JP7080142B2 - Measurement system and measurement method - Google Patents

Description

The present invention relates to a measurement system and a measurement method, and more specifically, a measurement system and a measurement suitable for measuring a hoistway and centering the hoistway in order to install an elevator in the hoistway. Regarding the method.

Conventionally, in order to newly install an elevator in the hoistway of a building, the car guide rail and the counterweight guide rail must be positioned and installed vertically with respect to the hoistway. For this reason, it is important to accurately determine the main reference positions and dimensions in the hoistway, which is called centering of the hoistway.

Conventionally, the centering of the hoistway is performed by suspending a plurality of piano wires accurately positioned with respect to the reference line of the building from the upper template arranged at the upper part of the hoistway. It is being advanced by positioning the measurement points on the inner wall of the hoistway and the building standard ink on each floor of the building.

However, when centering the hoistway with the piano wire as a reference, it takes time for the hanging piano wire to stand still, and further, the skill level is required for positioning the hanging weight attached to the tip of the piano wire. I needed it.

Therefore, the measurement work for the hoistway is automated. For example, Japanese Patent Application Laid-Open No. 2003-066143 describes a car with a laser distance meter, a motor that rotates and scans the optical axis of the laser beam in the horizontal direction, and a laser beam that scans the laser beam in the horizontal direction. Equipped with a vertical optical axis changer to be sent to, and by rotating the motor according to the ascending / descending movement of the car, while drawing a measurement trajectory in a spiral shape, horizontal distance measurement data can be obtained and the dimensions inside the hoistway. A measuring device that can automatically and efficiently collect data necessary for creating a drawing in a hoistway and can improve the efficiency of measurement work is disclosed.

Further, Japanese Patent Application Laid-Open No. 2011-006222 describes a platform in which a device for measuring an elevator hoistway is configured to move in the longitudinal direction in a structure, and a point on the platform connected to this platform. At least one first distance sensor configured to measure the lateral distance to the wall of the structure and between a point on the platform and the first end of the structure connected to the platform. Disclosed include at least one second distance sensor configured to measure longitudinal distances and a transfer machine configured to move the platform approximately longitudinally within the structure.

Japanese Patent Application Laid-Open No. 2003-066143 Japanese Patent Publication No. 2011-006222

The above-mentioned prior art has a problem that it is not possible to accurately center the hoistway when a new elevator is installed. Therefore, the present invention can accurately center the hoistway when a new elevator is installed, and thus is suitable for realizing smooth operation of the elevator, a hoistway measurement system and a measurement method. The purpose is to provide.

In order to achieve the above object, the present invention is a measurement system for measuring an elevator hoistway of a building having a plurality of floors, from the bottom floor to the top floor of the plurality of floors, in the hoistway. A moving body that moves, a measurement sensor that is attached to the moving body and moves in the hoistway together with the moving body to measure the hoistway, and a drive mechanism that moves the moving body up and down in the vertical direction. The measurement sensor comprises a data processing device for processing the measured value of the measurement sensor, and the measurement sensor measures the inner wall of the hoistway in a horizontal plane with respect to the vertical direction in each of the plurality of floors. The data processing device is a measurement system that calculates construction information for installing an elevator in the hoistway based on the distance measurement data of the measurement sensor.

The present invention is further a measurement method for measuring an elevator hoistway of a building having a plurality of floors, in which a moving body moves vertically in the hoistway from the bottom floor to the top floor of the plurality of floors. It moves up and down, and the measuring sensor moves in the hoistway together with the moving body to measure the hoistway, and the measuring sensor measures the hoistway in the horizontal plane with respect to the vertical direction in each of the plurality of floors. This is a measurement method for measuring the elevator hoistway, which measures the distance on the inner wall of the hoistway.

According to the present invention, the present invention can accurately center the hoistway when a new elevator is installed, and thus can realize smooth operation of the elevator.

This figure is a perspective view of an embodiment in which the measurement system according to the present invention is applied to a hoistway. This figure is a left side view of the embodiment. This figure is a horizontal sectional view of the second floor of the hoistway. This figure is a diagram showing a cross-sectional view of FIG. 2 overlaid with measurement points and the like measured by a measuring device. This figure is a diagram showing a mode in which the form of the hoistway reproduced by the measuring device is displayed on the monitor. This figure is an example of a functional block diagram of a measurement system. This figure is another example of the functional block diagram of the measurement system. It is a figure for demonstrating the operation which obtains the inclination of a hoistway, and is the vertical sectional view which saw the hoistway from the side. It is the figure which looked at the hoistway from the back side opposite to the doorway. It is a horizontal plan view of a hoistway. Another horizontal plan view of the hoistway. Yet another plan view of the hoistway in the horizontal direction. It is a flowchart of one operation example for the measuring device to calculate the centering of a hoistway. This is an example of a management table that summarizes the measured values. Based on the measurement result of FIG. 9, this is an example of a management table that summarizes the centering position and the inclination of the hoistway. It is a left side view of the hoistway which shows that the elastic rope was fixed to the bottom surface of the housing, and the other end of the elastic rope was fixed to the fixed part of the pit floor surface of the hoistway. It shows the embodiment for suppressing the swing of a measuring apparatus, and is the top view of the hoistway. The embodiment is shown, and is a left side view of the hoistway. It shows the same embodiment and is the 2nd plan view of a hoistway. It shows the same embodiment and is the second left side view of a hoistway. It shows another embodiment for suppressing the swing of a measuring apparatus, and is the top view of the hoistway. The embodiment is shown, and is a left side view of the hoistway. It shows the same embodiment and is the 2nd plan view of a hoistway. It shows the same embodiment and is the second left side view of a hoistway. The second embodiment for moving a measuring device up and down in a vertical direction in a hoistway is shown, and is a plan view of the hoistway. The embodiment is shown, and is a left side view of the hoistway. It shows the same embodiment and is the 2nd plan view of a hoistway. It shows the same embodiment and is the second left side view of a hoistway. It is a perspective view of a mode in which four hoisting machines are provided on the ceiling of the hoistway, and the measuring device 101 is supported by ropes from each of them. It is a side view which shows the embodiment. It is a side view explaining the operation of the same embodiment. It is a side view explaining the 2nd operation of the same embodiment. It is a front view explaining the 3rd operation of the same embodiment. It is a front view explaining the 4th operation of the same embodiment. It is a perspective view of a hoistway including a movable hoisting machine, which shows an embodiment in which the position of the hoisting machine can be changed. It is the left side view. It is a side view of the embodiment which provided the pair of tensioners on the pit floor surface of a hoistway. It is a left side view of the hoistway which shows the embodiment which put the height sensor on the pit floor surface of the hoistway. In order to explain the effect of FIG. 20, it is the 1st side view which shows typically the relationship between the height sensor and the pit floor surface. In order to explain the effect of FIG. 20, it is the 2nd side view which shows typically the relationship between the height sensor and the pit floor surface.

