Work device and attachment position correction method

Abstract

To provide a working device and a mounting position correction method capable of performing mounting work of an object corresponding to an environment in a hoistway which is information that cannot be acquired in advance.SOLUTION: The work device is raised and lowered inside the hoistway by the raising / lowering mechanism, and performs an operation of attaching an object inside the hoistway. A work device includes a work mechanism 13 for performing attachment work, a work support mechanism 14 for positioning an object at an attachment position, an environmental information acquisition tool 139 (detection part), and an operation control part 82 for controlling the work mechanism 13 and the work support mechanism 14. An environment information acquisition tool 139 detects relative position information with an existing object and relative position information with a characteristic part related to a hoistway. The operation control unit 82 corrects the attachment position of the object based on the relative position information with respect to the existing object and the relative position information with respect to the feature part.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a work device that works in a hoistway and a mounting position correction method executed by the work device. [Background technology]

[0002] Traditionally, in elevator installation work, workers perform various construction tasks while riding on a work platform or gondola that is raised within the hoistway. These tasks include, for example, drilling holes in the walls of the hoistway, fastening components such as anchors and brackets, connecting guide rails, and installing entrances and exits. In recent years, efforts have been made to reduce the amount of construction work performed by workers by having some of the work within the hoistway performed by work equipment.

[0003] One of the construction tasks that can be performed by the work equipment is the fixing of rail brackets. Rail brackets are components used to attach guide rails, which guide the elevator car as it ascends and descends, to the wall of the elevator shaft. To fix the rail brackets to the wall of the elevator shaft, holes are drilled in pre-designed positions on the wall of the elevator shaft and anchor bolts are driven in. Next, the rail brackets are fastened to the bracket anchor bolts using nuts. Elevators are over several tens of meters high, and there are many points where rail brackets must be fixed. Therefore, automating the fixing of rail brackets using the work equipment will greatly contribute to reducing the workload of workers.

[0004] Patent Document 1 describes an elevator installation device that moves up and down within a hoistway to fix a bracket to the wall surface of the hoistway. The elevator installation device described in Patent Document 1 is equipped with two vertical articulated robots. One robot grasps a rail bracket and positions it at a predetermined position on the hoistway wall. The other robot drives anchors and fastens screws to fix the rail bracket to the wall. The elevator installation device described in Patent Document 1 also detects the angle at which the axis of a drilling tool intersects with the wall surface of the hoistway, and adjusts the inclination of the drilling tool based on the detected angle.

[0005] Patent Document 2 describes a work support device that corrects a worker's work position according to the structure inside the aisle and notifies the worker. The work support device described in Patent Document 2 acquires observation information of the structure inside the aisle and reference position information that serves as a reference for the aisle, and calculates a corrected work position. The work support device then notifies the worker by illuminating the work position with light. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2020-7095 [Patent Document 2] Patent Publication No. 2021-42073 Summary of the Invention [Problem to be solved by the invention]

[0007] However, the elevator installation device described in Patent Document 1 cannot correct positional deviations or tilts in posture of the entire work system because the drive mechanism that adjusts the work position in the vertical and horizontal directions is installed on the floor of the work system. Furthermore, the elevator installation device described in Patent Document 1 cannot correct the effects of mechanical displacement from the floor of the work system to the work tool.

[0008] Furthermore, the work support device described in Patent Document 2 cannot accurately correct the positional deviation or posture tilt of the entire work system when it is not possible to install many reference lines within the passage (hoistway). For example, reference lines cannot be installed in locations that would obstruct the work equipment. Therefore, when the passage (hoistway) is narrow, it may not be possible to install many reference lines.

[0009] In consideration of the above problems, the present invention aims to provide a work device and a method for correcting an attachment position that enable attachment work of an object in accordance with the environment inside the elevator shaft, which is information that cannot be obtained in advance. [Means for solving the problem]

[0010] To solve the above problems and achieve the object, a work device embodying one aspect of the present invention moves up and down within a hoistway using a lifting mechanism to perform installation work on an object within the hoistway. The work device includes a work mechanism that performs the installation work, a work support mechanism that positions the object at an installation position, a detection unit, and a motion control unit that controls the work mechanism and the work support mechanism. The detection unit detects relative position information with respect to an existing object and relative position information with respect to a characteristic feature of the hoistway. The motion control unit corrects the installation position of the object based on the relative position information with respect to the existing object and the relative position information with respect to the characteristic feature.

[0011] In an installation position correction method embodying one aspect of the present invention, a detection unit of a work device that moves up and down a hoistway using a lifting mechanism and performs installation work on an object in the hoistway detects relative position information with respect to an existing object and relative position information with respect to a characteristic feature of the hoistway, and then a motion control unit of the work device corrects the installation position of the object based on the relative position information with respect to the existing object and the relative position information with respect to the characteristic feature. [Effects of the Invention]

[0012] According to the working device and the mounting position correction method configured as described above, it is possible to perform the mounting work of the object in accordance with the environment inside the hoistway, which is information that cannot be obtained in advance. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic diagram showing a state in which a working device according to a first embodiment is arranged in a hoistway. [Figure 2] 1 is a perspective view of a working device according to a first embodiment. [Figure 3] FIG. 2 is a perspective view of a position fixing mechanism in the working device according to the first embodiment. [Figure 4] FIG. 2 is a perspective view of a horizontal movement mechanism in the working device according to the first embodiment. [Figure 5] 1 is a perspective view of a working mechanism in a working device according to a first embodiment. FIG. [Figure 6] 2 is a perspective view of a work support mechanism in the working device according to the first embodiment. FIG. [Figure 7] 1 is a block diagram showing the configuration of a control device in a working device according to a first embodiment. [Figure 8] 10 is a side view illustrating the positioning of the bracket in the Z-axis direction by the work support mechanism of the working device according to the first embodiment. FIG. [Figure 9] FIG. 4 is a diagram illustrating a measurement distance for an existing bracket according to the first embodiment. [Figure 10] FIG. 10 is a front view showing the working mechanism facing the existing bracket when acquiring environmental information according to the first embodiment. [Figure 11] FIG. 4 is a side view showing the working mechanism facing the existing bracket when acquiring environmental information according to the first embodiment. [Figure 12] FIG. 10 is a diagram showing an image of an existing bracket acquired by the environmental information acquisition tool according to the first embodiment. [Figure 13] FIG. 4 is a side view showing a working mechanism facing the entrance of the elevator shaft when environmental information is acquired according to the first embodiment. [Figure 14] FIG. 4 is a diagram showing an image of an entrance / exit of a hoistway acquired by the environmental information acquisition tool according to the first embodiment. [Figure 15] 10 is a flowchart showing an example of an attachment position correction process performed by an operation control unit according to the first embodiment. [Figure 16] FIG. 10 is a diagram showing an image of an existing bracket acquired by an environmental information acquisition tool according to the second embodiment. [Figure 17] FIG. 11 is a front view showing the working mechanism facing the floor surface at the entrance of the elevator shaft when environmental information is acquired according to the second embodiment. [Figure 18] FIG. 11 is a diagram showing an image of an entrance / exit of a hoistway acquired by an environmental information acquisition tool according to the second embodiment. [Figure 19] FIG. 11 is a side view showing a working mechanism facing an existing bracket when acquiring environmental information according to a third embodiment. [Figure 20] FIG. 11 is a side view showing a working mechanism facing the floor surface at the entrance of the elevator shaft when environmental information is acquired according to the third embodiment. [Figure 21]11 is a flowchart showing an example of an attachment position correction process performed by an operation control unit according to a third embodiment. [Figure 22] FIG. 11 is a front view showing a working mechanism facing the entrance of the elevator shaft when environmental information is acquired according to the fourth embodiment. [Figure 23] FIG. 11 is a schematic view showing a state in which a working device according to a fifth embodiment is arranged in a hoistway. [Figure 24] FIG. 10 is a schematic diagram of a reference measurement device according to a fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, a working device according to an embodiment will be described with reference to Figures 1 to 24. Note that common members in each figure are given the same reference numerals.

[0015] 1. First embodiment [Work equipment configuration] First, the configuration of the working device according to the first embodiment will be described with reference to FIGS. Fig. 1 is a schematic diagram showing a state in which a working device according to a first embodiment is arranged in a hoistway, and Fig. 2 is a perspective view of the working device according to the first embodiment.

[0016] The working device 1 shown in Figures 1 and 2 is a device for attaching an object, which is an elevator component, to a hoistway 100 formed within an architectural structure. The hoistway 100 has a plurality of entrances 106 corresponding to each floor of the architectural structure. The hoistway 100 is connected to each floor of the architectural structure via the plurality of entrances 106. The bottom of the entrances 106 is set at the same height as the floor surface 102 of the architectural structure.

[0017] As shown in FIG. 1, the working device 1 is lifted by lifting mechanisms 103A and 103B. The lifting mechanisms 103A and 103B are installed at the top of the hoistway 100. The lifting mechanisms 103A and 103B have lifting ropes 104a and 104b attached to the working device 1. The lifting mechanisms 103A and 103B move the working device 1 up and down within the hoistway 100. In other words, the lifting mechanisms 103A and 103B raise and lower the working device 1.

[0018] As shown in FIG. 2, the working device 1 includes a base portion 11, a horizontal movement mechanism 12, a working mechanism 13, a working support mechanism 14, position fixing mechanisms 15 to 18, a control device 21, a height detection device 22, and a communication device 23 (see FIG. 7).

[0019] The base unit 11 has a support column 111, an upper housing 112, and a lower housing 113. The support column 111 is a member that extends in the vertical direction and has a substantially rectangular side shape. The horizontal movement mechanism 12 is attached to the middle part of the support column 111. The horizontal movement mechanism 12 is movable in a direction parallel to a horizontal plane that is also perpendicular to the support column 111 of the base unit 11. The working mechanism 13 and the working support mechanism 14 are attached to the horizontal movement mechanism 12.

[0020] Upper housing 112 is connected to the upper end of support 111. Position fixing mechanisms 15 and 16 are installed on the top of upper housing 112. Also, lifting ropes 104a and 104b are attached to the top of upper housing 112.

[0021] The lower housing 113 is connected to the lower end of the support column 111. A control device 21 is installed on the upper part of the lower housing 113. Position fixing mechanisms 17, 18 and a height detection device 22 (see FIG. 1) are installed on the lower part of the lower housing 113. The height detection device 22 is, for example, a distance sensor. The height detection device 22 detects a height H0, which is the distance from the bottom surface of the elevator shaft 100 to the height detection device 22.

