Measuring device, elevator system, and installation position confirmation method

Abstract

To provide a measuring device measuring information related to the movement of mobile objects which measures a relative distance and a relative angle with respect to a reference stationary structure with high accuracy, determines whether or not the measuring device is installed at a prescribed installation position with appropriate accuracy, and outputs it.SOLUTION: An image processing device 240 calculates a translational error along the direction of the installation position of the measuring device 110 with respect to a prescribed installation design position or a rotational error around the axis in the direction in at least one of x, y, or z directions based on the electric signal converted by an imaging part 230, determines whether or not the installation position conforms to the installation design position based on the calculated result, and transmits the installation location determined information related to the determination, when confirming the installation position of a measuring device 110 with respect to a stationary structure (a guide rail 140).SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a measurement device, an elevator system, and an installation position confirmation method, and is suitable for application to a measurement device, an elevator system, and an installation position confirmation method that calculates information related to the movement of a moving object. [Background technology]

[0002] Conventionally, in elevators equipped with a car (hereinafter referred to as "elevator car" or "cage") as a moving body, a governor rope has been used as a safety device to monitor the position, speed, etc. of the elevator car. In recent years, a non-contact sensor (hereinafter referred to as "position and speed sensor") that measures the position and speed of the elevator car in a non-contact manner has become known as an alternative to the governor rope.

[0003] For example, Patent Document 1 discloses an optical position and speed sensor that uses an image sensor installed on an elevator car to capture images of structures in a hoistway and measure the position and speed of the elevator car. A non-contact measuring device such as this position and speed sensor does not require a long structure such as a governor rope, which has the effect of improving installation and maintainability, and also has the effect of preventing measurement errors due to slippage. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2019 / 239536 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, in the optical position and speed sensor disclosed in Patent Document 1, in order to obtain sufficient measurement performance (precision) for the position and speed of the car, when the position and speed sensor is installed on the car, it is required to measure and determine the relative distance and angle with respect to the guide rail, and to install the measuring device with high installation precision. However, in the past, in order to install the position and speed sensor with sufficient installation precision as described above, a dedicated measuring tool was required in addition to the position and speed sensor. Furthermore, even when a dedicated measuring tool was used, there was a problem that the installation precision was influenced by the skill level of the installation worker in terms of measurement technology and optical adjustment technology.

[0006] The present invention has been made in consideration of the above points, and aims to propose a measuring device, an elevator system, and an installation position confirmation method that are capable of measuring with high accuracy the relative distance and angle to a stationary structure that serves as a reference, in a measuring device that measures information related to the movement of a moving body, and determining and outputting whether the measuring device is placed in a specified installation position with appropriate accuracy. [Means for solving the problem]

[0007] In order to solve the above problems, the present invention provides a measurement device that is installed on an elevator car moving in a hoistway and measures at least one of a moving distance or a speed of the elevator car, the measurement device comprising: a light transmitting unit that transmits light to irradiate a stationary structure disposed in the hoistway along a first direction parallel to the moving direction of the elevator car; an imaging unit that forms an image on an imaging surface of light scattered from the stationary structure by the light; an imaging unit that takes in an optical signal of the scattered light imaged on the imaging surface, converts it into an electrical signal, and images the image; and an image processing unit that calculates and transmits at least one of a moving distance or a speed of the elevator car based on the electrical signal converted by the imaging unit; When confirming the installation position of the measuring device relative to the stationary structure, a direction including an imaging plane captured by the imaging unit among two directions perpendicular to the first direction is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction, the image processing unit calculates a translation error along the direction or a rotation error about the direction as an axis of the mounting position of the measuring device relative to a specified installation design position for at least one of the first to third directions based on the electrical signal converted by the imaging unit, and determines whether the mounting position is compatible with the installation design position based on the calculation result, and transmits installation location determination information related to the determination.

[0008] In addition, in order to solve the above problems, the present invention provides a method for measuring the moving distance or speed of the elevator car, comprising: an elevator car moving in a hoistway; a guide rail arranged in the hoistway along a first direction parallel to the moving direction of the elevator car; an elevator control unit that controls the operation of the elevator car; and a measurement device that is installed in the elevator car and measures at least one of the moving distance or speed of the elevator car, the measurement device including a light transmitting unit that transmits light to irradiate the guide rail in the hoistway; an imaging unit that forms an image of light scattered from the guide rail by the light on an imaging surface; an imaging unit that captures an optical signal of the scattered light imaged on the imaging surface and converts it into an electrical signal to image the image; and a method for measuring the moving distance or speed of the elevator car based on the electrical signal converted by the imaging unit. and an image processing unit that calculates and transmits at least one of the speed and the distance, and the distance between the measuring position and the stationary structure, and when checking the installation position of the measuring device relative to the stationary structure, a direction including an imaging plane captured by the imaging unit among two directions perpendicular to the first direction is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction, the image processing unit calculates a translation error along the direction or a rotation error about the axis of the direction for the placement position of the measuring device relative to a specified installation design position, for at least one of the first to third directions, based on the electrical signal converted by the imaging unit, and determines whether the placement position is compatible with the installation design position based on the calculation result, and transmits installation location determination information related to the determination.

[0009] In addition, in order to solve the above problems, the present invention provides a method for confirming an installation position using a measuring device that is attached to an elevator car moving in a hoistway and measures at least one of a moving distance or a speed of the elevator car, the measuring device including a light transmitting unit that transmits light to irradiate a stationary structure disposed in the hoistway along a first direction parallel to the moving direction of the elevator car, an imaging unit that forms an image of scattered light from the stationary structure by the light on an imaging surface, an imaging unit that takes in an optical signal of the scattered light imaged on the imaging surface and converts it into an electrical signal to image the image, and an image processing unit that calculates and transmits at least one of a moving distance or a speed of the elevator car based on the electrical signal converted by the imaging unit. and a processing unit, wherein, when confirming the installation position of the measuring device relative to the stationary structure, a direction including an imaging plane captured by the imaging unit among two directions perpendicular to the first direction is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction, the image processing unit calculates, based on the electrical signal converted by the imaging unit, a translation error along the direction or a rotation error about the direction as an axis of the mounting position of the measuring device relative to a specified installation design position, for at least one of the first to third directions, and determines, based on the calculation result, whether the mounting position is compatible with the installation design position, and transmits installation location determination information related to the determination. Effect of the Invention

[0010] According to the present invention, in a measuring device that measures information related to the movement of a moving body, it is possible to measure the relative distance and angle with respect to a stationary structure that is used as a reference with high accuracy, and to determine and output whether the measuring device is placed in a specified installation position with appropriate accuracy. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram showing a configuration example of an elevator system 10 according to a first embodiment of the present invention. [Diagram 2] 2 is a diagram showing a first example of the internal configuration of a measurement device 110 and an elevator control unit 130. FIG. [Diagram 3] 13 is a diagram showing a second example of the internal configuration of the measurement device 110 and the elevator control unit 130. FIG. [Figure 4] 13 is a diagram showing a third example of the internal configuration of the measurement device 110 and the elevator control unit 130. FIG. [Diagram 5] 13 is a diagram showing an example of the arrangement of an indication unit 260. FIG. [Figure 6] 13 is a diagram showing an internal configuration example (part 1) of an instruction unit 260. FIG. [Figure 7] 13 is a diagram showing an internal configuration example (part 2) of the instruction unit 260. FIG. [Figure 8] 13 is a diagram showing an internal configuration example (part 3) of the instruction unit 260. FIG. [Figure 9] 2 is a diagram showing an example of the internal configuration of an image processing unit 240 that determines a translation error or a rotation error of the measuring device 110. FIG. [Figure 10] FIG. 13 is a conceptual diagram for explaining a method for determining a translation error of the measuring device 110 along the x-axis direction based on a difference value in the x-direction. [Figure 11] FIG. 13 is a conceptual diagram for explaining a method for determining a rotation error (tilt) of the measurement instrument 110 around the x-axis based on a difference value in the y-direction. [Figure 12] 13 is a conceptual diagram for explaining the distribution of luminance in each scattering angle direction of the light scattered by the guide rail 140. FIG. [Figure 13] 1 is a conceptual diagram (part 1) for explaining the directions of illumination light from an optical transmitter 210, its scattered light, and specularly reflected light. FIG. [Figure 14] FIG. 2 is a conceptual diagram (part 2) for explaining the directions of illumination light from the optical transmitter 210, its scattered light, and specularly reflected light. [Figure 15] FIG. 11 is a conceptual diagram (part 3) for explaining the directions of illumination light from the optical transmitter 210, its scattered light, and specularly reflected light. [Figure 16] FIG. 13 is a conceptual diagram for explaining a method for determining a rotation error (tilt) of the measurement instrument 110 around the y axis based on a difference value in the x direction. [Figure 17]FIG. 13 is a diagram showing an example of the internal configuration of an image processing unit 240 that distinguishes between a translation error in the x-axis direction and a rotation error around the y-axis in the installation location determination process. [Figure 18] FIG. 13 is a diagram showing an example of the internal configuration of an image processing unit 240 that determines a translation error in the z-axis direction in the installation location determination process. [Figure 19] FIG. 1 is a diagram (part 1) showing a specific example of a design installation position for a measuring device 110. [Figure 20] FIG. 2 is a diagram (part 2) showing a specific example of a design installation position for the measuring device 110. [Figure 21] FIG. 3 is a diagram (part 3) showing a specific example of a design installation position for the measuring device 110. [Figure 22] FIG. 4 is a diagram showing a specific example of a design installation position for the measuring device 110. [Diagram 23] 11 is a flowchart showing an example of a procedure for installation work. [Figure 24] 10 is a flowchart showing an example of a work procedure for inspection work. [Diagram 25] 13 is a flowchart showing an example of an error adjustment procedure. [Figure 26] 16 is a diagram showing a configuration example of an installation position adjustment jig 1600. FIG. [Figure 27] 17 is a diagram showing a configuration example of an installation position adjustment jig 1700. FIG. [Figure 28] 11 is a diagram showing an example of the internal configuration of a measurement device 110 and an elevator control unit 130 according to a second embodiment of the present invention. FIG. [Figure 29] FIG. 19 is a diagram showing an example of the configuration of a vehicle movement information detection system 1900 in which the measurement device 110 is applied to a vehicle. [Diagram 30] FIG. 2 is a diagram showing an example of the configuration of a crane movement information detection system 2000 in which the measuring device 110 is applied to a crane. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0013] In each embodiment of the present invention described in detail below, a measurement device, elevator system, installation position confirmation method, etc. that uses a measurement unit (optical transmission unit, imaging unit, and image capture unit) to measure information related to the movement of a moving object (position, movement distance, speed, acceleration, etc.) at high speed and with high accuracy, measures the relative distance and angle with respect to a reference stationary structure with high accuracy, determines whether the measurement device is placed in a specified installation position with appropriate accuracy (i.e., whether the installation position of the measurement device matches the specified installation position), and notifies (e.g. displays) the determination result to an installation worker or inspection worker, etc. However, the present invention is not limited to the embodiments described below.