Hereinafter, embodiments of the hoistway measurement system according to the present invention will be described with reference to the drawings. FIG. 1A is a perspective view of a hoistway 500 to which the measurement system 100 is applied, and FIG. 1B is a left side view of the hoistway 500. 1A and 1B are drawn so that the measurement system 100 in the hoistway 500 can be seen through. The building on which the hoistway 500 is formed is depicted as having a fourth floor, which is an example.

The measuring device 101 as the main configuration of the measuring system 100 is a vertical direction (which may be referred to as a gravity direction) in the hoistway 500 via the rope 115 by the hoisting machine 150 fixed to the top 500u of the hoistway 500. .) Is hung down. Therefore, the measuring device 101 moves up and down in the hoistway in the vertical direction (arrow A) or in the anti-vertical direction (arrow B).

The measuring device 101 includes a housing (moving body) 102, a data processing device 103, a distance measuring sensor 104, light emitting bodies 108, 109, a height sensor 110, and a stabilizer 105. The start end of the rope 115 is supported by a hoist (drive mechanism) 150 such as a winder or a chain block, and the end of the rope 115 is engaged with a ring portion 106a on a suspension hook 106 at the upper center of the housing 102. ing.

The data processing device 103 is an integrated circuit board that performs a predetermined calculation for specifying, analyzing, or determining the dimensions, form, shape, and inclination of the hoistway 500 based on the measurement data of the hoistway 500. It's okay. This substrate is housed in the housing 102. The data processing device 103 may be provided outside the measuring device 101. The distance measuring sensor 104, the light emitters 108, 109, and the height sensor 110 are fixed below the housing 102. The light emitters 108, 109 and the height sensor 110 may be provided on the top of the housing 102, and the measuring device 101 may measure the hoistway 500. Further, the light emitters 108, 109 and the height sensor 110 are provided on the hoistway 500 side (upper end or lower end of the hoistway), and the measuring device 101 measures between the hoistway 500 and the housing 102. You may go.

The distance measuring sensor 104 emits a measuring medium such as a laser beam 104l toward the object, detects the measuring medium reflected by the object, and measures the distance to the object. The measuring medium may be ultrasonic waves. The sensor 104 may be capable of scanning the entire inner surface (inner wall) of the hoistway 500 by rotating 360 ° in the direction of arrow C, that is, in the horizontal direction with respect to the vertical direction. The sensor 104 is located between the inner surface (object) of the hoistway 500 in the horizontal plane having a cross section in the direction in which the measuring device 101 is hung, that is, in the direction perpendicular to the vertical direction (horizontal direction). Measure the distance. The angle at which the sensor 104 can rotate may be 360 ° or less. Although it has been described that the sensor 104 rotates with respect to the housing 102, the sensor 104 may be fixed to the housing 102 so that the housing 102 rotates.

The hoisting machine 150 hangs the measuring device 101 from the ceiling or the top 500u of the hoistway 500 with a rope 115, and winds or rewinds the rope 115 to raise and lower the measuring device 101 in the hoistway 500. Move to. The hoisting machine 150 includes a hoisting drive unit 150a, a hoisting drum 150b, a rope guide 150c for hanging the rope 115 at a fixed position within the drum width, and an encoder 150e for detecting the rotation speed of the hoisting drum 150b. .. As the encoder 150e, for example, a rotary encoder may be used.

The data processing device 103 calculates rotation information such as the rotation speed and rotation speed of the hoisting drum 150b based on the information from the encoder 150e, thereby calculating the rope length unwound from the hoisting drum 150b. The data processing device 103 may specify the position (height) of the measuring device 101 in the longitudinal direction of the hoistway 500 from the rope length. As the hoisting drum 150b rotates and the measuring device 101 moves up and down in the hoistway 500, the measuring device 101 can measure the dimensions of the inner surface of the hoistway 500 at predetermined intervals in the vertical direction.

A stabilizer 105 is attached to the housing 102 in order to cushion the posture fluctuation of the housing 102 and obtain an accurate measured value. The stabilizer 105 may be, for example, a reaction wheel. The reaction wheel utilizes a flywheel to stabilize the posture of the housing 102. The flywheel rotates in the D direction opposite to the rotation direction C of the sensor 104 in order to resist the twist applied to the rope 115 when the sensor 104 rotates causes a change in the posture of the housing 102. Further, the stabilizer 105 can also cushion the shaking of the housing 102 due to the sudden influence of the wind blown into the hoistway 500. By stabilizing the posture of the measuring device 101, the measuring device 101 can accurately measure the hoistway 500.

