JP2022039414A - Measurement device, measurement system, and operation method of movable body - Google Patents

Abstract

To measure the absolute position of a movable body in its path of travel, at high speed and with high accuracy.SOLUTION: A measurement system 100 includes an optical transmitter that transmits light that illuminates a stationary structure in a moving path in response to a gate signal, an image forming unit that forms an image of scattered light from the stationary structure on an imaging surface, an imaging unit 230 that captures the optical signal formed on the imaging surface and converts it into an electrical signal, and an image processing unit 240 that calculates information on the absolute position of the movable body (car) based on the captured image generated from the electrical signal converted by the imaging unit. If the captured image contains an image of a marker, the image processing unit 240 performs marker recognition processing to identify a reference line indicating the reference of the absolute position of the marker by using a change in brightness in a second direction perpendicular to a first direction in the captured image, and executes movement calculation processing to calculate the amount of movement of the movable body from the reference line identified in the marker recognition processing.SELECTED DRAWING: Figure 2

Description

The present invention relates to a measuring device, a measuring system, and a moving body operating method, and is suitable for being applied to a measuring device, a measuring system, and a moving body operating method for calculating information related to the movement of a moving body such as an elevator car. be.

Conventionally, in elevators equipped with a car (hereinafter referred to as "elevator car" or "car") as a moving body, a governor rope is used as a safety device for monitoring the position of the elevator car and the moving speed of the elevator car. I came.

In recent years, a non-contact type sensor (hereinafter referred to as "positional movement speed sensor") that measures the position and movement speed of the elevator car, which is an alternative to the governor rope, has been known. For example, Patent Document 1 discloses an optical position movement speed sensor that photographs a structure existing in a hoistway by an image sensor installed on an elevator car and measures the position and movement speed of the elevator car. .. The non-contact type position movement speed sensor eliminates the need for a long structure such as a governor rope, which has the effect of improving installability and maintainability, and also has the effect of preventing measurement errors due to slippage. be.

International Publication No. 2019/239536

By the way, when the elevator car is operated, the measuring device that detects the position and moving speed of the elevator car detects that the car has safely landed on the door zone in the hoistway, and the door opening / closing device does not operate outside the door zone. Need to be controlled. However, the conventional optical position movement speed sensor described above relatively measures the movement distance based on the time difference of the image of the structure captured by the image sensor, and is combined with another independent configuration. Only by doing so, the reference position could be detected. Therefore, there is a problem that it is difficult to measure the absolute position of the reference position provided in the hoistway from the elevator car moving at high speed at high speed and with high accuracy.

The present invention has been made in consideration of the above points, and proposes a measuring device, a measuring system, and a moving body operating method capable of measuring an absolute position of a moving body in a moving path at high speed and with high accuracy. It is something to try.

In order to solve such a problem, in the present invention, it is a measuring device installed on a moving body moving on a moving path and measuring the position of the moving body, in response to a gate signal generated in a predetermined cycle. An optical transmission unit that transmits light that irradiates a stationary structure arranged along a first direction parallel to the moving direction of the moving body in the moving path, and scattered light from the stationary structure by the light. An imaging unit that forms an image on the imaging surface, an imaging unit that captures the optical signal of the scattered light imaged on the imaging surface and converts it into an electric signal over an exposure time defined by the gate signal. The gate signal is generated at the predetermined cycle, and the electric signal converted by the image pickup unit is subjected to image processing to generate an image to be captured, and based on the image to be captured, the position is set to an absolute position of the moving body. An image processing unit that calculates such information is provided, and the image processing unit is provided in the first direction in the captured image when the captured image includes an image of a marker installed on the stationary structure. A marker recognition process for specifying a reference line indicating an absolute position reference of the marker by using a change in brightness of light and dark in a vertical second direction, and a marker recognition process from the reference line specified by the marker recognition process. A measuring device for executing a movement amount calculation process for calculating the movement amount of the moving body and a measuring device for executing the movement amount calculation process are provided.

Further, in order to solve such a problem, in the present invention, the measuring system for measuring the position of the moving body moving in the moving path, the measuring device installed in the moving body, and the moving body in the moving path. Provided is a measurement system comprising a stationary structure arranged along a first direction parallel to the moving direction, with at least one marker installed at predetermined intervals along the first direction. .. In this measurement system, the measuring device responds to a gate signal generated at a predetermined cycle by providing a stationary structure arranged along a first direction parallel to the moving direction of the moving body in the moving path. An image pickup unit that transmits the light to be irradiated, an image pickup unit that forms an image of scattered light from the stationary structure by the light on the image pickup surface, and an image pickup surface over an exposure time specified by the gate signal. An image pickup unit that captures the optical signal of the scattered light formed in the image and converts it into an electric signal, and an image pickup unit that generates the gate signal at the predetermined cycle and performs image processing on the electric signal converted by the image pickup unit. It has an image processing unit that generates an image to be captured and calculates information related to an absolute position of the moving body based on the captured image, and the image processing unit is any one of the captured images. When the image of the marker is included, a reference line indicating an absolute position reference of the marker is used by utilizing the change in brightness of light and dark in the second direction perpendicular to the first direction in the captured image. The marker recognition process for specifying and the movement amount calculation process for calculating the movement amount of the moving object from the reference line specified by the marker recognition process are executed.

Further, in order to solve such a problem, the present invention provides the following mobile body operation method by an elevator system in which an elevator car is returned to a nearby floor. Here, the elevator system is a stationary structure arranged in a hoistway along a first direction parallel to the moving direction of the elevator car, and at least one between each floor along the first direction. A marker installed on the floor, a measuring device installed in the elevator car to image the stationary structure, and a measuring device for calculating the position information of the marker when the captured image includes the image of the marker. It is configured to include an elevator control unit that controls the operation of the elevator car, and floor height information indicating the marker and the position information of the floor for the marker corresponding to each floor. Then, in this moving body operation method, the first step in which the elevator control unit moves the elevator car to the marker in the vicinity and the measuring device from the captured image of the marker to which the first step is moved. , The second step of calculating the position information of the marker, and the elevator control unit from the marker to the floor based on the position information of the marker calculated in the second step and the floor height table. The elevator control unit includes a third step of calculating the moving distance to the elevator and a fourth step of moving the elevator car by the amount of the moving distance calculated in the third step.

According to the present invention, the absolute position of the moving body in the moving path can be measured at high speed and with high accuracy.

It is a figure which shows the structural example of the elevator system 10 by 1st Embodiment of this invention. It is a figure which shows the configuration example of the measurement system 100. It is a figure which shows the internal structure example of the image processing unit 240. It is a flowchart which shows the processing procedure example of the measurement processing by the image processing unit 240. It is a figure for demonstrating the change of the captured image when the car 120 moves. It is a figure which shows an example of the timing chart of the gate signal transmitted by the control unit 310 to the image pickup unit 230. It is a figure which shows the example of the luminance distribution of the captured image during the exposure time. It is a figure which shows the specific example of the luminance marker 150. It is a figure which shows an example of the luminance distribution of the captured image of the luminance marker 151. It is a figure for demonstrating the size relationship between the luminance marker 150 and the image pickup area of a measuring apparatus 110. It is a conceptual diagram for demonstrating the process of the return operation control of an elevator car 120. It is a figure which mainly shows the internal structure example of the imaging | imaging part 1220 about the measuring apparatus 1200 which concerns on 2nd Embodiment of this invention. It is a figure which mainly shows the internal structure example of the imaging | imaging part 1320 about the measuring apparatus 1300 which concerns on 3rd Embodiment of this invention. It is a figure which mainly shows the internal structure example of the imaging | imaging part 1420 about the measuring apparatus 1400 which concerns on 4th Embodiment of this invention. It is a figure which shows the structural example of the measurement system 1500 which concerns on 5th Embodiment of this invention. It is a figure which shows the configuration example of the vehicle positioning system 1600 which applied the measuring apparatus 110 to a vehicle. It is a figure which shows the configuration example of the crane positioning system 1700 which applied the measuring apparatus 110 to a crane.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In each embodiment of the present invention described in detail below, a measurement system including a measuring device installed on a moving body and a luminance marker arranged on a path for guiding the moving body (moving path) is provided. A device, a system, and a method for recognizing a reference position provided in a route and measuring the absolute position of a moving body determined by the reference position at high speed and with high accuracy will be described. However, the present invention is not limited to the embodiments described below.

The measuring device shown in each embodiment is mounted on the upper part of the moving body, and information related to the movement of the moving body (specifically, the absolute position of the moving body, the moving speed of the moving body, the acceleration of the moving body, and the movement). Measure body vibration, etc.). For example, the measuring device irradiates (transmits) light from the light transmitting unit from the moving body toward the surface of the stationary structure which is the subject in response to the gate signal generated by the control unit. Then, the measuring device captures the light bounced off the surface of the stationary structure (light that may include specularly reflected light and diffusely reflected light, hereinafter referred to as "scattered light") through the imaging unit. It is incident on the image pickup surface of the unit, and the optical signal is photoelectrically converted into an electric signal in the image pickup unit. Then, the measuring device is based on the image generated from the converted electrical signal, and in the marker recognition unit, the information related to the reference position (specifically, the presence / absence of the reference luminance marker and the reference position provided in the luminance marker). , ID that distinguishes the reference position assigned to each luminance marker, etc.) is measured. Further, the measuring device is based on the image generated from the converted electric signal, and in the image processing unit, the information related to the movement of the moving body (specifically, the moving distance from the reference position of the moving body and the movement of the moving body). Measure speed, vibration of moving objects, etc.). Then, the measuring device calculates the information of the absolute position of the moving body in the moving route based on the information related to the reference position and the information related to the movement of the moving body, and the calculated information is used to control the operation of the moving body. Alternatively, it is transmitted to the mobile control unit that controls the safety device. Then, the moving body control unit controls the operation of the moving body and the safety device based on the information of the absolute position of the moving body calculated by the measuring device.

