CN112478968B

CN112478968B - Elevator hoistway inspection control method, device and system and storage medium

Info

Publication number: CN112478968B
Application number: CN202011228816.1A
Authority: CN
Inventors: 唐崇; 黄立明; 程伟; 黄荣华; 李基源
Original assignee: Hitachi Building Technology Guangzhou Co Ltd
Current assignee: Hitachi Building Technology Guangzhou Co Ltd
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2022-03-08
Anticipated expiration: 2040-11-06
Also published as: CN112478968A

Abstract

The application relates to an elevator shaft inspection control method, device, system and storage medium. The elevator hoistway inspection control method comprises the following steps: under the condition that hovering acquisition of the station is finished, if the station is confirmed to be close to a hoistway boundary area, outputting a height lifting instruction to a radar pan-tilt; the height lifting instruction is used for indicating the corresponding structural part in the radar pan-tilt to move so as to adjust the position of the laser radar; the boundary area of the shaft way comprises a shaft way door opening and a ring beam; receiving the collected information of the hoistway boundary area output by the laser radar after the position adjustment, transmitting the collected information to a ground control terminal, and confirming that the collection of the station is finished; and moving to the next site, hovering and collecting until the inspection end condition is met. This application can show the accuracy that promotes well installation key position and survey.

Description

Elevator hoistway inspection control method, device and system and storage medium

Technical Field

The application relates to the technical field of elevators, in particular to an elevator shaft inspection control method, device, system and storage medium.

Background

At present, surveying of elevator well adopts the manual survey mainly, it is consuming time and many local unable accurate measurements or can't come out through the manual survey, and can't guarantee personnel's safety, the tradition adopts automatic unmanned aerial vehicle that patrols and examines to carry laser radar to survey the elevator well, if the overlap data collection, can be because the shake, positioning system and inconsistent dynamic time delay of rate of collection etc. arouse the error, multiple error stack makes measuring error bigger, based on this condition, the traditional technology proposes to adopt and hovers and carries out data acquisition.

In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: at present, the hovering position is generally set in advance by referring to a design drawing, but a civil engineering object and the design drawing may have deviation, and the traditional technology has the problems of poor acquisition precision and incapability of accurately acquiring data.

Disclosure of Invention

In view of the above, it is necessary to provide a method, an apparatus, a system, and a storage medium for controlling elevator hoistway inspection, which can improve accuracy of data acquisition.

In order to achieve the above object, in one aspect, an embodiment of the present invention provides an elevator hoistway inspection control method, including:

under the condition that hovering acquisition of the station is finished, if the station is confirmed to be close to a hoistway boundary area, outputting a height lifting instruction to a radar pan-tilt; the height lifting instruction is used for indicating the corresponding structural part in the radar pan-tilt to move so as to adjust the position of the laser radar; the boundary area of the shaft way comprises a shaft way door opening and a ring beam;

receiving the collected information of the hoistway boundary area output by the laser radar after the position adjustment, transmitting the collected information to a ground control terminal, and confirming that the collection of the station is finished;

and moving to the next site, hovering and collecting until the inspection end condition is met.

In one embodiment, when the hovering acquisition at the local station is finished, if it is determined that the local station is close to a hoistway boundary area, a step of outputting a height ascending and descending instruction to a radar pan-tilt head includes:

acquiring current image data shot by a camera, and transmitting the current image data to a ground control terminal; the current image data is used for indicating the ground control terminal to acquire and feed back a deviation value between a current acquisition position point of the laser radar and a hoistway boundary area;

under the condition of receiving a deviation value fed back by a ground control terminal, confirming that the station is close to a well boundary area, and outputting a height lifting instruction according to the deviation value; the height lifting instruction is used for indicating the action of a lifting device in the radar holder so as to adjust the lifting of the laser radar.

In one embodiment, the current image data is used for indicating the ground control terminal to output a height control instruction to the radar pan-tilt under the condition that the deviation value exceeds the threshold value; the height control instruction is used for indicating the action of a lifting device in the radar holder so as to adjust the lifting of the laser radar.

In one of the embodiments, the first and second electrodes are,

the height lifting instruction or the height control instruction is used for indicating the radar holder to drive the laser radar to lift within a preset height range; the predetermined height ranges include + -1 mm, + -2 mm, and + -3 mm.

In one embodiment, the method further comprises the following steps:

confirming that the station is close to a hoistway boundary area under the condition of receiving induction data of the hoistway boundary area; the sensing data comprises any one or any combination of the following data: the system comprises laser radar sensing data, photoelectric switch sensing data and visual identification sensor sensing data;

outputting a height lifting instruction according to the sensing data; the height lifting instruction is used for indicating the action of a lifting device in the radar holder so as to adjust the lifting of the laser radar.

In one of the embodiments, the first and second electrodes are,

the acquisition information comprises two-dimensional laser ranging data and current distance data; the current distance data is the sum of the current distance from the unmanned aerial vehicle body to the shaft pit and the lifting height of the laser radar output by the laser radar;

the inspection end condition comprises any one or any combination of the following conditions: after all stations finish collecting, the distance between the unmanned aerial vehicle body and the top of the shaft falls into a safe distance range, and a tour inspection finishing instruction is received currently;

under the condition that hovering acquisition of the station is finished, if the station is confirmed to be close to a hoistway boundary area, before the step of outputting a height lifting instruction to the radar pan-tilt, the method further comprises the following steps:

under the condition of arriving at the site, entering a hovering state and confirming whether the current position is restored to an initial pose;

if the current position is recovered to the initialization pose, starting acquisition, outputting elevator shaft acquisition data of the station to a ground control terminal, and confirming that the hovering acquisition of the station is finished; the elevator hoistway acquisition data includes lidar data and image data.