The above-mentioned light emitters 108 and 109 facing the bottom surface of the hoistway 500 are attached to the bottom surface of the housing 102 of the measuring device 101. The light emitters 108 and 109 are for detecting the position of the measuring device 101 in the horizontal direction, and may emit laser light. PSDs (Position Sensitive Detectors) 208 and 209 for detecting the positions of the laser beams 108a and 109a emitted from the light emitters 108 and 109 are installed on the pit floor 500l of the hoistway 500. When the hoistway 500 is tilted with respect to the direction of gravity, the position where the laser beam 108a illuminates the light receiving surface 208a of the PSD 208 and the position where the laser beam 109a illuminates the light receiving surface 209a of the PSD 209 are in the vertical direction of the measuring device 101. It changes according to the movement. The same is true even if the measuring device 101 swings due to wind or the like.

A height sensor 110 facing the bottom surface of the hoistway 500 is attached to the bottom surface of the housing 102 of the measuring device 101. Laser light 110a is emitted from the height sensor 110, and the distance from the measuring device 101 to the pit floor 500l of the hoistway 500 is measured.

In the measuring device 101, the amount of change due to the change between the position where the laser beam 108a illuminates the light receiving surface 208a of the PSD 208 and the position where the laser beam 109a illuminates the light receiving surface 209a of the PSD 209, and the distance information obtained by the sensor 110. Then, over the entire length of the hoistway 500, the inclination angle of the hoistway 500 (the angle between the longitudinal direction and the vertical direction of the hoistway), that is, the angle formed by the vertical direction and the direction of the hoistway 500, etc. Information can be calculated.

For the centering of the hoistway for newly installing the elevator in the hoistway, even if the device can automatically measure the hoistway, it must be able to accurately measure the hoistway including the inclination angle of the hoistway. .. Since the measuring device 101 of FIGS. 1A and 1B is suspended in the vertical direction and moves up and down in the hoistway 500, the inclination of the hoistway can be measured. On the other hand, since the measuring device of the prior art 1 described above is fixed to the car, the movement of the measuring device follows the direction of the rail that guides the car, and the measuring device accurately moves in the vertical direction. It is not designed to be movable. If there is even a slight slope in the hoistway, this slope will affect the rail, causing an angular difference between the rail direction and the vertical direction. The fact that the measuring device cannot move in the vertical direction is the same in the prior art 2.

The measuring device 101 is affected by the wind blowing into the hoistway 500 due to the amount of change due to the change between the position where the laser beam 108a illuminates the light receiving surface 208a of the PSD 208 and the position where the laser beam 109a illuminates the light receiving surface 209a of the PSD 209. Since it is possible to detect that the housing 102 swings, it is possible to measure the hoistway after confirming that there is no shaking or the like.

In FIGS. 1A and 1B, the floor surface of the first floor of the elevator is shown as 510, the floor surface of the second floor is shown as 520, the floor surface of the third floor is shown as 530, and the floor surface of the fourth floor is shown as 540. The entrance openings on the first to fourth floors provided in the hoistway 500 are shown as 510d, 520d, 530d, and 540d, respectively.

Each of 510a, 520a, 530a, and 540a is a reference position of each floor of the building, that is, a reference ink. By confirming the position of the reference ink by the measuring device 101, the inner surface of the hoistway is measured at the position of each floor. Therefore, the measuring device 101 starts from the measurement of the distance of the reference position, and particularly starts from the measurement of the distance of the reference position 510a of the first floor which is the reference floor. When the elevator goes up and down the hoistway 500, the position where the rail for guiding the car, the rail for guiding the weight, and the position where the door for the entrance / exit is installed are determined at this reference position. By providing a mark on the reference ink, the sensor 104 can measure the distance from the reference ink.

In FIGS. 1A and 1B, by arranging the sensor 104 on the bottom surface of the housing 102 opposite to the rope 115 and the hanging hook 106, the laser beam 104l emitted straight from the sensor 104 to the hoistway 505 is the rope 115. And the hanging hook 106 do not block it.

In FIG. 1B, 510f, 520f, 530f, 540f, and 550c each indicate the inner front wall of the hoistway on each floor, and 500r, 510r, 520r, 530r, and 540r each indicate the inner rear wall of the hoistway on each floor. 505 indicates the bottom surface of the hoistway and the tangent line (intersection line) with the side rear wall, and 500 l indicates the bottom surface of the hoistway.

FIG. 2 is a horizontal sectional view of the second floor floor 520 of the hoistway 500. FIG. 2 depicts a structure in which the second floor is viewed from above in the longitudinal direction of the hoistway 500. The same reference numerals as those in FIGS. 1A and 1B indicate the same members. Reference numeral 700 is the outer wall of the hoistway. Reference numeral 520sl is the inner left side wall of the hoistway, 520sr is the inner right side wall of the hoistway, 520fl is the sleeve wall on the inner front left side of the hoistway, and 520fr is the inner front right side wall of the hoistway. .. The data processing device 103 sets the coordinate system in the vertical direction, and sets the reference ink 510a on the first floor to the origin 600 of the coordinate system. Reference numeral 610 is a Y-axis in a direction passing through the origin and the center of the measuring device 101, and 620 is an X-axis extending from the origin in a direction perpendicular to the Y-axis. The height direction from the origin is the Z axis. Since the distance between the sensor 104 and the reference ink 510a on the first floor and the angle of the sensor at zero degree are the positions seen from the sensor 104, the data processing device 103 determines the distance between the sensor 104 and the measurement point. The angle of the sensor can be converted into the coordinates of the XY coordinate system. The value of the Z axis may be determined by the difference from the measured value of the height sensor 110 in the reference black 510a.