Further, in some embodiments, an elevator car will be described as an example of a moving body in 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 the elevator car. The techniques presented in each embodiment are moving objects (eg, automatic doors, trains, cars, cranes, etc.) that move along stationary structures (eg, guide rails, railroad tracks, roads, etc.) that have artificial polishing scratches. Etc.) can also be applied. In addition, in this specification, "light" refers to an electromagnetic wave, and specifically, in addition to visible light, microwaves, terahertz waves, infrared rays, ultraviolet rays, X-rays and the like may be used. Similarly, the measurement system to which the present invention can be applied is not limited to the measurement system incorporated in the elevator system, and is also applied to, for example, a vehicle positioning system in which automatic driving is controlled, a crane positioning system, and the like. It is possible.

Further, in the following description, when explaining without distinguishing the same kind of elements, the common part (the part excluding the branch number) among the reference codes including the branch number is used, and the same kind of elements are explained separately. In this case, a reference code including a branch number may be used. For example, "luminance marker 150" is described when the imaging region is described without any distinction, whereas "luminance marker 150-1" is described when the individual measurement units (imaging regions) are described separately. ] Or "luminance marker 150-2" may be described.

(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 the first embodiment of the present invention.

As shown in FIG. 1, the elevator system 10 includes a measurement system 100, and the measurement system 100 is an elevator car 120 that moves up and down in a hoistway (moving path of a moving body) of a building (not shown). A measuring device 110 mounted on the upper part and a plurality of luminance markers 150 (individually, for example, luminance markers 150-1, 150-2) installed to indicate a reference position in the hoistway are provided. It is composed. Further, as shown in FIG. 1, the elevator system 10 includes an elevator car 120, an elevator control unit 130, or a guide rail 140, but at least one of these components is included in the measurement system 100. May be.

The measuring device 110 outputs signal information useful for controlling the operation of the elevator car 120 (for example, signal information regarding the position, moving speed, acceleration, etc. of the elevator car 120) to the elevator control unit 130. The elevator control unit 130 controls the operation of the elevator car 120, controls the safety device, and the like. The location of the measuring device 110 is not limited to the upper part of the elevator car 120, and the measuring device 110 may be arranged in a side surface portion, a lower portion, or the like other than the upper portion.

The guide rail 140 is an example of a stationary structure arranged in the hoistway, and is arranged in the hoistway along the moving direction of the moving body (in the y-axis direction in FIG. 1), and is a guide roller of the elevator car 120. (Not shown) is in contact with the moving body (elevator car 120) to support the movement. The luminance marker 150 is the top or side of one surface of the guide rail 140 (for example, the sliding surface in contact with the guide roller), the flange surface fastened to the wall surface by the bolt of the guide rail 140, or the sliding surface. They are arranged at predetermined intervals on the neck portion or the like located at the boundary between the surface and the flange surface.

The luminance marker 150 is attached in the form of a sticker, for example, but the guide rail 140 is processed by mechanical marking or a laser marker that is resistant to disturbance such as dirt and rust due to aging deterioration. It may be realized. Alternatively, the luminance marker 150 may use an indicator such as an LED pre-embedded in the guide rail 140, which has high luminance and can be recognized with a high S / N ratio.

FIG. 2 is a diagram showing a configuration example of the measurement system 100. As shown in FIG. 2, the measuring device 110 includes an optical transmission unit 210, an image forming unit 220, an imaging unit 230, and an image processing unit 240. In FIG. 2, the optical path is shown by a broken line with an arrow, and the path of an electric signal is shown by a solid line with an arrow.

The light transmission unit 210 includes a light source (not shown), and is arranged so as to irradiate light toward the guide rail 140, which is a subject, and the luminance marker 150 provided on the guide rail 140. As the light source of the light transmission unit 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. Light source may be used.

In the image forming unit 220, the emitted light beam (emitted light), which is the light emitted from the light transmitting unit 210 toward the surface of the guide rail 140 or the luminance marker 150 provided on the guide rail 140, is the surface or luminance of the guide rail 140. It is configured as an optical system that forms an image of the scattered light scattered by the marker 150 on the image pickup surface of the image pickup unit 230.

The image pickup unit 230 is an optical signal from the image pickup unit 220 (an optical signal indicating a scattered luminance distribution on the surface of the guide rail 140 or the surface of the luminance marker 150), and is connected to an image pickup surface including a plurality of pixels (pixels). The imaged optical signal is converted into an electric signal according to the brightness of the pixel, and the converted electric signal is transmitted to the image processing unit 240 as an image signal indicating a dark field image. In the present embodiment, the image signal transmitted by the image pickup unit 230 to the image processing unit 240 is not limited to the one showing the dark field image, and may be, for example, the one showing the bright field image or the like. For the image pickup 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. Further, the image pickup unit 230 may be a two-dimensional area sensor or a one-dimensional line sensor having a function of spatial decomposition in the ascending / descending direction of the car 120.

In the measurement system 100, a wavelength selection filter such as a bandpass filter is provided in the path of the emitted light from the light transmitting unit 210 and the scattered light in addition to the imaging unit 220, and the external light other than the desired wavelength is provided. May be removed. Further, the measurement system 100 may be provided with a window material or the like in the path of the incident light and the scattered light for the purpose of protecting the measurement device 110 so that dust and dirt do not enter the measurement device 110. ..

The image processing unit 240 performs predetermined image processing on the image signal (electric signal obtained by converting the optical signal formed on the image pickup surface) received from the image pickup unit 230, and the image pickup generated by the image processing is performed. Based on the image, information related to the movement of the elevator car 120 (car movement related information) and information related to the reference position provided in the luminance marker 150 (reference position related information) are calculated, and these information are used in the elevator control unit. Send to 130. 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 a logic such as an FPGA (Field-Programmable Gate Array). It may be configured by a circuit element or the like.

(1-2) Configuration of Image Processing Unit 240 and Measurement Processing by Image Processing Unit 240 The internal configuration of the image processing unit 240 and the processing performed by the image processing unit 240 will be described in detail below.

FIG. 3 is a diagram showing an example of the internal configuration of the image processing unit 240. As shown in FIG. 3, the image processing unit 240 includes a control unit 310, a movement amount calculation unit 320, a luminance marker recognition unit 330, and a communication unit 340.

The control unit 310 generates a plurality of gate signals (gate pulse signals), transmits one of the generated gate signals to the optical transmission unit 210, and transmits the other gate signal to the image pickup unit 230. .. The gate signal transmitted to the optical transmission unit 210 is used as a timing signal that defines the drive time of the light source in the optical transmission unit 210. The gate signal transmitted to the image pickup unit 230 is used as a timing signal that defines the exposure time in the image pickup unit 230. Then, the control unit 310 performs predetermined image processing on the electric signal from the image pickup unit 230, and transmits the image after the image processing to the movement amount calculation unit 320 and the luminance marker recognition unit 330. In the image processing by the control unit 310, specifically, for example, an electric signal from the image pickup unit 230 (for example, an image signal indicating a dark field image) is spatially converted into an image according to the scattering luminance distribution on the surface of the guide rail 140. It is a process of disassembling.

The movement amount calculation unit 320 calculates information related to the movement of the elevator car 120 (car movement-related information) based on the result of image processing received from the control unit 310, and transmits the calculated signal information to the communication unit 340. .. Specifically, the car movement-related information includes information indicating the position, movement speed, and the like of the car 120.

The luminance marker recognition unit 330 performs image recognition processing for recognizing the luminance marker 150 on the image after image processing received from the control unit 310, and information related to the reference position provided in the luminance marker 150 (reference position related). Information) is calculated, and the calculated signal information is transmitted to the communication unit 340. Specifically, the reference position-related information includes, for example, an ID for identifying the presence / absence of the reference luminance marker 150 and the reference position (reference position assigned to each luminance marker 150) provided in the luminance marker 150 (reference position). Details will be described later as "ID pattern") and the like.

The communication unit 340 is a communication protocol (for example, CAN (Controller Area Network)) in which the elevator control unit 130 can receive the car movement-related information received from the movement amount calculation unit 320 and the reference position-related information received from the brightness marker recognition unit 330. ) It is converted according to the protocol such as communication), and the converted signal information is output to the elevator control unit 130.

FIG. 4 is a flowchart showing an example of a processing procedure for measurement processing by the image processing unit 240.

According to FIG. 4, the image processing unit 240 starts measurement based on the gate signal generated by the control unit 310, and the control unit 310 transmits an image I as an electric signal from the image pickup unit 230 for each frame i. (I) is acquired (step S101). The frame i is preferably a time that is an integral multiple of the frame period Δt, which will be described later. Further, as described above, the image I (i) is, for example, a dark field image. Then, in step S101, the control unit 310 stores the acquired image I (i) in the storage element (memory) in the control unit 310. As the storage element in which the image I (i) is stored, a volatile memory such as a register included in the image processing unit 240 may be used, or a non-volatile memory arranged outside may be used.