In one embodiment, before the steps of entering the hovering state and confirming whether to restore to the initialization pose currently under the condition of reaching the local site, the method further includes the steps of:

receiving current height data from an unmanned aerial vehicle body to a hoistway pit and current attitude data output by an inertial measurement unit, wherein the current height data is output by a laser radar; the current attitude data comprises a roll angle, a pitch angle and a yaw angle;

processing the current height data and the current attitude data to obtain a current height position;

when the current height position meets the height position of the station, confirming the station corresponding to the height position of the station; wherein the height position of the station is obtained by processing civil engineering drawing data; civil engineering drawing data includes hole direction of height border position, circle roof beam direction of height border position, and the unmanned aerial vehicle body is from well top safe distance to and the unmanned aerial vehicle body is from well pit safe position under the landing state.

In one embodiment, in the step of processing the current altitude data and the current attitude data to obtain the current altitude position, the current altitude position is obtained based on the following formula:

Z_{n estimation}＝H_n·cos(arctan(tan²θ_n+tan²Φ_n)^1/2)±L_b·sin(arctan(tan²θ_n+tan²Φ_n)^1/2)－(L_c－L_c·cos(arctan(tan²θ_n+tan²Φ_n)^1/2))

Wherein Z is_{n estimation}Representing a current height position; h_nRepresenting current height data; phi_nIndicating a roll angle; theta_nRepresenting a pitch angle; Ψ_nRepresenting a yaw angle; l is_bThe distance from the center of the laser radar beam to the radiation surface of the lower right-angle emission prism is obtained; l is_cThe distance from the intersection point of the rotating axes of the swing arms of the radar pan-tilt to the center of the laser radar beam.

An elevator shaft inspection control device comprising:

the action control module is used for outputting a height lifting instruction to the radar pan-tilt head if the station is confirmed to be close to a boundary area of a shaft under the condition that the hovering collection of the station is finished; the height lifting instruction is used for indicating the corresponding structural part in the radar pan-tilt to move so as to adjust the position of the laser radar; the boundary area of the shaft way comprises a shaft way door opening and a ring beam;

the information output module is used for receiving the collected information of the hoistway boundary area output by the laser radar after position adjustment, transmitting the collected information to the ground control terminal and confirming that the collection of the station is finished; and the action control module is also used for moving to the next site, hovering and collecting until the inspection end condition is met.

An elevator shaft inspection control system comprises an unmanned aerial vehicle and a ground control terminal;

the unmanned aerial vehicle comprises a radar holder arranged on the body and a laser radar arranged on the radar holder; the radar holder comprises a structural part for driving the laser radar to ascend and descend;

the unmanned aerial vehicle is used for executing the steps of the elevator hoistway inspection control method.

In one embodiment, the structural member comprises a lifting device with one end fixed on the chassis of the unmanned aerial vehicle body; the lifting device is a linear electric cylinder or a linear motor.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.

One of the above technical solutions has the following advantages and beneficial effects:

this application hovers the back at unmanned aerial vehicle, if confirm that this station closes on well boundary region, then through the last structure of control radar cloud platform (for example, sharp elevating gear) come the lift cloud platform, the radar goes up and down more accurate arrival thereupon and sets for the target location, or fine setting laser radar height carries out high density horizontal plane (well cross section) data acquisition. According to the method and the device, the collection of height direction boundary position data of a well boundary area such as a hole and the collection of height direction boundary positions of the ring beam can be completed under the condition that an aircraft hovers, and the survey accuracy of key well installation positions is remarkably improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of an application scenario of an elevator hoistway inspection control method;

fig. 2 is a schematic flow chart of an elevator hoistway inspection control method according to an embodiment;

fig. 3 is a schematic flow chart of an elevator shaft inspection control method according to another embodiment;

fig. 4 is a block diagram showing the structure of an elevator shaft inspection control device according to an embodiment;

fig. 5 is a front view of a drone structure of an embodiment;

FIG. 6 is a left side view of the drone structure in one embodiment;

fig. 7 is a schematic structural diagram of a radar pan-tilt in one embodiment.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

Spatial relational terms, such as "under," "below," "under," "over," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.

As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.

At present, the hovering position is generally set in advance by referring to a design drawing, however, a civil engineering object and the design drawing may have deviation; even there is not the deviation in civil engineering material object and design drawing, traditional unmanned aerial vehicle also can't be totally accurate the position that requires the collection of hovering. In addition, in special cases, such as the collection of the height direction boundary position data of the hole and the collection of the height direction boundary position of the ring beam, a relatively accurate hovering position is required. For another example, the critical parts may be subjected to high-density horizontal plane (cross section of the shaft) data acquisition, and in such a case, the conventional method of taking off and hovering has poor acquisition accuracy.

This application provides increase a elevating gear on unmanned aerial vehicle, hover at unmanned aerial vehicle and can gather under the situation of data, go up and down to finely tune lidar's highly can be more accurate reach and set for the target location, or finely tune lidar height and carry out high density horizontal plane (well cross section) data acquisition to key position, can promote the accuracy that well installation key position surveyed.

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The elevator hoistway inspection control method provided by the application can be applied to the application environment shown in fig. 1. Wherein, the drone 102 may communicate with the ground control terminal 104; the unmanned aerial vehicle 102 is used for hovering collected data when the hoistway vertically takes off and lands and reaches a corresponding station, and under the condition that the station is close to a hoistway boundary area, under the control of the unmanned aerial vehicle 102 and/or the ground control terminal 104, the position (lifting) of the laser radar is adjusted by controlling the action of a corresponding structural part in the radar pan-tilt, so that collected information of the hoistway boundary area is output; the corresponding collected information can be transmitted to the ground control terminal 104 to complete data processing and modeling.

It should be noted that the unmanned aerial vehicle 102 may be a rotor unmanned aerial vehicle with a compact structure and a small size, and then vertically take off and land in a hoistway, and hover, shoot, and acquire laser radar data according to a set position. The ground control terminal 104 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and may also be implemented by an independent server or a server cluster of multiple servers.