[0014] The measuring device shown in each embodiment of the present invention described in detail below is mounted on a predetermined installation position of a moving body and measures information related to the movement of the moving body along a course (moving course) that guides the moving body (specifically, at least one of the position (moving distance), speed, acceleration, and vibration of the moving body). For example, in response to a gate signal generated by the control unit, the measuring device irradiates (transmits) light from the optical transmitter from the moving body toward the surface of the stationary structure that is the subject of the measurement, and the measuring device causes the light (which may include specularly reflected light and diffusely reflected light, hereinafter referred to as "scattered light") reflected by the surface of the stationary structure to be incident on the imaging surface of the imaging unit via the imaging unit, and photoelectrically converts the optical signal into an electrical signal in the imaging unit. The measuring device then measures information related to the movement of the moving body in the image processing unit based on an image generated from the converted electrical signal. The measuring device then transmits the information related to the movement of the moving body to a moving body control unit that controls the operation control or safety device of the moving body based on the information related to the movement of the moving body. The moving object control unit controls the operation of the moving object and safety devices based on the information related to the movement of the moving object calculated by the measuring device.

[0015] In addition, in some embodiments, an elevator car is taken as an example of a moving body on which the measuring device according to the present invention is installed, but the moving body to which the present invention can be applied is not limited to an elevator car. The technology shown in each embodiment can also be applied to moving bodies (e.g., automatic doors, trains, cars, cranes, etc.) that move along stationary structures (e.g., guide rails, railroad tracks, roads, etc.) that have artificial polishing scratches. In this specification, "light" refers to electromagnetic waves, and specifically, may be any of visible light, microwaves, terahertz waves, infrared rays, ultraviolet rays, X-rays, etc. Similarly, the measuring system to which the present invention can be applied is not limited to a measuring system incorporated in an elevator system, and can also be applied to, for example, a vehicle positioning system controlled by automatic driving, a crane positioning system, etc.

[0016] In the following description, when describing elements of the same type without distinction, the common portion (part excluding the branch number) of the reference sign including the branch number may be used, and when describing elements of the same type with distinction, the reference sign including the branch number may be used. For example, when describing a measuring device without distinction, it may be written as "measuring device 110", whereas when describing each measuring device 110 with distinction, it may be written as "measuring device 110-A", "measuring device 110-B", etc.

[0017] (1) First embodiment (1-1) Configuration of elevator system 10 FIG. 1 is a diagram showing a configuration example of an elevator system 10 according to a first embodiment of the present invention.

[0018] As shown in Fig. 1, elevator system 10 includes measurement devices 110 (individually 110-A and 110-B) mounted on top of elevator car 120 that moves up and down in a hoistway (pathway for a moving object) of a building (not shown). Also, as shown in Fig. 1, elevator system 10 includes elevator car 120, elevator control unit 130, and guide rail 140 (individually 140-A and 140-B), and at least one of these components may be included in measurement device 110.

[0019] The measuring device 110 outputs signal information useful for controlling the operation of the elevator car 120 (for example, signal information related to the position, speed, or acceleration of the elevator car 120) to the elevator control unit 130. The elevator control unit 130 controls the operation of the elevator car 120 and the safety devices, etc. The measuring device 110 is not limited to being placed on the top of the elevator car 120, and may be placed on a part other than the top, such as the side part or the bottom part (details will be described later). The measuring device 110 shown in FIG. 1 has a redundant configuration by duplication with the measuring device 110-A and the measuring device 110-B, but the redundant configuration of the measuring device 110 in this embodiment is not limited to the duplication configuration, and may be used in a single system configuration without redundancy, or may be a triplex or more redundant configuration.

[0020] Guide rail 140 is an example of a stationary structure that serves as a reference when measuring the relative distance and angle of measurement device 110, and is arranged in the elevator shaft. Guide rail 140 is arranged in the elevator shaft along the movement direction of the moving body (the y-axis direction in FIG. 1), and comes into contact with the guide rollers of elevator car 120 to support the movement of the moving body (elevator car 120).

[0021] In the following description, a coordinate system is used to indicate the translation error direction and rotation error direction of the measurement device 110. As shown in Fig. 1, the coordinate system is defined by defining the movement direction of the moving body as the y-axis direction, the direction perpendicular to the imaging surface (the top surface of the convex portion of the guide rail 140 in Fig. 1) as the z-axis direction, and the direction perpendicular to both the y-axis and z-axis as the x-axis direction. Unless otherwise specified, the terms x-direction, y-direction, and z-direction may be considered to be synonymous with the x-axis direction, y-axis direction, and z-axis direction.

[0022] Fig. 2 is a diagram showing a first example of the internal configuration of the measurement device 110 and the elevator control unit 130. As shown in Fig. 2, the measurement device 110 is configured to include an optical transmitting unit 210, an imaging unit 220, an imaging unit 230, an image processing unit 240, a car movement related information output unit 250, and an instruction unit 260. Note that in Fig. 2, the optical path is indicated by a dashed line with an arrow, and the path of the electrical signal is indicated by a solid line with an arrow.

[0023] The optical transmitter 210 includes a light source (not shown) and is disposed so as to irradiate light toward the subject, the guide rail 140. As the light source of the optical transmitter 210, a temporally and spatially incoherent light source such as an LED (Light Emitting Diode) or a halogen lamp may be used, or a temporally and spatially coherent light source such as a laser light source may be used.

[0024] The imaging unit 220 is configured as an optical system that forms an image of scattered light, which is emitted from the optical transmitter 210 toward the surface of the guide rail 140 and scattered on the surface of the guide rail 140, on the imaging surface of the imaging unit 230. For example, the imaging unit 220 may be a single lens made of glass or resin, a set of multiple lenses, a concave mirror, or the like.

[0025] The imaging unit 230 converts the optical signal from the imaging unit 220 (optical signal indicating the scattering luminance distribution on the surface of the guide rail 140) imaged on an imaging surface including a plurality of pixels into an electrical signal corresponding to the luminance of the pixel, and transmits the converted electrical signal to the image processing unit 240 as an image signal in synchronization with a timing signal indicating the start time and end time of imaging transmitted from the image processing unit 240. For the imaging unit 230, for example, a CCD (Charge Coupled Device) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or the like can be used. The imaging unit 230 may be a two-dimensional area sensor, or a one-dimensional line sensor having a function of spatial resolution in the ascending and descending direction of the car 120.

[0026] The measuring device 110 may be provided with a wavelength-selective filter such as a bandpass filter in addition to the imaging unit 220 in the path of the emitted light from the optical transmitter 210 and the scattered light thereof to remove external light other than that of a desired wavelength. The measuring device 110 may also be provided with a window material or the like in the path of the incident light and scattered light in order to protect the measuring device 110 from sand, dust, or the like entering the inside.

[0027] The image processing unit 240 performs image processing on the image signal (an electrical signal converted from the optical signal imaged on the imaging surface) received from the imaging unit 230, and calculates information related to the movement of the elevator car 120 (specifically, measurement results of at least one of the movement distance (movement amount) or speed of the elevator car 120, hereinafter referred to as car movement related information) based on the captured image generated by the image processing, and transmits this information to the car movement related information output unit 250.

[0028] In calculating the cage movement related information, the image processing unit 240 measures the amount of movement by comparing images of the guide rail 140 captured in multiple different frames between the frames. For example, when the subject, the guide rail 140, is captured from the moving elevator cage 120, a shift occurs in the moving direction between two images of the subject surface (the surface of the guide rail 140) taken at different times, which corresponds to the amount of movement of the elevator cage 120. Therefore, the image processing unit 240 can measure the amount of movement of the elevator cage 120 by calculating the amount of shift in the moving direction between the images. The method of comparing the two images may, for example, calculate the correlation function between the two images using a correlation function method, or calculate the displacement vector of a feature point in the image using an optical flow method.

[0029] Moreover, the image processing unit 240 executes a predetermined calculation process (details will be described later) on the image signal received from the imaging unit 230 to determine whether or not the measuring device 110 is placed with appropriate accuracy at an appropriate installation position (hereinafter, the installation design position) determined based on the guide rail 140 (installation location determination process), and transmits information related to the determination (installation location determination information) to the instruction unit 260. The installation location determination information can include not only determination result information indicating whether or not the current measuring device 110 is placed at a position with appropriate accuracy with respect to the installation design position, but also adjustment information such as in which direction and how far the current placement position is from the installation design position (or in which direction and how much the measuring device 110 needs to be moved to correct it to the installation design position).

[0030] Specifically, the image processing unit 240 may be configured by an information processing storage medium such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a microcontroller, or may be configured by a logic circuit element such as an FPGA (Field-Programmable Gate Array). The image processing unit 240 converts the installation location determination information according to a communication protocol that the elevator control unit 130 can receive (e.g., a protocol such as CAN (Controller Area Network) communication or USB (Universal Serial Bus) communication), and outputs the converted signal information to the car movement related information output unit 250.

[0031] The car movement related information output unit 250 outputs the car movement related information received from the image processing unit 240 to the outside of the measuring device 110. In the case of FIG. 2, the measuring device 110 is connected to the elevator control unit 130 via the car movement related information output unit 250 by an electric cable, and transmits the car movement related information to the elevator control unit 130. The car movement related information output unit 250 may be a connector for connecting an electric cable, or an antenna for wireless communication. The car movement related information output by the car movement related information output unit 250 may be used by the elevator control unit 130 or other control devices (not shown) to perform a predetermined elevator control, or may be notified to the operator 270. The car movement related information output unit 250 may transmit the car movement related information to an instruction unit 260 having a display function of the car movement related information in order to notify the operator 270.

[0032] The instruction unit 260 notifies the worker 270 by displaying the installation location determination information received from the image processing unit 240 on the outside of the measuring device. If the worker 270 is an installation worker, the worker 270 places the measuring device 110 on the top of the elevator car 120 and installs it at the installation design position based on the display of the instruction unit 260. If the worker 270 is an inspection worker, the worker 270 inspects whether the measuring device 110 placed on the top of the elevator car 120 is installed at the installation design position based on the display of the instruction unit 260. The ideal installation design position is a position where the scattered light from the guide rail 140 is uniformly incident on the entire imaging surface of the imaging unit 230 with little blurring (details will be described later).

[0033] Specifically, the above-mentioned indicator 260 may be configured by a combination of single light sources such as LEDs and light bulbs, or may be configured by an element that allows the operator 270 to visually recognize the determination result, such as a digital indicator using a liquid crystal display. Alternatively, the element that configures the indicator 260 may be an element that allows the operator 270 to audibly recognize the determination result, such as a speaker or buzzer that transmits audio guidance.

[0034] In the elevator system 10 according to this embodiment, the internal configurations of the measuring device 110 and the elevator control unit 130 are not limited to the configuration shown in FIG. 2, and may be, for example, as shown in FIG. 3 or FIG. 4.

