Marker installation device for measuring hoistway and measurement method of hoistway

Abstract

To make time taken to installation of a self-position recognition marker more efficient in site and to enhance imaging precision.SOLUTION: In a marker installation device for measuring a hoistway which images the inside of a hoistway by installing three-dimensional measurement equipment on a drone and then is used in a measurement method of a hoistway measuring the hoistway on the basis of imaging data, it comprises a marker fixture for being installed on an opening of the hoistway and hanging down a roll sheet from an upper floor toward a lower floor of the hoistway. A two-dimensional code which is composed of distance information indicating the position of the hoistway is printed on the roll sheet in line-in state. The roll sheet hangs down on a lower floor side after a roll marker on which the roll sheet is wound is attached and images the inside of the hoistway along with the roll sheet when measuring the hoistway by the drone and acquires image data while correcting self-position on the basis of distance information that the two-dimensional code indicates.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to an elevator shaft measurement marker installation device and an elevator shaft measurement method.

Background Art

[0002] In elevator installation work or the like, it is necessary to measure the dimensions of the elevator shaft. There are various methods for measuring the dimensions of the elevator shaft, but recently, there is a method of flying a drone equipped with three-dimensional measurement equipment in the elevator shaft for measurement. When flying a drone, it is necessary to recognize the self-position of the drone. As a method for this, GPS, an altimeter, an acceleration sensor, SLAM technology, etc. are often used in combination.

[0003] However, since the radio waves of GPS hardly reach the elevator shaft and the horizontal position is constant even if they reach, it is difficult to use them for grasping the self-position. Also, regarding the SLAM technology that simultaneously estimates one's own position and grasps the structure of the surrounding environment (creating an environmental map), since the shape change in the elevator shaft is small, it is difficult to create an environmental map from the surrounding features and grasp the self-position from the relative distance from the features, so it is difficult to utilize. If existing technologies are used in this way, there is a risk of collision due to loss of self-position and a decrease in the accuracy of photographed data.

[0004] As a countermeasure, a self-flying method using markers is known. This method is a system that enables the autonomous flight of a drone from one marker to the next based on the flight instruction information stored in the marker even in an environment where GPS does not reach, such as a tunnel.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the conventional photographing method using markers, the more markers are installed, the higher the photographing accuracy is, but correspondingly, it takes more time for floor-to-floor movement and the like. In addition, since the marker flies while instructing the drone of the installation position of the next marker, if the installation accuracy at the site is low, it leads to a decrease in the photographing accuracy.

[0007] In view of the above circumstances, an object of the present invention is to provide a marker installation device for elevator shaft measurement and an elevator shaft measurement method that can save the time required for installing self-position recognition markers at the site and improve the photographing accuracy.

Means for Solving the Problems

[0008] An embodiment for achieving the above object is an elevator shaft measurement marker installation device used in an elevator shaft measurement method in which a three-dimensional measurement device is mounted on a drone to photograph the inside of the elevator shaft and the elevator shaft is measured based on the photographed data, and is installed at the opening of the elevator shaft and includes a marker mounting jig for hanging a roll of paper from the upper floor to the lower floor of the elevator shaft.

[0009] The marker mounting jig includes a mounting pipe whose length in the width direction is adjustable to fit the width of the opening, and a marker installation pipe provided perpendicular to the depth direction of the elevator shaft with respect to the mounting pipe and whose length in the depth direction of the elevator shaft is adjustable.

[0010] On the roll paper, a two-dimensional code consisting of distance information indicating the position of the hoistway is printed in an aligned state. After the roll marker around which the roll paper is wound is attached to the marker installation pipe, the roll paper is suspended downward to the lower floor side. When measuring the hoistway by a drone, the inside of the hoistway is imaged together with the roll paper, and the imaging data is acquired while correcting the self-position based on the distance information indicated by the two-dimensional code.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 6

Embodiments for Carrying Out the Invention

[0012] FIG. 1 shows an elevator hoistway to which a hoistway measurement marker installation device (hereinafter simply referred to as "marker installation device") 100 is attached.