In one embodiment, as shown in fig. 2, there is provided an elevator shaft inspection control method, which is described by taking the method as an example of the unmanned aerial vehicle in fig. 1, and includes the following steps:

step 202, under the condition that hovering acquisition of the station is finished, if the station is confirmed to be close to a hoistway boundary area, outputting a height lifting instruction to a radar pan-tilt; the height lifting instruction is used for indicating the corresponding structural part in the radar pan-tilt to move so as to adjust the position of the laser radar;

wherein a hoistway boundary region may refer to a location with a high density of horizontal planes (hoistway cross-section), such as hoistway door openings and girts. As shown in fig. 1, the present application can complete the acquisition of the height direction boundary position data of the hole and the acquisition of the height direction boundary position of the ring beam.

Specifically, after unmanned aerial vehicle hovered, this application provides and can go up and down the cloud platform through add corresponding structure on the radar cloud platform, and laser radar goes up and down more accurate arrival thereupon and sets for the target location, or finely tunes the laser radar height and carry out high density horizontal plane (well cross section) data acquisition.

The hovering acquisition of the station can mean that the unmanned aerial vehicle can vertically take off and land in a shaft and hover according to the set station, namely the unmanned aerial vehicle can hover according to the set position; furthermore, the hovering position can be preset by referring to a design drawing, namely, each station can be a position preset for civil engineering drawing data; in one example, the civil engineering drawing data may include hole height direction boundary positions, collar beam height direction boundary positions, unmanned aerial vehicle body from well top safe distance, and unmanned aerial vehicle body from well pit safe position under the landing state.

Unmanned aerial vehicle hovers to corresponding website after, can utilize laser radar etc. to carry out elevator well data acquisition, for example, can make a video recording and shoot, laser radar data acquisition. In this application, the unmanned aerial vehicle can utilize IMU (Inertial Measurement Unit) to the estimation of unmanned aerial vehicle position, gesture and speed etc. and utilize laser radar to scan the profile relative position change of well four walls around, or adopt photoelectric position sensor device perception unmanned aerial vehicle displacement increment to carry out the location flight of airline to unmanned aerial vehicle. Further, elevator well data collection can include laser radar data in this application, and this laser radar data can be obtained through laser rangefinder, for example two-dimentional laser rangefinder, has not only ensured the data accuracy and has still reduced the cost. That is, the lidar data in the present application may include two-dimensional laser ranging data.

Further, in one example, the elevator hoistway acquisition data can also include image data. The image data can be acquired by image acquisition equipment arranged on the body, wherein the image acquisition equipment can be a camera arranged on the body through a camera holder. After hovering, the rotating column in the camera holder can rotate 360 degrees to acquire image data of the well.

Further, the camera may be an HDR (High-Dynamic Range, High Dynamic Range image) camera; the HDR camera may capture scan data within the hoistway; the ground control terminal can carry out color superposition on the three-dimensional model of the well after receiving the scanning data, and further partial structures in the well can be marked in the model, for example, the well with a ring beam can indicate the position of the well through color superposition, and further the accuracy of the well model can be obviously improved.

After the data of the elevator shaft are collected, the hovering collection end of the station can be confirmed, whether the station is close to a shaft boundary area needs to be confirmed, and a height lifting instruction is output to the radar holder when the hovering collection end is confirmed.

To this, this application proposes can confirm whether this station is close to well border region at present through ground control terminal or unmanned aerial vehicle body. In a specific embodiment, when the hovering acquisition at the local station is finished, if it is determined that the local station is close to a hoistway boundary area, the step of outputting a height ascending and descending instruction to the radar pan-tilt includes:

Specifically, after the unmanned aerial vehicle hovers, the image data (which can contain radar collection position points) shot by the camera can be transmitted back to the ground control terminal in real time through high-definition wireless image transmission and the corresponding communication module. And if ground control terminal confirms that radar collection position point closes on well door opening or circle roof beam, then can confirm that this station closes on well boundary region, and then can acquire the offset value of laser radar current collection position point and well boundary region to give unmanned aerial vehicle with this offset value transmission, export corresponding high lift instruction according to the offset value by unmanned aerial vehicle, with the action of instruction radar cloud platform medium structure spare, adjustment laser radar's lift.

In a specific embodiment, the current image data can be used for instructing the ground control terminal to output a height control instruction to the radar pan-tilt under the condition that the deviation value exceeds the threshold value; the height control instruction is used for indicating the action of a lifting device in the radar holder so as to adjust the lifting of the laser radar.

Specifically, if the ground control terminal determines that the deviation value exceeds the threshold value (i.e., the deviation is large), the ground control terminal may take back the control right of the drone through an RC (Remote control, radio control) module (e.g., directly output a height control command to the radar pan tilt), and determine that the radar collecting position point is approximately away from the boundary (height direction) position such as the door opening or the ring beam, and then the ground control terminal operates the elevating device to elevate the pan tilt to make the radar collecting position point closer to the boundary (height direction) position of the door opening or the ring beam, so as to reduce the deviation of the boundary collection.

It should be noted that, the lifting position of the radar may also be directly controlled by manually inputting a corresponding control instruction to the ground control terminal.

In a specific embodiment, the height lifting instruction or the height control instruction can be used for instructing the radar pan-tilt to drive the laser radar to lift within a preset height range; the predetermined height ranges include + -1 mm, + -2 mm, and + -3 mm.

Specifically, the height position that provides according to the design drawing hovers in door opening or border (direction of height) positions such as circle roof beam also probably be approximate boundary position, to this, this application proposes under the situation that can information acquisition, and elevating gear goes up and down the cloud platform and reaches fine setting laser radar height and carry out this section position high density horizontal plane (well cross section) data acquisition to reach the deviation that reduces the border and gather. For example, horizontal slice level intensive acquisition with elevation of + -1 mm, + -2 mm, + -3 mm, etc. can be used.

In a specific embodiment, the method further comprises the steps of:

Particularly, after the unmanned aerial vehicle hovers, the lifting device finely adjusts the laser radar to reach the determined height for data acquisition according to a photoelectric switch/visual identification sensor additionally arranged on the radar or on a radar holder after sensing the position of a door opening or the boundary (height direction) of a ring beam.