[0035] FIG. 3 is a diagram showing a second internal configuration example of the measurement device 110 and the elevator control unit 130. In the configuration shown in FIG. 3, the measurement device 110 is configured to have an installation location determination information output unit 280 in addition to the optical transmission unit 210, the imaging unit 220, the image capture unit 230, the image processing unit 240, and the car movement related information output unit 250 shown in FIG. 2. In the configuration shown in FIG. 3, the instruction unit 260 built into the measurement device 110 in FIG. 2 is provided on the elevator control unit 130 side. In the configuration shown in FIG. 3, the functions of the optical transmission unit 210, the imaging unit 220, the image capture unit 230, and the instruction unit 260 are the same as the functions of each unit described in FIG. 2, so the description will be omitted. Also, as in FIG. 2, in FIG. 3, the optical path is indicated by a dashed line with an arrow, and the path of the electrical signal is indicated by a solid line with an arrow.

[0036] In the configuration shown in FIG. 3, the image processing unit 240 transmits the installation location determination information to the installation location determination information output unit 280 rather than to the instruction unit 260.

[0037] Then, the installation location determination information output unit 280 outputs the installation location determination information received from the image processing unit 240 to the outside of the measurement device 110 (for example, the instruction unit 260 of the elevator control unit 130). In the case of Fig. 3, the measurement device 110 is connected to the elevator control unit 130 by an electric cable via the installation location determination information output unit 280, and transmits the installation location determination information to the elevator control unit 130. Note that the installation location determination information output unit 280 may be a connector for connecting an electric cable, or an antenna for wireless communication.

[0038] Fig. 4 is a diagram showing a third example of the internal configuration of the measurement device 110 and the elevator control unit 130. In the configuration shown in Fig. 4, the measurement device 110 is configured to have the same units as those in Fig. 3. However, a difference from Fig. 3 is that in the configuration shown in Fig. 4, an installation location determination information output unit 280 transmits installation location determination information to a display terminal 290 held by an operator 270. As in Figs. 2 and 3, in Fig. 4, optical paths are indicated by dashed lines with arrows, and paths of electrical signals are indicated by solid lines with arrows.

[0039] The display terminal 290 is a portable terminal that can be carried by the worker 270 when installing or inspecting the measuring device 110 in the building in which the elevator system 10 is installed, and specifically, for example, is a tablet, smartphone, or personal computer.

[0040] In the configuration shown in FIG. 4, the image processing unit 240 converts the installation location determination information according to a communication protocol that the display terminal 290 can receive, and outputs the converted signal information to the installation location determination information output unit 280. Then, the installation location determination information output unit 280 transmits the installation location determination information received from the image processing unit 240 to the display terminal 290, and the display terminal 290 displays the received installation location determination information to the worker 270. The method of displaying information on the display terminal 290 is not particularly limited, and may be the same as that of the instruction unit 260 (see FIGS. 6 to 8), for example, or may display more detailed information on a screen. The worker 270 can install or inspect the measuring device 110 with high accuracy by checking the installation location determination information displayed on the display terminal 290.

[0041] In this embodiment, the worker 270 may install or inspect the measuring device 110 by remote operation from a work site far away from the building in which the elevator system 10 is installed. In this case, even if the installation location determination information is displayed on the instruction unit 260 in the building as shown in Fig. 2 or 3, the worker 270 cannot confirm this. Therefore, as shown in the configuration of Fig. 4, it is effective to configure the display terminal 290 to be able to communicate with the measuring device 110 via the Internet, for example, and to display the installation location determination information on the display terminal 290 held by the worker 270.

[0042] (1-2) Configuration of Indicator 260 The following describes in detail the instruction unit 260. As described in FIG. 4, the display terminal 290 also has a role of notifying the operator 270, and therefore the following description regarding the display by the instruction unit 260 is also applicable to the display terminal 290.

[0043] Fig. 5 is a diagram showing an example of the arrangement of the instruction unit 260. Figs. 6 to 8 are diagrams showing examples (parts 1 to 3) of the internal configuration of the instruction unit 260. In the following explanation, the example configuration of the measuring device 110 shown in Fig. 2 is used, but the example configurations shown in Figs. 3 and 4 can also be applied as appropriate.

[0044] Fig. 5 shows an example of the arrangement of the instruction unit 260 in the configuration shown in Fig. 2. As shown in Fig. 5, this instruction unit 260 is provided outside the measuring device 110 so that the display content can be visually recognized by an operator 270.

[0045] 6 to 8, the instruction unit 260 displays information based on the installation location determination information generated by the image processing unit 240 to the worker 270. As a result, by checking the display contents of such instruction unit 260, the worker 270 can visually recognize the placement position determination result as to whether the measuring device 110 is placed with appropriate accuracy at the installation design position based on the guide rail 140, and further, if the placement position is not appropriate, can recognize correction information as to what correction should be made to place the measuring device 110 at the installation design position with appropriate accuracy.

[0046] The instruction unit 260 shown in Fig. 6 is configured to include a determination result display 310. The determination result display 310 outputs whether or not the measuring device 110 is placed in the installation design position with appropriate accuracy (the placement position is appropriate), and is configured, for example, with a single light source such as an LED or a light bulb. For example, the determination result display 310 "lights up" when the placement position is appropriate, and "blinks" when the placement position is inappropriate.

[0047] Note that, similarly to other indicators described later, the display method using a single light source is not limited to lighting and blinking, and various lighting patterns (lighting, blinking, off) and lighting colors can be combined. In addition to a visual indicator, the indicator 260 may use an auditory output device (alarm), and may be provided with, for example, a buzzer that emits a beep sound inside the measuring device 110. In this case, for example, the buzzer sounds when the measuring device 110 is not placed at the installation design position with appropriate accuracy.

[0048] The indicator 260 shown in Fig. 7 includes a correction direction indicator 320 in addition to the judgment result display 310. When the current placement position of the measuring device 110 is not appropriate, the correction direction indicator 320 notifies the operator 270 of an adjustment method for placing the measuring device 110 at the installation design position by displaying the direction of at least one of a translation error or a rotation error (tilt) of the current placement position relative to the installation design position. The correction direction indicator 320 is configured, for example, by a combination of single light sources such as LEDs and light bulbs, and notifies the operator 270 of the direction of the translation error or rotation error (which may be the direction in which the error occurs or the direction to be corrected) by the light emission pattern of the single light sources arranged in a cross shape as shown in Fig. 7.

[0049] The indicator 260 shown in FIG. 8 includes a correction amount indicator 330 in addition to the judgment result indicator 310 and the correction direction indicator 320. When the current placement position of the measuring device 110 does not match the installation design position, the correction amount indicator 330 displays the magnitude of at least one of the translation error or rotation error (tilt) of the current placement position relative to the installation design position, thereby notifying the operator 270 of an adjustment method for placing the measuring device 110 at the installation design position. The correction amount indicator 330 is configured, for example, by a combination of single light sources such as LEDs and light bulbs, and notifies the operator 270 of the magnitude of the translation error or rotation error by the light emission pattern of the single light sources arranged in a row as shown in FIG. 8. When an auditory indicator having the same function as the correction amount indicator 330 is provided, the adjustment method may be notified by a high / low or strong / weak beep pattern, or audio guidance may be played from a speaker.

[0050] (1-3) Installation location determination process The installation location determination process in which the image processing unit 240 determines whether or not the measuring device 110 is placed at the designed installation location with appropriate accuracy will be described in detail below.

[0051] In the installation location determination process, the image processing unit 240 determines the displacement along the x-axis and z-axis directions as translation errors along the respective axes, and determines the inclinations around the x-axis and y-axis as rotation errors around the respective axes, with respect to the placement position of the measuring device 110 relative to the installation design position. Based on the amounts of these errors, the image processing unit 240 can then calculate the amount of correction required to place the current measuring device 110 at the installation design position with appropriate accuracy.

[0052] It should be noted that adjustment is not required for the displacement in the y-axis direction and the tilt around the z-axis other than those mentioned above for the following reasons. Displacement along the y-axis direction is the direction of movement of the moving body (elevator car 120), and deviation in the y-axis direction during installation does not affect the measured values ​​of the relative movement distance and speed of elevator car 120 (measuring device 110) with respect to guide rail 140. Adjustment is not required for tilt around the z-axis because the tilt of the captured image can be corrected by image processing in image processing unit 240. That is, in the comparison process of two images taken at different times, the correlation function method can be used to calculate the displacement in not only the y direction but also the x direction between frames, and the tilt angle of the car can be measured.

[0053] 9 is a diagram showing an example of the internal configuration of the image processing unit 240 that determines the translation error or rotation error of the measuring device 110. The image processing unit 240 performs a predetermined arithmetic process on the image signal received from the imaging unit 230 to determine the translation error of the measuring device 110 along the x-axis direction or the rotation error of the measuring device 110 around the x-axis or y-axis.

[0054] The image processing unit 240 receives an image signal related to scattered light from the guide rail 140 from the imaging unit 230, and divides the captured image into two in each of the x and y directions into a total of four quadrants (quadrants 401, 402, 403, and 404) as shown in Fig. 9. The image processing unit 240 calculates the sum or average value of pixel values ​​in each quadrant, and calculates difference values ​​in each of the x and y directions from the calculated pixel values ​​of each quadrant.

[0055] Here, the pixel value of the quadrant 401 of the captured image (corresponding to the sum or average value of the pixel values ​​in the quadrant, the same applies below) is P 401 Similarly, the pixel values ​​of the quadrants 402, 403, and 404 are P 402 ,P 403 ,P 404 In this case, the pixel value on the positive x-axis side of the captured image is "P x,+ " is "P x,+ =P 402 +P 404 " and the pixel value on the negative x-axis side "P x,- " is "P x,- =P 401 +P 403 " The pixel value on the positive y-axis side of the captured image, "P y,+ " is "P y,+ =P 401 +P 402 " and the pixel value on the negative y-axis side "P y,- " is "P y,- =P 403 +P 404 " is calculated from

[0056] Therefore, the difference value in the x direction is, for example, the pixel value on the positive side of the x axis, "P x,+ " to the pixel value on the negative x-axis side "P x,- " Subtract "P x,+ -P x,- Similarly, the difference value in the y direction can be defined as, for example, the pixel value on the positive side of the y axis, "P y,+ " to the pixel value on the negative y-axis side "P y,- " Subtract "P y,+ -P y,- " can be defined as:

[0057] The image processing unit 240 determines, in the determination circuit 405, the presence or absence of a translation error of the measuring device 110 along the x-axis direction or a rotation error of the measuring device 110 around the x-axis or the y-axis, from the x-direction difference value and the y-direction difference value calculated as described above. Each determination method will be described in detail below. Then, the image processing unit 240 transmits the determination result by the determination circuit 405 to the instruction unit 260.

[0058] (1-3-1) How to determine the translation error along the x-axis Fig. 10 is a conceptual diagram for explaining a method for determining the translation error of the measuring device 110 along the x-axis direction based on the difference value in the x-direction. Fig. 10 (A) shows an example of the positional relationship between the guide rail 140 and the measuring device 110 (image capture area 501 captured by the image capture unit 230) for the measuring device 110 at different positions in the x-axis direction relative to the guide rail 140, (B) shows a conceptual diagram of the captured image 502 in each of the above positional relationships, and (C) shows a conceptual diagram showing the transition of the relationship between the displacement in the x-direction with respect to the installation design position of the measuring device 110 and the difference value in the x direction.