[0022] Hereinafter, the direction in which the work device 1 moves up and down will be referred to as the Z-axis direction. The direction in which the lifting ropes 104a and 104b face each other will be referred to as the Y-axis direction. The direction perpendicular to the Z-axis direction and the Y-axis direction will be referred to as the X-axis direction.

[0023] As shown in FIG. 2, the position fixing mechanism 15 faces the position fixing mechanism 16 in the Y-axis direction. The position fixing mechanism 17 faces the position fixing mechanism 18 in the Y-axis direction. The position fixing mechanism 15 faces the position fixing mechanism 17 in the Z-axis direction. The position fixing mechanism 16 faces the position fixing mechanism 18 in the Z-axis direction. The position fixing mechanisms 15 to 18 abut against wall surfaces 101a and 101b (see FIG. 1) of the hoistway 100 that face each other in the horizontal direction. This fixes the working device 1 to the hoistway 100.

[0024] [Configuration of position fixing mechanism] Next, the configuration of the position fixing mechanisms 15 to 18 will be described with reference to Fig. 3. Fig. 3 is a perspective view of the position fixing mechanism 17.

[0025] The position fixing mechanisms 15 to 18 have the same configuration. Therefore, the configuration of the position fixing mechanisms 15 to 18 will be described here using the position fixing mechanism 17 as an example. As shown in FIG. 3, the position fixing mechanism 17 has a motor-side gear 171, a transmission gear 172, a linear motion shaft portion 173, a guide shaft portion 174, and a wall-facing portion 175.

[0026] The motor side gear 171 meshes with a drive gear attached to a drive shaft of a motor (not shown). The motor side gear 171 is rotatably supported by the lower housing 113. The motor side gear 171 rotates around a rotation shaft 70 extending in the Z-axis direction. The transmission gear 172 is rotatably supported by the lower housing 113. The transmission gear 172 meshes with the motor side gear 171 and a linear motion shaft portion 173. The transmission gear 172 transmits the rotation of the motor side gear 171 to the linear motion shaft portion 173.

[0027] The linear motion shaft portion 173 and the guide shaft portion 174 extend in the Y-axis direction. The lower housing 113 supports the linear motion shaft portion 173 and the guide shaft portion 174 so as to be movable in the Y-axis direction. The linear motion shaft portion 173 is a so-called rack, and moves in the Y-axis direction when the transmission gear 172 rotates. The wall facing portion 175 is fixed to one axial end of the linear motion shaft portion 173 and the guide shaft portion 174. As a result, the guide shaft portion 174 and the wall facing portion 175 move in the Y-axis direction together with the linear motion shaft portion 173.

[0028] The wall facing portion 175 is formed in the shape of a substantially rectangular parallelepiped that is long in the X-axis direction. The wall facing portion 175 has a flat surface 175a that is not substantially perpendicular to the Y-axis direction. The flat surface 175a of the wall facing portion 175 faces the wall surface 101b of the elevator shaft 100. Cushion members 176a and 176b are attached to the flat surface 175a of the wall facing portion 175.

[0029] When the motor-side gear 171 rotates in one rotation direction, the transmission gear 172 rotates, and the linear motion shaft portion 173 moves in one direction in the Y-axis direction (in a direction in which the wall facing portion 175 moves away from the lower housing 113). This causes the guide shaft portion 174 and the wall facing portion 175 to move in one direction in the Y-axis direction together with the linear motion shaft portion 173. As a result, the wall facing portion 175 approaches the wall surface 101b of the elevator shaft 100, and the cushion members 176a and 176b are pressed against the wall surface 101b.

[0030] The wall-facing portion of the position fixing mechanism 15 approaches the wall surface 101b of the hoistway 100, and the cushion member of the position fixing mechanism 15 is pressed against the wall surface 101b. In addition, the wall-facing portions of the position fixing mechanisms 16 and 18 approach the wall surface 101a of the hoistway 100, and the cushion members of the position fixing mechanisms 16 and 18 are pressed against the wall surface 101a. As a result, the working device 1 is fixed to the hoistway 100 in a stable state.

[0031] In this way, the position fixing mechanisms 15-18 fix the working device 1 to the elevator shaft 100. As a result, the position fixing mechanisms 15-18 reduce the swinging of the working mechanism 13 caused by the reaction force generated during work. As a result, the work by the working mechanism 13 can be continued stably, and a deterioration in work efficiency can be suppressed. Note that, although a rack and pinion is used for the position fixing mechanisms 15-18 in this embodiment, other mechanisms that convert rotational motion into linear motion, such as a ball screw, may also be used for the position fixing mechanisms according to the present invention.

[0032] [Configuration of horizontal movement mechanism] Next, the configuration of the horizontal movement mechanism 12 will be described with reference to Fig. 4. Fig. 4 is a perspective view of the horizontal movement mechanism 12.

[0033] As shown in Fig. 4, the horizontal movement mechanism 12 has three links 121, 122, and 123. One longitudinal end of the link 121 is rotatably connected to the support 111 (see Fig. 2). One longitudinal end of the link 122 is rotatably connected to the other longitudinal end of the link 121. Furthermore, a connection base 131 (described later) of the working mechanism 13 is rotatably connected to an intermediate portion of the link 121 in the longitudinal direction.

[0034] Link 121 houses rotation drive units 125 and 126 inside. Rotation drive unit 125 is disposed at one end of link 121 in the longitudinal direction. Rotation drive unit 125 rotates link 121 around rotation axis 51 relative to support 111. Rotation drive unit 126 is disposed at the other end of link 121 in the longitudinal direction. Rotation drive unit 126 rotates link 122 around rotation axis 52 relative to link 121.

[0035] One end of a link 123 in the longitudinal direction is rotatably connected to the other end of the link 122. A connection part 141 (described later) of the work support mechanism 14 is rotatably connected to the other end of the link 123 in the longitudinal direction.

[0036] The link 123 houses a rotation drive unit 127 and a rotation drive unit 128 inside. The rotation drive unit 127 is disposed at one end of the link 123 in the longitudinal direction. The rotation drive unit 127 rotates the link 123 around the rotation axis 53 relative to the link 122. The rotation drive unit 128 is disposed at the other end of the link 123 in the longitudinal direction. The rotation drive unit 128 rotates the work assistance mechanism 14 around the rotation axis 54 relative to the link 123. The rotation drive unit 128 corresponds to the rotation mechanism according to the present invention. Note that the rotation drive unit 128 may be a drive unit provided in the work assistance mechanism 14.

[0037] The rotational drivers 125-128 rotate the links 121-123 and the work support mechanism 14 on the respective rotational axes 51-54, thereby determining the orientation of the links 121-123, the position of the center of the work mechanism 13 relative to the rotational axis 51, and the position of the work support mechanism 14. The rotational angles of the rotational drivers 125-128 are set to θH1-θH4, respectively.

[0038] The rotation axis 55 is the center of rotation of the connection base 131 of the working mechanism 13. The rotation axis 55 is separated from the rotation axis 51 by a distance L1a. Therefore, when the link 121 rotates around the rotation axis 51, the connection base 131 of the working mechanism 13 can be moved on a circumference of a circle with a radius of L1a. As a result, the workable range of the working mechanism 13 can be expanded by the distance L1a.

[0039] [Work mechanism configuration] Next, the configuration of the working mechanism 13 will be described with reference to Fig. 5. Fig. 5 is a perspective view of the working mechanism 13.

[0040] As shown in FIG. 5, the working mechanism 13 includes a connection base 131, a first rotating part 132, a second rotating part 133, a third rotating part 134, a fourth rotating part 135, a fifth rotating part 136, a sixth rotating part 137, a detachment mechanism 138, and a hand tool 139.

[0041] The connection base 131 is connected to the link 121 of the horizontal movement mechanism 12. The first rotating unit 132 is rotatably connected to the connection base 131. A first rotary drive unit is housed inside the connection base 131. The first rotary drive unit rotates the first rotating unit 132 around a rotation axis 55. The second rotating unit 133 is rotatably connected to the first rotating unit 132. A second rotary drive unit is housed inside the second rotating unit 133. The second rotary drive unit rotates the second rotating unit 133 around a rotation axis 56. The rotation axis 56 is perpendicular to the rotation axis 55.

[0042] The third rotating unit 134 is rotatably connected to the second rotating unit 133. A third rotation drive unit is housed inside the third rotating unit 134. The third rotation drive unit rotates the third rotating unit 134 around a rotation axis 57. The rotation axis 57 is parallel to the rotation axis 56. The fourth rotating unit 135 is rotatably connected to the third rotating unit 134. A fourth rotation drive unit is housed inside the fourth rotating unit 135. The fourth rotation drive unit rotates the fourth rotating unit 135 around a rotation axis 58. The rotation axis 58 is perpendicular to the rotation axis 57.

[0043] The sixth rotating unit 137 is rotatably connected to the fifth rotating unit 136. The sixth rotating unit 137 is rotatably connected to the sixth rotating unit 136. The sixth rotating unit 137 is rotatably connected to the sixth rotating unit 136. The sixth rotating unit 137 is rotatably connected to the sixth rotating unit 136. The sixth rotating unit 137 is rotatably connected to the sixth rotating unit 137 ...

[0044] The detachable mechanism 138 is attached to the sixth rotating part 137. The detachable mechanism 138 detachably holds the hand tool 139 by using, for example, air pressure. As a result, the hand tool 139 is disposed at the tip of the working mechanism 13. The hand tool 139 is replaced depending on the work to be performed by the working mechanism 13. Examples of the hand tool 139 include a drill tool, a driving tool, and a fastening tool.

[0045] The rotation angles of the first to sixth rotary drive units are set to θ1 to θ6, respectively. The first to sixth rotary drive units independently control the rotation angles of the rotating units 132 to 137. By rotating the rotating units 132 to 137 about the respective rotation axes 55 to 60, the position of the hand tool 139 and the direction that the hand tool 139 faces are determined.

[0046] [Work support mechanism configuration] Next, the configuration of the work support mechanism 14 will be described with reference to Fig. 6. Fig. 6 is a perspective view of the work support mechanism 14.

[0047] As shown in Fig. 6, the work support mechanism 14 is a mechanism that grips the bracket 24 and presses it against the wall surface of the elevator shaft 100 (see Fig. 1) to which the bracket 24 is to be attached. The bracket 24 corresponds to the object according to the present invention. Hereinafter, the wall surface to which the bracket 24 is to be attached will be referred to as the bracket attachment wall surface.