In FIG. 2, L indicates a left direction with respect to the Y-axis 610, and R indicates a right direction with respect to the Y-axis 610. Reference numerals 521l and 521r are brackets or fasteners for attaching and fixing the rail to the hoistway 500 after centering the hoistway 500.

FIG. 3 is a diagram showing a cross-sectional view of FIG. 2 overlaid with a measurement point measured by the measuring device 101 and a width between predetermined measurement points, that is, a dimension relating to a hoistway 500. The measurement points are indicated by shaded circles. The measurement points are set at, for example, right-angled corners of the hoistway 500. The measuring device 101 rotates the sensor 104 and scans the distance Rn from the wall surface of the hoistway 500 to obtain the distance to the measuring point, and based on this distance and the angle of the sensor 104, the X-axis of the measuring point and the X-axis of the measuring point and Calculate the coordinates on the Y axis. The data processing apparatus 103 calculates a dimension (width of an arrow specified by a number indicated after L and L) based on the coordinates of the measurement point. Since this dimension is defined by a coordinate system set in the vertical direction, the data processing device 103 moves up and down on a plurality of floors based on a plurality of dimensions that are in a projection relationship with each other, as described later. The angle of the road 500 with respect to the vertical direction can be selected. 525a is a measurement point for determining the X-axis together with the origin 600. For the distance to this measurement point, an object having a visible form, for example, a pin-shaped object having a slight height is placed on the floor surface (object point), and the distance measuring sensor 104 detects the object. By doing so, it is possible to measure. The ranging sensor 104 may directly detect the object, or if the ranging sensor 104 cannot directly detect the object due to an obstacle such as a wall, the distance measuring sensor 104 may directly detect the target object via an intermediate such as a mirror (reflector). Therefore, the ranging sensor 104 may indirectly detect the object.

The measuring device 101 reproduces the horizontal shape of the hoistway 500 based on the output of the sensor 104. The measuring device 101 displays the regenerated hoistway 500 on a monitor (not shown). FIG. 4 shows an example of the display. The sensor 104 rotates while irradiating the laser beam in the direction of arrow C in the figure, and traces the inner wall of the chimney-shaped hoistway at predetermined sampling intervals. The shape based on this trace is shown in FIG. 4 as 520w. FIG. 4 is a model of the hoistway 500 on the second floor. The horizontal cross section of the model of the hoistway 500 is a rectangle with an opening 520d in front. The screen displays a scale of distance and angle from the sensor at the measurement point. The distance and angle for each measurement point are recorded in the memory. The measurement points may be set, added, deleted, or changed as appropriate. The data processing device 103 can recognize the image of the shape of the model and specify the measurement point.

FIG. 5 is an example of a functional block diagram of the measurement system. The block described as a module of the measuring device 101 is realized by the controller of the data processing device 103 of the measuring device 101 executing a program in the memory.

The outputs of the distance measuring sensor 104, the encoder 150e, the PSD 208, 209, and the height sensor 110 are supplied to the measuring module 111. The measurement module 111 receives the measured value, identifies the measured point, and records the measured value of the measured point in the memory. The measurement module 111 performs measurement using the sensor 104 for each predetermined height of the hoistway 500 based on the output from the encoder 150e and / or the height sensor 110, and records the measured value in the memory. The measurement module 111 records distance data for each floor of a building having a plurality of floors in a memory. Further, the measurement module 111 identifies the position of the measurement device 101 in the XY coordinates based on the PSD 208 and 209 and records it in the memory. The measurement module 111 controls the irradiation of the laser beam from the light emitters 108 and 109. The measuring module 111 measures the distance to the inner wall surface of the hoistway 500 while rotating the sensor 104. The measurement module 111 rotates the stabilizer 105 in accordance with the rotation of the sensor 104.

The calculation module 112 calculates the dimensions of each part in the hoistway and the inclination of the hoistway based on the measured values, and determines the centering position (rail installation position) based on the calculated values. Further, the arithmetic module 112 creates control information of the drive unit 150a for winding the rope and outputs the control information to the control module 113. The control module 113 outputs a drive control signal to the drive unit 150a. The control module 113 causes the display unit 160 to display the measured model, centering position, and the like. The 111A is a power supply unit of the measuring device 101. Further, 151 is a power supply unit of the drive unit 150a. A model may be understood to be, for example, a form constructed from measurement data and defined in coordinate space.

Next, another example of the functional block diagram will be described with reference to FIG. The block diagram of FIG. 6 shows that the signal transfer and power supply described in FIG. 5 are performed wirelessly. The measuring device 101 includes a transmission / reception unit 114. The system 170 outside the measuring device also includes a transmission / reception unit 125. Information is wirelessly transmitted and received between the transmission / reception unit 114 and the transmission / reception unit 125. The system 170 outside the measuring device includes a drive unit 150a and a display unit 160 described with reference to FIG. The electric power unit 175 including the external power supply unit 116 and the electric power transmission / reception unit 117 wirelessly supplies electric power to the measuring device 101 and the system outside the measuring device 170. With the configuration of FIG. 6, even if the measuring device 101 and the system outside the measuring device 170 are separated from each other, the measuring system can be configured, so that the degree of freedom in the layout of the device and the operation at the time of measurement is increased.