According to the method and the device, the collection of height direction boundary position data of a well boundary area such as a hole and the collection of height direction boundary positions of the ring beam can be completed under the condition that an aircraft hovers, and the survey accuracy of key well installation positions is remarkably improved.

Step 204, receiving the collected information of the hoistway boundary area output by the laser radar after the position adjustment, transmitting the collected information to a ground control terminal, and confirming that the collection of the station is finished; and moving to the next site, hovering and collecting until the inspection end condition is met.

Particularly, after receiving the acquisition information of the well boundary region output by the laser radar adjusted in position, the acquisition information can be transmitted to the ground control terminal, so that the acquisition of the station is confirmed to be finished, and the unmanned aerial vehicle can move to the next station to hover and acquire until the inspection finishing condition is met.

In a specific embodiment, the patrol ending condition may include any one or any combination of the following conditions: after all stations finish collecting, the distance between the unmanned aerial vehicle body and the top of the shaft falls into a safe distance range, and a tour inspection finishing instruction is received currently;

specifically, unmanned aerial vehicle can repeatedly take off, hover at the fixed point work in this application, and collect to accomplish or when presetting safe distance Z from top floor at all websites_{S estimation}(this value can be estimated by fusing the upper rectangular emission prism output values to the IMU) for the last leg acquisition.

The inspection finishing instruction in the application can comprise a return landing instruction and/or an emergency landing instruction under an abnormal condition. Wherein, unmanned aerial vehicle also can add the data acquisition work of the in-process of navigating back at the process of navigating back, also can direct navigation landing. The navigation of the obstacle avoidance strategy can be carried out by depending on the laser radar in the direct return landing or the emergency landing under the abnormal condition. In the whole process of starting to navigate collection, the position of the collection point can be monitored in real time through a ground terminal device manually, the collection height is set for the position of the omitted collection point or the position needing to be collected again, and collection is carried out in the process of returning to the home. Or the control right of the RC module operator to withdraw the unmanned aerial vehicle is taken back to control data acquisition in the process of returning. Otherwise, navigation landing of an obstacle avoidance strategy is carried out by means of the laser radar.

Wherein, the collection of missing the collection point in this application can be based on whether the collection position needs accurate location to decide whether need 'elevating gear's intervention. The reacquisition in this application can be to the verification of former departure collection data, also can be according to actual conditions whether need ' elevating gear's intervention, if the departure collection does not have ' elevating gear ' ' intervention, then the collection of navigating back also can not adopt.

In a particular embodiment, the acquisition information may include two-dimensional laser ranging data and current distance data; the current distance data is the sum of the current distance from the unmanned aerial vehicle body to the shaft pit and the lifting height of the laser radar output by the laser radar;

specifically, after station n hovers, the photoelectric position sensor can record the deviation value (X) of the position relative to the initial position of the laser spot_{n is offset}，Y_{n is offset}) And the laser radar can measure the accurate distance Z to the pit through the lower transmitting right-angle prism_{n essence}。

Lidar data X_ni＝r_ni·cosε_i+X_{n is offset}，Y_ni＝r_ni·sinε_i+Y_{n is offset}。

Wherein r is_niAnd returning the distance value of each beam of the nth station laser radar in one period of scanning. Epsilon_iAnd returning the scanning angle value of each line beam light of the laser radar in one period of scanning. The height of the data collected by the nth station is Z_{n essence}。

After adopting the scheme of the application, such as lifting H_Micro-meterData acquisition is carried out, and the height of the acquired information can be Z_{n essence}+H_Micro-meterAnd lidar data X_ni＝r_nicosε_i+X_{n is offset}，Y_ni＝r_nisinε_i+Y_{n is offset}. Wherein (X)_{n is offset}，Y_{n is offset}) Is light ofAnd the electric position sensor records deviation values of the n laser radars relative to the initial positions of the laser spots.

According to the data acquisition method and device, under the condition that hovering acquisition at the current station is finished, data acquisition of the hoistway boundary area can be completed by adopting the scheme provided in each example. In addition, the unmanned plane hovers according to the set station; in a specific embodiment, as shown in fig. 3, when the hovering acquisition at the local station is finished, if it is determined that the local station is close to the hoistway boundary area, before the step of outputting the height raising and lowering instruction to the radar pan-tilt, the method may further include the steps of:

step 302, entering a hovering state and confirming whether the current position is restored to an initial pose under the condition of arriving at the site;

step 304, if the current position is recovered to the initialization pose, starting acquisition, outputting elevator shaft acquisition data of the station to a ground control terminal, and confirming that the hovering acquisition of the station is finished; the elevator hoistway acquisition data includes lidar data and image data.

The specific implementation process of steps 306-308 shown in fig. 3 can refer to the description of steps 202-204 in the foregoing, and is not described herein again;

specifically, after the unmanned aerial vehicle hovers, whether the unmanned aerial vehicle is currently restored to the initialization pose or not can be confirmed, for example, whether the body is restored to the initialization pose or not, and for example, whether the data acquisition device and the like arranged on the body are restored to the initialization pose or not can be confirmed. In one example, the initialization pose may include a lidar initialization pose and/or a camera initialization pose.

After hovering, whether the unmanned aerial vehicle is restored to the initial pose currently or not is confirmed, so that the unmanned aerial vehicle can be further prevented from inclining and shaking, and accurate acquisition of subsequent data is further ensured. The corresponding direction power can be forced to the radar holder and the motor of the camera holder, so that the laser radar and the camera are prevented from inclining and shaking along with the unmanned aerial vehicle, and after the camera and the radar recover to the initialized pose information, data acquisition is started.