[0048] The work support mechanism 14 has a connection unit 141, a rotation drive unit 142, an elevation drive unit 143, and a gripping mechanism 144. The rotation drive unit 142 corresponds to the posture changing mechanism of the drive unit according to the present invention. The elevation drive unit 143 corresponds to the positioning mechanism of the drive unit according to the present invention.

[0049] The connection part 141 of the work support mechanism 14 is rotatably connected to the link 123 (see FIG. 4 ) of the horizontal movement mechanism 12, and rotates around the rotation axis 54. The rotation drive part 142 is attached to the connection part 141. The lift drive part 143 is attached to the rotation drive part 142. The gripping mechanism 144 is attached to the lift drive part 143.

[0050] The gripping mechanism 144 has a joint 1441, a slide guide 1442, grippers 1443 and 1444, and slide drive units 1445 and 1446. The grippers 1443 and 1444 correspond to the gripping unit according to the present invention. The slide drive units 1445 and 1446 correspond to the positioning mechanism of the drive unit according to the present invention.

[0051] A joint 1441 of the gripping mechanism 144 is joined to the lifting drive unit 143. The joint 1441 holds a slide guide 1442. The slide guide 1442 supports grippers 1443 and 1444 so that they can slide.

[0052] The slide drivers 1445 and 1446 are attached to the joint 1441. Each of the slide drivers 1445 and 1446 has a rotation mechanism and a conversion mechanism that converts the rotation of the rotation mechanism into linear motion. The slide drivers 1445 and 1446 move the grippers 1443 and 1444 along the slide guide 1442. The grippers 1443 and 1444 clamp the bracket 24.

[0053] The rotation axis 54 of the connection part 141 is parallel to the Z-axis direction. Therefore, the work support mechanism 14 is rotated around the Z-axis by the rotation drive part 128 (see FIG. 4) of the horizontal movement mechanism 12. This allows the work support mechanism 14 to position the bracket 24 gripped by the gripping mechanism 144 directly facing the bracket mounting wall surface of the elevator shaft 100.

[0054] The rotation drive unit 142 rotates the lift drive unit 143 and the gripping mechanism 144 around the rotation axis 71. The rotation axis 71 is perpendicular to the sliding direction of the rotation axis 54 and the grippers 1443, 1444. As a result, when the bracket mounting wall surface of the elevator shaft 100 is viewed from the X-axis direction, the work support mechanism 14 can eliminate any left-right tilt of the bracket 24 gripped by the gripping mechanism 144, and make the bracket 24 horizontal.

[0055] The lifting drive unit 143 has a rotation mechanism and a conversion mechanism that converts the rotation of the rotation mechanism into linear motion. The lifting drive unit 143 raises and lowers the gripping mechanism 144 in a lifting direction. The lifting direction is perpendicular to the sliding direction of the rotation shaft 71 and the grippers 1443, 1444. This allows the work support mechanism 14 to position the bracket 24 gripped by the gripping mechanism 144 at a predetermined vertical position when viewing the bracket mounting wall surface of the elevator shaft 100 from the X-axis direction.

[0056] The grippers 1443, 1444 of the gripping mechanism 144 can move in the sliding direction while clamping the bracket 24. This allows the work support mechanism 14 to position the bracket 24 gripped by the gripping mechanism 144 at a predetermined position in the left-right direction when viewing the bracket mounting wall surface of the elevator shaft 100 from the X-axis direction.

[0057] An attitude angle sensor 31 is attached to a joint 1441 of the gripping mechanism 144. The attitude angle sensor 31 corresponds to a third detector of the detection unit according to the present invention. The attitude angle sensor 31 detects the inclination of the bracket 24 in the X-axis direction, the Y-axis direction, and the Z-axis direction. In addition, the grippers 1443 and 1444 are equipped with distance sensors 32a and 32b and distance sensors 33a and 33b. The distance sensors 32a and 32b correspond to a second detector of the detection unit according to the present invention. The distance sensors 33a and 33b correspond to a first detector of the detection unit according to the present invention.

[0058] Distance sensors 32a and 32b measure the distance from distance sensors 32a and 32b to the bracket mounting wall surface of elevator shaft 100 in a direction parallel to rotation axis 71. Distance sensors 33a and 33b measure the distance from distance sensors 33a and 33b to an object located below grippers 1443 and 1444 in the lifting direction of gripping mechanism 144.

[0059] [Control device configuration] Next, the configuration of the control device 21 will be described with reference to Fig. 7. Fig. 7 is a block diagram showing the configuration of the control device 21.

[0060] As shown in Figure 7, the control device 21 has an information recording unit 81, an operation control unit 82, a height information acquisition unit 83, a control unit for the lifting mechanism 84, a control unit for the horizontal movement mechanism 85, a control unit for the work mechanism 86, a control unit for the work support mechanism 87, a control unit for the position fixing mechanism 88, and an environmental information acquisition unit 89.

[0061] Information recording unit 81 records information relating to work performed by working device 1 in elevator shaft 100. In each work performed by working device 1, lifting mechanisms 103A and 103B, horizontal movement mechanism 12, working mechanism 13, work support mechanism 14, and position fixing mechanisms 15 to 18 operate sequentially or in cooperation with each other.

[0062] Each task performed by the working device 1 is managed as an operation sequence for each mechanism. The information recording unit 81 records commands for each operation of each mechanism. An example of a command to the lifting mechanisms 103A, 103B is a position command for the height in the hoistway 100. An example of a command to the horizontal movement mechanism 12 is an angle command specifying rotation angles θH1 to θH4. An example of a command to the working mechanism 13 is an angle command specifying rotation angles θ1 to θ6, or a command to attach or detach the hand tool 139. An example of a command to the work support mechanism 14 is a rotation angle command for rotating the rotation mechanism of the rotation drive unit 142, the lift drive unit 143, and the rotation mechanism of the slide drive units 1445, 1446. An example of a command to the position fixing mechanisms 15 to 18 is a rotation angle command for rotating a motor (not shown) provided in each mechanism.

[0063] The operation control unit 82 transmits commands to the mechanisms 12 to 18, 103A, and 103B based on the operation sequences of the mechanisms 12 to 18, 103A, and 103B managed by the information recording unit 81 and commands corresponding to those operation sequences.

[0064] The height information acquisition unit 83 receives height H0, which is the distance from the bottom of the elevator shaft 100 to the height detection device 22 measured by the height detection device 22 (see FIG. 1), and transmits it to the operation control unit 82. Here, height H0 is directly detected using the height detection device 22. However, height H0 may also be calculated by the height information acquisition unit 83. In this case, encoders are installed in the lifting mechanisms 103A and 103B. The encoders transmit the measured rotation angles to the height information acquisition unit 83. The height information acquisition unit 83 calculates height H0 from the rotation angles measured by the encoders.

[0065] The lifting mechanism control unit 84 is supplied with the height H0 measured by the height detection device 22 and a position command related to the height of the work device 1 transmitted by the operation control unit 82. The lifting mechanism control unit 84 transmits lifting and lowering commands to the lifting mechanisms 103A, 103B until the height H0 measured by the height detection device 22 matches the height corresponding to the position command transmitted from the operation control unit 82.

[0066] The horizontal movement mechanism control unit 85 is supplied with the rotation angles θH1 to θH4 of the horizontal movement mechanism 12 and the angle command to the horizontal movement mechanism 12 sent by the operation control unit 82. The horizontal movement mechanism control unit 85 sends rotation commands to the rotation drive units 125 to 128 of the horizontal movement mechanism 12 until the rotation angles θH1 to θH4 roughly match the angle commands.

[0067] The working mechanism control unit 86 is supplied with the rotation angles θ1 to θ6 of the working mechanism 13 and the angle command sent by the operation control unit 82 to the working mechanism 13. The working mechanism control unit 86 sends a rotation command to the rotation drive unit of the working mechanism 13 until the rotation angles θ1 to θ6 roughly match the angle command. The working mechanism control unit 86 also sends a command to the working mechanism 13 to detach the hand tool 139 based on the command sent by the operation control unit 82. The command to detach the hand tool 139 is sent until detachment of the hand tool 139 is complete.

[0068] The work support mechanism control unit 87 is supplied with the rotation angles of the rotation mechanism of the rotation drive unit 142, the lift drive unit 143, and the slide drive units 1445 and 1446 of the work support mechanism 14, as well as a rotation angle command to the work support mechanism 14 sent by the operation control unit 82. The work support mechanism control unit 87 sends rotation commands to each of the drive units 142, 143, 1445, and 1446 until the rotation angles of the rotation drive unit 142, the lift drive unit 143, and the slide drive units 1445 and 1446 roughly match the rotation angle command.

[0069] The position fixing mechanism control unit 88 is supplied with the rotation angle of the motor side gear (for example, motor side gear 171 in FIG. 3) in the position fixing mechanisms 15 to 18 and the angle command to the position fixing mechanisms 15 to 18 sent by the operation control unit 82. The position fixing mechanism control unit 88 sends the rotation command to the position fixing mechanisms 15 to 18 until the rotation angle of the motor side gear in the position fixing mechanisms 15 to 18 roughly matches the angle command.

[0070] When the hand tool 139 is an environmental information acquisition tool, the environmental information acquisition unit 89 receives the environmental information acquired by the environmental information acquisition tool and transmits it to the operation control unit 82 .

[0071] [Working operation of work equipment] Next, the mounting operation of the bracket 24 using the mounting device 1 will be described with reference to FIG.

[0072] First, the control device 21 drives the lifting mechanisms 103A and 103B to move the working device 1 in the Z-axis direction until the height H0 measured by the height detection device 22 roughly matches the height at which the next task will be performed. When the working device 1 has moved to the height at which the next task will be performed, the control device 21 stops driving the lifting mechanisms 103A and 103B. Next, the control device 21 drives the position fixing mechanisms 15-18 to press the wall facing portions (wall facing portions 175 shown in FIG. 3) against the wall surfaces 101a and 101b (see FIG. 1) of the hoistway 100. This fixes the working device 1 to the hoistway 100.