Next, the operation of the arithmetic module 112 for obtaining the inclination of the hoistway will be described. In FIGS. 7A to 7E, the inclination of the hoistway is exaggerated for convenience. 7A is a left side view of the hoistway 500, FIG. 7B is a rear view of the hoistway 500 as viewed from the opposite side of the doorway, and FIGS. 7C, 7D, and 7E are horizontal plan views of the hoistway 500.

When the hoistway 500 is inclined, an angle difference occurs between the vertical direction A in which the measuring device 101 moves and the direction 1500 in which the hoistway 500 extends. Β in FIG. 7A is an angle formed by the hoistway inclination 1500 in the Y-axis direction with the vertical direction A, and α in FIG. 7B shows the hoistway inclination 1500 formed in the X-axis direction with the vertical direction A. The angle. FIG. 7C shows the measured dimensions of the hoistway on the 4th floor, FIG. 7D shows the measured dimensions of the hoistway on the 3rd floor, and FIG. 7E shows the measured dimensions of the hoistway on the 1st floor. .. The code indicated by the combination of L and the number is the dimension (width) calculated from the coordinate values of the measurement points (see FIG. 3), and L33 (4th floor position) and L33'(3rd floor position). L33 "(1st floor position) is in a projection relationship with each other, that is, they correspond to each other, and L34 (4th floor position), L34'(3rd floor position), and L34" (1st floor position) are mutually. L35 (4th floor position), L35'(3rd floor position) and L35 "(1st floor position) correspond to each other, and L36 (4th floor position) and L36'(3) (Floor position) and L36 ”(1st floor position) correspond to each other. The reason why the explanation about the floor position on the second floor is omitted is to simplify the calculation.

When the hoistway 500 is uniformly inclined, a plurality of corresponding floors are supported between the floors of the plurality of floors, for example, between the floor position of the fourth floor and the floor position of the first floor, which are the top floor and the bottom floor. The size of is uniformly changed according to the inclination angle. Therefore, the calculation module 112 has dimensions on the 4th floor and the 1st floor, and the height of the measuring device 101 on the 4th floor and the 1st floor (distance from the pit floor surface 500l to the sensor 104). The inclination angle of the hoistway can be calculated back from and. One form of the calculation is as shown in the following equation. H4 is the height of the measuring device 101 on the 4th floor, and H1 is the height of the measuring device 101 on the 1st floor. The height is measured by the height sensor 110.

The calculation module 112 executes the calculation of these equations to calculate the inclination angles α and β of the hoistway 500. The position where the rail for the car is installed in the hoistway 500 and the position where the rail for the weight is installed in the hoistway 500 (X, Y coordinates) are calculated based on the dimensions of the hoistway and the inclination angles α and β of the hoistway. Module 112 may calculate.

Next, the operation for calculating the centering of the hoistway 500 by the measuring device 101 will be described with reference to the flowchart of FIG. When the measuring device 101 receives a predetermined input from the worker, the measuring device 101 starts executing the measuring program according to the flowchart (S100). The measurement module 111 sets the number of floors of the hoistway 500 (S110). The measurement module 111 may set the number of floors by input of an operator, may be set based on CAD data, or the measuring device 101 moves in the hoistway to set the number of entrances and exits. The number of floors may be set by counting. Although the flowchart of FIG. 8 describes that the measuring device 101 moves from the lower floor to the upper floor to perform measurement, the measuring device 101 may perform measurement while moving from the upper floor to the lower floor.

Subsequently, the measurement module 111 resets the floor counter variable N (S120) and adds 1 to the counter N to prepare for the measurement of the Nth floor. Subsequently, the measurement module 111 determines whether or not the variable N is equal to or less than the number of floors FL (S150), and when yes, the control module 113 drives the hoisting machine 150 to move the measuring device 101 up and down. The inside of the road 500 is raised and moved to the height of the Nth floor (S155). The measuring module 111 measures the position of the measuring device 101 (height from the pit floor surface 500l of the hoistway) in the XY plane which is a horizontal plane (S160), and subsequently, the reference ink position on the Nth floor. Measure (S170).

Next, the measurement module 111 measures the distance from the sensor 104 to the inner wall of the hoistway 500, and determines the distance for each measurement point. The calculation module 112 converts the measured value into XY coordinates based on the distance value for each measurement point and the angle of the sensor 104, and calculates the dimension (see FIG. 3) between the plurality of measurement points (S180). ). The measuring device 101 measures the distance to the reference ink 510a on the first floor at the stage when the flowchart is started, and the calculation module 112 determines the origin 600 of the XY coordinates based on this distance. ..

The measurement module 111 performs this when it is necessary to correct the position of the measurement device 101. The case where the position of the measuring device 101 needs to be corrected is a case where the position of the measuring device 101 fluctuates or vibrates due to sudden disturbance or influence such as wind or vibration of a building. The measured value fluctuates irregularly due to the disturbance. The measuring device 101 statistically processes the measured value (corrects the measured value: S190), determines the disturbance, calculates the degree of the disturbance, and / or subtracts the degree of the disturbance from the measured value. , The slope of the hoistway can be calculated excluding the influence of disturbance. To correct the measured value, for example, the measuring device 101 rotates the distance measuring sensor 104 at a predetermined cycle to measure a plurality of measurement points a plurality of times, and calculates an angle based on the above-mentioned formulas 1 to 4. The angle may be processed statistically. Alternatively, the correction of the measured value may utilize the detection position of the measuring device 101 detected by using the PSD. Further, since the measurement device 101 has variations in the coordinates of the measurement points measured by the distance measuring sensor 104 even within the accuracy range, the measurement results of the measurement points may be smoothed or the wall surface of the hoistway may be smoothed. When estimating a straight line or curved surface as a shape, the coordinates of the measurement point are estimated, corrected, or interpolated, or the shape of the wall surface is estimated, corrected, interpolated, etc. by performing a linear approximation of the measurement data. May be good.