[0013] In the building 1 shown in FIG. 1, a hoistway 2 before installing an elevator is shown, and a marker installation device 100 is installed in a three-sided frame 4 in which an opening 3 is formed. This marker installation device 100 is used in a hoistway measurement method in which a three-dimensional measuring device is mounted on a drone to image the inside of the hoistway 2, and the shape and dimensions of the hoistway 2 are measured based on the imaging data.

[0014] The marker installation device 100 includes a marker attachment jig 10 and a roll paper fixing jig 30.

[0015] As shown in Fig. 2, the marker attachment jig 10 is installed like a strut in the opening 3 (three-sided frame 4), and includes an attachment pipe 11 whose length in the width direction can be adjusted to fit the width of the opening 3. Further, a marker installation pipe 12 is provided perpendicular to the depth direction of the lifting path 2 with respect to the attachment pipe 11, and the length of the marker installation pipe 12 in the depth direction of the lifting path 2 can be adjusted. A width adjustment screw 13 is provided on the attachment pipe 11, enabling adjustment of the length in the width direction. A depth adjustment screw 14 is provided on the marker installation pipe 12, enabling adjustment of the length in the depth direction. A roll marker 20 is removably attached to the pipe portion of the marker installation pipe 12 parallel to the attachment pipe 11. The length of the marker installation pipe 12 in the width direction where the roll marker 20 is attached can be adjusted by a width adjustment screw 16.

[0016] As shown in Fig. 3, the roll paper fixing jig 30 has the same shape as the marker attachment jig 10 and is installed at the middle or bottom floor of the lifting path 2. That is, it includes an attachment pipe 31 whose length in the width direction can be adjusted to fit the width of the opening 3 (three-sided frame 4), and a suction roll installation pipe 32 provided perpendicular to the depth direction of the lifting path 2 with respect to the attachment pipe 31, and the length of the suction roll installation pipe 32 in the depth direction of the lifting path 2 can be adjusted. A width adjustment screw 33 is provided on the attachment pipe 31, enabling adjustment of the length in the width direction. Further, a depth adjustment screw 34 is provided on the suction roll installation pipe 32, enabling adjustment of the length in the depth direction. Further, a suction roll 35 is attached to the pipe portion of the suction roll installation pipe 32 parallel to the attachment pipe 31. The length of the suction roll installation pipe 32 in the width direction where the suction roll 35 is attached can be adjusted by a width adjustment screw 36.

[0017] The suction roll 35 is a magnetic roll in which the portion in contact with the roll paper 23 is formed of a magnetic material such as iron, and it adsorbs and fixes the roll paper 23 made of a magnet that hangs down from the upper floor to prevent displacement due to the influence of wind during drone flight.

[0018] On the marker sheet 21, distance information indicating the position of the lifting path 2 is printed as a two-dimensional code 22. The roll marker 20 around which the marker sheet 21 (roll paper 23) is wound is attached to the marker installation pipe 12, and the roll paper 23 is hung down to the lower floor side for use.

[0019] When measuring the lifting path by the drone, based on the preset distance information (including flight route information) from one marker to the next marker, the shooting data is acquired while correcting the self-position from the shooting data.

[0020] Figure 4 shows the configuration of the roll paper 23. The roll paper 23 is configured by laminating a marker sheet 21 printed with a two-dimensional code 22 recording flight route information on a paper made of a magnetic material. In addition, scale marks 24 are printed at equal intervals on the side piece part of this roll paper 23 so that the roll length from the roll marker 20 to the tip of the roll paper 23 can be known.

[0021] Figure 5 shows the configuration of the roll brake 40, and Figure 5A shows when the brake is released, and Figure 5B shows when the brake is depressed.