For another example, the posture of the body can be adjusted through posture data output by an inertial measurement unit arranged on the body, and whether the initialization pose is recovered or not is further confirmed. In a specific embodiment, the step of confirming that the current pose is restored to the initialization pose may include:

outputting an action control instruction according to the roll angle and the pitch angle; the action control command is used for indicating the action component of the radar pan-tilt head and/or the action component of the camera pan-tilt head to rotate by a corresponding angle so as to restore to the initial pose.

Specifically, the unmanned aerial vehicle may include an Inertial Measurement Unit (IMU) module disposed on the body, and the IMU module may employ a 9-axis MEMS Inertial Measurement Unit (a triaxial gyroscope, a triaxial accelerometer, a triaxial magnetometer), and may further output a triaxial acceleration, a triaxial rotation speed, and a triaxial geomagnetic field strength, and may also output a roll angle Φ, a pitch angle θ, and a yaw angle Ψ without drift, and may employ an anti-vibration gyroscope design.

After hovering, the unmanned aerial vehicle can force corresponding direction power to the radar pan-tilt and the camera pan-tilt motor, and the laser radar and the camera are prevented from inclining and shaking along with the unmanned aerial vehicle. The action assembly of the radar pan-tilt can comprise swing arms and the like, the action assembly of the camera pan-tilt can comprise swing arms and the like, for example, the unmanned aerial vehicle can adjust the swing arms on the radar pan-tilt to rotate around the bracket leftwards and rightwards-phi according to the rolling angle phi and the pitch angle theta output by the inertia measurement unit, and one swing arm rotates around the other swing arm forwards and backwards-pitch angle-theta; and if the camera holder is adjusted to rotate a roll angle-phi around the bracket in a left-right direction, and the swing arm type camera mounting clamping groove rotates a pitch angle-theta around the swing arm in a front-back direction. Namely, after the camera and the radar recover to the initialized pose information, the data acquisition is started.

In a specific embodiment, before the steps of entering the hovering state and confirming whether the current position is restored to the initialization pose when the local site is reached, the method further includes the steps of:

Specifically, the hovering site may be preset according to a design drawing, and a corresponding site arrival strategy is proposed for the hovering site; in the lifting process of the shaft, the unmanned aerial vehicle can receive the current height data from the body output by the laser radar to the shaft pit and the current attitude data output by the inertia measurement unit in real time; the current attitude data may include a roll angle, a pitch angle, and a yaw angle; furthermore, the unmanned aerial vehicle can confirm the current height position according to the data, compares the station height position, meets the station height position at the current height position, and can confirm to reach the station corresponding to the station height position.

In a specific embodiment, in the step of processing the current altitude data and the current attitude data to obtain the current altitude position, the current altitude position is obtained based on the following formula:

Specifically, taking the current station as the station n as an example, how the unmanned aerial vehicle reaches the set acquisition position Z is described_{n estimation}And (5) hovering the fixed point. When the unmanned aerial vehicle moves, the inertial measurement unit can output a roll angle phi n, a pitch angle theta n and a yaw angle psi n (all angles are changed from anticlockwise to positive), and the height of the laser radar scanner output to a pit is H_n。

n station hover height estimates Z_{n estimation}＝H_n·cos(arctan(tan²θ_n+tan²Φ_n)^1/2)±L_b·sin(arctan(tan²θ_n+tan²Φ_n)^1/2)－(L_c－L_c·cos(arctan(tan²θ_n+tan²Φ_n)^1/2))。

Wherein Z is_{n estimation}May represent a current height position; h_nRepresenting current height data; phi_nIndicating a roll angle; theta_nRepresenting a pitch angle; Ψ_nRepresenting a yaw angle; l is_bThe distance from the center of the laser radar beam to the radiation surface of the lower right-angle emission prism is obtained; l is_cThe distance from the intersection point of the rotating axes of the swing arms of the radar pan-tilt to the center of the laser radar beam.

According to the elevator well patrol inspection control method, after the unmanned aerial vehicle hovers, if the station is confirmed to be close to the well boundary area, the cloud deck is lifted through controlling a structural part (for example, a linear lifting device) on the radar cloud deck, the radar is lifted along with the cloud deck to reach the set target position more accurately, or the height of the laser radar is finely adjusted to acquire data of a high-density horizontal plane (well cross section). According to the method and the device, the collection of height direction boundary position data of a well boundary area such as a hole and the collection of height direction boundary positions of the ring beam can be completed under the condition that an aircraft hovers, and the survey accuracy of key well installation positions is remarkably improved.

It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 4, there is provided an elevator shaft inspection control apparatus including:

the action control module 410 is used for outputting a height lifting instruction to the radar pan-tilt head if the station is confirmed to be close to the boundary area of the shaft under the condition that the hovering acquisition of the station is finished; the height lifting instruction is used for indicating the corresponding structural part in the radar pan-tilt to move so as to adjust the position of the laser radar; the boundary area of the shaft way comprises a shaft way door opening and a ring beam;

the information output module 420 is configured to receive the acquired information of the hoistway boundary area output by the position-adjusted laser radar, transmit the acquired information to the ground control terminal, and confirm that the acquisition of the station is finished; the action control module 410 is further configured to move to a next site, hover and collect the data until the patrol end condition is met.

In a particular embodiment, the motion control module is configured to:

In one embodiment, the height lifting instruction or the height control instruction is used for instructing the radar pan-tilt to drive the laser radar to lift within a preset height range; the predetermined height ranges include + -1 mm, + -2 mm, and + -3 mm.

In one embodiment, the method further comprises the following steps:

the induction module is used for confirming that the station is close to the boundary area of the shaft under the condition of receiving induction data of the boundary area of the shaft; the sensing data comprises any one or any combination of the following data: the system comprises laser radar sensing data, photoelectric switch sensing data and visual identification sensor sensing data;

the action control module is used for outputting a height lifting instruction according to the sensing data; the height lifting instruction is used for indicating the action of a lifting device in the radar holder so as to adjust the lifting of the laser radar.