When the measurement module 111 finishes collecting the measurement data for one floor, it returns to S130 and increments the count of the Nth floor in S140. This is repeated until N> FL (No in S150), the calculation module 112 obtains the dimensions of the hoistway on each floor (S210), and the calculation module 112 calculates the inclination of the hoistway (S220). ), The installation position of the rail, that is, the centering position is determined based on a predetermined algorithm (S230). The control module 113 displays the centering position on the display unit so that the operator can easily understand it (S240), and ends the flowchart (S250). In the steps of S160, S170, and S180, the measuring device 101 may be stopped in the hoistway 500 to facilitate measurement.

FIG. 9 is an example of a management table that summarizes the measured values and is recorded in the memory. The distance L is the distance between the sensor 104 and the inner surface of the hoistway 500, and θ is the angle of the sensor 104. The arithmetic module 112 converts this value into X coordinate and Y coordinate. Then, the calculation module 112 calculates the distance between the two points from the coordinates.

FIG. 10 summarizes the positions for installing the rails (main rail, counter rail) on the hoistway 500, that is, the centering position and the inclination of the hoistway, calculated by the calculation module 112 based on the measurement result of FIG. This is an example of a management table. This table is also recorded in memory. The management table may be displayed on a predetermined display unit, for example, a doublet terminal, a PAD, a smart phone, or the like. Workers install rails on the hoistway based on the data recorded in the management table. In response to the calculation result of the calculation module 112, the control module 113 may support the operator by projecting the position where the rail should be installed in the hoistway by a projector or the like. According to the management table of FIG. 10, the positions (rail core positions) at which the left and right rails are installed with respect to the hoistway 500 are defined by the X and Y coordinates based on the vertical direction. The left and right rails can be installed on the hoistway 500 so as to remove the influence of the inclination of the hoistway 500. Therefore, the operation of the elevator guided by this rail can be improved to be smoother.

In the above-described embodiment, the lower end of the measuring device 101 hanging in the hoistway 500 is a free end, but the lower end of the measuring device 101 is restrained in order to suppress the swing of the measuring device 101. You may do so. For example, the elastic rope 120 is fixed to the bottom surface of the housing 102, and the other end of the elastic rope is fixed to the fixing portion 130 of the pit floor surface 500l of the hoistway. FIG. 11 is a left side view of the hoistway 500 for showing this. By restraining the lower end of the measuring device 101, the measuring device 101 is urged in the vertical direction, and it is possible to effectively suppress the measuring device 101 from swinging due to wind or the like. Reference numeral 107 is a lower hanging hook, and a lower hook ring on which the rope 120 is engaged is located at the center thereof. When the measuring device 101 moves up and down, the elastic rope expands and contracts accordingly.

12A to 12D show an embodiment for suppressing the swing of the measuring device 101, FIGS. 12B and 12D are left side views of the hoistway 500, and FIGS. 12A and 12C are the hoistway 500. It is a plan view of, and each figure depicts the measuring device 101 in the hoistway 500. Four legs 121, 122, 123, 124 that can be expanded and contracted back and forth and left and right are provided on the upper part of the housing 102 of the measuring device 101 in the horizontal plane of the hoistway. Each leg is composed of two or three nested partial legs, 121a, 121b, 122a, 122b, 122c, 123a, 123b, 124a, 124b, 124c, and is composed of 121b, 122b, 122c, 123b by an actuator. , 124b, 124c are partially extended and contracted in the direction of the arrow E or F.

While the measuring device 101 is moving in the hoistway 500, the measuring device 101 folds the partial legs so that the legs do not touch the inner wall of the hoistway 500 (FIGS. 12A and 12B), and the measuring device 101 is the target height. At that point, the movement is stopped and all the partial legs are extended in the same way, and the extension of the partial legs is stopped at the moment when the contact sensor at the tip of the partial legs touches the inner wall of the hoistway 500 (Fig. 12C, FIG. 12D). Therefore, the position of the measuring device 101 is fixed along the vertical direction, and then the measuring device 101 starts measuring the hoistway.

13A to 13D show that the legs are expanded and contracted in the front-back and left-right directions of the hoistway in FIGS. 12A to 12D, whereas the legs are extended in the diagonal direction (arrow G, arrow H) of the hoistway 500. It shows the embodiment to be carried out. 13B and 13D are left side views of the hoistway 500, and FIGS. 13A and 13C are plan views of the hoistway 500. This embodiment is the same as the embodiment shown in FIGS. 12A to 12D in terms of its configuration and operation, except that the extension directions of the legs are different. By fixing the legs to the four corners of the hoistway, the effect of suppressing the rolling of the measuring device 101 is enhanced as compared with the embodiments of FIGS. 12A to 12D.

On the upper part of the housing 102 of the measuring device 101, four legs 131, 132, 133, 134 that can be expanded and contracted are provided at each of the four corners of the hoistway in the horizontal plane of the hoistway. Each leg is composed of three nested partial legs, 131a to 131c, 132a to 132c, 133a to 133c, 134a to 134c, and by actuator, 131a, 131b, 132a, 132b, 133a, 133b, 134a, The partial leg of 134b is expanded and contracted in the direction of arrow G or H. 13A and 13B show a mode in which the partial legs are folded so that the measuring device 101 can move in the hoistway 500, and FIGS. 13C and 13D show the partial legs being extended so that the measuring device 101 becomes the hoistway 500. It shows a fixed state.