After the processing of step S101, the processing of steps S102 to S104 and the processing of step S105 are executed in parallel. As will be described later, in step S104, the processing result of step S105 is used.

In steps S102 to S104, the movement amount calculation unit 320 obtains, for example, the position of the car 120 (total movement amount of the car 120 from the reference position of the luminance marker 150) and the movement speed V of the car 120 as the car movement-related information. calculate. This will be described in detail below.

First, the movement amount calculation unit 320 reads the image I (i) of the i-frame stored in the storage element in step S101 from the storage element, and k frames before the i-frame (k is an integer of 1 or more). The image I (i-k) of the i-k frame stored in the storage element is read out from the storage element, and the i-k is based on the difference between the image I (i) and the image I (i-k). The movement amount Δy of the car 120 from the frame to the i-frame is calculated (step S102).

Regarding the calculation of the movement amount Δy of the car 120 in step S102, a more specific image is supplemented by showing an example of the captured image in FIG. 5, which will be described later.

Further, in step S102, the selection method of the image I (i-k) for taking the difference from the latest image I (i) may be to select the image before the i-frame (k = 1). Images before a plurality of frames may be selected (k = an integer of 2 or more). Further, as a method of calculating the movement amount Δy of the car 120, for example, a cross-correlation function which is an index of the degree of similarity between the image I (i) and the image I (ik) is calculated, and the peak coordinates of the cross-correlation function are calculated. The y component of the position (the component in the same direction as the elevating direction of the car 120) is estimated as the movement amount Δy of the car 120. The method of estimating the movement amount Δy from the y component of the peak coordinate position is not limited to a specific method. For example, it may be estimated from the peak coordinates of the maximum position, or it may be estimated by performing least squares fitting using several points near the maximum position.

Next, the movement amount calculation unit 320 calculates the elapsed time k × Δt from the image I (i-k) to the image I (i), and takes the ratio of the movement amount Δy and the time k × Δt to obtain the cage. The moving speed V of 120 is calculated (moving speed V = Δy / (k × Δt)) (step S103).

Further, the movement amount calculation unit 320 sequentially and cumulatively adds the movement amount Δy of the car 120 to the reference position of the brightness marker 150 recognized as the reference for the movement amount calculation by the brightness marker recognition unit 330 in step S105. The total amount of movement of the car 120 from the reference position is calculated (step S104).

On the other hand, in step S105, the luminance marker recognition unit 330 calculates the reference position-related information using the luminance marker 150 included in the image I (i) of the i-frame as a reference for calculating the movement amount.

More specifically, the luminance marker recognition unit 330 reads out the image I (i) of the i-frame from the storage element and performs image recognition processing on the image I (i) to perform the luminance marker 150 in the image I (i). Judge the presence or absence of. When the luminance marker 150 is present in the image I (i), the luminance marker recognition unit 330 recalculates the reference position-related information using the luminance marker 150 as a new reference for calculating the movement amount. Specifically, the luminance marker recognition unit 330 has a reference position provided in the luminance marker 150, which is newly used as a reference for calculating the movement amount, and an ID assigned to the luminance marker 150 (ID in FIG. 8). Pattern 820) and the like are calculated. On the other hand, when the luminance marker 150 does not exist in the image I (i), the luminance marker recognition unit 330 does not update the reference for calculating the movement amount, and the reference position-related information calculated in the latest measurement process continues. Is used.

By performing the process of step S105 in this way, the luminance marker recognition unit 330 uses the latest luminance marker 150 included in the image I (i), which changes due to the movement of the car 120, as a reference position for calculating the movement amount. Related information can be calculated. More specifically with reference to FIG. 1, for example, when the car 120 (measuring device 110) rises in the y-axis direction, the luminance is increased until the luminance marker 150-1 is exceeded and the luminance marker 150-2 is reached. The marker 150-1 serves as a reference for calculating the movement amount, and reference position-related information based on the luminance marker 150-1 is calculated. After the car 120 (measuring device 110) reaches the luminance marker 150-2, the luminance marker 150-2 serves as a reference for calculating the movement amount until the next luminance marker 150 is reached, and the luminance marker 150- Reference position related information based on 2 is calculated.

Then, when the steps S104 and S105 are completed, the control unit 310 (or the communication unit 340) communicates the car movement-related information calculated in steps S102 to S104 with the reference position-related information calculated in step S105. It is transmitted to the elevator control unit 130 via the unit 340 (step S106). Then, the control unit 310 adds 1 to the value of the frame number “i” (step S107).

Next, the control unit 310 confirms whether or not the power is being supplied to the measuring device 110 (step S108). In step S108, the image processing unit 240 repeats the processes of steps S101 to S107 as long as the power is supplied (YES in step S108), and when the power supply is cut off (NO in step S108), the measurement process. To finish.

In the measurement process shown in FIG. 4, as described above, the luminance marker 150 whose existence is recognized by the image recognition process by the luminance marker recognition unit 330 (more strictly, the reference position provided in the luminance marker 150). ) Is set as the reference position, the amount of movement of the car 120 from the reference position is accumulated, and the absolute position between the reference positions of the car 120 is recognized. Therefore, when the car is in operation, errors may accumulate until the reference position of the next luminance marker 150 is reached. In this case, if the car 120 reciprocates in a section without a reference position, errors may continue to accumulate, which is not preferable in terms of absolute position measurement accuracy. In order to eliminate the accumulation of such errors, in this embodiment, at least one luminance marker 150 is installed between the floors. Specifically, for example, when the space between floors is 4 meters, the installation interval of the luminance marker 150 is set to 4 meters or less.

As described above, in the elevator system 10, the measurement process is executed by the image processing unit 240 of the measurement system 100 (measurement device 110), so that when the elevator car 120 is moved, the reference position of the brightness marker 150 as a reference is used. The absolute position of the elevator car 120 can be calculated by cumulatively adding the relative movement amounts Δy of.

Hereinafter, as a supplement to the above-mentioned measurement processing, an image of calculating the movement amount Δy of the car 120 by the movement amount calculation unit 320 will be described with reference to FIG. Further, as a supplementary explanation related to the captured image (image (i)) to be measured, exposure by the imaging unit 230 for preventing subject blurring in the captured image while referring to FIGS. 6 and 7. I will explain how to devise time.

FIG. 5 is a diagram for explaining changes in the captured image when the car 120 is moved. Strictly speaking, as described above, the image pickup unit 230 captures the optical signal imaged on the image pickup surface and converts it into an electric signal, and the image processing unit 240 (control unit 310) converts the image into the electric signal. The processing is performed to generate an captured image. However, for the sake of simplicity, in the following description, the electric signal converted by the image pickup of the image pickup unit 230 may be replaced with the "image captured image" image-processed by the control unit 310. Although FIG. 5 illustrates a case where the captured image does not include the image of the luminance marker 150, the captured image may include the image of the luminance marker 150.

When the guide rail 140, which is the subject, is photographed from the car 120 moving at the moving speed V, the subject surface (guide rail) is taken at the time t and the time (t + k × Δt) as shown in FIG. A deviation occurs in the moving direction (y-axis direction) between the two captured images 520-1 and the captured image 520-2 of the scattered luminance distribution 510 on the surface of 140). Note that Δt represents a frame period, k is an integer value, and represents the number of elapsed unit frames when a predetermined timing is set as the starting point (k = 0). At this time, Δy representing the displacement amount of the displacement corresponds to the movement amount Δy of the car 120. Therefore, as described in steps S102 to S104 of FIG. 4, the movement amount calculation unit 320 can calculate the movement amount of the car 120 by comparing the captured images between different frames.

FIG. 6 is a diagram showing an example of a timing chart of a gate signal transmitted by the control unit 310 to the image pickup unit 230.

As shown in FIG. 6, the control unit 310 of the image processing unit 240 transmits the gate signal 610 to the image pickup unit 230 every frame period Δt (gate signals 610-1 and 610-2 in FIG. 6). ). Then, in response to the pulse of the gate signal 610 transmitted from the control unit 310, the image pickup unit 230 performs exposure for a time of the pulse width T (exposure time T), and captures an optical signal imaged on the image pickup surface. do. In the measuring device 110 according to the present embodiment, the gate signal 610 is transmitted from the control unit 310 to the optical transmission unit 210 in parallel with the transmission of the gate signal 610 from the control unit 310 to the image pickup unit 230, and the gate signal is transmitted. The light transmission unit 210 that has received the 610 may turn on the light source only during the exposure time T. By performing such lighting control, the average output power of the optical transmission unit 210 per unit time can be reduced, so that the effect of suppressing the power required for driving and heat dissipation can be obtained.

FIG. 7 is a diagram showing an example of the luminance distribution of the captured image during the exposure time. Specifically, FIG. 7 shows the luminance distribution of the captured image when the scattered light emitted from the luminance marker 150 provided on the guide rail 140 is imaged on the imaging unit 230 within the period of one exposure time T. An example is shown.

In FIG. 7, since the exposure time is T, if the start time within the exposure time is t, the end time within the exposure time is represented by t + T. The scattered light luminance distribution 710-1 is the luminance distribution of the scattered light on the image plane at the start time t within the exposure time T, and the scattered light luminance distribution 710-2 is the end time t + T within the exposure time T. It is the luminance distribution of the scattered light on the image plane in. As can be seen by comparing the scattered light luminance distributions 710-1 and 710-2 in FIG. 7, the light receiving surface (imaging surface) of the imaging unit 230 is within the period of the gate signal 610 transmitted from the control unit 310 to the imaging unit 230. The luminance distribution of the scattered light imaged in is moved in the moving direction (y-axis direction) of the car 120. As a result, in the captured image 720 during the period (exposure time T), subject blurring occurs in the y-axis direction.