[0073] Next, the control device 21 sends commands to the horizontal movement mechanism 12, the working mechanism 13, and the work support mechanism 14 to perform the target work (for example, the work of attaching the bracket 24). When the target work at this height position is completed, the control device 21 drives the position fixing mechanisms 15-18 to move the wall-facing portions of the position fixing mechanisms 15-18 away from the wall surfaces 101a, 101b of the hoistway 100. This releases the fixation of the working device 1 to the hoistway 100.

[0074] Thereafter, the control device 21 drives the lifting mechanisms 103A and 103B to move the working device 1 in the Z-axis direction until the height H0 measured by the height detection device 22 roughly matches the height at which the next task will be performed. The working device 1 repeats the above-described operation until the target tasks at all height positions have been completed.

[0075] [Working device bracket installation work] Next, an example of the mounting work of the bracket 24 performed by the mounting device 1 will be described.

[0076] When the working device 1 is positioned at a height where the mounting work of the bracket 24 will be performed, the horizontal movement mechanism 12 rotates each of the links 121 to 123 to move the position of the connection base 131 in the working mechanism 13 and the position of the work support mechanism 14.

[0077] Next, the working mechanism 13 attaches the gripping hand tool arranged in the lower housing 113 to the detachment mechanism 138. Then, the gripping hand tool of the working mechanism 13 grips the bracket 24 arranged in the lower housing 113. Next, the working mechanism 13 changes its posture by rotating the rotating parts 132 to 137, and brings the gripped bracket 24 closer to the work support mechanism 14 from below.

[0078] The work support mechanism 14 slides the grippers 1443 and 1444 to set the distance between the grippers 1443 and 1444 longer than the width of the bracket 24. In other words, the work support mechanism 14 sets the grippers 1443 and 1444 in a state where they can grip the bracket 24.

[0079] When the bracket 24 is placed between the grippers 1443, 1444, the work support mechanism 14 slides the grippers 1443, 1444 to grip the bracket 24 with the grippers 1443, 1444. Thereafter, the work mechanism 13 releases the gripping of the bracket 24 by the gripping hand tool and hands over the bracket 24 to the work support mechanism 14.

[0080] Next, the working mechanism 13 removes the gripping hand tool from the detaching mechanism 138 and attaches the drilling hand tool to the detaching mechanism 138. The horizontal movement mechanism 12 rotates each of the links 121 to 123 to move the working mechanism 13 and the work support mechanism 14 to a position where the mounting work of the bracket 24 will be performed.

[0081] Next, the work support mechanism 14 adjusts the position of the grasped bracket 24 according to the environment of the hoistway 100, and presses the bracket 24 against the mounting position on the bracket mounting wall surface of the hoistway 100. Then, the work mechanism 13 passes a drilling hand tool through the mounting hole in the bracket 24, and drills holes for anchor bolts in the bracket mounting wall surface of the hoistway 100.

[0082] Thereafter, the working mechanism 13 drives anchors and fastens nuts by changing the hand tool each time according to the work content of the work of attaching the bracket 24. In this way, the bracket 24 is attached to the attachment position on the bracket attachment wall surface of the hoistway 100.

[0083] In this way, the working device 1 is equipped with a work support mechanism 14 that supports the work performed by the working mechanism 13. This makes it possible to achieve more complex work that cannot be performed by the working mechanism 13 alone. Furthermore, the horizontal movement mechanism 12 moves the position of the connection base 131 of the working mechanism 13 and the position of the work support mechanism 14. This makes it possible to perform work over a wider range than would be possible with the working mechanism 13 alone.

[0084] [Bracket positioning using the work support mechanism] Next, the positioning of the bracket 24 by the work support mechanism 14 will be described with reference to FIGS.

[0085] To make the bracket 24 reach the predetermined position recorded in the information recording unit 81 of the control device 21, the control device 21 calculates angle commands for the rotation angles θH1 to θH4 of the horizontal movement mechanism 12. Then, in accordance with the calculated angle commands, the links 121 to 123 of the horizontal movement mechanism 12 rotate, and the work support mechanism 14 moves. As a result, the bracket 24 gripped by the work support mechanism 14 is positioned.

[0086] However, it is difficult to position the bracket 24 at the planned mounting position with high precision unless information that cannot be obtained in advance is taken into consideration. Examples of information that cannot be obtained in advance include information about the inclination and unevenness of the bracket mounting wall surface of the hoistway 100, deviations in the position and posture of the working device 1 fixed to the hoistway 100, and deformations (warping, twisting, etc.) of the base part 11 of the working device 1 and the horizontal movement mechanism 12.

[0087] Therefore, the work support mechanism 14 of this embodiment positions the bracket 24 relatively to the environment around the mounting position of the bracket 24. This improves the mounting accuracy of the bracket 24. In this embodiment, the bracket 24 is positioned relatively to the environment around the mounting position by referring to the bracket mounting wall surface of the hoistway 100 and an existing bracket below, which are examples of the environment around the mounting position.

[0088] (Adjust the bracket's facing position) First, a method for orienting the bracket 24 directly relative to the bracket mounting wall surface 101c will be described. The bracket 24 gripped by the work support mechanism 14 may be tilted relative to the bracket mounting wall surface 101c. Distance sensors 32a and 32b mounted on the grippers 1443 and 1444 measure the distance to the bracket mounting wall surface 101c that the bracket 24 faces.

[0089] Next, the horizontal movement mechanism control unit 85 controls the rotation mechanism 128 of the horizontal movement mechanism 12 so that the two distances measured by the distance sensors 32a and 32b become approximately the same distance. As a result, the bracket 24 held by the work support mechanism 14 faces the bracket mounting wall surface 101c.

[0090] (Horizontal position adjustment of bracket) Next, a method for adjusting the orientation of the bracket 24 to be parallel to the horizontal direction will be described. The bracket 24 held by the work support mechanism 14 may be tilted by φw around the X axis. The orientation angle sensor 31 mounted on the holding mechanism 144 of the work support mechanism 14 detects the tilt angle φw of the holding mechanism 144 around the X axis.

[0091] The work support mechanism control unit 87 rotates the work support mechanism 14 around the rotation axis 71 so that the tilt angle φw becomes approximately 0 rad. As a result, the left-right tilt of the bracket 24 when viewed from the bracket mounting wall surface 101c in the X-axis direction is eliminated, and the bracket 24 can be positioned parallel to the horizontal direction.

[0092] (Adjust the bracket position in the Z-axis direction) Next, the positioning of the bracket 24 in the Z-axis direction will be described with reference to Fig. 8. Fig. 8 is a side view illustrating the positioning of the bracket 24 in the Z-axis direction.

[0093] 8, an existing bracket 25 is located below the bracket 24 held by the work support mechanism 14. The existing bracket 25 was attached to the bracket attachment wall surface 101c in a previous bracket attachment operation.

[0094] The bracket 24 gripped by the work support mechanism 14 faces the bracket mounting wall surface 101c and is positioned in a posture parallel to the horizontal direction. Distance sensors 32b and 33b mounted on grippers 1443 and 1444 of the work support mechanism 14 measure distances Ha1 and Ha2 from opposing objects below. In the state shown in FIG. 8, the distance sensors 32b and 33b face the existing bracket 25. Therefore, the distances Ha1 and Ha2 are the distances from the distance sensors 32b and 33b to the existing bracket 25.

[0095] However, if the bracket 24 gripped by the work support mechanism 14 is misaligned in the Y-axis direction, the distance sensors 32b and 33b may not face the existing bracket 25. In this case, the distance sensors 32b and 33b measure the distance to an object located further below the existing bracket 25. Furthermore, if the object located further below the existing bracket 25 is far away, the measurement results of the distance sensors 32b and 33b will be over-range.

[0096] Meanwhile, the control device 21 calculates the distance Ha0 between each bracket. The distance Ha0 can be calculated from the position of each bracket in the Z-axis direction, with the lower end of the elevator shaft 100 set to height 0. Next, the control device 21 calculates the lifting distance of the gripping mechanism 144 to make the distances Ha1 and Ha2 approximately equal to the distance Ha0. The control device 21 then sends a rotation command according to the calculation result to the rotation mechanism of the lifting drive unit 143. As a result, the gripping mechanism 144 of the work support mechanism 14 lifts and lowers until the distances Ha1 and Ha2 approximately equal the distance Ha0. As a result, the bracket 24 is positioned at the attachment position in the Z-axis direction.

[0097] (Adjust the bracket position in the Y-axis direction) Next, the positioning of the bracket 24 in the Y-axis direction will be described with reference to Fig. 9. Fig. 9 is a diagram for explaining the measurement distance for an existing bracket.

[0098] As described in the positioning of the bracket 24 in the Z-axis direction, the distance sensors 32b and 33b measure the distances Ha1 and Ha2 from the opposing object below. As shown in Fig. 9, the control device 21 controls the driving of the slide driving units 1445 and 1446 to move the grippers 1443 and 1444 by the same distance in the same direction along the slide guide 1442. Then, the control device 21 detects changes in the distances Ha1 and Ha2 measured by the distance sensors 32b and 33b.

[0099] In the Z-axis direction, when the distance sensors 32b and 33b face the existing bracket 25, the distances Ha1 and Ha2 are values ​​within a predetermined range. However, when the distance sensors 32b and 33b do not face the existing bracket 25, the distances Ha1 and Ha2 are longer than the predetermined range. Therefore, the control device 21 can detect both ends (left and right ends) of the existing bracket 25 in the width direction from the position of the work support mechanism 14 where the distances Ha1 and Ha2 have changed.

[0100] The distance between both ends of the width direction of the bracket 24 gripped by the work support mechanism 14 and the measurement positions of the distance sensors 32b, 33b is defined as Ds. In this case, the grippers 1443, 1444 are moved by Ds in the same direction from the positions where the distance sensors 32b, 33b detect one end of the width direction of the existing bracket 25. As a result, both ends of the width direction of the bracket 24 in the Z-axis direction coincide with both ends of the width direction of the existing bracket 25. As a result, the bracket 24 is positioned at the attachment position in the Y-axis direction. As described above, the bracket 24 is positioned relative to the existing bracket 25 located below.

[0101] [Bracket mounting position correction] Next, we will explain how to correct the mounting position of bracket 24. Working device 1 is moved by lifting mechanisms 103A and 103B to a height at which preset environmental information is acquired and then stopped. After that, working device 1 is fixed to wall surfaces 101a and 101b (see FIG. 1) of hoistway 100 using position fixing mechanisms 15-18.