In the above description, the measuring device 101 suspended in the hoistway 500 by the hoisting machine 150 is moved up and down in the hoistway 500 by the hoisting machine winding or rewinding the rope. .. The configuration is not limited to this as long as the measuring device 101 can be moved in the vertical direction. 14A to 14D are embodiments in which the drone 140 is combined with the measuring device 101 so that the measuring device 101 can move up and down in the hoistway. 14A to 14D show an embodiment in which a drone is combined with the measuring device 101 according to the embodiment of FIGS. 12A to 12D. In FIGS. 14A to 14D, the configuration of the portions indicated by the same reference numerals as those in FIGS. 12A to 12D and their actions are the same as those in the embodiments of FIGS. 12A to 12D. 14B and 14D are left side views of the hoistway 500, and FIGS. 14A and 14C are plan views of the hoistway 500.

Reference numeral 140 is a drone main body, which is provided with four arms 141a, 142a, 143a, 144a as an example, and propellers 141b, 142b, 143b, 144b for raising and lowering are attached to the tips of the arms, respectively. The drone can omit or simplify the equipment (winding machine 150) for moving the measuring device 101 up and down in the hoistway.

In the embodiment shown in FIG. 1, it has been described that one hoisting machine 150 is provided in the center of the hoistway ceiling, and then the measuring device 101 hangs down in the center of the hoistway. The measuring device 101 may be supported by a plurality of hoisting machines. FIG. 15A is a perspective view of a mode in which four hoisting machines 250, 260, 270, 280 are provided on the ceiling of the hoistway, and the measuring device 101 is supported by ropes 350, 360, 370, 380, respectively. .. FIG. 15B is a side view of this aspect.

Each of the four hoisting machines 250, 260, 270, and 280 is arranged at the corner of the ceiling of the hoistway so as to face the corner from the center of the ceiling. By controlling each of the four hoisting machines 250, 260, 270, 280 so that the lengths of the four ropes 350, 360, 370, and 380 are the same, the measuring device 101 is located at the center of the hoistway. Can be moved up and down along the vertical direction.

When the control module 113 controls the hoisting machine (250, 260) and the hoisting machine (270, 280) so that the length of the rope (350, 360) and the length of the rope (370, 380) are different, As shown in FIGS. 16A and 16B, the measuring device 101 moves forward and backward along the Y-axis direction. On the other hand, if the control module 113 makes the length of the rope (350, 380) different from the length of the hoist (250, 280) and the hoist (260, 270), the length of the rope (350, 380) and the length of the rope (360, 370) are different. As shown in FIGS. 17A and 17B, the measuring device 101 advances and retreats in the X-axis direction.

Therefore, by controlling the four hoisting machines 250, 260, 270, and 280, respectively, the control module 113 can freely move the measuring device 101 on the horizontal plane (XY plane) of the hoistway. By doing so, even if the portion of the sensor 104 that becomes the blind spot exists in the hoistway, the measuring device 101 can move to a position where there is no blind spot. Since the measuring device 101 can detect the movement amount on the XY plane as described above (see 208 and 209 in FIG. 1A), the position of the sensor 104 on the XY plane can be specified, and the measured value of the sensor 104 can be determined by the sensor 104. It can be corrected by the position on the XY plane of. It is an example that the number of hoisting machines is four, and the number of hoisting machines is not limited to this. If there are three or more hoisting machines, the stationary position of the measuring device 101 can be stabilized.

In the above-described embodiment, the hoisting machine 150 is fixed to the ceiling of the hoistway, but the hoisting machine may be capable of changing its position. FIG. 18A is a perspective view of the hoistway 500 including the movable hoisting machine 150, and FIG. 18B is a left side view thereof. In FIGS. 18A and 18B, there are cross-shaped rails 610 and 620 on the ceiling 500u of the hoistway 500, and the hoisting machine 150 moves along the rails to move the measuring device 101 in the X direction or the Y direction. It shows that it can be moved to. Also in this embodiment, the measuring device 101 can be moved along the horizontal plane (X, Y plane) of the hoistway 500 so that the sensor 104 does not have a blind spot.

FIG. 19 shows a side view of an embodiment in which a pair of tensioners 610a and 620b are provided on a pit surface 500l of a hoistway 500. A pair of elastic ropes 120a and 120b are hung from the bottom surface of the measuring device 101, the rope 120a is connected to the tensioner 610a, and the rope 120b is connected to the tensioner 610b. The control module 112 urges the hoisting drum 150b of the hoisting machine 150 in the J direction, urges the hoisting drum 6100a of the tensioner 610a in the K direction, and urges the hoisting drum 6200a of the tensioner 620a in the L direction. By doing so, the measuring device 101 can be stopped and supported in the vertical direction while applying appropriate tension to the ropes 115, 120a, and 120b, so that the shaking and shaking of the posture of the measuring device 101 can be suppressed. can do. The control module 112 synchronously controls the hoisting drum 150b of the hoisting machine 150, the hoisting drum 6100a of the tensioner 610a, and the hoisting drum 6200a of the tensioner 620a to move the measuring device 101 up and down in the vertical direction. be able to.

Although it has been described that the measuring device 101 shown in FIG. 1 includes the height sensor 110, the height sensor 110 is placed on the pit floor surface 500l of the hoistway 500 as shown in the left side view of the hoistway 500 of FIG. You may. The difference in effect between the aspect in which the height sensor 110 is present in the measuring device 101 and the aspect in which the height sensor 110 is on the pit floor surface 500l of the hoistway 500 will be described with reference to the drawings. FIG. 21A is a schematic diagram of the former aspect. The distance between the measuring device 101 and the pit floor surface 500l is L, and when the measuring device 101 is tilted at an angle γ, the optical path output from the height sensor 110 is also tilted, and the optical path between the measuring device 101 and the pit floor surface 500l is from the distance L. It extends to the distance L1, and the difference is the magnitude obtained by subtracting L from L1.