The subject blur changes continuously from moment to moment from the scattered light luminance distribution 710-1 at the start time t within the exposure time T to the scattered light luminance distribution 710-2 at the end time t + T within the exposure time T. It is a "blurring" that occurs in the moving direction (y-axis direction) of the captured image 720 after exposure by integrating the images of the scattered light luminance distribution. That is, in the captured image 720, blurring occurs in proportion to the exposure time T in the imaging unit 230, more strictly, by the width of V × T, which is the product of the moving speed V of the car 120 and the exposure time T. Then, if image processing is performed in the state where the above-mentioned subject blurring occurs in the captured image 720, there is assumed a problem that the moving speed and the position of the car 120 cannot be accurately calculated.

Regarding the above problem, in order to suppress the occurrence of subject blur in the moving direction (y-axis direction) of the car 120, the exposure time T is sufficiently made small (shortened) in consideration of the moving speed V of the car 120. There is a need. Therefore, in the present embodiment, the time shorter (smaller) than the time obtained from the ratio of the spatial resolution δ _x of the pixels of the imaging unit 230 to the maximum moving speed V _max of the cage 120 is defined as the exposure time T of the imaging unit 230. do. That is, the exposure time T is determined so as to satisfy the relationship of "T <δ _x / V _max " by using the required spatial resolution δ _x and the maximum moving speed V _max of the car 120. Specifically, for example, when an elevator car 120 that requires a maximum moving speed of 300 m / min is required to have a spatial resolution of 0.5 mm, the exposure time may be requested to be suppressed to 100 μs or less. good.

(1-3) Features of Luminance Marker 150 The features of the luminance marker 150 that can be used in the measurement system 100 according to the present embodiment will be described in detail below.

First, the image of the luminance marker 150 will be described.

FIG. 8 is a diagram showing a specific example of the luminance marker 150. In FIG. 8, as specific examples of the luminance marker 150 having different shapes, the luminance marker 151 is shown in FIG. 8A, the luminance marker 152 is shown in FIG. 8B, and the luminance marker 153 is shown in FIG. 8C. The features of the individual luminance markers 151 to 153 will be described later, but first, the configuration common to the luminance markers 150 will be described.

As shown in each figure of FIG. 8, the luminance marker 150 includes a reference line 810 that serves as a reference for an absolute position, and an ID pattern 820 that distinguishes a reference position by a combination of arrangements of brightness of light and dark. It is assumed that the ID pattern 820 has a different identification signal for each pattern. Further, a margin of a predetermined amount or more is provided outside the print area of the luminance marker 150. By providing this margin, even if the car 120 during traveling shakes in the vertical direction (x-axis direction) perpendicular to the moving direction (y-axis direction), the printed area does not deviate from the image pickup area and the image pickup unit is provided. The 230 can recognize the luminance marker 150. That is, in order for the image pickup unit 230 to surely fit the print area of the brightness marker 150 in the image pickup area even if the car 120 during traveling is shaken in the x-axis direction, the side of the brightness marker 150 in the x-axis direction is required. The length may be less than or equal to the length obtained by subtracting the displacement amount of the maximum vibration in the x-axis direction that can occur in the car 120 from the length of the side in the x-axis direction of the imaging region. Specifically, for example, when a measuring device 110 having an imaging region of 13 mm is used for a car 120 in which a car shake of 5 mm can occur in the x-axis direction, the length of the side in the x-axis direction of the luminance marker 150 is set. It is required to be at least 8 mm or less.

It is assumed that the luminance markers 150 (luminance markers 151 to 153) according to the present embodiment have a characteristic luminance change at least in the x-axis direction. By utilizing this change in brightness, the measuring device 110 can improve the detection accuracy by minimizing the influence of subject blur even when the car 120 moves at high speed in the y-axis direction. FIG. 9 shows a specific example for explaining the effect of improving the detection accuracy.

FIG. 9 is a diagram showing an example of the luminance distribution of the captured image of the luminance marker 151. Similar to FIG. 7 for the luminance marker 150, FIG. 9 shows an example of the luminance distribution of the captured image in the period of one exposure time T for the luminance marker 151 exemplified in FIG. 8 (A). Has been done. As described above in FIG. 7, when the car 120 moves at high speed, subject blurring may occur in the moving direction (y-axis direction) in the captured image. Specifically, in FIG. 9, the scattered light luminance distribution 910-1 at the start time t within the exposure time T changes continuously from moment to moment from the scattered light luminance distribution 910-2 at the end time t + T within the exposure time T. By integrating the images of the scattered light luminance distribution, subject blurring occurs in the moving direction (y-axis direction) of the captured image 920 after exposure. However, the luminance marker 150 (for example, the luminance marker 151) according to the present embodiment has a characteristic luminance change in the x-axis direction, so that the subject blurs in the moving direction (y-axis direction) of the car 120 in the captured image 920. Even if it occurs, the pattern of luminance change (brightness and darkness of the edge) in the x-axis direction is not affected (see the captured image 920 in FIG. 9). That is, the measuring device 110 (image processing unit 240) can detect the bright and dark edges provided in the x-axis direction in which the subject blur does not occur even if the subject blur occurs in the captured image 920. Therefore, it is possible to improve the detection accuracy of the ID pattern 820.

Further, in the luminance markers 150 (luminance markers 151 to 153) according to the present embodiment, it is assumed that the interval between the brightness changes of the brightness of the ID pattern 820 is larger than the spatial resolution δ _x determined by the pixels of the imaging unit 230. This is because if the interval between the brightness changes of the ID pattern 820 is smaller (fine) than the spatial resolution δ _x determined by the pixels of the image pickup unit 230, the image pickup unit 230 cannot distinguish the luminance change. .. Therefore, specifically, for example, when the spatial resolution δ _x of the imaging unit 230 is 0.5 mm, the period of the brightness change of the brightness of the ID pattern 820 is assumed to be at least 0.5 mm.

Further, in the luminance markers 150 (luminance markers 151 to 153) according to the present embodiment, the combinations of the ID patterns 820 have a sufficient number of combinations for distinguishing the reference position information in the same hoistway. Specifically, for example, when the luminance markers 150 are installed every 4 m in a hoistway having a total height of 100 m, at least 25 luminance markers 150 are installed, so that the ID pattern 820 has at least 25 combinations or more. Needs.

Further, in the luminance markers 150 (luminance markers 151 to 153) according to the present embodiment, the ID pattern 820 does not have periodicity with respect to the moving direction (y-axis direction). This is because the image processing (movement amount calculation processing) by the movement amount calculation unit 320 described above is performed even at the place where the brightness marker 150 is installed, so that the ID pattern 820 of the brightness marker 150 is assumed to be the car 120. If there is periodicity in the movement direction (y-axis direction) of, the periodicity is reflected in the movement amount calculation process, so that the cycle is reflected in the calculated movement amount Δy (and total movement amount) of the car 120. This is because the indefiniteness of the minute appears, and there is a possibility that the movement amount cannot be uniquely estimated.

Next, the features of the individual luminance markers 151 to 153 shown in FIGS. 8 (A) to 8 (C) will be described. All of these luminance markers 151 to 153 have the characteristics of the luminance marker 150 according to the above-described embodiment.

The luminance marker 151 shown in FIG. 8A is an example of the luminance marker 150 in a form in which the reference line 810 and the ID pattern 820 are separated, and the ID pattern 820-1 of the luminance marker 151 is bright and dark in the x-axis direction. Is composed of different one-dimensional barcodes. In the case of the luminance marker 151, the position of the light and dark edges in the ID pattern 820-1 is detected, and it is possible to recognize the information of the ID that distinguishes the reference position. This light-dark edge can be identified by detecting a position where the brightness difference is equal to or greater than a predetermined threshold value using the light-dark brightness difference as an index. Similarly, the position of the reference line 810-1 can be identified by detecting the coordinates (y-coordinates) in which the brightness changes rapidly in the y-axis direction.

In the present embodiment, by using the luminance marker 151 as described above, it is possible to realize a luminance marker having a simpler configuration while having the characteristics of the luminance marker 150 according to the above-described embodiment.

The luminance marker 152 shown in FIG. 8B is an example of the luminance marker 150 in which the reference line 810 and the ID pattern 820 are integrated. The ID pattern 820-2 of the luminance marker 152 is configured by a two-dimensional light-dark mosaic type pattern in the xy-axis direction, and the reference line 810-2 is configured as one side of the light-dark mosaic type pattern. The light-dark mosaic type pattern such as the ID pattern 820-2 detects the light and dark by the luminance difference detection as in the ID pattern 820-1 by the one-dimensional barcode having the light and dark shown in FIG. 8 (A). As a result, it becomes possible to identify the combination of patterns. Further, the reference line 810-2 can specify the position by detecting the corner position of the rectangle of the luminance marker 152.

In the present embodiment, when the brightness marker 152 as described above is used, the light-dark mosaic type two-dimensional ID pattern 820-2 is compared with the ID pattern 820-1 composed of a one-dimensional barcode in the x-axis direction. Therefore, since the number of pattern combinations can be increased in the y-axis direction, the amount of writable information (for example, floor height information) can be increased. In addition, even for some pattern defects due to stains attached to the pattern, partial peeling of the pattern, saturation of pixel values due to external light, etc., by increasing the number of pattern combinations, a redundant pattern configuration can be achieved. Since it is easy to take, a more robust luminance marker can be realized.