[0102] The working mechanism 13 is equipped with an environmental information acquisition tool 139, one of the hand tools mounted on the working device 1, and moves to a preset position. Subsequently, the environmental information acquisition tool 139 acquires relative position information from the existing bracket 25 and relative position information from a reference point located around the entrance / exit 106.

[0103] Ideally, the position of the working apparatus 1 calculated from each piece of relative position information is the same. However, for example, if the existing bracket 25 is displaced from its original mounting position, a difference will occur between the positions of the working apparatus 1 calculated from each piece of relative position information. The operation control unit 82 (see FIG. 7) calculates a correction value for correcting the mounting position of the bracket 24 to be mounted next above the existing bracket 25, based on the difference in the relative position of the working apparatus 1.

[0104] (Relative position information from the existing bracket) Next, the acquisition of relative position information from the existing bracket 25 will be described with reference to FIGS. Fig. 10 is a front view showing the working mechanism 13 facing the existing bracket 25 when acquiring environmental information. Fig. 11 is a side view showing the working mechanism 13 facing the existing bracket 25 when acquiring environmental information.

[0105] In the first embodiment, a depth camera capable of measuring distance is used as an example of the environmental information acquisition tool. The working mechanism control unit 86 rotates each axis of the working mechanism 13 so that the environmental information acquisition tool 139 faces vertically downward (downward in the Z-axis direction) at a preset position. The environmental information acquisition tool 139 is positioned above the existing bracket 25 and acquires distance information from the top surface of the existing bracket 25.

[0106] Fig. 12 is a diagram showing an image 91 of the existing bracket 25 including depth information acquired by the environmental information acquisition tool 139. In Fig. 12, the position of the environmental information acquisition tool 139 is the center 92 of the image. In Fig. 12, the wall surface 101c of the elevator shaft 100 is above the image 91, and the top surface of the existing bracket 25 overlaps the center 92 of the image.

[0107] The environmental information acquisition tool 139 measures a distance Hb1 (see FIGS. 10 and 11) from the distance information at the center 92 of the image to the top surface of the existing bracket 25. The environmental information acquisition tool 139 acquires distance information at one or more locations within the image 91 that correspond to the top surface of the existing bracket 25. When the environmental information acquisition tool 139 acquires distance information at two or more locations, the operation control unit 82 averages the distance information at two or more locations to calculate the distance Hb1.

[0108] The portion corresponding to the top surface of the existing bracket 25 can be detected from the position where the distance Hb1 has changed, as described with reference to Fig. 9. Note that the portion corresponding to the top surface of the existing bracket 25 may also be detected by analyzing the image 91 (image recognition) and extracting the edges of the existing bracket 25.

[0109] Using the image center 92 in image 91 as the reference point, the pixel position of the end of the existing bracket 25 in the Y-axis direction is defined as WP. The field of view angle of the depth camera in the Y-axis direction is defined as α, the number of pixels in the Y-axis direction is defined as WA, and the distance to the existing bracket 25 is defined as Hb1. In this case, the distance Db1 from the image center 92 to the end of the existing bracket 25 in the Y-axis direction is calculated using the following equation (1). Db1 = 2Hb1 × tan(α / 2) × WP / WA (1)

[0110] (Relative position information from the reference point around the entrance / exit) Next, the acquisition of relative position information from a reference around the entrance / exit 106 will be described with reference to FIG. FIG. 13 is a side view showing the working mechanism 13 facing the entrance / exit 106 when acquiring environmental information.

[0111] In the first embodiment, the reference point around the entrance / exit 106 is the opening of the entrance / exit 106. As shown in Fig. 13, the working mechanism control unit 86 rotates each axis of the working mechanism 13 so that the orientation of the environmental information acquisition tool 139 faces the opening of the entrance / exit 106 (direction of the Y axis). The environmental information acquisition tool 139 acquires information about the distance to the opening of the entrance / exit 106.

[0112] Fig. 14 is a diagram showing an image 93 of the opening of the doorway 106 including depth information acquired by the environment information acquisition tool 139. In Fig. 14, the position of the environment information acquisition tool 139 is the center 94 of the image. As shown in Fig. 14, the image 93 captures the lower left corner of the opening of the doorway 106.

[0113] The environmental information acquisition tool 139 measures the distance Db2 (see FIG. 13) to the wall surface 101b near the opening of the entrance / exit 106. The environmental information acquisition tool 139 acquires distance information for one or more locations corresponding to the wall surface 101b near the opening of the entrance / exit 106 in the image 93. When the environmental information acquisition tool 139 acquires distance information for two or more locations, the operation control unit 82 averages the distance information for the two or more locations to calculate the distance Db2.

[0114] The edge of the opening of doorway 106 can be detected from the position where distance Db2 changes, as described with reference to Fig. 9. Note that the edge of the opening of doorway 106 may also be detected by analyzing image 93 (image recognition) and extracting the edge of the opening of doorway 106.

[0115] Using the image center 94 in image 93 as a reference point, let HQ be the pixel position of the end of the opening of doorway 106 in the Z-axis direction. Then, let β be the viewing angle of the depth camera in the Z-axis direction, HA be the number of pixels in the Z-axis direction, and Db2 be the distance to wall surface 101b near the opening. In this case, the distance Hb2 from the image center 94 to the end of the opening of doorway 106 in the Z-axis direction is calculated using the following equation (2). Hb2=2Db2×tan(β / 2)×HQ / HA···(2)

[0116] Furthermore, with the image center 94 in image 93 as the reference point, the pixel position of the end of the opening of doorway 106 in the X-axis direction is defined as WQ. The viewing angle of the depth camera in the X-axis direction is defined as γ, the number of pixels in the X-axis direction is defined as WA, and the distance to wall surface 101b near the opening is defined as Db2. In this case, the distance Db2a from the image center 94 to the end of the opening of doorway 106 in the X-axis direction is calculated using the following equation (3). Db2a=2Db2×tan(γ / 2)×WQ / WA (3)

[0117] (Amount of correction for bracket mounting position) Next, calculation of the correction amount for correcting the mounting position of the bracket 24 will be described. First, the operation control unit 82 calculates the reference position (XO, YO, ZO) of the working device 1 in the elevator shaft 100 using relative position information from the existing bracket 25. The reference position of the working device 1 is a position that does not change even if the horizontal movement mechanism 12, working mechanism 13, and work support mechanism 14 operate while environmental information is being acquired, such as the center of the support 111 of the working device 1 or the position of the rotation axis 51 of the horizontal movement mechanism 12.

[0118] Assume that the design position of the measurement target portion of existing bracket 25 is (XB1, YB1, ZB1). In this case, the reference position of working device 1 can be expressed as a function of distances Hb1 and Db1, as shown in the following equations (4) and (5). YO=YB1+FD1(Db1) (4) ZO = ZB1 + FH1(Hb1) (5)

[0119] In the first embodiment, bracket 24 is attached to wall surface 101c that is approximately perpendicular to the X-axis direction. Therefore, there is no need to calculate the X coordinate of the reference position of maintenance apparatus 1. Functions FD1 and FH1 are determined according to the position of environmental information acquisition tool 139 relative to the reference position of maintenance apparatus 1 and the designed position of the measurement target portion of existing bracket 25 relative to environmental information acquisition tool 139. For example, if the moving position of environmental information acquisition tool 139 is directly above the measurement target (existing bracket 25), then ZO=ZB1+Hb1 and YO=YB1-Db1, and the reference position is calculated from only the measurement distance.

[0120] The operation control unit 82 also calculates the reference position (XO, YO, ZO) of the working device 1 using relative position information from the opening of the doorway 106. The design position of the lower left corner of the opening of the doorway 106 is set to (XD1, YD1, ZD1). In this case, the reference position of the working device 1 can be expressed as a function of distances Hb2 and Db2, as shown in the following equations (6) and (7). YO=YD1+FD2(Db2) (6) ZO = ZD1 + FH2(Hb2) (7)

[0121] Functions FD2 and FH2 are determined according to the position of environmental information acquisition tool 139 relative to the reference position of task device 1, and the designed position of the measurement target location at the opening of doorway 106 relative to environmental information acquisition tool 139. If existing bracket 25 is attached to wall surface 101b that is approximately vertical in the Y-axis direction, for example, then Db2 is set to Db2a. This allows the reference position of task device 1 to be calculated in the same way as in the case of existing bracket 25 fixed to wall surface 101c that is approximately vertical in the X-axis direction.

[0122] If the existing bracket 25 is fixed as designed, the relative position information from the existing bracket 25 is the same as the relative position information from the opening of the doorway 106. Therefore, the following equations (8) and (9) hold true. YO=YB1+FD1(Db1)=YD1+FD2(Db2)...(8) ZO=ZB1+FH1(Hb1)=ZD1+FH2(Hb2)...(9)

[0123] However, when bracket 24 is attached above existing bracket 25 with reference to existing bracket 25, the effects of previous attachment errors of existing bracket 25 and measurement errors during attachment accumulate. As a result, a difference occurs between the attachment position of bracket 24 determined from the position of existing bracket 25 and the designed position. The position deviation information (YDIFF, ZDIFF) at this time is calculated using equations (10) and (11), respectively. YDIFF=YB1+FD1(Db1)-(YD1+FD2(Db2))...(10) ZDIFF=ZB1+FH1(Hb1)-(ZD1+FH2(Hb2))...(11)

[0124] The operation control unit 82 measures YDIFF and ZDIFF and corrects them relative to the design position (XB2, YB2, ZB2) of the bracket to be attached directly above the existing bracket 25. For example, if ZDIFF is positive, the existing bracket 25 is fixed at a position higher than the design position. Therefore, the position of the bracket 24 to be attached directly above the existing bracket 25 is corrected to ZB2 = ZB2 - ZDIFF. As a result, the bracket spacing Ha0 to be controlled in the Z-axis direction is corrected to Ha0 = Ha0 - ZDIFF.

[0125] Furthermore, if YDIFF is positive, the existing bracket 25 is attached at a position displaced in the Y-axis direction from the design position. Therefore, the position of the bracket 24 attached directly above the existing bracket 25 is corrected to YB2 = YB2 - YDIFF. As a result, the bracket distance to be controlled in the Y-axis direction is corrected to Ds = Ds - YDIFF (when Ds > 0).

[0126] In the above explanation, the difference between the mounting position of the bracket 24 and the design position is corrected for the mounting position of one bracket 24. However, the difference between the mounting position of the bracket 24 and the design position may also be corrected for the mounting positions of multiple brackets 24 that are subsequently mounted. For example, if the difference between the mounting position of the bracket 24 and the design position is corrected in two separate corrections, the control amount for each correction will be Ha0 / 2 and Ds / 2.