[0059] The measuring device 110 forms an image of scattered light from a predetermined imaging region 501 on the surface of the guide rail 140 on the imaging unit 230 and transmits the image as an image signal to the image processing unit 240. A captured image 502 is a schematic representation of the image signal received by the image processing unit 240. In Fig. 10, a captured image in the imaging region 501-B when the measuring device 110 is placed at the installation design position is referred to as a captured image 502-B, a captured image in the imaging region 501-A when the measuring device 110 has a translation error in the negative direction of the x-axis from the installation design position is referred to as a captured image 502-A, and a captured image in the imaging region 501-C when the measuring device 110 has a translation error in the positive direction of the x-axis from the installation design position is referred to as a captured image 502-C.

[0060] When the measuring device 110 is placed at the designed installation position, the scattered light from the guide rail 140 is incident on the entire imaging surface of the imaging unit 230, and therefore no dark region occurs in the captured image 502-B. However, when the mounting position of the measuring device 110 translates from the designed installation position in either direction along the x-axis and part of the guide rail 140 moves out of the imaging region 501, the scattered light from the guide rail 140 does not enter part of the imaging surface, and therefore dark regions 503 occur in part of the captured images 502-A and 502-C.

[0061] Based on the above, the difference value in the x direction will be described. The difference value in the x direction calculated based on the captured image 502-B when the measuring device 110 is placed at the installation design position has almost no difference between the sum of the pixel values ​​on the positive side of the x axis (quadrants 402, 404) and the sum of the pixel values ​​on the negative side of the x axis (quadrants 401, 403), and the difference value is almost equal to 0. On the other hand, the difference value in the x direction calculated based on the captured images 502-A and 502-C when the measuring device 110 is not placed at the installation design position increases in proportion to the area of ​​the dark region included in the captured images and the magnitude of the pixel values ​​of the scattered light from the guide rail 140, resulting in a finite difference value 504 shown in (C).

[0062] Therefore, the judgment circuit 405 executes an installation location judgment process in which, when the difference value (absolute value) in the x direction is equal to or less than a predetermined threshold value T, it judges it to be “OK” (no translation error in the x direction from the installation design position), and when the difference value (absolute value) in the x direction exceeds the predetermined threshold value T, it judges it to be “NG” (there is a translation error in the x direction from the installation design position), and outputs these judgment results to the instruction unit 260.

[0063] Here, the threshold value T will be described more quantitatively. Consider the pixels on which scattered light from the guide rail 140 is incident, out of all the pixels in the imaging section 230. Let the average value of the pixel values ​​of these pixels be I0 and the standard deviation be σ I It is assumed that the distribution of pixel values ​​follows a normal distribution. x , the number of pixels in the y direction is N y Let us assume that.

[0064] In the captured image 502-B, the difference value in the x direction is approximately the same as the variation in pixel values, and its magnitude is σ I / (√(N x ×N y )) follows a normal distribution with standard deviation. On the other hand, if the measurement device 110 has a translation error in the x direction and a dark area 503 occurs in the x direction, a difference value proportional to the area of ​​the dark area 503 occurs. For example, if the dark area 503 occurs for only one column of pixels, the magnitude of the difference value is I0 × N y Approximately equal to.

[0065] Therefore, in this embodiment, the threshold value T for the difference value is set to a value that is larger than the variation in pixel values ​​(e.g., 5 times the standard deviation) and smaller than the difference value due to the smallest dark area. Such a threshold value T is determined, for example, by the following relational expression 1.

number

[0066] By performing the above installation location determination process using the threshold value T defined by the above equation 1, the determination circuit 405 can output an OK determination when the difference value in the x direction matches "0 (or approximately 0)" within the range of pixel value variation, and can output an NG determination when a dark area occurs in at least one column in the x direction.

[0067] Next, the required installation accuracy in the x direction of the measuring device 110 will be described. The required installation accuracy is the standard accuracy for determining whether the measuring device 110 is placed in the installation design position during installation or inspection of the measuring device 110, and a sufficiently appropriate accuracy is required. The ideal installation design position in the x direction is an arrangement in which the central axis 505 of the guide rail 140 in the x direction coincides with the central axis 506 of the imaging range of the measuring device 110 in the x direction. Even if the central axis 506 of the imaging range is displaced from the central axis 505 of the guide rail 140, as long as the scattered light from the guide rail 140 is incident on the entire imaging surface of the imaging unit 230, the positional fluctuation in the x direction is allowed. Therefore, the width in the x direction of the imaging range of the measuring device 110 is defined as W im , the width of the guide rail 140 in the x direction is Wrail Then, the allowable translation error in the x direction (i.e., the required installation accuracy in the x direction) is required to be the value of the following Equation 2.

number

[0068] Next, a method will be described in which the image processor 240 calculates the magnitude and direction of the translation error based on the magnitude and positive / negative sign of the difference value in the x direction when there is a translation error in the x direction. Since the magnitude of the difference value in the x direction is proportional to the width of the dark area in the x direction, it is possible to calculate the adjustment movement amount from the magnitude of the difference value in the x direction. In addition, it is determined whether the deviation is to the left or right from the sign of the difference value in the x direction.

[0069] In this example, an example of dividing the captured image into two in each of the x and y directions into a total of four quadrants has been shown, but the number of divisions is not limited to 4. For example, by adopting an internal configuration for processing the captured image in a total of 16 quadrants divided into four in each of the x and y directions, the image processing unit 240 can estimate the adjustment movement amount with higher accuracy than in the case of a total of four quadrants.

[0070] When calculating the magnitude of the translation error from the difference in the x direction, the measurement device 110 is already set to an appropriate accuracy (displacement is W rail / 2). For example, when the mounting position of the measuring device 110 is significantly deviated from the installation design position, such as when the displacement is even larger than that of the captured image 502-A, all the pixels in quadrants 401 and 403 become dark regions 503, and dark regions 503 also occur in parts of quadrants 402 and 404, the ratio of bright regions other than the dark regions 503 in the captured image 502 becomes too small, and the translation error cannot be accurately calculated by the method using the quadrants divided into four as described above. In this case, it is necessary to divide the number of divisions into pixels finer than four and estimate the adjustment movement amount from the small number of bright regions.

[0071] (1-3-2) How to determine rotation error around the x-axis Fig. 11 is a conceptual diagram for explaining a method for determining the rotation error (tilt) of the measuring device 110 around the x-axis based on the difference value in the y direction. In Fig. 11, (A) shows an example of the positional relationship between the guide rail 140 and the measuring device 110 for the measuring device 110 at different positions around the x-axis relative to the guide rail 140, (B) shows a conceptual diagram of the captured image 602 in each of the above positional relationships, and (C) shows a conceptual diagram showing the transition of the relationship between the tilt angle around the x-axis with respect to the installation design position of the measuring device 110 and the difference value in the y direction.

[0072] In FIG. 11, the captured image when the measuring device 110 is placed at the installation design position is shown as captured image 602-B, and the captured images when the measuring device 110 is placed at an angle around the x-axis from the installation design position are shown as captured images 602-A and 602-C.

[0073] When the measuring device 110 is placed at an inclination around the x-axis from the installation design position, the pixel value gradually decreases as shown in the captured images 602-A and 602-C shown in (B). This is because the scattering luminance from the guide rail 140 decreases as the scattering angle increases, as described later. When the measuring device 110 is placed at the installation design position, the difference value in the y direction is almost equal to 0. On the other hand, when the measuring device 110 is placed at an inclination around the y-axis from the installation design position, asymmetry (unevenness in pixel values ​​603) appears in the left and right quadrants, resulting in a finite difference value 604 shown in (C). Therefore, the image processing unit 240 (determination circuit 405) can determine the inclination of the measuring device 110 around the x-axis from the difference value in the y direction.

[0074] Specifically, the judgment circuit 405 executes an installation location judgment process in which, when the difference value (absolute value) in the y direction is equal to or less than a predetermined threshold value T, it judges it as "OK" (there is no tilt (rotation error) around the x-axis from the installation design position), and when the difference value (absolute value) in the y direction exceeds the predetermined threshold value T, it judges it as "NG" (there is tilt (rotation error) around the x-axis from the installation design position), and outputs these judgment results to the instruction unit 260. The threshold value T can be determined in the same manner as the threshold value T used in judging the translation error along the x-axis direction described with reference to Fig. 10, and may be the same value.

[0075] Next, the required installation accuracy for the tilt of the measuring device 110 around the x-axis will be described. The ideal installation design position is one in which the measuring device 110 is not tilted, that is, one in which the optical axis of the imaging unit 220 in the measuring device 110 coincides with the z-axis direction. On the other hand, if tilt occurs around the x-axis, the optical axis of the imaging unit 220 and the top surface of the convex portion of the guide rail 140 will not be perpendicular to each other, and the magnification in the y direction will decrease. In other words, if the tilt angle around the x-axis during installation is θ set,x Then, the magnification in the y direction is cos(θ set,x As a result, the distance traveled measured by the measuring device 110 is reduced in proportion to cos(θ set,x ) and a systematic error occurs.

[0076] If the relative tolerance of this systematic error is δr, the tolerance of the tilt around the x-axis at the installation design position is acos(1-δr). Specifically, for example, if you want to keep the systematic error within 0.1% (δr≦0.001), you need an accuracy of 2.5 degrees or less (i.e., θ set,x An installation accuracy of within 2.5° is required.

[0077] Next, when installing or inspecting the measuring device 110 with the required installation accuracy, the configuration of the optical transmitting unit 210 and the imaging unit 220 in the present invention will be described with a focus on the "unevenness of pixel values" that occurs across the entire imaging surface of the imaging unit 230 as the measuring device 110 is tilted due to scattered light from the guide rail 140 described above.

[0078] Fig. 12 is a conceptual diagram for explaining the distribution of luminance in each scattering angle direction of the scattered light of the guide rail 140. In detail, Fig. 12 shows the relationship between the light transmission direction of the light transmitting unit 210, the polishing direction of the guide rail 140, and the distribution of luminance in the scattering angle direction of the scattered light of the guide rail 140 (scattering angle distribution), and an inset 701 shows an image of the variation in scattered light depending on the polishing direction of the guide rail 140.

[0079] In a configuration in which the polishing direction of the guide rail 140 is along the y-axis, the surface of the guide rail 140 is rough in the x-axis direction perpendicular to the polishing direction (see inset 701(B)). As a result, in the xz plane perpendicular to the polishing direction (y direction), the direction of scattered light from polishing scratches varies greatly. On the other hand, in the yz plane parallel to the polishing direction (y direction), the slope of the surface of the guide rail 140 is uniform along the polishing, so scattered light is less likely to occur (see inset 701(C)), and the light is distributed in a concentrated manner in the emission direction of the specularly reflected light, with little variation in the angular distribution.

[0080] Therefore, when the polishing direction of the guide rail 140 is configured along the y-axis, if the light transmission direction in the light transmitting unit 210 is configured to be within the xz plane as shown in Fig. 12, the emission direction of the specularly reflected light will also be within the xz plane. As a result, the scattering angle distribution is strongly centered on the xz plane (see (A) of the inset 701), and high-brightness scattered light is incident on the imaging unit 220.