The luminance marker 153 shown in FIG. 8C is an example of the luminance marker 150 in which the reference line 810 and the ID pattern 820 are integrated. The ID pattern 820-3 of the luminance marker 153 is composed of numbers and characters. When the luminance marker 153 is used, for example, the image processing unit 240 learns each ID pattern 820-3 by processing such as machine learning before the position measurement of the car 120 is performed, and each obtained by learning. By allocating and storing the position information to the feature points of the ID pattern 820-3, when the position of the car 120 is measured, the image processing unit 240 uses the information (numbers and characters) included in the ID pattern 820-3 in the captured image. ) Can be read. Further, since the reference line 810-3 is configured as one side of the rectangle of the luminance marker 153 like the reference line 810-2, the position can be specified by detecting the corner position of the rectangle of the luminance marker 153. can.

In the present embodiment, when the luminance marker 153 as described above is used, the luminance marker 153 can be easily identified by a person from the image captured by the luminance marker 153 by the imaging unit 230 because the information included in the ID pattern 820-3 can be easily identified. Can be used for applications other than the target of the reading process of the measuring device 110. For example, the luminance marker 153 can be used for the purpose of distinguishing the number and position of members such as the guide rail 140 at the time of installation / construction or inspection of the guide rail 140.

In the measurement system 100 according to the present embodiment, for the purpose of improving the recognition accuracy of the luminance marker 150, in addition to the artificially provided tape and the ID pattern 820 by engraving, dirt and scratches naturally attached to the guide rail 140. Can also be set to the ID pattern 820. In this case, dirt and scratches may be stored in the measuring device 110 or the elevator control unit 130 in advance and used by associating with the position information.

Next, the size of the luminance marker 150 will be described.

In the present embodiment, the length L _mark of the side of the brightness marker 150 in the y-axis direction is the maximum moving speed V of the moving body (car 120) from the length _Lobs of the side of the image pickup region 230 in the y-axis direction. It is configured to be equal to or less than the length obtained by subtracting the size obtained by multiplying _max by the frame time Δt (see FIG. 6) corresponding to the generation cycle of the gate signal 610. That is, it is assumed that the relationship of "L _mark ≤ _Lobs -V _max x Δt" is established (the equal sign of the above inequality may be excluded). With such a configuration, the image processing unit 240 can acquire a completely captured image of the luminance marker 150 in at least one of two consecutive frames. The necessity that the size of the luminance marker 150 satisfies the above relational expression will be described with reference to FIG.

FIG. 10 is a diagram for explaining the size relationship between the luminance marker 150 and the imaging region of the measuring device 110. In FIG. 10, the length L _mark of the side of the luminance marker 150 in the y-axis direction is continuous when the relational expression “L _mark ≦ _Lobs −V _max × Δt” shown in the previous stage is not satisfied. Cases have been shown in which it is not possible to obtain a complete captured image of the luminance marker 150 in at least one of the two frames. The frame period in which the image processing unit 240 (control unit 310) acquires the electric signal of the captured image from the image pickup unit 230 is defined as Δt.

As shown in FIG. 10, when two consecutive frames (first frame and second frame) elapse, the image pickup region 1010 of the measuring device 110 (imaging unit 230) is oriented in the y-axis direction, which is the moving direction of the car 120. Moving. Specifically, in FIG. 10, the image is moved from the image pickup region 1010-1 at the first frame start time t to the image pickup region 1010-2 at the second frame start time t + Δt.

Here, the maximum moving distance L _max between frames can be expressed by the product of the maximum moving speed V _max of the car 120 and the frame period Δt (L _max = V _max × Δt). Further, when the length of the side of the imaging region 1010 in the moving direction (y-axis direction) is _Lobs , the length of the side of the region where the imaging region 1010 overlaps in two consecutive frames is ". It is given by " _Lobs -L _max ".

In FIG. 10, the length “ _Lobs − L _max ” of the side of the overlapping region in the moving direction (y-axis direction) is smaller than the size (length of the side in the moving direction) L _mark of the luminance marker 150. In other words, the case where the relationship of “L _mark > _Lobs −V _max × Δt” is established is exemplified, and at this time, as shown in FIG. 10, the first frame (time t) and the second frame In any of (time t + Δt), the luminance marker 150 may not completely fit in the imaging region 1010, and only an image multiplied by a part of the luminance marker 150 may be captured. As a result, the image processing unit 240 captures the image. Reading the luminance marker 150 from the image fails.

As described above, as a counter-evidence of the failure example of FIG. 10, in the present embodiment, in order to completely capture the entire luminance marker 150 in at least one of two consecutive frames (time t, time t + Δt), the luminance is used. It is required that the size L _mark of the marker is " _Lobs -V _max x Δt" or less. To give a specific example, for a car 120 having a required maximum moving speed (V _max ) of 300 m / min, the frame period (Δt) is 1 mm sec, and the side of the moving direction (y-axis direction) of the imaging region 1010. When the luminance marker 150 is recognized by using the measuring device 110 having a length ( _Lobs ) of 13 mm, the length (L _mark ) of the side of the luminance marker 150 in the moving direction (y-axis direction) is at least. It is required to be 8 mm or less.

In this embodiment, it is also possible to arrange a plurality of luminance markers 150 representing the same ID pattern 820 for the purpose of redundancy. In this case, it is not necessary to satisfy the above-mentioned requirement "L _mark ≤ _Lobs -V _max x Δt" with respect to the overall size of the plurality of luminance markers 150 arranged, but a plurality of elements representing the same ID pattern 820. At least one or more luminance markers 150 among the luminance markers 150 are required to satisfy the above requirements. Further, in consideration of ease of installation, for example, when the luminance marker 150 is attached to the guide rail 140 with a sticker or the like, only the luminance marker 150 printed on the inside of the sticker needs to satisfy the above requirements. The size of the seal may be sufficiently larger than the luminance marker 150.

As described above, according to the measurement system 100 according to the present embodiment, when the moving body (elevator car 120) moves, the measuring device 110 mounted on the moving body refers to FIGS. 8 to 10 and the like. By performing the measurement processing shown in FIG. 4 on the captured image of the luminance marker 150 having the characteristics described above, the absolute position information of the moving body in the moving route can be calculated at high speed and with high accuracy. Can be done. That is, according to the measurement system 100 according to the present embodiment, the reference position provided in the hoistway is recognized with high accuracy from the moving body moving at high speed, and the moving distance of the moving body from the reference position is sequentially recognized. By accumulating in, the absolute position of the moving body in the hoistway can be measured at high speed and with high accuracy. Then, based on the absolute position information of the moving body calculated by the measuring device 110, a predetermined control unit (elevator control unit 130) can control the operation of the moving body and the safety device.

(1-4) Restoration operation control of the moving body at the time of power recovery Further, by using the measurement system 100 according to the present embodiment, the elevator system 10 can be used at the time of power recovery after a power failure such as a power failure occurs. It is possible to realize an operation control for moving the moving body to a predetermined return position (specifically, a return operation control for returning the elevator car 120 stopped due to a power failure to the nearest floor).

FIG. 11 is a conceptual diagram for explaining a process of returning operation control of the elevator car 120. With reference to FIG. 11, a step of returning the elevator car 120 stopped at the stop position 1111 due to the power cutoff to the nearest floor 1120 at the time of power restoration will be described.

First, at the time of installation of the elevator system 10, a floor height table in which the reference position 1112 on which the brightness marker 150 is installed and the floor position 1113 of each floor are associated with each other is prepared in advance. Is stored. The reference position 1112 is the altitude corresponding to the reference line 810 provided in each brightness marker 150, and the floor position 1113 is stopped at the floor corresponding to the car 120 (for example, the floor 1120). The altitude of the measuring device 110 at the time.

By the way, in the elevator system 10, the operation of the car 120 or the like is stopped when a power cutoff such as a power failure occurs. At this time, the position information of the car 120 measured by the measuring device 110 before the power cutoff is caused by the power cutoff. May be lost. Therefore, when the elevator control unit 130 returns the car 120 to the nearest floor 1120 and then restarts the car control at the time of power restoration, the car 120 is moved to the nearest floor based on the position information measured before the power is cut off. When returning to the floor 1120, there was a possibility that a large error would occur.

In order to solve the above problem, in the elevator system 10 according to the present embodiment, when returning from the power cutoff, the elevator control unit 130 first puts the car 120 into the position at the time of power recovery (stop position 1111 due to the power cutoff). The brightness marker 150 at the shortest distance is searched for by ascending or descending from. That is, as shown by arrow 1131 in FIG. 11, the car 120 is moved from the stop position 1111 to the reference position 1112 in which the luminance marker 150 is installed.

Next, the measuring device 110 reads the ID pattern 820 using the combination of the brightness changes of light and dark from the captured image of the luminance marker 150 provided with the reference position 1112, and reads the reference position 1112 (in other words, the luminance marker 150). The position information regarding the reference line 810) is acquired and transmitted to the elevator control unit 130.

Then, the elevator control unit 130 measures when the car 120 is moved to the nearest floor 1120 based on the position information of the reference position 1112 acquired by the measuring device 110 and the floor height table stored in advance. The moving distance to the floor position 1113 of the device 110 is calculated. Thus, the elevator control unit 130 can accurately return the car 120 to the nearest floor 1120 as shown by the arrow 1132 in FIG. 11 by moving the car 120 by the calculated movement distance.