[0127] [Installation position correction processing] Next, the mounting position correction process for the bracket 24 performed by the operation control unit 82 will be described with reference to FIG. FIG. 15 is a flowchart showing an example of the attachment position correction process performed by the operation control unit 82.

[0128] First, the operation control unit 82 controls the drive of the working mechanism 13 to attach the environmental information acquisition tool 139 mounted on the working apparatus 1 to the tip of the working mechanism 13 (S1). Next, the operation control unit 82 controls the drive of the horizontal movement mechanism 12 and the working mechanism 13 to move the working mechanism 13 to a preset position near (above) the existing bracket 25 (S2). In the processing of step S2, the environmental information acquisition tool 139 faces the existing bracket 25 below.

[0129] Next, the operation control unit 82 measures the distances Hb1 and Db1 from the relative position information to the existing bracket 25 acquired by the environmental information acquisition tool 139, and stores the distances Hb1 and Db1 in the information recording unit 81 (S3). Next, the operation control unit 82 controls the driving of the horizontal movement mechanism 12 and the working mechanism 13 to move the working mechanism 13 to a predetermined position near the opening of the entrance / exit 106 (S4). In the processing of step S4, the environmental information acquisition tool 139 faces the opening of the entrance / exit 106.

[0130] Next, the operation control unit 82 measures the distances Hb2 and Db2 from the relative position information to the opening of the doorway 106 acquired by the environment information acquisition tool 139, and stores the distances in the information recording unit 81 (S5). Next, the operation control unit 82 refers to the distances Hb1, Db1, Hb2, and Db2 stored in the information recording unit 81, and calculates the above-mentioned position deviation information YDIFF and ZDIFF (S6).

[0131] Next, the operation control unit 82 acquires the design position of the bracket 24 to be installed directly above the existing bracket 25 from the information recording unit 81. Subsequently, the operation control unit 82 corrects the bracket interval Ha0 and bracket distance Ds, which are control variables, based on the design position of the bracket 24 and the position deviation information YDIFF, ZDIFF. Then, the operation control unit 82 stores the corrected bracket interval Ha0 and bracket distance Ds in the information recording unit 81 (S7).

[0132] Next, the operation control unit 82 controls the driving of the working mechanism 13 to remove the environmental information acquisition tool 139 from the working mechanism 13 (S8). Thereafter, the operation control unit 82 ends the mounting position correction process for the bracket 24.

[0133] In this way, in this embodiment, the mounting position of the next bracket 24 to be mounted is corrected in response to deviations in the mounting position of the existing bracket 25. As a result, it becomes possible to mount the bracket 24 in accordance with the environment inside the hoistway, information which cannot be obtained in advance.

[0134] In this embodiment, the bracket 24 is attached to a wall surface 101c that is substantially perpendicular to the X-axis direction. However, similar to this embodiment, the bracket attachment position can be corrected even when the bracket is attached to wall surfaces 101a and 101b that are substantially perpendicular to the Y-axis direction. That is, the operation control unit 82 corrects the attachment position of the bracket to be installed directly above the existing bracket 25 using relative position information from the existing bracket and relative position information from a reference point located around the entrance. In this case, the bracket attachment position is corrected in the X-axis direction, not the Y-axis direction. Therefore, the distance Db2 from the opening of the entrance 106 corresponds to the distance WQ in FIG. 14.

[0135] Furthermore, the relative position information with respect to the opening of the entrance / exit 106 may be acquired by placing the environment information acquisition tool 139 on the indoor (building) side of the opening of the entrance / exit 106. In this case, the environment information acquisition tool 139 is directed toward the floor surface 102 at the opening of the entrance / exit 106 to acquire the distance Hb2 from the floor surface 102. Furthermore, the environment information acquisition tool 139 is directed toward the side surface (side wall) of the opening of the entrance / exit 106 to acquire the distance Db2 from the side surface.

[0136] 2. Second embodiment Next, a working device according to a second embodiment will be described. The working device according to the second embodiment differs from the working device according to the first embodiment in the method of acquiring relative position information. Therefore, here, the method of acquiring relative position information according to the second embodiment will be described, and a description of the configuration that overlaps with the first embodiment will be omitted.

[0137] (Relative position information from the existing bracket) The environmental information acquisition tool 139 is a depth camera capable of measuring distance. The horizontal movement mechanism control unit 85 controls the drive of the horizontal movement mechanism 12 to move the working mechanism 13 to a preset position above the existing bracket 25.

[0138] The working mechanism control unit 86 rotates each axis of the working mechanism 13 so that the orientation of the environmental information acquisition tool 139 is vertically downward (downward in the Z-axis direction) at a preset position. The environmental information acquisition tool 139 is positioned above the existing bracket 25 and acquires distance information from the top surface of the existing bracket 25 (see FIGS. 10 and 11).

[0139] Fig. 16 is a diagram showing an image 95 of the existing bracket 25 including depth information acquired by the environmental information acquisition tool 139. In Fig. 16, the position of the environmental information acquisition tool 139 is the center 96 of the image. In Fig. 16, the wall surface 101c of the elevator shaft 100 is on the upper side of the image 95, and the top surface of the existing bracket 25 overlaps the center 92 of the image.

[0140] A mark 25a is formed on the top surface of the existing bracket 25 according to the second embodiment. The mark 25a may be a shape that can be recognized by an image, a two-dimensional code, or an uneven surface that can be recognized by distance. The mark 25a may be printed on the top surface, or may be formed by processing a groove or the like into the top surface.

[0141] Using the image center 96 in image 95 as a reference point, the pixel position of mark 25a in the Y-axis direction is defined as WP. The distance from image center 96 to mark 25a in the Y-axis direction is Db1. The operation control unit 82 calculates the reference position of the working device 1 using the design position of mark 25a as (XB1, YB1, ZB1).

[0142] (Relative position information from the reference point around the entrance / exit) Next, the acquisition of relative position information from a reference around the entrance / exit 106 will be described with reference to FIG. FIG. 17 is a side view showing the working mechanism 13 facing the floor surface 102 of the entrance / exit 106 when environmental information is acquired.

[0143] 17, a mark 102a is formed on the floor surface 102 of the entrance 106. The mark 102a has the same shape as the mark 25a described above. The mark 102a can be set to any shape.

[0144] The horizontal movement mechanism control unit 85 controls the drive of the horizontal movement mechanism 12 to move the working mechanism 13 to a preset position above the opening of the entrance / exit 106. The working mechanism control unit 86 rotates each axis of the working mechanism 13 so that the orientation of the environmental information acquisition tool 139 faces directly toward the floor surface 102 of the entrance / exit 106 (the direction of the Z axis). The environmental information acquisition tool 139 acquires information about the distance to the floor surface 102 of the entrance / exit 106.

[0145] Fig. 18 is a diagram showing an image 97 of the opening of the doorway 106 including depth information acquired by the environment information acquisition tool 139. In Fig. 18, the position of the environment information acquisition tool 139 is the center 98 of the image. As shown in Fig. 18, the image 97 captures the floor surface 102 at the opening of the doorway 106.

[0146] The environmental information acquisition tool 139 measures a distance Hb2 (see FIG. 17) to the floor surface 102 near the opening of the doorway 106. The environmental information acquisition tool 139 acquires distance information for one or more locations corresponding to the floor surface 102 at the opening of the doorway 106 within the image 97. When the environmental information acquisition tool 139 acquires distance information for two or more locations, the operation control unit 82 calculates the distance Hb2 by averaging the distance information for the two or more locations.

[0147] Using the image center 98 in image 97 as a reference point, the pixel position of mark 102a in the Y-axis direction is designated as WQ. The distance from image center 98 to mark 102a in the Y-axis direction is designated as Db2. The operation control unit 82 calculates the reference position of the operating device 1 using the design position of mark 102a as (XD1, YD1, ZD1).

[0148] The operation control unit 82 calculates the control amounts Ha0 and Ds for the attachment position of the bracket 24 based on the distances Hb2 and Db2 acquired using the environmental information acquisition tool 139. The method for calculating the control amounts Ha0 and Ds is the same as in the first embodiment described above.

[0149] In the second embodiment as well, the mounting position of the next bracket 24 to be mounted is corrected in response to deviation in the mounting position of the existing bracket 25. As a result, it becomes possible to perform mounting work on the bracket 24 in accordance with the environment inside the hoistway, information which cannot be obtained in advance.

[0150] In the second embodiment, the mark 102a is formed on the floor surface 102 at the opening of the entrance / exit 106. However, the mark 102a may also be formed on the wall surface (wall surface 101b) below the floor surface 102 at the opening of the entrance / exit 106 within the elevator shaft 100. In this case, the position and posture of the working mechanism 13 and the position of the environmental information acquisition tool 139 at the time of distance measurement are the same as those in FIG.

[0151] 3. Third embodiment Next, a working apparatus according to a third embodiment will be described. The working apparatus according to the third embodiment differs from the working apparatus according to the first embodiment in the environmental information acquisition tool 139 and the method for acquiring relative position information. Therefore, here, the environmental information acquisition tool 139 and the method for acquiring relative position information according to the third embodiment will be described, and a description of the configuration that overlaps with the first embodiment will be omitted.

[0152] (Relative position information from the existing bracket) First, the acquisition of relative position information from the existing bracket 25 will be described with reference to FIG. FIG. 19 is a side view showing the working mechanism 13 facing the existing bracket 25 when acquiring environmental information.

[0153] 19 is a laser rangefinder that uses infrared rays. The horizontal movement mechanism control unit 85 controls the drive of the horizontal movement mechanism 12 to move the working mechanism 13 to a preset position above the existing bracket 25. The working mechanism control unit 86 rotates each axis of the working mechanism 13 so that the orientation of the environmental information acquisition tool 139 is vertically downward (downward in the Z-axis direction) at the preset position.

[0154] The environmental information acquisition tool 139 is positioned above the existing bracket 25 and irradiates a laser beam onto the top surface of the existing bracket 25. The environmental information acquisition tool 139 then receives the laser beam reflected by the top surface of the existing bracket 25 and measures the distance Hb1 to the existing bracket 25.