[0081] 13 to 15 are conceptual diagrams (parts 1 to 3) for explaining the directions of illumination light from the optical transmitter 210, its scattered light, and specularly reflected light.

[0082] 13 shows a state when the measurement device 110 is placed in an ideal installation design position (where the optical axis of the imaging unit 220 coincides with the z-axis) in terms of tilt around the x-axis. In the ideal installation design position as shown in FIG. 13, the specularly reflected light within the imaging range is located within the xz plane. When the emission positions of the illumination light from the optical transmitter 210 are distributed in the y direction over a length approximately equal to the width of the imaging range, the specularly reflected light within the imaging range uniformly enters the imaging unit 220.

[0083] On the other hand, Fig. 15 shows a state in which the measurement device 110 is significantly tilted around the x-axis with respect to the ideal installation design position. When a large tilt around the x-axis occurs as in Fig. 15, there is no light source at the position that emits the specularly reflected light that should be reflected in the imaging range and enter the imaging unit 220 as a principal ray, and the specularly reflected light from a part of the imaging range does not enter the imaging unit 220. As a result, a gradual decrease in brightness occurs in the captured image.

[0084] FIG. 14 is a conceptual diagram for explaining the condition under which specularly reflected light from the imaging range does not enter imaging section 220. In FIG.

[0085] As shown in FIG. 14, the height of the optical transmitter 210 in the y direction is H LED , the height of the imaging area is H im , the z-component of the displacement of the optical transmitter 210 relative to the guide rail 140 is L z In this case, the slope angle at which a gradual decrease in pixel value begins is atan((H LED -H im ) / (2×L z Therefore, in order for the specularly reflected light from the imaging range to enter the imaging unit 220, the height H LED The upper boundary of can be defined, for example, by Equation 3 below.

number

[0086] The above formula 3 is calculated based on the required installation accuracy of the inclination around the x-axis, "θ set,x " is solved as in Equation 4 below. The right-hand side of Equation 4 represents the minimum measurable value of the rotation error around the x-axis.

number

[0087] Furthermore, the measuring device 110 may tilt around the x-axis while traveling due to cage sway. In order to obtain a uniform image even when such a tilt occurs, it is necessary to make the size of the optical transmitter 210 sufficiently large and provide a margin for tilt. Therefore, the magnitude of tilt due to cage sway is defined as "θ vib,x ", then the height H of the optical transmitter 210 LED By defining the lower limit of the inclination angle θ as in the following formula 5, for example, a sufficient margin for the inclination angle can be ensured.

number

[0088] Using the above formulas 3 and 5, the height H of the optical transmitter 210 in the y direction is calculated. LED For example, the measurement device 110 calculates that the z component of the displacement of the optical transmitter 210 relative to the guide rail 140 is 70 mm, and the height H im In this case, in order to install the measuring device 110 with the required installation accuracy (magnification variation within 0.1%) with the magnitude of cage sway of 1 degree and an inclination angle of 2.5 degrees or less, the height H LED Let H be the height of the imaging area. imIf this difference is selected to be greater than 3.5 mm and less than 8.9 mm, it will be possible to determine the tilt about the x-axis from the installation design position with a precision equal to or greater than the required installation accuracy, and to obtain a uniform image that is always free from unevenness even if the car sways.

[0089] (1-3-3) How to determine rotation error around the y-axis Fig. 16 is a conceptual diagram for explaining a method for determining the rotation error (tilt) of the measuring device 110 around the y-axis based on the difference value in the x-direction. In Fig. 16, (A) shows an example of the positional relationship between the guide rail 140 and each measuring device 110 for measuring devices 110 at different positions around the y-axis relative to the guide rail 140, (B) shows a conceptual diagram of a captured image 902 in each of the above positional relationships, and (C) shows a conceptual diagram showing the transition of the relationship between the tilt angle around the y-axis with respect to the installation design position of the measuring device 110 and the difference value in the x-direction.

[0090] In Figure 16, the captured image when the measuring device 110 is placed at the designed installation position is shown as captured image 902-B, and the captured images when the measuring device 110 is placed at an angle around the y-axis from the designed installation position are shown as captured images 902-A and 902-C.

[0091] When the measuring device 110 is placed tilted around the y-axis from the installation design position, the pixel value gradually decreases as shown in the captured images 902-A and 902-C shown in (B). This is because the scattering luminance from the guide rail 140 decreases as the scattering angle increases. Therefore, like the above-mentioned x-direction translation error and x-axis rotation error, as shown in (C), it is possible to determine the tilt of the measuring device 110 around the y-axis from the x-direction difference value based on the captured images 902-A to 902-C.

[0092] Next, the required installation accuracy for tilt around the y-axis in this configuration will be described. As described above with reference to Fig. 12, the polishing scratches on the guide rail 140 are parallel to the movement direction (y-axis direction), so the angular distribution of scattered light from the polishing scratches varies greatly in the xz plane (see (A) of the inset 701 in Fig. 12). As a result, even if some tilt around the y-axis occurs, the angular distribution of scattered luminance is broad, so that a gradual drop in pixel value as shown in (B) of Fig. 16 is unlikely to occur, and it is possible to always obtain a uniform image without unevenness. In other words, tilt around the y-axis has a smaller error sensitivity and is easier to adjust than tilt around the x-axis.

[0093] On the other hand, the spread angle in the x direction of the angular distribution of scattered light due to polishing scratches is defined as "θ scat,x ", then θ scat,x When the measuring device 110 is tilted about the y-axis by a value significantly exceeding this value, a gradual drop in pixel value (unevenness in pixel value 903) as shown in (B) occurs in the captured images 902-A and 902-C. Therefore, the required installation accuracy for tilting about the y-axis is determined by the spread angle "θ scat,x " is determined by.

[0094] (1-3-4) Distinguishing between translation error in the x-axis direction and rotation error around the y-axis Comparing the captured images 502-A to 502-C in Fig. 10 described in (1-3-1) above with the captured images 902-A to 902-C in Fig. 16 described in (1-3-3) above, it can be seen that a gradual drop in pixel value can occur in the x direction in both captured images. This means that similar captured images can be obtained when the measuring device 110 has a translation error in the x-axis direction and when it has a rotation error around the y-axis. In order to accurately determine the placement position of the measuring device 110 relative to the installation design position, it is preferable to be able to distinguish the causes of these errors.

[0095] 17 is a diagram showing an example of the internal configuration of an image processing unit 240 that distinguishes between a translation error in the x-axis direction and a rotation error around the y-axis in the installation location determination process. The image processing unit 240 shown in FIG. 17 is configured with a counting circuit 1001 and a determination circuit 1003.

[0096] In the case of positional fluctuation in the x direction of the measuring device 110, the guide rail 140 shifts out of the imaging range, causing a dark area in part of the imaging range, which is a cause of reduced accuracy. On the other hand, in the case of tilting the measuring device 110 around the y axis, the cause of reduced accuracy is a gradual decrease in the brightness distribution along the x direction due to the tilt.

[0097] 17, an accumulation circuit 1001 calculates the sum of pixels in the y-axis direction for the image signal received from the imaging unit 230, and calculates the difference between adjacent pixels in the x-axis direction to generate a differential profile 1002. In such a differential profile 1002, when a positional variation occurs in the x-axis direction, a steep and high peak occurs at the end of the guide rail 140 (differential profile 1002-A). On the other hand, when a tilt occurs around the y-axis, no steep peak appears, and a gradual and low peak occurs (differential profile 1002-B).

[0098] The determination circuit 1003 pays attention to the difference between the difference profiles 1002-A and 1002-B as described above, calculates the height and width of the difference profile 1002, and determines whether the decrease in pixel value in the captured image is caused by a positional change in the x-axis direction (translation error), a tilt around the y-axis (rotation error), or both, based on the height and width. In the determination using the height, the determination circuit 1003 uses, for example, an average pixel value I0 as a reference and determines that if the height in the difference profile 1002 is as large as the average pixel value I0, it is a positional change in the x-axis direction, and if the height is somewhat smaller than the average pixel value I0, it is a tilt around the y-axis. At this time, the height threshold value used as the determination criterion for the tilt around the y-axis is, for example, half the average pixel value I0. In the determination using the width, the determination circuit 1003 determines that if the width is as small as one pixel, it is a positional change in the x-axis direction, and if the width is somewhat larger than one pixel, it is a tilt around the y-axis. In this case, the threshold width used as a criterion for determining the inclination around the y-axis is set to, for example, several pixels (2 to 3 pixels).

[0099] Then, based on the results of the determination of the causes of errors for the installation design position, the judgment circuit 1003 identifies the adjustment information (adjustment direction and adjustment movement amount) required to eliminate each error, and outputs the judgment result (OK judgment or NG judgment) of whether the measuring device 110 is placed at the installation design position or not, and in the case of an NG judgment, the adjustment information (adjustment direction and adjustment movement amount) to the instruction unit 260, etc., together with the installation location judgment information.

[0100] As described above, the scattered light from the guide rail 140 spreads widely in the x direction due to polishing scratches in the y-axis direction on the surface of the guide rail 140, so the tilt around the y-axis has a smaller error sensitivity and is easier to adjust than the tilt around the x-axis. Therefore, the determination circuit 1003 may roughly adjust the rotation error around the y-axis, and then finely adjust the translation error in the x direction by referring to the difference value in the x direction.

[0101] Also, for the rotation error around the x-axis described in (1-3-2), the internal configuration of the image processing unit 240 shown in Fig. 17 performs similar processing with the x-axis and y-axis interchanged, making it possible to determine whether the cause of the error is tilt (rotation) around the x-axis or something else (for example, displacement in the y-axis direction). In this case, specifically, the summing circuit 1001 calculates the sum of pixels in the x-axis direction, and calculates the difference between adjacent pixels in the y-axis direction to create a differential profile 1002 along the y-axis direction. Then, the determination circuit 1003 determines the magnitude and / or direction of the rotation error around the x-axis from the position of the peak of the differential profile 1002.

[0102] (1-3-5) How to determine translation error along the z-axis direction 18 is a diagram showing an example of the internal configuration of the image processing unit 240 that determines the translation error in the z-axis direction in the installation location determination process. The image processing unit 240 shown in FIG.

[0103] The image processing unit 240 shown in FIG. 18 receives an image signal related to scattered light from the guide rail 140 from the imaging unit 230, and executes two-dimensional Fourier transform in the x-axis direction and the y-axis direction in the Fourier transform circuit 1101. At this time, when the measuring device 110 is displaced in the z-axis direction from the installation design position and blurring occurs in the captured image, the high spatial frequency components decrease as shown in the graph in FIG. 18. Therefore, the judgment circuit 1102 judges the positional fluctuation along the z-axis direction based on the decrease in the Fourier intensity of the high-frequency components. For example, if the Fourier intensity of the high-frequency components is lower than that expected from the captured image of the guide rail 140, it judges it as "NG" (there is a translation error in the z-axis direction from the installation design position) and transmits an NG signal to the instruction unit 260. On the other hand, if the Fourier intensity obtained by the Fourier transform is equal to or higher than the Fourier intensity of the high-frequency components expected above, the judgment circuit 1102 judges it as "OK" (there is no translation error in the z-axis direction from the installation design position) and transmits an OK signal to the instruction unit 260. The determination circuit 1102 can calculate the amount of adjustment (amount of correction) required to eliminate the error in the installation design position from the amount of reduction in the Fourier intensity of the high frequency component.

