern perfectly matches the construction location.

[0080] (1) When the guide rail bracket is in the ideal and correct position, the three-dimensional coordinates of the guide rail bracket and the shaft installation point are transformed to the projector coordinate system through a homogeneous transformation matrix;

[0081] (2) Project the three-dimensional coordinates onto the two-dimensional image plane using the projector's intrinsic parameter matrix;

[0082] (3) Compensate for image distortion caused by projection angle using a trapezoidal correction algorithm;

[0083] (4) Perform high contrast enhancement processing on the projected image to ensure clear visibility under different ambient lighting conditions.

[0084] As a preferred option, the projector in step S4 is a high-brightness laser projector equipped with automatic focusing and keystone correction functions. The projected image can be updated in real time to achieve dynamic projection and can clearly display the layout baseline under complex lighting conditions.

[0085] As a preferred option, the key point coordinate registration algorithm in step S5 is used for filtering and optimizing the target ball position data. The deviation analysis results are displayed in real time in the form of a three-dimensional vector map, specifically including:

[0086] (1) Noise filtering and outlier removal are performed on the collected three-dimensional coordinate points of the target piece;

[0087] (2) Initial registration is performed based on the target coordinates, corresponding point sets are established and rigid bodies are established in order to obtain the six-degree-of-freedom pose information of the guide rail;

[0088] (3) Calculate the transformation matrix between the actual installation location and the design location through iterative optimization;

[0089] (4) Filter the matching results with historical data to eliminate instantaneous fluctuations.

[0090] The graded correction strategy in step S5 includes:

[0091] (1) When the deviation is within the allowable range, the system records the deviation but does not make any adjustments;

[0092] (2) When the deviation in the X direction exceeds the first threshold, it is corrected by adjusting the position of the adjustable pressure block of the guide rail in the bracket fine-tuning device;

[0093] (3) When the deviation in the Y direction and the perpendicularity exceed the first threshold, the correction is made by adjusting the thickness of the guide rail shims;

[0094] (4) When the deviation exceeds the second threshold, the system issues an alarm, requiring the bracket to be reinstalled and calibrated;

[0095] (5) After the calibration is completed, the system automatically records the deviation values ​​before and after the calibration to form quality traceability data.

[0096] As a preferred option, the motion capture camera array calibration process in step S6 includes recalibrating the motion capture camera array and registering it with the world coordinate system, as well as re-acquiring the pose of the projector, to ensure the measurement accuracy after the work platform is raised to the next section.

[0097] (1) Global calibration is performed in each construction section using a laser tracker to form a global reference coordinate system;

[0098] (2) Use a calibration rod to calibrate the intrinsic parameters of the motion capture camera array;

[0099] (3) Based on the known target ball position relationship, perform extrinsic parameter calibration of the motion capture camera array and construct the transformation matrix between the current section's motion capture camera array coordinate system and the world coordinate system;

[0100] The above solutions correspond to the following elevator guide rail digital installation systems based on laser positioning and motion capture camera arrays:

[0101] (1) A laser tracker at the top of the shaft is installed at the reference point at the top of the shaft to establish a global coordinate system for the shaft and provide a reference.

[0102] (2) A motion capture camera array is installed around the lifting platform, with the cameras arranged in a ring to capture the spatial position information of the projector, target ball, and target piece in real time.

[0103] (3) A high-brightness laser projection module is installed in the center of the liftable platform and has an adjustable projection angle. It is used to project the guide rail installation layout line onto the well wall.

[0104] (4) A digital lofting controller, connected to a camera array and a projection module, is used to perform three-dimensional geometric transformations and image processing algorithms;

[0105] (5) A liftable work platform with a stable height adjustment function, which is used to support the camera array, projection module and controller by means of a sliding shoe and the elevator guide rail;

[0106] (6) Coordinate matching and deviation analysis module, which receives motion capture camera array data and is used to calculate the deviation between the actual installation position and the design position of the guide rail;

[0107] (7) The guide rail and bracket fine-tuning device, in conjunction with the coordinate matching module, accurately corrects the position of the guide rail based on the deviation analysis results;

[0108] (8) Central control unit, which is electrically connected to each functional module, is used to coordinate the work of each module and perform data storage and installation quality assessment.

[0109] As a preferred option, the shaft top laser tracker includes:

[0110] (1) A laser emitter that can emit a beam of light in a certain wavelength band;

[0111] (2) A high-precision photoelectric receiver is used to detect laser reflection signals and calculate the position of the target ball;

[0112] (3) A reference positioning controller, used to process reflected signals and determine the parameters of the wellbore spatial coordinate system;

[0113] (4) Data transmission unit, which establishes a real-time communication channel with the central control unit to transmit reference coordinate system data.