[0022] The roll brake 40 is a device for preventing the roll from sagging due to the self-weight of the roll marker 20 itself. When the brake plate 42 is stepped on, the linkage part 45 rises according to the principle of a lever, and the brake plate 42 also rises in conjunction. The brake plate 42 of the roll brake 40 is flexibly joined via a pin stop 43 and has a structure that sags due to its own weight during normal times. Therefore, the roll marker 20 always contacts the brake plate 42 regardless of its size. Also, since the stop part 44 at the tip of the brake plate 42 is made of a material with a high coefficient of friction such as urethane, the roll marker 20 does not rotate while the brake plate 42 and the roll marker 20 are in contact. Thus, as shown in FIG. 5A, while the brake plate 42 is not being stepped on by the operator's foot 5, the stop part 44 at the tip of the brake plate contacts the roll marker 20, preventing the roll from sagging due to its own weight. On the other hand, as shown in FIG. 5B, while the operator is stepping on the foot 5, the stop part 44 rises, enabling the roll marker 20 to sag by its own weight and be lowered into the hoistway 2.

[0023] <Description of the shooting procedure> Embodiments of the present invention are applied to new construction work of elevators, etc., and are implemented at the stage when the construction of the hoistway 2 of the building 1 is completed.

[0024] <Work at the top floor> The operator installs the marker mounting jig 10 of the marker installation device 100 on the top floor. Next, the operator steps on the roll brake 40, lifts the brake plate 42 upward, and lowers the roll marker 20 into the hoistway 2. The operator checks the graduations 24 at both ends of the roll paper, and when the lowering of the length of the lifting and lowering stroke into the hoistway 2 is completed, releases the foot pedal 41 and fixes the roll paper 23. The distance L1 from the roll paper 23 to the center line, which is the reference position, is measured and recorded.

[0025] <Work at the bottom floor> The operator moves to the lowest floor, installs the roll paper fixing jig 30, and adsorbs the roll paper 23 with the adsorption roll 35. At this time, the operator adjusts the protruding length of the roll paper fixing jig 30 with the depth adjustment screw 34 so that the distance L3 from the roll paper 23 on the lowest floor to the through-core is the same dimension as the distance L1 from the roll core on the uppermost floor to the through-core.

[0026] <Work at the middle floor> The operator moves to the middle floor, installs the roll paper fixing jig 30, and adsorbs the roll paper 23 with the adsorption roll 35. At this time, the operator adjusts the protruding length of the roll paper fixing jig 30 with the depth adjustment screw 34 so that the distance L2 from the roll paper 23 on the middle floor to the through-core is the same dimension as the distances L1 and L3. As a result, the roll paper 23 will be vertically hung from the uppermost floor to the lowest floor in the lifting path 2. Note that the roll paper fixing jig 30 installed on the middle floor is preferably installed on multiple floors depending on the height of the lifting path 2. Also, since the air volume generated during flight changes depending on the performance of the drone used, it is desirable to adjust the installation floor on-site.

[0027] <Final work> The operator moves to the lowest floor and flies a drone equipped with a three-dimensional measuring device from the lowest floor (or pit) of the lifting path 2 to the uppermost floor. Three-dimensional lifting path image data is acquired while correcting the flight route with the self-position recognition marker (roll marker 20).

[0028] According to the above embodiments, it is possible to provide a lifting path measurement marker installation device and a lifting path measurement method that can save the time required for installing the self-position recognition marker on-site and improve the shooting accuracy.

[0029] Note that the lifting path measurement marker installation device 100 is not limited to being installed on the three-sided frame 4, and may be appropriately selected according to the shape of the building 1, such as being installed on a beam in the lifting path 2.

[0030] As described above, several embodiments of the present invention have been explained. However, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalent scope thereof.