[0104] As described above in (1-3-1) to (1-3-5), the measuring device 110 according to this embodiment can determine a translation error in the x-axis direction and a rotation error around the y-axis based on a difference value in the x-axis direction when the image processing unit 240 has the internal configuration shown in FIG. 9, and can determine a rotation error around the x-axis based on a difference value in the y-axis direction. Furthermore, when the image processing unit 240 has the internal configuration shown in FIG. 18, the measuring device 110 can determine a translation error in the z-axis direction by two-dimensional Fourier transform in the x-axis direction and the y-axis direction. Furthermore, when the image processing unit 240 has the internal configuration shown in FIG. 17, the measuring device 110 can determine whether an error factor exists, a translation error in the x-axis direction or a rotation error around the y-axis, or whether a rotation error around the x-axis is the factor.

[0105] The internal configurations of the image processing unit 240 shown in Figures 4, 17, and 18 described above can function independently, but may be combined as appropriate. For example, by combining the internal configuration of Figure 4 with the internal configuration of Figure 18 to configure the image processing unit 240, it is possible to determine the displacement (translation error) and tilt (rotation error) regarding all axes, except for the displacement in the y-axis direction and the tilt around the z-axis, which do not require adjustment. Furthermore, by adding the internal configuration of Figure 17, it is possible to accurately determine the cause of the error, and to improve the accuracy of the installation design position determination process.

[0106] (1-4) Designed installation location of measuring device 110 Up until now, the designed installation position of the measuring device 110 has been the top of the elevator car 120, but the designed installation position of the measuring device 110 in this embodiment is not limited to this, and various configurations can be adopted in which the measuring device 110 is placed directly or indirectly on a horizontal (or approximately horizontal) surface among the surfaces that make up the elevator car 120, as exemplified below.

[0107] 19 to 22 are diagrams (parts 1 to 4) showing specific examples of the installation design position of the measuring device 110. In the specific examples of Fig. 19 to Fig. 22, a position where the guide rail 140 can be clearly seen from the elevator car 120 is selected as the installation design position of the measuring device 110.

[0108] 19 shows an example in which measuring device 110 is installed on top of umbrella 1202 located above guide rollers 1201 of elevator car 120. This configuration has the advantage of not requiring any changes to the current configuration of elevator car 120. Also, the on-site worker only needs to place and secure measuring device 110 on umbrella 1202 when working on the car, so the installation work man-hours are small.

[0109] 20 shows an example in which a gap is provided below guide roller 1201 of elevator car 120, and measuring device 110 is installed in that gap. This configuration allows installation on the upper surface of elevator car 120, which has high surface precision, so rotation errors are unlikely to occur when measuring device 110 is installed. Also, by preparing screw holes or marks at the design position for installing measuring device 110 during the design stage of elevator car 120, it is possible to reduce translational errors and / or rotational errors and install measuring device 110 with higher precision.

[0110] 21 shows an example in which an opening is provided in front of the guide rail 140 of the elevator car 120, and the measuring device 110 is installed in this opening. In this configuration, the indicator 260 of the measuring device 110 is provided inside the elevator car 120, so that a worker 270 can install and inspect the measuring device 110 by working only inside the car. This is expected to simplify the work and shorten the work time.

[0111] 22 shows an example in which the measuring device 110 is installed below the elevator car 120 (on the floor surface or under the floor, etc.). This configuration is effective when there is little space above the elevator car 120. For example, in a building with a low ceiling where the height inside the elevator shaft is restricted, it is effective to select this configuration.

[0112] The design installation position of the measuring device 110 in this embodiment may be configured by combining the above examples. For example, when it is necessary to install multiple measuring devices 110 for the purpose of improving reliability through redundancy, it is possible to install one above the car (FIG. 19) and the other below the car (FIG. 22).

[0113] (1-5) Installation and inspection of the measuring device 110 The following describes in detail the procedures for the installation work of installing the measuring device 110 at an appropriate installation position (designed installation position) and the inspection work of maintaining and inspecting the position of the installed measuring device 110. The installation work and the inspection work are performed by a worker 270. The internal configurations of the measuring device 110 and the elevator control unit 130 may be any of the configuration examples shown in Figs. 2 to 4.

[0114] (1-5-1) Installation work FIG. 23 is a flowchart showing an example of a procedure for installation work.

[0115] According to FIG. 23, first, worker 270 places measuring device 110 at the installation design position of elevator car 120 (step S101).

[0116] Next, the operator 270 recognizes the installation location judgment information displayed on the instruction unit 260 (or the display terminal 290) and checks whether the measuring device 110 is placed at the installation design position (step S102). Specifically, the operator 270 checks whether a display indicating an OK judgment is displayed on the judgment result display 310 shown in Figs. 6 to 8.

[0117] In addition, operations such as connecting the measuring device 110 to the elevator control unit 130 or the display terminal 290 and supplying power to the measuring device 110 may be performed before starting the installation work procedure shown in Figure 23, or may be performed at least before step S102.

[0118] If the measurement device 110 is not placed at the installation design position in the confirmation of step S102, that is, if an NG judgment is output (NO in step S103), the worker 270 adjusts the placement position of the measurement device 110 based on the installation location judgment information displayed on the instruction unit 260 (or the display terminal 290) (step S104). Specifically, if the instruction unit 260 or the display terminal 290 is equipped with the correction direction indicator 320 shown in Fig. 7 or 8, the worker 270 adjusts the placement position of the measurement device 110 using an installation position adjustment tool described later according to the displacement or tilt indicated by the correction direction indicator 320. Note that, if the instruction unit 260 or the display terminal 290 is not equipped with the correction direction indicator 320, the worker 270 moves the measurement device 110 in each direction to search for the installation design position by himself.

[0119] After step S104, the process returns to step S102, and the operator 270 checks whether the adjusted measuring device 110 is placed at the installation design position, based on the installation location determination information displayed on the instruction unit 260 or the display terminal 290. The operator 270 repeats the processes of steps S102 to S104 until the determination in step S103 is YES.

[0120] On the other hand, if the measurement device 110 is placed at the installation design position in the confirmation in step S102, that is, if an OK judgment is output (YES in step S103), the process proceeds to step S105.

[0121] Then, in step S105, the worker 270 uses a fixing jig to fix the measuring device 110 at the current placement position, and ends the installation work.

[0122] As described above, by performing the installation work in FIG. 23, the worker 270 can easily place and install the measuring device 110 in the installation design position with sufficiently appropriate accuracy without using any special measuring tools and without relying on his / her own level of proficiency in measuring techniques and optical adjustment techniques.

[0123] (1-5-2) Inspection work FIG. 24 is a flowchart showing an example of a work procedure for inspection work.

[0124] According to FIG. 24, first, the worker 270 recognizes the installation location judgment information displayed on the instruction unit 260 in the measuring device 110 installed in the elevator car 120, and checks whether the measuring device 110 is placed at the installation design position (step S201). Specifically, the worker 270 checks whether the judgment result display 310 shown in FIG. 6 to FIG. 8 displays an OK judgment. The worker 270 may use the display terminal 290 instead of the instruction unit 260, and this is also the case in the following processing. By checking in step S201, it is possible to know whether the measuring device 110 has shifted from the installation design position due to, for example, vibration, impact, or loosening of the jig of the elevator car 120 while the elevator car 120 is in operation for a long period of time.

[0125] When the confirmation in step S201 shows that the measuring device 110 is placed in the designed installation position, that is, when an OK judgment is output (YES in step S202), the operator 270 ends the inspection work regarding the installation position of the measuring device 110.

[0126] On the other hand, if the checking in step S201 shows that the measuring device 110 is not placed at the installation design position, that is, if an NG judgment is output (NO in step S202), the operator 270 removes the fixing jig of the measuring device 110 (step S203).

[0127] Next, the worker 270 checks whether the measuring device 110 is placed at the installation design position based on the installation location determination information displayed by the instruction unit 260 (step S204). If the measuring device 110 is not placed at the installation design position in the check in step S204, that is, if a NG determination is output (NO in step S205), the process proceeds to step S206. Note that immediately after removing the fixing jig in step S203, the measuring device 110 remains in a state where it is not placed at the installation design position, so the process may skip steps S204 and S205 and proceed to step S206.

[0128] In step S206, the worker 270 adjusts the placement position of the measuring device 110 based on the installation location determination information displayed on the instruction unit 260. The adjustment method in step S206 is similar to the adjustment method in the installation work (step S104 in FIG. 23), and detailed description thereof will be omitted.

[0129] After step S206, the process returns to step S204, where the operator 270 checks whether the adjusted measuring device 110 is placed at the installation design position, based on the installation location determination information displayed on the instruction unit 260. The operator 270 repeats the processes of steps S204 to S206 until the determination in step S205 is YES.

[0130] On the other hand, if it is determined in step S204 that the measuring device 110 is placed at the installation design position, that is, if an OK determination is output (YES in step S205), the process proceeds to step S207.

[0131] Then, in step S207, the worker 270 fixes the measuring device 110 at the current placement position using a fixing jig, and ends the inspection work.

[0132] As described above, by performing the inspection work of FIG. 24, the worker 270 can easily check whether the measuring device 110 is placed in the installation design position with appropriate accuracy without using any special measuring tools and without relying on his / her own level of proficiency in measurement techniques and optical adjustment techniques, and if the placement position is misaligned, he / she can easily reset it to the installation design position.

[0133] The inspection procedure shown in Figure 24 can be applied not only to maintenance inspections, but also to any work in which the measuring device 110 is temporarily removed (released) from the elevator car 120 and then reinstalled for maintenance or repair of the measuring device 110.

[0134] (1-5-3) Error adjustment 23 and step S206 in Fig. 24, the worker 270 adjusts the error of the measuring instrument 110 with respect to the installation design position based on the installation location determination information. The procedure of such an error adjustment operation will be described.

[0135] FIG. 25 is a flowchart showing an example of a procedure for error adjustment.

[0136] 25, first, operator 270 adjusts the tilt angle (rotation error) of measuring device 110 about the y-axis (step S301). The reason for adjusting the rotation error first in the error adjustment is that, depending on the position of the rotation axis, when the tilt angle is changed, not only the tilt angle but also the position in the translation direction of measuring device 110 fluctuates. Also, as described above, the error sensitivity of the rotation error about the y-axis in the captured image of measuring device 110 is smaller than that of the rotation error about the x-axis, so the rotation error about the y-axis is adjusted first.

[0137] Next, the operator 270 adjusts the tilt angle (rotation error) of the measuring device 110 around the x-axis (step S302).

[0138] Next, the operator 270 translates the measuring device 110 along the x-axis to adjust the displacement in the x-direction (translation error) (step S303).