(2) Second Embodiment FIG. 12 is a diagram mainly showing an internal configuration example of an imaging unit 1220 for the measuring device 1200 according to the second embodiment of the present invention. The measuring device 1200 according to the second embodiment is a robust imaging unit 1220 capable of keeping the imaging magnification of the imaging unit 230 unchanged with respect to the shaking of the car 120 in the z-axis direction (see FIG. 1). However, since the other configurations are the same as those of the measuring device 110 of the first embodiment, detailed description thereof will be omitted.

In FIG. 12, the light rays of scattered light from the guide rail 140 and the luminance marker 150 are indicated by broken lines with arrows (for example, scattered light rays 1211-1213). As shown in FIG. 12, the imaging unit 1220 forms an image of scattered light from the guide rail 140 and the luminance marker 150 on the imaging unit 230. Specifically, the imaging unit 1220 includes an objective lens 1221 (first lens), a diaphragm 1222, and a condenser lens 1223 (second lens). The objective lens 1221 is arranged so as to face the guide rail 140, and collects the scattered light scattered by the guide rail 140. The aperture 1222 limits the amount of scattered light (scattered rays 1211-1213) collected by the objective lens 1221. The condenser lens 1223 is arranged between the aperture 1222 and the image pickup unit 230, collects the scattered light whose amount of light is limited by the aperture 1222, and sends the collected scattered light toward the image pickup surface of the image pickup unit 230. do.

In the imaging unit 1220 according to the present embodiment, in order to eliminate the influence of the change in magnification when the guide rail 140, which is the subject (detection target), is relatively shaken in the z-axis direction with respect to the car 120. At least the object side (guide rail 140 side) has a telecentric optical arrangement, and in order to suppress the geometrical aberration generated in the image pickup unit 230, an image is formed on the image pickup unit 230 by two or more lenses. Further, the imaging unit 1220 may have a telecentric optical arrangement on the image side (imaging unit 230 side), and in this case, the dimensional tolerance in the z-axis direction (mounting tolerance in the z-axis direction) when the imaging unit 230 is attached. ) Play a role in expanding.

That is, in the measuring device 1200 according to the present embodiment, the center of the image pickup surface of the image pickup unit 230, the optical axis of the condenser lens 1223, the center of the aperture 1222, and the optical axis of the objective lens 1221 are located on the same straight line. The aperture 1222 is arranged at the focal position on the image pickup unit 230 side of the objective lens 1221 and at the focal position on the objective lens 1221 side of the condenser lens 1223.

Further, as shown in FIG. 12, in the present embodiment, the scattered light from the guide rail 140 passes through the objective lens 1221 and then is imaged on the image pickup surface of the image pickup unit 230 via the condenser lens 1223. Of these scattered lights, the scattered rays 1211-1213 are the main rays of the present imaging optical system. That is, the scattered rays 1211 to 1213 pass through the center of the aperture 1222, and the scattered rays 1211 to 1213 are always parallel to the optical axis of the objective lens 1221 and emitted from the scattering surface of the guide rail 140, and are always emitted from the scattering surface of the guide rail 140, and are always the condenser lens 1223. The objective lens 1221, the aperture 1222, and the condenser lens 1223 are arranged so as to be incident on the image pickup unit 230 in parallel with the optical axis of the lens 1221.

As described above, according to the measuring device 1200 according to the present embodiment, the magnification of the image formed on the image pickup surface of the image pickup unit 230 even if the image of the guide rail 140 is blurred in the optical axis direction (z axis direction). Further, the magnification of the image formed on the image pickup surface of the image pickup unit 230 can be made invariant even if the mounting position of the image pickup unit 230 is displaced in the z-axis direction. As a result, it is possible to obtain a large dimensional tolerance when the imaging unit 2220 and the imaging unit 230 are attached, and a more robust optical system can be configured. Further, by using two lenses including the objective lens 2221 and the condenser lens 2223 for the image pickup unit 2220, it can be expected that the influence of the geometrical aberration of the image pickup unit 2220 generated in the image pickup unit 230 can be reduced.

Further, in the present embodiment, in the imaging unit 220, the objective lens 2221 can be configured as a spherical lens on both sides, or a spherical surface on one side and a flat surface on the other side, and as a glass lens. Further, the condenser lens 2223 can also be configured as a glass lens in which the shape of the surface through which the light beam passes is spherical on both sides or spherical on one side and flat on the other side. With such a configuration, in the measuring device 1200 according to the present embodiment, it is possible to configure the imaging unit 2220 which is cheaper and has high durability.

(3) Third Embodiment FIG. 13 is a diagram mainly showing an internal configuration example of an imaging unit 1320 for the measuring device 1300 according to the third embodiment of the present invention. The measuring device 1300 according to the third embodiment has the same configuration as the measuring device 1200 according to the second embodiment except that a part of the internal configuration of the imaging unit 1320 is different, and the second embodiment has the same configuration. Detailed explanations will be omitted for the points common to the forms.

In FIG. 13, the light rays of the scattered light from the guide rail 140 and the luminance marker 150 are shown by broken lines with arrows (for example, scattered light rays 1311 to 1313). As shown in FIG. 13, the imaging unit 1320 forms an image of the scattered light from the guide rail 140 and the luminance marker 150 on the imaging unit 230. Specifically, the imaging unit 1320 has an objective lens 1321 (first lens), an aperture 1322, and a condenser lens 1323 (first lens), similarly to the imaging unit 1220 of the second embodiment shown in FIG. 2 lenses), and further, as a configuration peculiar to the present embodiment, a mirror 1324 is provided.

Here, the configurations and roles of the objective lens 1321, the aperture 1322, and the condenser lens 1323 are the same as the configurations and roles of the objective lens 1221, the aperture 1222, and the condenser lens 1223 shown in FIG. 12, respectively, and the object side. The (guide rail 140 side) is arranged in a telecentric optical arrangement, and the image side (image pickup unit 230 side) is also arranged in a telecentric optical arrangement. The mirror 1324 is arranged so as to face the guide rail 140, and the scattered light scattered by the guide rail 140 is specularly reflected toward the objective lens 1321.

By providing the above-mentioned configuration, the measuring device 1300 according to the present embodiment can obtain the same effect as the measuring device 1200 according to the second embodiment. Further, the measuring device 1300 according to the present embodiment can realize a more compact structure by using the mirror 1324. That is, as is clear when comparing FIG. 13 with FIG. 12, in the measuring device 1300, the imaging unit 1320, the imaging unit 230, and the image processing unit 240 (not shown) can be arranged close to the upper part of the car 120. The measuring device 1300 can be placed on the upper part of the basket 120 without using a special jig.

(4) Fourth Embodiment FIG. 14 is a diagram mainly showing an internal configuration example of an imaging unit 1420 for the measuring device 1400 according to the fourth embodiment of the present invention. The measuring device 1400 according to the fourth embodiment is the measuring device 1200 according to the second embodiment in which the imaging unit 1220 is arranged in the dark field optical arrangement in that the imaging unit 1420 is arranged in the bright field optical arrangement. Although it is different, the configuration is almost the same as that of the second embodiment except for the above, and detailed description of the points common to the second embodiment will be omitted.

In FIG. 14, the light rays of scattered light from the guide rail 140 and the luminance marker 150 are indicated by broken lines with arrows (for example, scattered light rays 1411-1413). As shown in FIG. 14, the imaging unit 1420 is arranged in a bright field optical arrangement, and the scattered light of the illumination light from the light transmitting unit 210 is imaged on the imaging unit 230. Specifically, the imaging unit 1420 includes an objective lens 1421 (first lens), a diaphragm 1422, and a condenser lens 1423 (second lens). The objective lens 1421 is arranged in a direction in which the light emitted from the light transmitting unit 210 with respect to the image pickup unit 230 on the guide rail 140 is specularly reflected, and collects the scattered light on the guide rail 140. The configurations and roles of the objective lens 1421, the aperture 1422, and the condenser lens 1423 are the same as the configurations and roles of the objective lens 1221, the aperture 1222, and the condenser lens 1223 shown in FIG. 12, respectively, and the object side (the object side ( The guide rail 140 side) is arranged in a telecentric optical arrangement, and the image side (image pickup unit 230 side) is also arranged in a telecentric optical arrangement.

By providing the above-mentioned configuration, the measuring device 1400 according to the present embodiment can obtain the same effect as the measuring device 1200 according to the second embodiment. Further, the measuring device 1400 according to the present embodiment is executed by the image processing unit 240 because the amount of scattered light incident on the imaging unit 230 can be increased by arranging the image forming unit 1420 in a bright field optical arrangement. It is possible to obtain the effect of improving the processing accuracy of the movement amount calculation process and the luminance marker recognition process.

(5) Fifth Embodiment In the present embodiment, the internal configuration of the measuring device 110 in the measuring system 100 according to the first embodiment (optical transmission unit 210, imaging unit 220, imaging unit 230, image processing unit 240). A measurement system 1500 having a redundant configuration for each of the luminance marker 150 and the luminance marker 150 will be described.