[0114] Preferably, the motion capture camera array includes:

[0115] (1) Multiple high frame rate motion capture cameras are evenly distributed around the liftable platform;

[0116] (2) Camera synchronization control unit to ensure that the acquisition time of each camera is synchronized;

[0117] (3) Camera calibration device, including calibration rods such as T-type calibration rods and L-type calibration rods, and reflective target ball / target sheet;

[0118] (4) Data exchange, used to merge data from multiple cameras and feed it back to the central control unit.

[0119] As a preferred embodiment, the digital layout controller includes:

[0120] (1) Graphics processing unit, used to perform image transformation and rendering in real time;

[0121] (2) Support and guide rail model database, storing three-dimensional installation data of supports and guide rails of different specifications;

[0122] (3) Image correction module, used to compensate for distortion caused by projection angle;

[0123] (4) Adaptive brightness control unit, which adjusts the projection brightness and contrast according to the ambient lighting conditions.

[0124] Preferably, the coordinate matching and deviation analysis module includes:

[0125] (1) Pixel preprocessing unit, used for filtering and optimizing target position data to obtain high-precision target coordinate data;

[0126] (2) Deviation analysis unit: Based on the comparison between ideal coordinates and actual coordinates, analyzes the deviation of the guide rail position coordinates and feeds it back to the central control unit.

[0127] (3) Deviation visualization generator, which generates a three-dimensional deviation cloud map to represent the deviation distribution of the installation position based on the deviation amount;

[0128] (5) Correction strategy calculation unit, which generates graded correction schemes based on the magnitude of the deviation.

[0129] Preferably, the central control unit includes:

[0130] (1) Touch-screen human-machine interface to display installation progress and quality status;

[0131] (2) Communication module, which establishes data connections with each mobile terminal;

[0132] (3) Install a quality assessment engine to evaluate the overall installation quality based on cumulative deviation data;

[0133] (4) Data storage and traceability system, which records the installation parameters of the entire well guide rail and supports quality traceability.

[0134] The digital installation process for elevator guide rails in this system includes:

[0135] (1) Establish a global three-dimensional coordinate reference coordinate system network within the shaft;

[0136] (2) Generate guide rail brackets and guide rail installation templates according to the elevator guide rail type and shaft structure;

[0137] (3) A segmented, progressive installation process is adopted, and a quality assessment is conducted and key parameters are recorded after each segment is completed;

[0138] (4) Overlap measurement technology is used at the connection of the guide rails. The operation process is as follows: After installing two or more guide rails, target balls are installed in the middle and lower part of the current guide rail and the middle part of the previous guide rail. The straightness is measured with high precision by the motion capture system, thereby eliminating the accumulation of segment error.

[0139] (5) After installation, output a full shaft guide rail installation quality report, including data such as verticality, parallelism and relative distance.

[0140] Compared with the prior art, the present invention has the following advantages:

[0141] (1) Significantly improved installation accuracy and breakthrough in error control: Through dynamic calibration technology of laser positioning and motion capture, the benchmark drift problem of traditional manual layout is eliminated. Combined with real-time deviation analysis of coordinate matching algorithm, the guide rail installation accuracy is high, which is especially suitable for the step-by-step correction of small deviations in high-rise shafts.

[0142] (2) Enhanced construction efficiency and quality controllability: The fully digital layout technology replaces tedious procedures such as manual stringing and plumb bob installation, shortening the construction cycle. At the same time, the real-time visualization and closed-loop correction mechanism of the projected layout transforms quality inspection from "post-event sampling" to "process control," significantly reducing the rework rate.

[0143] (3) Effective control of comprehensive costs: The rework rate is reduced by digital closed-loop management, avoiding the repair costs in traditional methods; at the same time, the integrated design does not require dedicated testing space, saving the unit well construction area and reducing the overall construction cost.

[0144] In summary, the digital installation system and method for elevator guide rails provided by this invention systematically solves problems such as reference drift, error accumulation, and quality control lag in the installation of guide rails in high-rise shafts from three aspects: reference transfer, real-time monitoring, and dynamic correction, providing an innovative solution for the high-quality implementation of super high-rise elevator projects.