In one embodiment, the acquisition information comprises two-dimensional laser ranging data and current distance data; the current distance data is the sum of the current distance from the unmanned aerial vehicle body to the shaft pit and the lifting height of the laser radar output by the laser radar;

further comprising:

the hovering module is used for entering a hovering state and confirming whether the current state is restored to an initial pose or not under the condition of reaching the local site;

the information output module is also used for starting acquisition if the current position is recovered to the initialization pose, outputting elevator shaft acquisition data of the station to the ground control terminal and confirming that the hovering acquisition of the station is finished; the elevator hoistway acquisition data includes lidar data and image data.

In one embodiment, the method further comprises the following steps:

the data receiving module is used for receiving current height data from the unmanned aerial vehicle body to a shaft pit and current attitude data output by the inertial measurement unit, wherein the current height data is output by the laser radar; the current attitude data comprises a roll angle, a pitch angle and a yaw angle;

the data processing module is used for processing the current height data and the current attitude data to obtain a current height position; when the current height position meets the height position of the station, confirming the station corresponding to the height position of the station; wherein the height position of the station is obtained by processing civil engineering drawing data; civil engineering drawing data includes hole direction of height border position, circle roof beam direction of height border position, and the unmanned aerial vehicle body is from well top safe distance to and the unmanned aerial vehicle body is from well pit safe position under the landing state.

In one embodiment, the data processing module obtains the current height position based on the following formula:

For specific limitations of the elevator shaft inspection control device, reference may be made to the above limitations of the elevator shaft inspection control method, and details thereof are not repeated here. All or part of each module in the elevator shaft inspection control device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.

In one embodiment, an elevator hoistway inspection control system is provided, which comprises an unmanned aerial vehicle and a ground control terminal;

In a specific embodiment, the structural member may include a lifting device with one end fixed on the chassis of the unmanned aerial vehicle body; the lifting device is a linear electric cylinder or a linear motor.

Specifically, as shown in fig. 5, a front view of the structure of the drone is shown; FIG. 6 is a left side view of the drone structure; fig. 7 is a schematic structural diagram of a radar pan-tilt.

This application can include screw 1, unmanned aerial vehicle body 2, fixed undercarriage 3, go up transmission right angle prism 4, down transmit right angle prism 5, two-dimensional laser radar 6, radar cloud platform 7, HDR camera 8, camera cloud platform 9, IMU module 10, on-board treater 11, power 12, wireless image biography and communication module 13, SOS module 14, RC module 15 (not shown in the figure), laser alignment system 16. The main structure can be seen in fig. 5, 6 and 7.

Wherein, unmanned aerial vehicle overall layout guarantees as far as possible that unmanned aerial vehicle's focus is located geometric center and puts.

Two upper/lower right-angle transmitting prisms 4/5 are arranged on a swing arm 7d in a cloud deck 7 like a laser radar 6, the positions of the upper/lower right-angle transmitting prisms and the radar are always consistent, and a small part of light beams of the two-dimensional laser radar 6 are reflected to the top/bottom pit of the shaft and are used for measuring the height of the unmanned aerial vehicle relative to the top surface/bottom pit.

The two-dimensional laser radar 6 is fixed on a swing arm 7d in the holder 7, and the center of gravity of the two-dimensional laser radar is adjusted to pass through the axes of the two swing arm motors. Under the initial condition, the work initial point, laser radar center adjustment and unmanned aerial vehicle focus Z axle direction coincide.

The radar pan/tilt head 7 may be a mechanical frame mounted on the bottom plate of the unmanned aerial vehicle for mounting the laser radar 6, and may include a lifting device 7a, a bracket 7b, a swing arm 7c, and a swing arm 7 d. The lifting device (such as a linear electric cylinder and a linear motor) 7a enables the support 7b to vertically lift, and the vertical height of the cradle head is finely adjusted. The swing arm 7c can rotate left and right around the support 7b, the swing arm 7d can rotate front and back around the swing arm 7c, and each axis is provided with a motor. The radar 6 is mounted on a swing arm 7d to swing with it.

The camera pan-tilt 9 is mounted on the top of the drone for hanging the mechanical architecture of the HDR camera 8, which may include a rotating column 9a, a bracket 9b, a swing arm 9c and a swing arm type camera mounting slot 9 d. The support 9b can rotate around the center of the rotating column 9a, so that the camera can shoot in 360 degrees in the same horizontal plane without dead angles. The swing arm 9c rotates left and right around the bracket 9b, the swing arm type camera mounting clamping groove 9d rotates front and back around the swing arm 9c, and each axis is provided with a motor. The HDR camera 8 is mounted on the swing arm type camera mounting slot 9d to swing with it.

The IMU module 10 may employ a 9-axis MEMS inertial measurement unit (a triaxial gyroscope, a triaxial accelerometer, a triaxial magnetometer), may output a triaxial acceleration, a triaxial rotation speed, and a triaxial geomagnetic field intensity, may output a roll angle Φ, a pitch angle θ, and a yaw angle Ψ without drift, and may employ an anti-vibration gyroscope design.

The SOS module 14 sends a distress signal in an emergency by flashing a light with a red signal and ultrasonic waves.

RC module 15 can be used for under emergency to be deprived back unmanned aerial vehicle's control right by operating personnel, and when manual control unmanned aerial vehicle control operation and operation or SOS module 13 sent distress signal, manual control brought unmanned aerial vehicle to ground.

The laser alignment system 16 includes a laser emitting device 16a and a photoelectric position sensor device 16 b. The photoelectric position sensor can adopt an area array CCD. The laser emitting device 16a is installed in the hoistway pit. Photoelectric position sensor device 16b dress is on laser radar, and its centre of target is unanimous with laser radar focus adjustment and unmanned aerial vehicle focus Z axle direction coincidence. The relative position of the laser radar 6 and the radar pan-tilt 7 is always consistent with the relative position of the radar 6.