FIG. 15 is a diagram showing a configuration example of the measurement system 1500 according to the fifth embodiment of the present invention. As shown in FIG. 15, the measurement system 1500 is located between a measuring device 1510 having two or more measuring units 1511 (individually measuring units 1511-A and 1511-B), and between the measuring device 1510 and the elevator control unit 130. It is configured to include one determination unit 1520 arranged in the guide rail 140, and two or more luminance markers 150 (individually luminance markers 150-A, 150-B) attached to at least two or more locations on the guide rail 140. To. The measurement system 1500 shown in FIG. 15 has a redundant configuration with a redundant configuration, but in the present embodiment, the redundant configuration of the measurement system 1500 is not limited to the redundant configuration, and is a redundant configuration of triplex or more. May be.

In the measuring device 1510, the measuring units 1511-A and 1511-B each have the same internal configuration as the measuring device 110. Specifically, the measurement unit 1511-A includes an optical transmission unit 210-A, an image pickup unit 220-A, an image pickup unit 230-A, and an image processing unit 240-A, and the measurement unit 1511-B is an optical unit. It includes a transmission unit 210-B, an image formation unit 220-B, an image pickup unit 230-B, and an image processing unit 240-B.

In the measuring device 1510 configured as described above, the measuring units 1511-A and 1511-B are each measuring unit 1511 out of two or more luminance markers 150 affixed to at least two places or more on the guide rail 140, respectively. The luminance marker 150 (in the case of the measuring unit 1511-A, the luminance marker 150-A, in the case of the measuring unit 1511-B, the luminance marker 150-B), which is the image pickup target of the above, is independently connected to the measuring device 110. Perform the same measurement process. That is, the light transmission unit 210 irradiates the emission light to the luminance marker 150 as the image pickup target, and the image pickup unit 220 forms an image of the scattered light by the luminance marker 150 on the image pickup surface of the image pickup unit 230. The image pickup unit 230 converts the optical signal coupled to the image pickup surface into an electric signal according to the brightness of the pixel, and the image processing unit 240 performs image processing on the electric signal to generate a cage based on the captured image. Information related to the movement of the 120 (information related to the movement of the car) and information related to the reference position provided in the luminance marker 150 to be imaged (information related to the reference position) are calculated. However, unlike the measuring device 110, the measuring units 1511-A and 1511-B transmit the calculation result by the respective image processing units 240 to the determination unit 1520 instead of the elevator control unit 130.

Then, the determination unit 1520 sets the signal information (car movement-related information and reference position-related information) transmitted from the plurality of measurement units 1511 (specifically, the image processing unit 240 in detail) of the measurement device 1510 in the next stage. By performing the comparison process described above, an abnormality relating to the plurality of measurement units 1511 and the luminance marker 150 is determined.

As the comparison process, the determination unit 1520 determines whether or not at least two or more signal information received from the measuring device 1510 are the same. When it is determined by the determination that the signal information of the two or more is the same, the determination unit 1520 can determine that the measuring device 1510 and the luminance marker 150 are operating normally. On the other hand, when it is determined by the determination that any signal information is not the same as the other signal information, the determination unit 1520 can determine that there is an abnormality in at least one of the measuring device 1510 or the luminance marker 150. ..

In addition, "the signal information is the same" in this embodiment may mean that the contents of the signal information to be compared completely match, but may also mean that they almost match (substantially match). .. As a case of perfect matching, for example, the position of the car 120-A transmitted from the image processing unit 240-A and the position of the car 120-B transmitted from the image processing unit 240-B have the same value. , Can be mentioned. Further, as a case of substantially matching, for example, the difference between the position of the car 120-A transmitted from the image processing unit 240-A and the position of the car 120-B transmitted from the image processing unit 240-B is predetermined. It is within the specified range (for example, the range of tolerance).

Further, when the number of measurement units 1511 included in the measurement device 1510 is 3 or more, in the comparison process by the determination unit 1520, for example, it is determined whether or not the signal information is the same for all pairs, and all the pairs have the same signal information. When it is determined that the signal information is the same, it is determined that the operation is normal, and when it is determined that the signal information is not the same in one or more pairs, at least one of the measuring device 1510 and the brightness marker 150. It may be determined that there is an abnormality in.

As a result of performing the comparison processing as described above, when it is determined that the measuring device 1510 and the brightness marker 150 are operating normally, the determination unit 1520 receives the signal information (of the same signal information) from the measuring unit 1511. , And signal information (information indicating normality determination) indicating a determination result that the measurement unit 1511 is operating normally are transmitted to the elevator control unit 130.

On the other hand, when it is determined that there is an abnormality in at least one of the measuring device 1510 or the luminance marker 150 as a result of performing the comparison processing, the determination unit 1520 indicates signal information indicating the determination result that the measurement unit 1511 is operating abnormally. (Information indicating abnormality determination) is transmitted to the elevator control unit 130. Further, in addition to the determination of the presence or absence of the abnormality described above, the determination unit 1520 determines the information related to the captured image acquired by each measurement unit 1511, the information related to the movement of the car 120 (car movement related information), and the luminance marker 150. By analyzing the information related to the reference position (reference position related information) and the like, the type of abnormality may be identified. As the analysis method, since a known analysis method can be appropriately used, a detailed explanation is omitted, but by identifying the type of abnormality, specifically, for example, damage to parts of the measuring device 1510 and installation repair. It is possible to detect abnormal vibration due to loosening or breakage of the jig, mounting position deviation, inclination, corrosion on the guide rail 140, contamination, sticking of foreign matter, defect of the brightness marker 150, and the like.

As described above, according to the measurement system 1500 according to the present embodiment, by adopting the redundant configuration, the measurement device 1510 (measurement unit 1511) and the luminance marker 150 have abnormalities such as failure, dirt, and defects. Even if the above occurs, the occurrence of the abnormality can be safely detected without disturbing the operation of the elevator car 120. In addition, when the occurrence of an abnormality is detected, the type of abnormality can be identified by analyzing the information acquired from the measuring device 1510, so that appropriate recovery work can be carried out promptly. Become.

(6) Other Embodiments In each of the first to fifth embodiments described above, the case where the present invention is applied to the measuring device of the elevator car 120 in the elevator system has been described, but the present invention is not limited to this, and others. It can be widely applied to various systems, devices, methods, and programs.

For example, the measuring device 110 according to the first embodiment (may be a measuring device according to another embodiment) has high accuracy in position and speed not only in the operation of an elevator but also in a vehicle traveling at high speed such as an automobile or a train. It can also be applied to applications for detection. For example, in an autonomous vehicle, the measuring device 110 can be applied for the purpose of position monitoring / 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. Is.

FIG. 16 is a diagram showing a configuration example of a vehicle positioning system 1600 in which the measuring device 110 is applied to a vehicle. FIG. 16A shows an example in which the luminance marker 150 is attached to the road surface 1620, and FIG. 16B shows an example in which the luminance marker 150 is attached to the wall surface 1630 of the expressway.

As shown in FIG. 16, in the vehicle positioning system 1600, the measuring device 110 is arranged on the side or the upper part of the vehicle 1610 (for example, a car or a train) traveling in the road surface 1620. The measuring device 110 outputs signal information useful for controlling the operation of the vehicle 1610 to the vehicle control unit (not shown). The vehicle control unit is provided, for example, to safely operate and stop the vehicle 1610 that is automatically driven.

Further, a luminance marker 150 indicating a reference position in the road is attached to a predetermined stationary structure (road surface 1620 in FIG. 16A and wall surface 1630 in FIG. 16B) existing in the vicinity of the vehicle 1610. .. Although only one luminance marker 150 is displayed in FIG. 16, in reality, a plurality of luminance markers 150 may be arranged along the moving direction of the moving body on the stationary structure, and each luminance marker 150 may be arranged. , Corresponding reference line 810 and ID pattern 820. Specifically, for example, the luminance marker 150 needs to be positioned and stopped with high accuracy, such as a wall surface 1630 in front of a traffic light that needs to stop the vehicle 1610 safely, or a parking lot or a gas station. It is affixed to the road surface 1620. For example, when the measurement device 110 is applied to a train, the luminance marker 150 may be arranged along the rail on which the train travels.

By applying the measuring device 110 to the autonomous driving vehicle (vehicle 1610) as described above, the vehicle positioning system 1600 of FIG. 16A utilizes the brightness marker 150 arranged on the road surface 1620 to position the vehicle 1610. Can be measured with high accuracy, which can be useful for controlling the vehicle 1610 to be stopped at a predetermined destination (parking lot, gas station, charging station, etc.) with high accuracy. Similarly, since the vehicle positioning system 1600 of FIG. 16B can measure the position of the vehicle 1610 with high accuracy by using the luminance marker 150 arranged on the wall surface 1630, the vehicle 1610 is placed at a predetermined point. It can be used for control to stop safely (in front of a traffic light, etc.).

Further, for example, the measuring device 110 according to the first embodiment (may be a measuring device according to another embodiment) can also be applied to the operation control of the crane.

FIG. 17 is a diagram showing a configuration example of a crane positioning system 1700 in which the measuring device 110 is applied to a crane. In the crane positioning system 1700 shown in FIG. 17, the measuring device 110 is arranged on the side or the upper part of the crane 1710 that operates in the uniaxial direction along the rail 1720. In the case of FIG. 17, the rail 1720 corresponds to a stationary structure in which the luminance marker 150 is arranged, and the luminance marker 150 is arranged along the moving direction of the crane 1710.

In the crane positioning system 1700, the measuring device 110 images the wall surface of the rail 1720, measures the movement amount and speed of the crane 1710 (information related to the movement of the crane 1710), and displays the luminance marker 150 attached to the rail 1720. By reading, the information related to the reference position of the luminance marker 150 is acquired. Then, the crane control unit (not shown) of the crane 1710 provides such information useful for controlling the operation of the crane 1710 (that is, information related to the movement of the crane 1710 and information related to the reference position of the brightness marker 150). Based on this, the operation of the crane 1710 is monitored, and abnormal positions and speeds are detected.