Explanation of Signs

[0031] 1... building, 2... elevator shaft, 3... opening, 4... three-sided frame, 5... leg, 10... marker attachment jig, 11... attachment pipe, 12... marker installation pipe, 13... width adjustment screw, 14... depth adjustment screw, 16... width adjustment screw, 20... roll marker, 21... marker sheet, 22... two-dimensional code, 23... roll paper, 24... scale, 30... roll paper fixing jig, 31... attachment pipe, 32... suction roll installation pipe, 33... width adjustment screw, 34... depth adjustment screw, 35... suction roll, 36... width adjustment screw, 40... roll brake, 41... foot pedal, 42... brake plate, 43... pinning, 44... stopping part, 45... interlocking part, 100... marker installation device (marker installation device for elevator shaft measurement)

Claims

1. An elevator shaft measurement marker installation device used in an elevator shaft measurement method of mounting a three-dimensional measurement device on a drone, photographing inside the elevator shaft, and measuring the elevator shaft based on the photographed data, which is installed at the opening of the elevator shaft and includes a marker attachment jig for hanging a roll of paper from the upper floor to the lower floor of the elevator shaft, wherein the marker attachment jig comprises an attachment pipe whose length in the width direction is adjustable to fit the width of the opening, and a marker installation pipe provided perpendicular to the depth direction of the elevator shaft with respect to the attachment pipe and whose length in the depth direction of the elevator shaft is adjustable, a two-dimensional code consisting of distance information indicating the position of the elevator shaft is printed on the roll of paper in an aligned state, and after a roll marker around which the roll of paper is wound is attached to the marker installation pipe, the roll of paper is hung down to the lower floor side, and during measurement of the elevator shaft by a drone, the inside of the elevator shaft is imaged together with the roll of paper, and the photographed data is acquired while correcting the self-position based on the distance information indicated by the two-dimensional code. An elevator shaft measurement marker installation device.

2. It includes a roll paper fixing jig installed on the middle floor or the bottom floor of the elevator shaft, The elevator shaft measurement marker installation device according to claim 1, which fixes the roll of paper hanging down from the marker attachment jig to the lower floor side to suppress displacement of the roll of paper due to the traveling wind during drone flight.

3. The roll of paper is configured by attaching a paper on which a two-dimensional code with the movement amount of the drone to the next marker pre-registered is printed to a roll sheet made of a magnetic material, wherein the roll paper fixing jig comprises an attachment pipe whose length in the width direction is adjustable to fit the width of the opening of the middle floor or the bottom floor of the elevator shaft, an adsorption roll installation pipe provided perpendicular to the depth direction of the elevator shaft with respect to the attachment pipe and whose length in the depth direction of the elevator shaft is adjustable, and an adsorption roll attached to the adsorption roll installation pipe, The elevator shaft measurement marker installation device according to claim 2, wherein the roll of paper hanging down from the upper floor is attracted and fixed to the adsorption roll by magnetic force.

4. It further includes a roll brake installed on the floor where the marker attachment jig is installed, The roll brake comprises a foot pedal that an operator steps on with the foot, and a brake plate that operates in conjunction with the foot pedal to make contact with and separate from the roll marker by the operation of the operator's foot pedal. While the operator is not stepping on the foot pedal, the brake plate and the roll marker are in contact with each other, preventing the roll marker from hanging down due to its own weight. While the operator is stepping on the foot pedal, the brake plate and the roll marker are in a separated state, and the roll marker is configured to hang down due to its own weight. The marker installation device for elevator shaft measurement according to claim 1.

5. The tip of the brake plate is formed of a material with a high coefficient of friction. The marker installation device for elevator shaft measurement according to claim 4.

6. Install the marker mounting jig according to claim 1 at the opening of the top floor, lower the elevator shaft to the bottom floor while rotating the roll paper, and at the intermediate floor or the bottom floor, install the roll paper fixing jig according to claim 2 at the openings of each floor to fix the roll paper so that it is vertical in the elevator shaft. When measuring the elevator shaft with a drone, register in advance the movement amount from one marker to the next marker on the marker, and take pictures while correcting the self-position from the data of the pictures of the marker. The elevator shaft measurement method.

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