[0139] In the error adjustment, the x-axis translation error and the z-axis translation error are adjusted, but of the x-axis and z-axis, the z-axis direction, which has a strong influence on the optical system performance (image blur), has a greater effect on the measurement performance. In addition, in the z-axis adjustment, the presence or absence of image blur is detected, so the measurement accuracy of the z-axis translation error is improved by first confirming that the guide rail 140 is positioned over the entire imaging range and then measuring the amount of blur using the entire image. Therefore, first, in step S303, the x-direction translation error is adjusted and it is confirmed that the guide rail 140 can be seen over the entire imaging range of the imaging unit 230.

[0140] Then, after the adjustment in step S303, the operator 270 translates the measuring device 110 along the z-axis to adjust the displacement in the z direction (translation error) (step S304), and ends the error adjustment.

[0141] (1-6) Installation position adjustment jig The following provides a detailed explanation of the installation position adjustment jig used to adjust the installation position (mounting position) when installing the measuring device 110 on the elevator car 120. Note that the installation position adjustment jigs 1600 and 1700 described below may be considered as one configuration of the measuring device 110 according to this embodiment.

[0142] Fig. 26 is a diagram showing a configuration example of an installation position adjustment jig 1600. The installation position adjustment jig 1600 is an example of an installation position adjustment jig that can be used to adjust the position of the measuring device 110 according to this embodiment. As shown in Fig. 26, the installation position adjustment jig 1600 includes a z-axis rotation adjustment tool 1610, an x-axis rotation adjustment tool 1620, an x-axis translation adjustment tool 1630, and a z-axis translation adjustment tool 1640.

[0143] As explained in the error adjustment of Fig. 25, since the translation position of measuring device 110 varies depending on the position of the rotation axis, installation position adjustment jig 1600 is configured to first adjust the rotation error and then adjust the translation error. Specifically, as shown in Fig. 26, rotation adjusters (z-axis rotation adjuster 1610, x-axis rotation adjuster 1620) are first installed on elevator car 120, then translation adjusters (x-axis translation adjuster 1630, z-axis translation adjuster 1640) are installed on the rotation adjusters, and finally measuring device 110 is installed on the translation adjuster (for example, on the top surface of x-axis translation adjuster 1630).

[0144] The z-axis rotation adjustment tool 1610 includes at least two layers of jigs. Of the two layers of jigs, the lower layer jig is fixed to the elevator car 120. The upper layer jig can rotate only around the z axis independently of the fixed lower layer jig, and translational movements in each axial direction and rotational movements around axes other than the z axis are restricted. The z-axis rotation adjustment tool 1610 is, for example, a manual rotation stage.

[0145] The x-axis rotation adjustment tool 1620 includes at least two jigs. One jig is fixed to the z-axis rotation adjustment tool 1610. The other jig rotates only around the x-axis independently of the fixed jig, and translational movements in each axis direction and rotational movements around axes other than the x-axis are restricted. The x-axis rotation adjustment tool 1620 may be, for example, a manual one-axis goniostage.

[0146] The z-axis translation adjustment tool 1640 includes at least two jigs. One jig is fixed to a jig that can rotate around the x-axis of the x-axis rotation adjustment tool 1620, and the other jig translates in the z-axis direction independently of the fixed jig, so that rotational movements around each axis and translational movements in directions other than the z-axis direction are restricted. The z-axis translation adjustment tool 1640 is, for example, a manual translation stage.

[0147] The x-axis translation adjuster 1630 includes at least two jigs. One jig is fixed to a jig that can translate in the z-axis direction of the z-axis translation adjuster 1640. The other jig translates in the x-axis direction independently of the fixed jig, and rotational movements around each axis and translational movements in directions other than the x-axis direction are restricted. The x-axis translation adjuster 1630 is, for example, a manual translation stage. Note that the positional relationship between the x-axis translation adjuster 1630 and the z-axis translation adjuster 1640 in FIG. 26 may be reversed.

[0148] Fig. 27 is a diagram showing a configuration example of an installation position adjustment jig 1700. The installation position adjustment jig 1700 is another example of an installation position adjustment jig that can be used to adjust the position of the measuring device 110 according to this embodiment, and has a simpler configuration (e.g., a configuration including fewer jigs) than the installation position adjustment jig 1600 shown in Fig. 26 for the purpose of reducing manufacturing costs. As shown in Fig. 27, the installation position adjustment jig 1700 includes a z-axis rotation adjustment tool 1710, an x-axis rotation adjustment tool 1720, an x-axis translation adjustment tool 1730, and a z-axis translation adjustment tool 1740.

[0149] 27, the installation position adjustment jig 1700 first installs rotation adjusters (z-axis rotation adjuster 1710, x-axis rotation adjuster 1720) to the elevator car 120, then installs translation adjusters (x-axis translation adjuster 1730, z-axis translation adjuster 1740) to the rotation adjusters, and finally installs the measuring device 110 on the translation adjuster (for example, on the upper surface of the z-axis translation adjuster 1740). In addition, a smooth cylindrical protrusion 1701 is provided on the elevator car 120.

[0150] Z-axis rotation adjuster 1710 includes a single-layer jig in which recess 1711 is formed to fit with protrusion 1701. Z-axis rotation adjuster 1710 is configured to be rotatable only around the z-axis with protrusion 1701 as the center by inserting protrusion 1701 into recess 1711.

[0151] When protrusion 1701 is provided on elevator car 120, it is provided at a position where the center of guide rail 140 and the x coordinate coincide. As a result, even if the rotational movement around the z axis is adjusted by z-axis rotation adjuster 1710, the distance from measuring device 110 placed on installation position adjustment jig 1700 to guide rail 140 does not change, and adjustment by translational movement in the x axis direction is also not necessary. Furthermore, if protrusion 1701 is provided so as to be located at the installation design position in the z direction, adjustment by translational movement in the z axis direction is also not necessary.

[0152] The x-axis rotation adjuster 1720 includes a jig having a hole with a tap formed at one end in the z direction, and is fixed by an adjustment screw 1721 screwed into the hole. The x-axis rotation adjuster 1720 adjusts the tilt angle about the x-axis by adjusting the height of one side of the x-axis rotation adjuster 1720 according to the number of turns of the adjustment screw 1721. In addition, a smooth groove 1722 parallel to the x-axis is provided on the upper surface (x-axis translation adjuster 1730 side) of the jig of the x-axis rotation adjuster 1720. This groove 1722 is a structure for the x-axis translation adjuster 1730.

[0153] The x-axis rotation adjuster 1720 may have a screw hole into which the adjustment screw 1721 is screwed, not only at one end in the z direction but also at the other end. In this case, it is possible to adjust the rotation error around the x-axis in both positive and negative (clockwise and counterclockwise) directions.

[0154] X-axis translation adjuster 1730 comprises a jig, the underside of which is provided with a smooth convex portion 1731 parallel to the x-axis that fits into groove 1722 of x-axis rotation adjuster 1720. X-axis translation adjuster 1730 adjusts displacement in the x-axis direction by sliding along groove 1722 in the x-axis direction. In addition, a smooth groove 1732 parallel to the z-axis is provided on the upper surface of x-axis translation adjuster 1730 (the side facing z-axis translation adjuster 1740). This groove 1732 is a structure for z-axis translation adjuster 1740.

[0155] Z-axis translation adjuster 1740 comprises a jig having a smooth protrusion 1741 on its underside that is parallel to the z-axis and fits into groove 1732 of x-axis translation adjuster 1730. Z-axis translation adjuster 1740 adjusts the displacement in the z-axis direction by sliding it along groove 1732 in the z-axis direction.

[0156] An example of the structure of the installation position adjustment jig has been described in detail above with reference to Figures 26 and 27. Using such an installation position adjustment jig, an operator 270 adjusts the rotation error and translation error with each adjustment tool according to the error adjustment procedure shown in Figure 25, and after completing the adjustment, fixes each tool with, for example, a screw or the like to restrict the movement of each tool.

[0157] (2) Second embodiment In the first embodiment described above, the worker 270 manually adjusts the installation position of the measuring device 110 in the elevator car 120 using the installation position adjustment jig 1600 based on the display of the instruction unit 260 or the display terminal 290 of the measuring device 110. In the second embodiment, however, for example, a signal input to the instruction unit 260 is input to an actuator, and the actuator automatically adjusts the installation position of the measuring device 110 to the designed installation position.

[0158] FIG. 28 is a diagram showing an example of the internal configuration of the measurement device 110 and the elevator control unit 130 in the second embodiment of the present invention.

[0159] As shown in Fig. 28, in an elevator system 20 according to the second embodiment, the measuring device 110 is configured to include an optical transmitting unit 210, an imaging unit 220, an imaging unit 230, an image processing unit 240, a car movement related information output unit 250, and an installation location determination information output unit 280, similar to Fig. 3 in the first embodiment. The function and configuration of each unit are similar to those of each unit shown in Fig. 2 or 3, and therefore detailed description will be omitted.

[0160] Also, as a difference from the elevator system 10 according to the first embodiment, the elevator system 20 according to the second embodiment is configured to include an actuator 1800 in addition to the measurement device 110.

[0161] The actuator 1800 includes a z-axis rotation adjuster, an x-axis rotation adjuster, an x-axis translation adjuster, and a z-axis translation adjuster, similar to the installation position adjustment jigs 1600 and 1700 in the first embodiment. However, unlike the first embodiment, the actuator 1800 is electronically controlled, not manually by the operator 270, so that an electric adjustment stage such as an electric translation stage, an electric rotation stage, or an electric goniostage is used.

[0162] As shown in Fig. 28, the actuator 1800 is fixed to the elevator car 120 and holds the measuring device 110 thereon. Note that in Fig. 28, the example shown in Fig. 19 is used as the design installation position of the measuring device 110, but this embodiment can also be applied to other design installation positions such as those shown in Figs. 20 to 22.

[0163] The actuator 1800 receives installation location determination information (including the determination result of whether or not the measuring device 110 is placed at the installation design position, and adjustment information (adjustment direction and adjustment movement amount) if the determination result is NG) from the installation location determination information output unit 280 of the measuring device 110. Then, based on the received installation location determination information, the actuator 1800 performs translational movement or rotational movement, or both, of the measuring device 110 with respect to the elevator car 120 as a reference, and adjusts the displacement (translation error) and angle (rotation error) of the measuring device 110 until an OK determination is obtained from the installation location determination information of the measuring device 110. The adjustment procedure by the actuator 1800 may follow the error adjustment procedure shown in FIG. 25, but may be other procedures (for example, moving each adjustment tool all at once, etc.) because it is not a task performed by an operator.

[0164] As described above, in the second embodiment, the actuator 1800 can automatically adjust the installation position of the measuring device 110, so that the measuring device 110 can be easily installed with sufficient appropriate accuracy relative to the designed installation position, regardless of the skill level of the operator 270.

[0165] (3) Third embodiment In the first and second embodiments described above, the measurement device 110 is applied to a device that measures at least either the position or the speed of the elevator car 120 moving in the elevator systems 10 and 20. However, the present invention is not limited to the above applications, and can be widely applied to various other systems, devices, methods, and programs.