[0155] Thereafter, the working mechanism control unit 86 rotates each axis of the working mechanism 13 so that the environmental information acquisition tool 139 slides toward the wall surface 101b in the Y-axis direction. As a result, the laser light emitted from the environmental information acquisition tool 139 moves toward the wall surface 101b in the Y-axis direction while being irradiated onto the top surface of the existing bracket 25.

[0156] When the laser light reaches the end of the existing bracket 25, the work mechanism control unit 86 stops each axis of the work mechanism 13, thereby stopping the movement of the environmental information acquisition tool 139. Then, the operation control unit 82 calculates the distance Db1 traveled by the environmental information acquisition tool 139.

[0157] Next, detection of the end of the existing bracket 25 using laser light will be described. When the laser light is irradiated onto the top surface of the existing bracket 25, the change in distance Hb1 associated with movement of the environmental information acquisition tool 139 is small. On the other hand, when the laser light deviates from the top surface of the existing bracket 25, the change in distance Hb1 associated with movement of the environmental information acquisition tool 139 is large. The operation control unit 82 detects the position at which the distance Hb1 changes and exceeds the threshold value Hb10 as the end of the existing bracket 25.

[0158] (Relative position information from the reference point around the entrance / exit) Next, the acquisition of relative position information from a reference around the entrance / exit 106 will be described with reference to FIG. FIG. 20 is a side view showing the working mechanism 13 facing the floor surface 102 of the entrance / exit 106 when environmental information is acquired.

[0159] The horizontal movement mechanism control unit 85 controls the drive of the horizontal movement mechanism 12 to move the working mechanism 13 to a preset position above the opening of the entrance / exit 106. The working mechanism control unit 86 rotates each axis of the working mechanism 13 so that the orientation of the environmental information acquisition tool 139 faces directly toward the floor surface 102 of the entrance / exit 106 (the direction of the Z axis).

[0160] The environmental information acquisition tool 139 is positioned above the floor surface 102 of the entrance / exit 106, and irradiates the floor surface 102 with laser light. The environmental information acquisition tool 139 then receives the laser light reflected by the floor surface 102 and measures the distance Hb3 to the floor surface 102.

[0161] Thereafter, the working mechanism control unit 86 rotates each axis of the working mechanism 13 so that the environmental information acquisition tool 139 slides in the Y-axis direction toward the hoistway 100. As a result, the laser light emitted from the environmental information acquisition tool 139 moves in the Y-axis direction toward the hoistway 100 while being irradiated onto the floor surface 102.

[0162] When the laser light reaches the edge of the floor surface 102, the working mechanism control unit 86 stops each axis of the working mechanism 13, thereby stopping the movement of the environmental information acquisition tool 139. Then, the operation control unit 82 calculates the distance Db3 traveled by the environmental information acquisition tool 139.

[0163] Next, detection of the edge of the floor surface 102 using laser light will be described. When the floor surface 102 is irradiated with laser light, the change in distance Hb3 associated with the movement of the environmental information acquisition tool 139 is small. On the other hand, when the laser light deviates from the floor surface 102, the change in distance Hb3 associated with the movement of the environmental information acquisition tool 139 is large. The operation control unit 82 detects the position at which the distance Hb3 changes and exceeds the threshold value Hb30 as the edge of the floor surface 102.

[0164] If the design position of the center of the end of the floor surface 102 of the entrance / exit 106 is (XD3, YD3, ZD3), the reference position (XO, YO, ZO) of the working device 1 in the elevator shaft 100 can be expressed as a function of the distances Hb3 and Db3, as shown in the following equations (12) and (13). YO=YD3+FD3(Db3) (12) ZO = ZD3 + FH3(Hb3) (13)

[0165] Each of the functions FD3 and FH3 is determined by the position of the environmental information acquisition tool 139 relative to the reference position of the working device 1, and the design position of the center of the end on the floor surface 102 of the entrance / exit 106 relative to the environmental information acquisition tool 139. In the third embodiment, the center of the end on the floor surface 102 of the entrance / exit 106 was the measurement target. However, the measurement target may be any position on the end on the floor surface 102, or any position on the end on the ceiling surface of the entrance / exit 106. The method of calculating the bracket interval Ha0 and bracket distance Ds, which are control variables, is the same as in the first embodiment.

[0166] [Installation position correction processing] Next, the mounting position correction process for the bracket 24 according to the third embodiment will be described with reference to FIG. FIG. 21 is a flowchart showing an example of the attachment position correction process performed by the operation control unit 82 according to the third embodiment.

[0167] First, the operation control unit 82 controls the drive of the working mechanism 13 to attach the environmental information acquisition tool 139 (laser rangefinder) mounted on the working device 1 to the tip of the working mechanism 13 (S11). Next, the operation control unit 82 controls the drive of the horizontal movement mechanism 12 and the working mechanism 13 to move the working mechanism 13 to a preset position near (above) the existing bracket 25 (S12). In the processing of step S12, the environmental information acquisition tool 139 is directed toward the existing bracket 25 below.

[0168] Next, the operation control unit 82 measures the distance Hb1 from the relative position information with respect to the existing bracket 25 acquired by the environmental information acquisition tool 139, and stores the distance Hb1 in the information recording unit 81 (S13). Next, the operation control unit 82 controls the driving of the horizontal movement mechanism 12 and the working mechanism 13 to slide the environmental information acquisition tool 139 toward the wall surface 101b in the Y-axis direction (S14).

[0169] Next, the operation control unit 82 detects the end of the existing bracket 25 from a change in the relative position information with respect to the existing bracket 25 acquired by the environmental information acquisition tool 139. Then, the operation control unit 82 calculates the distance Db1 by which the environmental information acquisition tool 139 has slid, and stores this in the information recording unit 81 (S15).

[0170] Next, the operation control unit 82 controls the driving of the horizontal movement mechanism 12 and the working mechanism 13 to move the working mechanism 13 to a predetermined position near the opening of the entrance / exit 106 (S16). In the processing of step S16, the environmental information acquisition tool 139 faces the floor surface 102 of the entrance / exit 106.

[0171] Next, the operation control unit 82 measures the distance Hb3 from the relative position information between the floor 102 and the entrance 106 acquired by the environmental information acquisition tool 139, and stores the distance Hb3 in the information recording unit 81 (S17). Next, the operation control unit 82 controls the driving of the horizontal movement mechanism 12 and the working mechanism 13 to slide the environmental information acquisition tool 139 toward the elevator shaft 100 in the Y-axis direction (S18).

[0172] Next, the movement control unit 82 detects the edge of the floor surface 102 from a change in the relative position information with respect to the floor surface 102 acquired by the environment information acquisition tool 139. Then, the movement control unit 82 calculates the distance Db3 by which the environment information acquisition tool 139 has slid, and stores this in the information recording unit 81 (S19). Next, the movement control unit 82 calculates the position deviation information YDIFF and ZDIFF by referring to the distances Hb1, Db1, Hb3, and Db3 stored in the information recording unit 81 (20).

[0173] Next, the operation control unit 82 acquires the design position of the bracket 24 to be installed directly above the existing bracket 25 from the information recording unit 81. Subsequently, the operation control unit 82 corrects the bracket interval Ha0 and bracket distance Ds, which are control variables, based on the design position of the bracket 24 and the position deviation information YDIFF, ZDIFF. Then, the operation control unit 82 stores the corrected bracket interval Ha0 and bracket distance Ds in the information recording unit 81 (21).

[0174] Next, the operation control unit 82 controls the driving of the working mechanism 13 to remove the environmental information acquisition tool 139 from the working mechanism 13 (S22). Thereafter, the operation control unit 82 ends the mounting position correction process for the bracket 24.

[0175] In this way, also in the third embodiment, the mounting position of the bracket 24 to be mounted next is corrected in response to deviation in the mounting position of the existing bracket 25. As a result, it becomes possible to perform mounting work on the bracket 24 in accordance with the environment inside the hoistway, information which cannot be obtained in advance.

[0176] 4. Fourth embodiment Next, a working apparatus according to a fourth embodiment will be described. The working apparatus according to the fourth embodiment differs from the working apparatus according to the first embodiment in the environmental information acquisition tool 139 and the method for acquiring relative position information. Therefore, here, the environmental information acquisition tool 139 and the method for acquiring relative position information according to the fourth embodiment will be described, and a description of the configuration that overlaps with the first embodiment will be omitted.

[0177] (Relative position information from the existing bracket) The relative position information from the existing bracket 25 is acquired by adopting any of the first to third embodiments.

[0178] (Relative position information from the reference point around the entrance / exit) Next, the acquisition of relative position information from a reference around the entrance / exit 106 will be described with reference to FIG. FIG. 22 is a front view showing the working mechanism 13 facing the floor surface 102 of the entrance / exit 106 when the environmental information is acquired.

[0179] The environmental information acquisition tool 139 shown in Fig. 22 is a light receiving element array. For example, a PSD (Position Sensitive Device) can be used as the light receiving element array. As shown in Fig. 22, a floodlight 41 that projects spot light is installed on the floor surface 102 of the entrance / exit 106. The floodlight 41 projects the spot light from one end of the floor surface 102 in the X-axis direction to the other end (the negative direction of the X-axis in Fig. 22).

[0180] The horizontal movement mechanism control unit 85 controls the drive of the horizontal movement mechanism 12 to move the working mechanism 13 to a preset position below the opening of the entrance / exit 106. The working mechanism control unit 86 rotates each axis of the working mechanism 13 so that the orientation of the environmental information acquisition tool 139 faces one end in the X-axis direction.

[0181] The environmental information acquisition tool 139 faces the projector 41 and receives the spot light emitted from the projector 41. The environmental information acquisition tool 139 measures the light-receiving position (Db4, Hb4) of the spot light on the YZ plane.

[0182] If the installation position of the floodlight installed on floor surface 102 of entrance / exit 106 is (XD4, YD4, ZD4), the reference position (XO, YO, ZO) of the working device 1 in the hoistway 100 can be expressed as a function of distances Hb4 and Db4, as shown in the following equations (14) and (15). Each of the functions FD4 and FH4 is determined by the position of the environmental information acquisition tool 139 relative to the reference position of the working device 1, and the installation position of the floodlight 41 relative to the environmental information acquisition tool 139. YO=YD4+FD4(Db4) (14) ZO = ZD4 + FH4(Hb4) (15)

[0183] In this embodiment, projector 41 is installed at a position where the light travels in the negative direction of the X axis. However, if existing bracket 25 is attached to wall surface 101a that is approximately perpendicular to the Y axis direction, projector 41 is installed at a position where the light travels in the Y axis direction (for example, the negative direction of the Y axis). In this case, the measurement plane is the XZ plane.