[0145] The following, in conjunction with the accompanying drawings, provides a specific embodiment to further illustrate and describe the implementation process of the present invention:

[0146] Please see Figures 1 to 10 This illustrates the implementation process and key structure of the present invention, see below. Figure 6 The process shown includes the following steps:

[0147] Step S1: Fix the high-precision laser tracker 1 to the top reference point of the elevator shaft to construct a global reference coordinate system for the shaft; integrate the high frame rate motion capture camera array 2 and the high brightness laser projector 3 on the liftable work platform 4 to form a shaft measurement network;

[0148] Step S2: Using the design center axis of the elevator shaft as a reference, perform intrinsic parameter calibration of the motion capture camera array 2; install motion capture target ball 10 and laser tracker target ball 11 at the left and right ends of the calibration rod 12 respectively. During the calibration process, the calibration rod 12 appears in various different postures in the workspace, such as: horizontal to the ground, perpendicular to the ground, tilted in various directions such as 45°, and composite angles, and cannot always maintain the same angle; the calibration rod 12 moves throughout the entire workspace, covering at least 80% of the work area, and the three coordinate axes X, Y, and Z need to have sufficient positional changes; the calibration points cannot all be on the same plane or close to the same plane, and data needs to be collected at different height levels, with at least 3 significantly different height levels; the two types of target balls, motion capture target ball 10 and laser tracker target ball 11, are relatively evenly distributed throughout the entire workspace. The target spheres are distributed and cover the boundary of the workspace. If any target sphere is obstructed, the tilt angle of the calibration rod 12 is adjusted and its position is finely adjusted to ensure that both target spheres can be observed by the motion capture camera array 2 and the laser tracker 1 respectively, so as to obtain their spatial position coordinates in the laser tracker coordinate system and the motion capture system coordinate system. After obtaining no less than 6 sets of coordinate data of motion capture target spheres 10 and laser tracker target spheres 11, the coordinate system rotation matrix and translation vector between the motion capture system coordinate system and the laser tracker coordinate system are calculated using an optimization method based on rigid body distance constraints. 3 to 5 motion capture target spheres 10 are arranged on the laser projector 3, of which every 3 target spheres are not coplanar, so as to construct the rigid body of the projector in the motion capture system. The motion capture system is used to track and calculate the pose of the rigid body of the projector 3 in real time, so as to obtain the six-degree-of-freedom pose parameters of the laser projector 3.

[0149] Step S3: Based on homogeneous coordinate transformation and projection correction algorithm, the three-dimensional installation position data of elevator guide rail bracket is converted into a two-dimensional guide rail bracket template projection 6; the projection deformation is corrected using spatial pose parameters, and the corrected projection image is accurately projected onto the shaft wall 5 through laser projector 3 to realize the digital layout of the guide rail bracket installation point;

[0150] Step S4: Based on the digital layout projection image of the guide rail bracket installation point in S4, perform the initial installation of the guide rail bracket 13 and the guide rail 8. The ideal guide rail installation template 20 is located at the center line of the two faces of the two guide rails that are in the theoretically correct installation position. Based on the three-dimensional coordinates of the ideal guide rail installation template 20, the laser projector 3 projects the ideal guide rail installation template 20 onto the actual installation area in real time, forming the ideal guide rail installation template projection 7. The construction personnel visually compare the deviation between the actual installation position of the guide rail 8 and the ideal guide rail installation template projection 7 to achieve real-time visual detection of the installation quality.

[0151] Step S5: At the same horizontal level as the mounting points of the guide rail 8 and guide rail bracket 13, directly facing the center of the wellbore, attach high-reflectivity target plates 14 for the motion capture camera array 2. Since a guide rail is generally supported by two guide rail brackets, two target plates 14 will be attached to each guide rail 8. Next, attach high-reflectivity target plates 14 to both ends of the guide rail 8. The above describes the approximate layout area of ​​the target plates for the preferred motion capture system on the guide rail. Based on the key measurement points on the guide rail, these include: ① the two endpoints, and ② the midpoint of the line connecting the guide rail plane directly facing the center of the wellbore and the horizontal plane where the guide rail and bracket mounting points are located.

[0152] The motion capture system is used to collect the three-dimensional coordinate data of the target piece 9; the coordinate deviation matrix between the actual installation position and the design model is calculated; a three-dimensional deviation vector diagram is generated according to the magnitude of the deviation, and auxiliary correction is performed; assuming that the intersection of the symmetrical center plane of the ideal position of the left and right guide rails on the same floor with the horizontal plane is the X direction, and the vertical upward is the Z direction, the Y direction is determined according to the right-hand rule; when the guide rail 8 has a deviation along the X direction, the nut 18 is loosened, and the left and right positions of the guide rail adjustable pressure block 15 in the X direction in the bracket fine adjustment device are adjusted to correct the guide rail position. After the correction is completed, the nut 18 is tightened on the screw 17, thereby pressing the guide rail adjustable pressure block 15 to fix the guide rail position; when the guide rail 8 has a position deviation along the Y direction, for example, the guide rail 8 is too far away from the central axis of the elevator shaft, it is corrected by replacing the thicker guide rail shim 16; when the verticality of the guide rail 8 has a deviation, for example, when the upper part of the guide rail is tilted towards the central axis of the elevator shaft, the verticality of the guide rail is corrected by replacing the guide rail shim 16 of the upper bracket fine adjustment device with a thinner shim.