Wherein, the main structure that relates to of this application radar cloud platform can include the elevating gear 7a of radar cloud platform 7, and 7a one end is fixed on unmanned aerial vehicle body chassis, adjusts radar cloud platform 7's upper and lower height through elevating gear (like sharp electric cylinder, linear electric motor) to the high adjustment thereupon of radar. Cameras and some sensors assist in the determination of position.

In order to further explain the scheme of the application, the following describes the implementation process of the elevator hoistway inspection control method of the application:

unmanned aerial vehicle takes off and reaches collection position Z of settlement_{n estimation}Hovering the time fixed point, and preparing for acquisition.

IMU Module 10 output roll Angle Φ_nAngle of pitch theta_nWith yaw angle Ψ_n(all angles are turned counterclockwise to positive), the height of the laser radar scanner output to the pit is H_n。

n station hover height estimates Z_{n estimation}＝H_n·cos(arctan(tan²θ_n+tan²Φ_n)^1/2)±L_b·sin(arctan(tan²θ_n+tan²Φ_n)^1/2)－(L_c－L_c·cos(arctan(tan²θ_n+tan²Φ_n)^1/2))

After hovering, the radar cloud platform 7 and the camera cloud platform 9 motor impose corresponding direction power, so that the laser radar and the camera are prevented from inclining and shaking along with the unmanned aerial vehicle. I.e. the swing arm 7b rotates around the bracket 7a to phi_nSwing arm 7c rotates back and forth about swing arm 7b by-theta_n(ii) a The swing arm 9c rotates around the bracket 9b to-phi_nThe swing arm type camera mounting slot 9d rotates around the swing arm 9c back and forth by-theta_n. Namely, after the camera and the radar recover to the initialized pose information, the data acquisition is started.

Z_{n essence}For n station laser radar 6, the precision of the pit is measured by the lower emission right angle prism 5The definite distance is Z_{n essence}I.e. the height of the data collected at the nth station is Z_{n essence}And lidar data X_ni＝r_ni·cosε_i+X_{n is offset}，Y_ni＝r_ni·sinε_i+Y_{n is offset}。(X_{n is offset}，Y_{n is offset}) And recording deviation values of the n laser radars relative to the initial positions of the laser spots for the photoelectric position sensor.

Meanwhile, the rotating column 9a in the camera pan-tilt 9 rotates 360 degrees to acquire image data of the well.

The application provides the following scheme aiming at the hovering position which is more accurate in the special conditions such as the acquisition of the height direction boundary position data of the hole and the acquisition of the height direction boundary position of the ring beam: in the process of Z_{n essence}And after the data acquisition is finished, performing the data acquisition by the following method I, method II or method III.

1) The method comprises the following steps: in the process of Z_{n essence}After the data acquisition is finished, the lifting device lifts the cradle head to finely adjust the height of the laser radar to acquire data of a high-density horizontal plane (cross section of a shaft) at the section so as to reduce the deviation of boundary acquisition. For example, the horizontal bedding surface intensive collection of +/-1 mm, +/-2 mm, +/-3 mm and the like can be adopted.

2) The second method comprises the following steps: in the process of Z_{n essence}After data acquisition is completed, the camera shooting radar acquisition position points can be transmitted back to the ground terminal device in real time through the high-definition wireless image transmission and communication module 13. Based on RC module 15, operating personnel can take back unmanned aerial vehicle's control right at this section to observe the radar and gather the deviation that the position point roughly leaves boundary (direction of height) positions such as door opening or girt through ground terminating set, and then artifical accessible terminating set sets for elevating gear lift cloud platform height and makes the radar gather the position point and more be close to door opening or girt boundary (direction of height) position, with the deviation that reaches reduction boundary and gather.

3) The third method comprises the following steps: in the process of Z_{n essence}After data acquisition is finished, the lifting device lifts the holder, and when a photoelectric switch/visual identification sensor (not indicated by a structural diagram) additionally arranged on the swing arm 7d of the radar or the radar mounting bracket senses the position of the boundary (height direction) of the door opening/ring beam, the holder is lifted toAnd acquiring data at the boundary (height direction) position of the door opening/ring beam. The laser radar can confirm a specific acquisition position according to the position difference from the center of a laser radar beam to the boundary (height direction) of the door opening/ring beam, namely, the position difference between a light source of the laser radar and the center of the laser radar beam can exist when the photoelectric switch and the visual recognition sensor are installed.

E.g. lifting H_Micro-meterData acquisition is carried out with the height of the acquired data being Z_{n essence}+H_Micro-meterAnd lidar data X_ni＝r_nicosε_i+X_{n is offset}，Y_ni＝r_nisinε_i+Y_{n is offset}。(X_{n is offset}，Y_{n is offset}) And recording deviation values of the n laser radars relative to the initial positions of the laser spots for the photoelectric position sensor.

After data acquisition is finished, the lifting platform is lifted to an initial set position, and the swing arm 7b rotates around the support 7a to the left and right by phi_nThe swing arm 7c rotates back and forth around the swing arm 7b by theta_n(ii) a The swing arm 9c rotates around the bracket 9b to the left and right_nThe swing arm type camera mounting slot 9d rotates around the swing arm 9c back and forth by theta_n. Camera and radar resume the unchangeable position appearance of relative unmanned aerial vehicle body promptly.

It should be noted that, regarding the first method and the third method, the position of the radar collecting position may also be checked manually through the image displayed in the ground terminal device, when the deviation is too large, the operator may take the control right of the unmanned aerial vehicle back through the RC module 15 in an emergency, and further collect the radar data by the second method.

Repeatedly taking off and hovering at fixed points until all the stations finish acquisition or when the safe distance Z is preset from the top floor_{S estimation}(this value is estimated by the upper rectangular emission prism 4 output fused to the IMU) for the last acquisition.

The position of the collection point is monitored in real time through a ground terminal device manually in the whole process of starting-up collection, the collection height is set for the position of the omitted collection point or the position needing to be collected again, and collection is carried out in the process of returning. Or the control of data acquisition is carried out by taking the control right of the unmanned aerial vehicle back through the RC module 15 during the process of homing. Otherwise, navigation landing of an obstacle avoidance strategy is carried out by means of the laser radar.