[0184] The method of calculating the control amounts Ha0 and DS of the bracket 24 attached directly above the target existing bracket 25 using the distances Hb4 and Db4 acquired by the environmental information acquisition tool 139 is the same as in the first embodiment.

[0185] In the third embodiment as well, the mounting position of the next bracket 24 to be mounted is corrected in response to deviation in the mounting position of the existing bracket 25. As a result, it becomes possible to perform mounting work on the bracket 24 in accordance with the environment inside the hoistway, information which cannot be obtained in advance.

[0186] 5. Fifth embodiment Next, a working apparatus according to a fifth embodiment will be described. The working apparatus according to the fifth embodiment differs from the working apparatus according to the first embodiment in the environmental information acquisition tool 139, the reference lines 105a and 105b, and the method of acquiring relative position information. Therefore, here, the environmental information acquisition tool 139 and the method of acquiring relative position information according to the fifth embodiment will be described, and a description of the configuration that overlaps with the first embodiment will be omitted.

[0187] (Relative position information from the existing bracket) The relative position information from the existing bracket 25 is acquired by adopting any of the first to third embodiments.

[0188] (Relative position information from the reference point around the entrance / exit) Next, the acquisition of relative position information from a reference around the entrance / exit 106 will be described with reference to FIGS. Fig. 23 is a schematic diagram showing a state in which the working device 1 is placed in the hoistway 100. Fig. 24 is a schematic diagram of the reference measuring device.

[0189] 23, reference lines 105a and 105b extending in the Z-axis direction are installed in the elevator shaft 100. The reference lines 105a and 105b are metal wires and are installed side by side in the X-axis direction near the entrance / exit 106. The material and the number of reference lines installed according to the present invention may be changed as needed.

[0190] The working apparatus 1 has a reference measuring device 26. The reference measuring device 26 is, for example, a laser displacement meter. The reference measuring device 26 detects the reference line 105a or the reference line 105b, and acquires relative position information from the reference line 105a or the reference line 105b in the X-axis direction and the Y-axis direction.

[0191] 24, the reference measurement device 26 has a base 26e, light projectors 26a and 26c, and light receivers 26b and 26d. The base 26e is made of a substantially rectangular parallelepiped housing. An opening 26f is formed in the center of the bottom of the base 26e. The reference line 105a passes through the opening 26f.

[0192] The light projectors 26a and 26c and the light receivers 26b and 26d are disposed inside the base 26e. The light projector 26a faces the light receiver 26b across the opening 26f. The measurement axis of the first laser displacement meter composed of the light projector 26a and the light receiver 26b is parallel to the Y-axis direction. The first laser displacement meter measures the distance Db5x to the reference line 105a in the X-axis direction.

[0193] The light projector 26c faces the light receiver 26d across the opening 26f. The measurement axis of the second laser displacement meter composed of the light projector 26c and the light receiver 26d is parallel to the X-axis direction. The second laser displacement meter measures the distance Db5y to the reference line 105a in the Y-axis direction.

[0194] For an existing bracket attached to a wall surface 101c that is approximately perpendicular to the X-axis direction, distance Db5y is used as relative position information from a reference around the doorway 106 in the horizontal direction. For an existing bracket attached to a wall surface 101a that is approximately perpendicular to the Y-axis direction, distance Db5x is used as relative position information from a reference around the doorway 106 in the horizontal direction. Distance Hb5, which is relative position information from a reference around the doorway 106 in the height direction, is measured using the method of any of the first to fourth embodiments.

[0195] If the installation position of reference line 105a is (XD5, YD5), the reference position (XO, YO, ZO) of the working device 1 in the hoistway 100 can be expressed as a function of distances Hb5 and Db5y, as shown in the following equations (16) and (17). Each of the functions FD5 and FH5 is determined by the position of the reference measurement device 26 relative to the reference position of the working device 1 and the installation position of reference line 105a relative to the reference measurement device 26. YO=YD5+FD5(Db5y) (16) ZO = ZD5 + FH5(Hb5) (17)

[0196] The method of calculating the control amount Ha0,DS for the installation position of the bracket 24 to be attached directly above the target existing bracket 25 using the distances Hb5,Db5y acquired by the environmental information acquisition tool 139 and the reference measuring device 26 is the same as in Example 1. In addition, the control amount Ha0,Ds for the existing bracket to be attached to the wall surface 101a that is approximately perpendicular to the Y-axis direction is calculated using the distances Hb5,Db5x.

[0197] In the fifth embodiment as well, the mounting position of the next bracket 24 to be mounted is corrected in response to deviation in the mounting position of the existing bracket 25. As a result, it becomes possible to perform mounting work on the bracket 24 in accordance with the environment inside the hoistway, information which cannot be obtained in advance.

[0198] The working device and the mounting position correction method of the present invention have been described above, including their effects. However, the working device and the mounting position correction method of the present invention are not limited to the above-described embodiment, and various modifications are possible within the scope of the invention as defined in the claims.

[0199] For example, in the first to fourth embodiments described above, the environmental information acquisition tool 139 is detachably attached to the working mechanism 13. This reduces the number of parts in the working apparatus 1. However, the detection unit according to the present invention may be configured as a separate part from the working mechanism 13. In this case, the working apparatus has a drive unit for moving the detection unit, separate from the working mechanism.

[0200] In the first to fifth embodiments described above, the existing bracket 25 is located below the mounting position of the target bracket 24. However, the existing bracket according to the present invention may be located above the mounting position of the bracket 24.

[0201] In addition, in the working device and the mounting position correction method of the present invention, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of one embodiment can be added to the configuration of another embodiment. Furthermore, in the working device of the present invention, part of the configuration of each embodiment can be added, deleted, or replaced with another configuration.

[0202] In this specification, the words "parallel" and "orthogonal" are used, but these do not mean only "parallel" and "orthogonal" in the strict sense, but also include "parallel" and "orthogonal" and may also mean a "substantially parallel" or "substantially orthogonal" state within a range in which the functions can be exerted. [Explanation of symbols]

[0203] REFERENCE SIGNS LIST 1...Working device, 11...Base section, 12...Horizontal movement mechanism, 13...Working mechanism, 14...Work support mechanism, 15,16,17,18...Position fixing mechanism, 21...Control device, 22...Detection device, 23...Communication device, 24...Bracket, 25...Existing bracket, 25a...Mark, 26...Reference measurement device, 26a, 26c...Projector, 26b, 26d...Receiver, 26e...Base, 26f...Opening, 31...Attitude angle sensor, 32a, 32b, 33a, 33b...Distance sensor, 41...Projector, 51-60, 70, 71...Rotation axis, 81...Information recording section, 82...Movement control section, 83...Height information acquisition section, 84...Control section for lifting mechanism, 85...Control section for horizontal movement mechanism, 86...Control unit for work mechanism, 87...Control unit for work support mechanism, 88...Control unit for position fixing mechanism, 89...Environmental information acquisition unit, 91, 93, 95, 97...Image, 92, 94, 96, 98...Center of image, 100...Hoistway, 101a, 101b...Wall surface, 101c...Bracket mounting wall surface, 102...Floor surface, 102a...Mark, 103A, 103B...Lifting mechanism, 104a, 104b...Lifting rope, 105a, 105b...Reference line, 106...Entrance / exit, 111...Support, 112...Upper housing, 113...Lower housing, 121, 122, 123...Link, 125, 126, 127, 128...Rotation drive unit, 131...Connection base, 132...First rotating portion, 133...Second rotating portion, 134...Third rotating portion, 135...Fourth rotating portion, 136...Fifth rotating portion, 137...Sixth rotating portion, 138...Detachment mechanism, 139...Hand tool (environmental information acquisition tool), 141...Connection portion, 142...Rotation drive portion, 143...Lift drive portion, 144...Gripping mechanism, 171...Motor side gear, 172...Transmission gear, 173...Linear motion shaft portion, 174...Guide shaft portion, 175...Wall facing portion, 175a...Flat surface, 176a...Cushion member

Claims

1. A work device that moves up and down in a hoistway using a lifting mechanism and performs installation work on an object in the hoistway, a working mechanism for performing the mounting work; a work support mechanism for positioning the object at a mounting position; a detection unit that detects relative position information with respect to an existing object and relative position information with respect to a characteristic part related to the elevator shaft; an operation control unit that controls the working mechanism and the working assistance mechanism, The operation control unit corrects the attachment position of the object based on relative position information with respect to the existing object and relative position information with respect to the characteristic portion. Working equipment.

2. The work support mechanism transports the object in a height direction, a left-right direction, or both directions simultaneously, and positions the object at the mounting position corrected by the operation control unit. The work device according to claim 1 .

3. The detection unit is an imaging device that can also acquire distance information, and detects the reference of the existing object and the reference of the characteristic part, and measures each relative position information. The work device according to claim 1 .

4. The detection unit is a distance measurement device capable of acquiring distance information, and is positioned by the work mechanism or the work support mechanism at a position directly facing the existing object or the characteristic portion, and by sliding from the positioned position, detects a reference for the existing object or a reference for the characteristic portion and measures each relative position information. The work device according to claim 1 .

5. the reference position of the existing object is detected based on a change in distance to the existing object; The reference position of the feature is detected based on a change in distance to the feature. The working device according to claim 3 or 4.

6. At least one of the reference of the existing object and the reference of the characteristic portion is a mark. The working device according to claim 3 .

7. The detection unit is a light receiving device that receives light emitted from a light projector disposed at a reference of the characteristic part, detects the reference of the characteristic part, and measures relative position information with respect to the characteristic part. The work device according to claim 1 .

8. The detection unit is detachably attached to the working mechanism.

8. The working device according to claim 3, 4 or 7.

9. The detection unit has two pairs of light receiving devices and light projecting devices whose distance measurement axes are perpendicular to each other, and acquires relative position information in a horizontal plane with respect to a reference line extending vertically in the elevator shaft. The work device according to claim 1 .

10. A method for correcting an attachment position of an object, the method being performed by a work device that moves up and down in a hoistway using a lifting mechanism and performs an attachment operation on the object in the hoistway, a detection unit detects relative position information with respect to an existing object and relative position information with respect to a characteristic part related to the elevator shaft; An operation control unit corrects the mounting position of the object based on relative position information with respect to the existing object and relative position information with respect to the characteristic portion. How to correct the installation position.

Images