[0153] Step S6: After completing the installation and correction of the two adjacent guide rail sections, lift the lifting platform 4 to the top of the installed guide rail. During the lifting process, the lifting platform 4 cooperates with the guide rail 8 through the sliding shoe 19 fixed to it. The motion capture camera array 2 receives the wellbore reference coordinate data from the laser tracker 1 and recalibrates the space. The digital construction process of steps S2 to S5 is executed repeatedly to ensure the consistency of the installation accuracy of the entire wellbore.

[0154] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0155] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

[0156] This invention is not limited to the preferred embodiment described above. Anyone inspired by this invention can derive other various forms of digital installation methods for elevator guide rails based on laser trackers and motion capture systems. All equivalent variations and modifications made within the scope of the claims of this invention should be included in the scope of this invention.

Claims

1. A digital installation method for elevator guide rails based on a laser tracker and motion capture system, characterized in that, include: A1. A laser tracker is installed at the top of the elevator shaft to construct a global coordinate system for the shaft; a motion capture camera array and projection equipment are integrated on the lifting operation platform to form a local measurement network for the shaft, and the lifting operation platform is equipped with a guide structure that cooperates with the installed guide rails; A2. Install a first target ball and a second target ball at both ends of the calibration rod, respectively, and adapt them to the laser tracker and the motion capture camera array; make the calibration rod move in multiple non-single postures in the workspace, collect multiple sets of target ball spatial coordinate data, and then use an optimization method based on rigid body distance constraints to calculate the transformation relationship between the coordinate system of the motion capture camera array and the coordinate system of the laser tracker; arrange several non-coplanar target balls on the projection device to construct a projection rigid body, and obtain the six-degree-of-freedom pose parameters of the projection device in real time through the motion capture camera array; A3. Based on the transformation relationship and the six-degree-of-freedom pose parameters, the three-dimensional installation position data of the elevator guide rail bracket is converted into a two-dimensional projection image through coordinate transformation and projection correction algorithm, and then projected onto the shaft wall through a projection device. A4. After the guide rail and bracket are initially installed, the three-dimensional coordinate data of the reflective markers on the installed guide rail are collected by a motion capture camera array. The deviation matrix between the actual installation position and the design model is calculated to correct the guide rail installation deviation. A5. Using the guide structure in conjunction with the installed guide rail, lift the lifting platform to the top of the current section of the guide rail, and repeat steps A2 to A4 to install the next section of the guide rail. Recalibrate to eliminate the cumulative error of the reference and ensure the consistency of the installation accuracy of the entire well.

2. The elevator guide rail digital installation method based on laser tracker and motion capture system according to claim 1, characterized in that: The laser tracker has a measurement accuracy better than ±20μm; The motion capture camera array includes 4 to 12 high frame rate cameras, with overlapping fields of view and synchronized signals between the cameras. The guide structure is a sliding shoe that slides in conjunction with the installed guide rail; The projection device is a laser projector, which has automatic focusing and keystone correction functions; The motion capture camera array is installed around the lifting platform, and the projection device is installed in the center of the lifting platform.

3. The method for digitally installing elevator guide rails based on a laser tracker and motion capture system according to claim 1, characterized in that: The calibration rod can be placed in multiple non-single postures, including horizontal to the ground, perpendicular to the ground, tilted at 45°, and at a combination of angles; when the calibration rod moves, it must cover more than 80% of the working area and collect target ball coordinate data at at least 3 different height levels; The acquisition of multiple sets of target ball spatial coordinate data specifically involves acquiring no less than 6 sets of spatial coordinate data for the first target ball and the second target ball; if any target ball is obstructed during the acquisition process, the tilt angle and position of the calibration rod are adjusted to ensure that the two types of target balls are recognized by the laser tracker and the motion capture camera array respectively; The arrangement of several non-coplanar target spheres on the projection device specifically involves arranging 4 to 6 target spheres, with any 4 target spheres being non-coplanar, to ensure that the motion capture camera array can calculate the six-degree-of-freedom pose parameters of the projection device using the target sphere coordinates.