On the other hand, FIG. 21B is a schematic diagram of the latter aspect. Even if the measuring device 101 is tilted at an angle of γ, the optical path output from the height sensor 110 is not tilted, the distance between the measuring device 101 and the pit floor surface 500l is reduced from L to L2, and the difference is obtained by subtracting L2 from L. It becomes the size. Comparing the difference between the former and the difference between the latter, the difference between the latter is smaller. Therefore, if the height sensor 110 is provided on the pit floor surface 500l of the hoistway 500, the measuring device 101 can measure the height more accurately. Can be measured. The height sensor may be provided on the ceiling surface of the hoistway.

According to the embodiment described above, the measurement system can accurately center the hoistway when a new elevator is installed in a short time, and thus can realize smooth operation of the elevator. ..

The height sensor 110 may be a GPS sensor, an optical displacement gauge, a sonic displacement gauge, or a barometer. Further, the coordinate system may be defined as a polar coordinate system in addition to the orthogonal coordinate system. As the measured value of the sensor 104, the average value or the center of gravity value may be used as a representative value.

The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

The present invention is widely used when newly installing an elevator in a hoistway.

100 measuring system, 101 measuring device, 102 housing, 103 data processing device, 104 distance measuring sensor, 105 stabilizer, 110 height sensor, 150 hoisting machine, 510a 1st floor building standard ink.

Claims (10)

It is a measurement system that measures the elevator hoistway of a building with multiple floors.
A moving body that moves in the hoistway from the bottom floor to the top floor of the plurality of floors.
A measurement sensor attached to the moving body, moving in the hoistway together with the moving body, and measuring the hoistway.
A drive mechanism that moves the moving body up and down in the vertical direction,
A data processing device that processes the measured values of the measurement sensor, and
Equipped with
The measurement sensor measures the inner wall of the hoistway in a horizontal plane with respect to the vertical direction on each of the plurality of floors.
The data processing device calculates construction information for installing an elevator in the hoistway based on the distance measurement data of the measurement sensor, and the construction information includes an inclination of the hoistway with respect to the vertical direction.
Measurement system. The drive mechanism is
The moving body is moved up and down while hanging vertically in the hoistway.
Stop the moving object on each floor and
The measurement sensor is
When the moving body stops, it rotates in the horizontal plane and
Measuring the entire circumference of the inner surface of the hoistway,
The measurement system according to claim 1. A stabilizer that cushions the posture change of the moving body based on the rotation of the measuring sensor is attached to the moving body.
The measurement system according to claim 1. The drive mechanism comprises a hoist to which a rope fixed to the moving body is connected.
The hoisting machine winds up or rewinds the rope to move the moving body up and down in the hoistway.
The measurement system according to claim 2. A height sensor for measuring the height of the moving body in the hoistway is provided.
The drive mechanism stops the moving body at a first vertical position in the hoistway and then at a second position.
The measurement sensor rotates in the horizontal plane at the first position to measure the inner surface of the hoistway to acquire the first distance measurement data, and then in the horizontal plane at the second position. By rotating, the inner surface of the hoistway is measured and the second distance measurement data is acquired.
The data processing device is
Based on the first distance measurement data, the first dimension of the hoistway is calculated.
Based on the second distance measurement data, the second dimension of the hoistway is calculated.
The first measured value of the height sensor at the first position and
The second measured value of the height sensor at the second position and
With the first dimension
With the second dimension
Calculates the inclination of the hoistway based on
The measurement system according to claim 1 . The data processing device is
Set the coordinate system in the vertical direction and set it.
The data measured by the measurement sensor at each of the plurality of measurement points set in the hoistway is converted into the coordinate values of the coordinate system.
Based on the coordinate values of the plurality of measurement points, the dimensions between the plurality of measurement points are calculated as the construction information.
The measurement system according to claim 1. The data processing device is
The position of the building standard ink on the reference floor among the plurality of floors is set as the origin of the coordinate system.
The measurement system according to claim 6 . The data processing device uses the reference floor as the lowest floor.
The measurement system according to claim 7 . It is a measurement system that measures the elevator hoistway of a building with multiple floors.
A moving body that moves in the hoistway from the bottom floor to the top floor of the plurality of floors.
A measurement sensor attached to the moving body, moving in the hoistway together with the moving body, and measuring the hoistway.
A drive mechanism that moves the moving body up and down in the vertical direction,
A data processing device that processes the measured values of the measurement sensor, and
Equipped with
The measurement sensor measures the inner wall of the hoistway in a horizontal plane with respect to the vertical direction on each of the plurality of floors.
The data processing device calculates construction information for installing an elevator in the hoistway based on the distance measurement data of the measurement sensor.
A stabilizer that cushions the posture change of the moving body based on the rotation of the measuring sensor is attached to the moving body.
The drive mechanism includes a plurality of hoisting machines to which ropes fixed to the moving body are connected.
By winding or rewinding the rope by the plurality of hoisting machines, the moving bodies move in the horizontal plane with respect to the vertical direction so that the lengths of the ropes of the plurality of hoisting machines are different from each other. I made it possible,
Measurement system. The data processing device sets the centering position of the rail in the coordinate system based on the calculated dimensions.
The measurement system according to claim 6 .

Images