The position of the boundary acquisition in the height direction of the shaft door opening and the ring beam can be seen in figure 1; this application provides increase elevating gear on unmanned aerial vehicle, hover at unmanned aerial vehicle and can gather under the situation of data, go up and down to finely tune lidar's highly can be more accurate reach and set for the target location, or finely tune lidar height and carry out high density horizontal plane (well cross section) data acquisition to key position, promote the accuracy that well installation key position surveyed.

It will be appreciated by those skilled in the art that the configurations shown in fig. 5-7 are only block diagrams of some of the configurations relevant to the present disclosure, and do not constitute a limitation on the computing devices to which the present disclosure may be applied, and that a particular computing device may include more or less components than shown in the figures, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method;

it will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An elevator well inspection control method is characterized by comprising the following steps:

under the condition that hovering acquisition of the station is finished, if the station is confirmed to be close to a hoistway boundary area, outputting a height lifting instruction to a radar pan-tilt; the height lifting instruction is used for indicating the corresponding structural part in the radar pan-tilt head to move so as to adjust the position of the laser radar; the well boundary area comprises a well door opening and a ring beam;

receiving the acquisition information of the hoistway boundary area output by the laser radar after the position adjustment, transmitting the acquisition information to a ground control terminal, and confirming that the acquisition of the station is finished;

2. The elevator hoistway inspection control method according to claim 1, wherein the step of outputting a height elevation command to the radar pan-tilt when confirming that the local station is close to the hoistway boundary area when the hovering collection at the local station is finished comprises:

acquiring current image data shot by a camera, and transmitting the current image data to the ground control terminal; the current image data is used for indicating the ground control terminal to acquire and feed back a deviation value between a current acquisition position point of the laser radar and the boundary area of the shaft;

under the condition that the deviation value fed back by the ground control terminal is received, confirming that the station is close to the well boundary area, and outputting the height lifting instruction according to the deviation value; and the height lifting instruction is used for indicating the action of a lifting device in the radar holder so as to adjust the lifting of the laser radar.

3. The elevator hoistway inspection control method according to claim 2, wherein the current image data is used for instructing the ground control terminal to output a height control instruction to the radar pan-tilt head when the deviation value exceeds a threshold value; and the height control instruction is used for indicating the action of a lifting device in the radar holder so as to adjust the lifting of the laser radar.

4. The elevator hoistway inspection control method according to any one of claims 1 to 3,

the height lifting instruction or the height control instruction is used for indicating the radar pan-tilt to drive the laser radar to lift within a preset height range; the preset height ranges include + -1 mm, + -2 mm and + -3 mm.

5. The elevator hoistway inspection control method according to any one of claims 1 to 3, characterized by further comprising the steps of:

confirming that the station is close to the hoistway boundary area under the condition of receiving the induction data of the hoistway boundary area; the sensing data comprises any one or any combination of the following data: the system comprises laser radar sensing data, photoelectric switch sensing data and visual identification sensor sensing data;

outputting the height lifting instruction according to the sensing data; and the height lifting instruction is used for indicating the action of a lifting device in the radar holder so as to adjust the lifting of the laser radar.

6. The elevator hoistway inspection control method according to claim 1,

the inspection end condition comprises any one or any combination of the following conditions: after all the stations finish the acquisition, the distance between the unmanned aerial vehicle body and the top of the shaft falls into a safe distance range, and a tour inspection finishing instruction is received currently;

if the current position is recovered to the initialization pose, starting acquisition, outputting elevator shaft acquisition data of the station to a ground control terminal, and confirming that the hovering acquisition of the station is finished; the elevator shaft collected data comprises laser radar data and image data.

7. The elevator hoistway inspection control method according to claim 6, wherein before the steps of entering the hovering state and confirming whether the current position is restored to the initialization pose when the current position arrives at the current station, the method further comprises the steps of:

when the current height position meets the height position of the station, confirming that the station corresponding to the height position of the station is reached; the height position of the station is obtained by processing civil engineering drawing data; civil engineering drawing data include hole direction of height border position, circle roof beam direction of height border position, and the unmanned aerial vehicle body is from well top safe distance to and the unmanned aerial vehicle body is from well pit safe position under the landing state.

8. The elevator hoistway inspection control method according to claim 7, wherein in the step of processing the current height data and the current attitude data to obtain a current height position, the current height position is obtained based on the following formula:

Wherein Z is_{n estimation}Representing the current height position; h_nRepresenting the current height data; phi_nRepresenting the roll angle; theta_nRepresenting the pitch angle; Ψ_nRepresenting the yaw angle; l is_bThe distance from the center of the laser radar beam to the radiation surface of the lower right-angle emission prism is obtained; l is_cThe distance from the intersection point of the rotating axes of the swing arms of the radar pan-tilt to the center of the laser radar beam.

9. An elevator shaft inspection control device, characterized by comprising:

the action control module is used for outputting a height lifting instruction to the radar pan-tilt head if the station is confirmed to be close to a boundary area of a shaft under the condition that the hovering collection of the station is finished; the height lifting instruction is used for indicating the corresponding structural part in the radar pan-tilt head to move so as to adjust the position of the laser radar; the well boundary area comprises a well door opening and a ring beam;

the information output module is used for receiving the collected information of the hoistway boundary area output by the laser radar after position adjustment, transmitting the collected information to a ground control terminal and confirming that the collection of the station is finished; and the action control module is also used for moving to the next site, hovering and collecting until the inspection end condition is met.

10. An elevator shaft inspection control system comprises an unmanned aerial vehicle and a ground control terminal;

the drone is adapted to perform the steps of the method of any one of claims 1 to 8.

11. The elevator hoistway inspection control system of claim 10, wherein the structure comprises a lifting device having one end fixed to a chassis of the body of the drone; the lifting device is a linear electric cylinder or a linear motor.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.