[0166] For example, the measurement device 110 according to the first or second embodiment can be applied not only to elevator operation but also to applications for detecting with high accuracy the position and speed of a vehicle (moving body) such as an automobile or train that travels faster than the elevator car 120. For example, in an autonomous vehicle, the measurement device 110 can be applied for the purpose of position monitoring or speed monitoring on a highway, or for the purpose of highly accurate position determination in a parking lot, a gas station, a charging station, or the like.

[0167] FIG. 29 is a diagram showing an example of the configuration of a vehicle movement information detection system 1900 in which the measuring device 110 is applied to a vehicle.

[0168] 29, the measurement device 110 is placed on the side or bottom of a vehicle 1910 (e.g., an automobile or a train) traveling on a road surface 1920 (e.g., on a railroad track). The measurement device 110 measures information related to the movement of the vehicle 1910 (specifically, at least one of the travel distance, speed, acceleration, etc. of the vehicle 1910) and outputs signal information useful for controlling the operation of the vehicle 1910 to a vehicle control unit (not shown). The vehicle control unit then performs operation control, for example, to safely operate and stop the vehicle 1910.

[0169] By applying the measuring device 110 to the vehicle 1910 as described above, the vehicle movement information detection system 1900 can measure the travel distance, speed, etc. with high accuracy and in a short time even from a vehicle moving at higher speeds, which can be useful for controlling the safe operation and stopping of the vehicle 1910.

[0170] Furthermore, for example, the measuring device 110 according to the first or second embodiment can also be applied to the operation control of a crane.

[0171] FIG. 30 is a diagram showing an example of the configuration of a crane movement information detection system 2000 in which the measuring device 110 is applied to a crane.

[0172] In a crane movement information detection system 2000 shown in Fig. 30, a measuring device 110 is placed on the side or bottom of a crane 2010 that travels in one axial direction along a rail 2020. In the case of Fig. 30, the rail 2020 corresponds to the stationary structure.

[0173] The measuring device 110 captures an image of the wall surface of the rail 2020, measures information related to the movement of the crane 2010 (specifically, for example, at least one of the movement amount or speed of the crane 2010), and outputs signal information useful for controlling the operation of the crane 2010 to a crane control unit (not shown). Then, based on the information input from the measuring device 110, the crane control unit monitors the operation of the crane 2010 and detects position abnormalities and speed abnormalities.

[0174] By applying the measuring device 110 to the crane 2010 as described above, the crane movement information detection system 2000 can improve the safety in controlling the operation of the crane 2010.

[0175] It should be noted that the above-described embodiments are provided to clearly explain the present invention, and are not intended to limit the scope of the present invention. For example, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, for example, it is possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.

[0176] In addition, the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in part or in whole by hardware, for example, by designing them as integrated circuits. In addition, the above-mentioned configurations, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. Information such as a program, table, file, etc. that realizes each function can be stored in a memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0177] In addition, the control lines and information lines in the drawings are those that are considered necessary for the explanation, and not all control lines and information lines in the product are necessarily shown. In reality, it can be considered that almost all components are connected to each other. [Explanation of symbols]

[0178] 10,20 Elevator System 110 Measuring Equipment 120 Elevator Cage 130 Elevator control unit 140 Guide rail 210 Optical transmitter 220 Imaging section 230 Imaging unit 240 Image Processing Unit 250 Cage movement related information output section 260 Instruction section 270 workers 280 Installation location determination information output unit 290 Display Terminal 310 Judgment result display 320 correction direction indicator 330 Correction amount indicator 405,1003 Judgment circuit 1001 Totaling Circuit 1002 Differential Profile 1101 Fourier transform circuit 1201 Guide roller 1202 Umbrella 1600,1700 Installation position adjustment jig 1610,1710 Z-axis rotation adjustment tool 1620,1720 x-axis rotation adjustment tool 1630,1730 x-axis translation adjuster 1640,1740 z-axis translation adjuster 1800 Actuator 1900 Vehicle movement information detection system 1910 Vehicle 1920 road surface 2000 Crane movement information detection system 2010 Crane 2020 Rail

Claims

1. A measuring device that is installed on an elevator car moving in a hoistway and measures at least one of a moving distance or a speed of the elevator car, an optical transmitter that transmits light to illuminate a stationary structure disposed in the elevator shaft along a first direction parallel to a moving direction of the elevator car; an imaging unit that forms an image of light scattered from the stationary structure on an imaging surface; an imaging unit that captures an optical signal of the scattered light formed on the imaging surface, converts it into an electrical signal, and images the image; an image processing unit that calculates and transmits at least one of a moving distance or a speed of the elevator car based on the electrical signal converted by the imaging unit; Equipped with When confirming the installation position of the measuring device relative to the stationary structure, Of the two directions perpendicular to the first direction, a direction including an imaging surface captured by the imaging unit is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction. The image processing unit includes: calculating, for at least one of the first to third directions based on the electrical signal converted by the imaging unit, a translation error along the direction or a rotation error about an axis of the direction of a placement position of the measuring device relative to a predetermined installation design position; Based on the result of the calculation, it is determined whether the placement position is consistent with the installation design position, and installation location determination information relating to the determination is transmitted. A measuring device characterized by:

2. The optical axis of the optical transmitter is provided in a plane perpendicular to the direction of the scratch on the surface of the stationary structure and obliquely to the stationary structure.

2. The measuring device according to claim 1 .

3. The installation location determination information includes: A determination result indicating whether the placement position is consistent with the installation design position; and and adjustment information required to correct the installation design position, the adjustment information being indicated using the calculated translation error or rotation error.

2. The measuring device according to claim 1 .

4. The image processing unit includes: Dividing the captured image based on the electrical signal converted by the imaging unit into a predetermined number of parts; calculating a rotation error about an axis of the second direction based on a difference value of pixel values ​​in the first direction between the divided captured images; Calculating a translation error along the second direction and a rotation error about an axis of the first direction based on a difference value of pixel values ​​in the second direction between the divided captured images.

2. The measuring device according to claim 1 .

5. The image processing unit includes: A difference profile is generated for an image captured by the electrical signal converted by the imaging unit, with the sum of the number of pixels in the first direction and the difference between adjacent pixels in the second direction being taken along two axes, and based on the characteristics of the difference profile, it is determined whether the cause of an error in the mounting position relative to the installation design position is a translation error along the second direction or a rotation error about the first direction.

5. The measuring device according to claim 4.

6. The image processing unit includes: A two-dimensional Fourier transform is performed on the electrical signal converted by the imaging unit in the first direction and the second direction, and a translation error along the third direction is calculated based on a degree of reduction in the obtained Fourier intensity.

2. The measuring device according to claim 1 .

7. The installation location determination information may further include an instruction unit that receives the installation location determination information created by the image processing unit and notifies an operator of information included in the installation location determination information.

4. The measuring device according to claim 3.

8. The instruction unit is a determination result display that outputs the determination result of the installation location determination information; a correction indicator that outputs, as the adjustment information of the installation location determination information, a rotation error about an axis of the first direction, a translation error along the second direction, a rotation error about an axis of the second direction, and a translation error along the third direction.

8. The measuring device according to claim 7.

9. The length of the imaging area of ​​the imaging unit in the second direction is W ｉｍ , the length of the stationary structure along the second direction is W ｒａｉｌ When The minimum value of the translation error along the second direction that can be calculated by the image processing unit is [0010] Matches 4. The measuring device according to claim 3.

10. The length of the transmission surface of the optical transmitter in the first direction is H ＬＥＤ , the length of the imaging area of ​​the imaging unit in the first direction is H ｉｍ , the distance from the stationary structure to the optical transmitter along the third direction is L ｚ When The minimum value of the rotation error about the axis of the second direction that can be calculated by the image processing unit is [0025] Matches 4. The measuring device according to claim 3.

11. An elevator car moving through a hoistway, a guide rail disposed in the hoistway along a first direction parallel to a direction of movement of the elevator car; an elevator control unit for controlling an operation of the elevator car; a measuring device mounted on the elevator car to measure at least one of a travel distance or a speed of the elevator car; Equipped with The measuring device includes: an optical transmitter that transmits light to irradiate the guide rail in the elevator; an imaging unit that forms an image on an imaging surface of light scattered from the guide rail by the light; an imaging unit that captures an optical signal of the scattered light formed on the imaging surface, converts it into an electrical signal, and images the image; an image processing unit that calculates and transmits at least one of a moving distance or a speed of the elevator car based on the electrical signal converted by the imaging unit; having When checking the installation position of the measuring device relative to the guide rail, Of the two directions perpendicular to the first direction, a direction including an imaging surface captured by the imaging unit is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction. The image processing unit includes: calculating, for at least one of the first to third directions based on the electrical signal converted by the imaging unit, a translation error along the direction or a rotation error about an axis of the direction of a placement position of the measuring device relative to a predetermined installation design position; Based on the result of the calculation, it is determined whether the placement position is consistent with the installation design position, and installation location determination information relating to the determination is transmitted. An elevator system comprising:

12. an instruction device that receives the installation location determination information created by the image processing unit and notifies an operator of information included in the installation location determination information; an adjustment device for adjusting the placement position of the measuring device; Further equipped 12. The elevator system of claim 11.

13. an opening is provided at a predetermined position of the elevator car opposite to the guide rail; the indicating device is arranged so as to be visible from within the elevator car; The adjustment device is disposed so as to be operable from within the elevator car.

13. The elevator system of claim 12.

14. an adjustment device for adjusting the placement position of the measuring device; an actuator capable of controlling the adjustment device; Further equipped with The adjustment device is an x-axis translation adjustment tool that moves the measurement device in a translation direction along the second direction; an x-axis rotation adjustment tool that moves the measurement device in a rotation direction about the second direction; a y-axis rotation adjustment tool that moves the measurement device in a rotation direction about an axis of the first direction; a z-axis translation adjustment tool that moves the measurement device in a translation direction along the third direction; having The actuator receives the installation location determination information created by the image processing unit, and controls the operation of each adjustment tool of the adjustment device so as to move the measurement device by an amount corresponding to the translation error or the rotation error included in the installation location determination information.

12. The elevator system of claim 11.

15. A method for confirming an installation position using a measuring device that is installed on an elevator car moving in a hoistway and measures at least one of a moving distance or a speed of the elevator car, comprising the steps of: The measuring device includes: an optical transmitter that transmits light to illuminate a stationary structure disposed in the elevator shaft along a first direction parallel to a moving direction of the elevator car; an imaging unit that forms an image of light scattered from the stationary structure on an imaging surface; an imaging unit that captures an optical signal of the scattered light formed on the imaging surface, converts it into an electrical signal, and images the image; an image processing unit that calculates and transmits at least one of a moving distance or a speed of the elevator car based on the electrical signal converted by the imaging unit; Equipped with When confirming the installation position of the measuring device relative to the stationary structure, Of the two directions perpendicular to the first direction, a direction including an imaging surface captured by the imaging unit is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction. The image processing unit calculating, for at least one of the first to third directions based on the electrical signal converted by the imaging unit, a translation error along the direction or a rotation error about an axis of the direction of a placement position of the measuring device relative to a predetermined installation design position; Based on the result of the calculation, it is determined whether the placement position is consistent with the installation design position, and installation location determination information relating to the determination is transmitted. An installation position confirmation method comprising the steps of:

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