4. The method for digitally installing elevator guide rails based on a laser tracker and motion capture system according to claim 1, characterized in that: The coordinate transformation and projection correction algorithm specifically includes: The three-dimensional installation position data of the guide rail bracket is transformed from the design coordinate system to the projection equipment coordinate system using a homogeneous coordinate transformation matrix. Using the intrinsic parameter matrix of the projection device, three-dimensional coordinates are projected onto a two-dimensional image plane; The image distortion caused by the projection angle is compensated by the trapezoidal correction algorithm to ensure that the projected image fits the shaft wall.

5. The elevator guide rail digital installation method based on laser tracker and motion capture system according to claim 1, characterized in that: Before projecting a two-dimensional image, the image is optimized for high contrast, and the projection brightness of the projection device is dynamically adjusted according to the ambient light intensity in the shaft. The dynamic brightness adjustment is based on the ambient light data collected by the motion capture camera array.

6. The method for digitally installing elevator guide rails based on a laser tracker and motion capture system according to claim 1, characterized in that: Between steps A3 and A4, there is also a step of projecting the ideal template for guide rail installation: based on the three-dimensional design coordinates of the guide rail, the ideal template for guide rail installation is projected onto the actual installation area through a projection device. The ideal template for guide rail installation is adapted to the outline of the guide rail in the theoretically correct installation position, in order to assist the construction personnel in initially aligning the guide rail.

7. The method for digitally installing elevator guide rails based on a laser tracker and motion capture system according to claim 1, characterized in that: The reflective markers are high reflectivity target sheets; two target sheets are pasted on each guide rail at the same horizontal height as the bracket mounting point, and one target sheet is pasted on each end of the guide rail; Before calculating the deviation matrix, noise filtering and outlier removal are performed on the collected target 3D coordinate data to eliminate coordinate errors caused by environmental interference.

8. The method for digitally installing elevator guide rails based on a laser tracker and motion capture system according to claim 1, characterized in that: The guide rail installation deviation is corrected using a bracket fine-tuning device, which includes an adjustable guide rail pressure block and guide rail shims. The guide rail shims are graded in 0.1mm increments. When calculating the deviation matrix between the actual installation position and the design model, a graded correction step is also included. The X direction is defined as the intersection of the symmetrical center plane of the left and right guide rails on the same floor and the ground; the Z direction is the vertical direction; and the Y direction is determined by the right-hand rule. If the deviation of the guide rail in the X direction exceeds the first threshold, adjust the adjustable pressure block of the guide rail in the bracket fine-tuning device; if the deviation in the Y direction or perpendicularity exceeds the first threshold, adjust the thickness of the guide rail shim. If the deviation exceeds the second threshold, an alarm will be issued, requiring the removal of the installed bracket and re-execution of steps A3 to A4.

9. The method for digitally installing elevator guide rails based on a laser tracker and motion capture system according to claim 1, characterized in that: Before re-executing step A2, step A5 includes a guide rail straightness detection step: one target ball is placed in the middle of the current guide rail segment, one at the lower end of the current guide rail segment, and one in the middle of the previous guide rail segment. The coordinates of the target balls are collected by a motion capture camera array, and the guide rail straightness deviation is calculated to eliminate the cumulative error of segment splicing.

10. A digital installation system for elevator guide rails based on a laser tracker and motion capture system, implementing the method of any one of claims 1-9, characterized in that, include: Global reference unit: includes a laser tracker, which is installed at the reference point at the top of the shaft and configured to output global coordinate system data of the shaft; Local measurement and projection unit: includes a lifting work platform, a motion capture camera array and a projection device. The motion capture camera array and the projection device are integrated into the lifting work platform. The motion capture camera array is configured to acquire the coordinates of the target ball and the reflective markers. The projection device is configured to project the lofting image. Calibration module: includes calibration rod, first target ball and second target ball, configured to realize coordinate system calibration of motion capture camera array and laser tracker; Deviation correction unit: includes a support fine-tuning device and a coordinate matching module. The support fine-tuning device includes an adjustable guide rail pressure block and a guide rail pad. The coordinate matching module is electrically connected to the motion capture camera array and is configured to calculate the deviation matrix and output correction commands to the support fine-tuning device. Central control unit: Electrically connected to other units, configured to receive deviation matrix data from coordinate matching module, send correction commands to bracket fine-tuning device, control the cyclic execution of steps A2~A5, and store coordinate data, deviation data and correction records during installation.

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