By applying the measuring device 110 to the crane 1710 as described above, the crane positioning system 1700 can enhance its safety in the operation control of the crane 1710.
It should be noted that each of the above-described embodiments is for explaining the present invention in an easy-to-understand manner, and does not limit the scope of the present invention. Further, it is possible to add, delete, replace, or the like with other configurations for a part of the configurations of each embodiment. Further, each of the above configurations, functions, processing units, processing means and the like may be realized by hardware by designing a part or all of them by, for example, an integrated circuit. Further, each of the above configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function can be placed 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.

Further, in the drawings, the control lines and information lines are shown as necessary for explanation, and not all the control lines and information lines are necessarily shown in the product. In practice it may be considered that almost all configurations are interconnected.

10 Elevator system 100 Measuring system 110 Measuring device 120 Elevator basket
130 Elevator control unit 140 Guide rail 150 (151 to 153) Brightness marker 210 Optical transmission unit 220 Imaging unit 230 Imaging unit 240 Image processing unit 310 Control unit 320 Movement amount calculation unit 330 Brightness marker recognition unit 340 Communication unit 510 Scattered brightness distribution 520 Captured image 610 Gate signal 710, 910 Scattered light intensity distribution 720, 920 Captured image 810 Reference line 820 ID pattern 1010 Imaging area 1111 Stop position 1112 Reference position 1113 Floor position 1120 Nearest floor 1200, 1300, 1400 Measuring device 1211 ~ 1213, 1311 ~ 1313, 1411-1413 Scattered light 1220, 1320, 1420 Imaging part 1221, 1321, 1421 Objective lens 1222, 1322, 1422 Aperture 1223, 1323, 1423 Condensing lens 1324 Mirror 1500 Measuring system 1510 Measuring device 1511 Measurement unit 1520 Judgment unit 1600 Vehicle positioning system 1610 Vehicle 1620 Road surface 1630 Wall surface 1700 Crane positioning system 1710 Crane 1720 rail

Claims (15)

It is a measuring device installed on a moving body that moves on a moving path and measures the position of the moving body.
An optical transmitter that transmits light that irradiates a stationary structure arranged along a first direction parallel to the moving direction of the moving body in the moving path in response to a gate signal generated in a predetermined cycle. ,
An imaging unit that forms an image of scattered light from the stationary structure by the light on the imaging surface,
An imaging unit that captures the optical signal of the scattered light imaged on the imaging surface and converts it into an electric signal over an exposure time defined by the gate signal.
The gate signal is generated at the predetermined cycle, and the electric signal converted by the image pickup unit is subjected to image processing to generate an image to be captured, and based on the image to be captured, the position of the moving body is determined to be absolute. The image processing unit that calculates the relevant information and
Equipped with
The image processing unit
When the captured image includes an image of a marker installed on the stationary structure, the marker's brightness change in the second direction perpendicular to the first direction in the captured image is used. Marker recognition processing that identifies the reference line that indicates the absolute position reference,
A measuring device characterized by executing a movement amount calculation process for calculating the movement amount of the moving body from the reference line specified by the marker recognition process. The exposure time is
The measuring device according to claim 1, wherein the time is set to a value smaller than the time calculated from the ratio of the spatial resolution of the image formed on the imaging surface and the maximum moving speed of the moving body. In the movement amount calculation process, the image processing unit is
The captured image of each frame is generated from the electric signal converted by the imaging unit at a frame cycle corresponding to the generation cycle of the gate signal.
Of the generated plurality of frame captured images, the first measurement target image included in the preceding first frame captured image and the second image included in the second frame captured image after the first frame. By calculating the deviation on the image generated between the image to be measured, the moving distance of the moving body between the first frame and the second frame is calculated.
The measuring device according to claim 1, wherein the moving speed of the moving body is calculated from the ratio of the calculated moving distance to the time difference between the first frame and the second frame. The image forming portion is
A first lens that collects scattered light from the stationary structure,
A diaphragm that limits the amount of scattered light collected by the first lens, and a second lens that is arranged between the diaphragm and the imaging surface and whose amount of light is limited by the diaphragm. With 2 lenses,
The measuring device according to claim 1, wherein at least the first lens arranged on the stationary structure side has a telecentric optical arrangement. It is a measurement system that measures the position of a moving object moving along a moving path.
The measuring device installed on the moving body and
A marker installed at least one at a predetermined interval along the first direction on a stationary structure arranged along the first direction parallel to the moving direction of the moving body in the moving path.
Equipped with
The measuring device is
An optical transmitter that transmits light that irradiates a stationary structure arranged along a first direction parallel to the moving direction of the moving body in the moving path in response to a gate signal generated in a predetermined cycle. ,
An imaging unit that forms an image of scattered light from the stationary structure by the light on the imaging surface,
An imaging unit that captures the optical signal of the scattered light imaged on the imaging surface and converts it into an electric signal over an exposure time defined by the gate signal.
The gate signal is generated at the predetermined cycle, and the electric signal converted by the image pickup unit is subjected to image processing to generate an image to be captured, and based on the image to be captured, the position of the moving body is determined to be absolute. The image processing unit that calculates the relevant information and
Have,
The image processing unit
When the captured image includes an image of any of the markers, the absolute position of the marker is used by utilizing the change in brightness of light and dark in the second direction perpendicular to the first direction in the captured image. Marker recognition processing to specify the reference line indicating the reference of
A measurement system characterized by executing a movement amount calculation process for calculating the movement amount of the moving object from the reference line specified by the marker recognition process. The moving body is an elevator car that moves in a hoistway in an elevator system.
The measurement system according to claim 5, wherein at least one of the markers is installed between the floors of the stationary structure arranged in the hoistway in the first direction. The length of the side of the marker in the first direction is
The length is equal to or less than the length obtained by subtracting the size obtained by multiplying the maximum moving speed of the moving body by the frame time corresponding to the generation cycle of the gate signal from the length of the side of the image pickup region by the imaging unit in the first direction. The measurement system according to claim 5, wherein the measurement system is to be used. The measurement system according to claim 5, wherein the length of the side of the marker in the first direction is 8 mm or less. The length of the side of the marker in the second direction perpendicular to the first direction is
The feature is that the length is equal to or less than the length obtained by subtracting the maximum amount of displacement of the shaking in the second direction that can occur in the moving body from the length of the side of the image pickup region by the image pickup unit in the second direction. The measurement system according to claim 5. The markers installed at different positions in the first direction on the moving path each have a combination of the reference line, which is used as a reference for the absolute position of the marker, and the brightness change of light and darkness, which is different for each marker. It has an ID pattern that represents the absolute position information of the reference line by using it.
In the marker recognition process, the image processing unit is
A decoding process for recognizing the ID pattern given to the marker with respect to the image of the marker included in the captured image and acquiring the absolute position information represented by the ID pattern from the recognized ID pattern. The measurement system according to claim 5, wherein the measurement system is to be performed. The marker is
The minimum period of the brightness change of light and dark in the ID pattern is larger than the spatial resolution of the image formed on the image pickup surface, and the number of combinations of the brightness change of light and dark in the ID pattern is the first in the moving path. The measurement system according to claim 10, wherein the number of the markers is equal to or greater than the total number of the markers installed at different positions in one direction. The ID pattern given to the marker is composed of a combination of light and dark luminance changes arranged in a one-dimensional array in the first direction.
In the marker recognition process, the image processing unit is
The measurement system according to claim 10, wherein the ID pattern decoding process is performed using the brightness change of the light and dark in the first direction of the marker as an index. The ID pattern given to the marker is composed of a combination of light and dark luminance changes arranged in a two-dimensional array in the first direction and the second direction perpendicular to the first direction.
In the marker recognition process, the image processing unit is
The measurement system according to claim 10, wherein the ID pattern decoding process is performed using the brightness change of the brightness in the first direction and the brightness change in the second direction of the marker as an index. The image processing unit
Prior to performing the decoding process, the ID pattern assigned to the marker is learned, and the absolute position information of the corresponding marker is assigned and stored in the feature points of each ID pattern obtained by the learning. ,
The claim is characterized in that, in the marker recognition process, the feature point recognition process is performed on the captured image, and the ID pattern decoding process is performed using the feature point recognized by the recognition process as an index. 10. The measurement system according to 10. It is a mobile operation method using an elevator system that returns the elevator car to the nearby floor.
The elevator system is
A marker in which at least one is installed between each floor along the first direction on a stationary structure arranged in a hoistway along a first direction parallel to the moving direction of the elevator car.
A measuring device installed in the elevator car to image the stationary structure and calculate the position information of the marker when the captured image includes the image of the marker.
An elevator control unit that controls the operation of the elevator car,
For the marker corresponding to each floor, the floor height information indicating the position information of the marker and the floor, and the floor height information
Is configured with
The first step in which the elevator control unit moves the elevator car to the marker in the vicinity, and
The second step in which the measuring device calculates the position information of the marker from the captured image of the marker at the destination of the first step.
A third step in which the elevator control unit calculates the moving distance from the marker to the floor based on the position information of the marker calculated in the second step and the floor height information.
The fourth step in which the elevator control unit moves the elevator car by the amount of the moving distance calculated in the third step, and
A mobile operation method characterized by being equipped with.

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