JP7312129B2 - Measuring device, elevator system, and measuring method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a measuring device, an elevator system, and a measuring method, and is suitable for application to, for example, a measuring device, an elevator system, and a measuring method for calculating information related to movement of a moving object.

2. Description of the Related Art Conventionally, in elevators, a governor rope has been used as a safety device for monitoring the position of an elevator car (hereinafter referred to as "elevator car"), the moving speed of the elevator car, and the like.

2. Description of the Related Art In recent years, there has been known a sensor (hereinafter referred to as "position movement speed sensor") that measures the position and movement speed of an elevator car in a non-contact manner as an alternative to a governor rope. Since the non-contact positional movement speed sensor does not require a long structure such as a governor rope, it has the effect of improving the ease of installation and maintenance and eliminating the occurrence of measurement errors due to slippage.

Recently, as a non-contact positional movement speed sensor, an image sensor installed on the elevator car captures images of structures in the hoistway, and optical positional movement speed measures the position and movement speed of the elevator car. A sensor is disclosed (see Patent Document 1).

JP 2011-73885 A

Since the measurement unit such as the position movement speed sensor functions as a safety device, the occurrence of an abnormality in the measurement unit may interfere with the operation of the elevator car. However, the position/velocity detection device described in Patent Literature 1 is not provided with a mechanism for detecting an abnormality in the measuring section.

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above points, and intends to propose a measuring device and the like capable of detecting the occurrence of an abnormality in a measuring section.

In order to solve such a problem, in the present invention, a gate signal is generated, light for illuminating a stationary structure arranged along a moving path of a moving object is transmitted in response to the gate signal, and the stationary structure is illuminated with light in response to the gate signal. The reflected light from the image is formed into an image, the imaged reflected light is taken into the imaging surface for the exposure time specified by the gate signal, the optical signal by the taken reflected light is converted into an electric signal, and the converted electric signal is a plurality of measuring units provided on the moving body, which are processed as images and calculate information related to the movement of the moving body from the processed images; and movement of the moving body output from each of the plurality of measuring units. and a determination unit that performs comparison processing on information related to the measurement units and determines an abnormality related to the plurality of measurement units based on the result of the comparison processing.

According to the above configuration, at least two measurement units are provided, and an abnormality of the measurement units can be detected by comparing information related to the movement of the moving object calculated by each measurement unit.

According to the present invention, it is possible to detect the occurrence of an abnormality in the measuring section.

It is a figure showing an example of composition concerning an elevator system by a 1st embodiment. It is a figure showing an example of composition concerning a measuring device by a 1st embodiment. FIG. 4 is a schematic diagram showing an image of scattered brightness distribution on the surface of the guide rail according to the first embodiment; It is a figure which shows an example of the timing chart by 1st Embodiment. FIG. 7 is a diagram showing an example of a flowchart relating to moving speed measurement processing according to the first embodiment; FIG. 7 is a diagram showing an example of a flowchart relating to reliability determination processing according to the first embodiment; It is a figure which shows an example of the timing chart by 1st Embodiment. It is a figure which shows an example of the structure regarding the imaging part by 2nd Embodiment. FIG. 11 is a diagram showing an example of a configuration related to an imaging unit according to a third embodiment; FIG. FIG. 11 is a diagram showing an example of a configuration relating to an imaging unit according to a fourth embodiment; FIG. FIG. 11 is a diagram showing an example of a configuration relating to an imaging unit according to a fourth embodiment; FIG. FIG. 14 is a diagram showing an example of a configuration related to an imaging unit according to a fifth embodiment; FIG. FIG. 14 is a diagram showing an example of a configuration related to an imaging unit according to a fifth embodiment; FIG. FIG. 14 is a diagram showing an example of a configuration related to an imaging unit according to a fifth embodiment; FIG. FIG. 21 is a diagram illustrating an example of a configuration related to an imaging unit according to a sixth embodiment; FIG. FIG. 12 is a diagram showing an example of a timing chart according to the seventh embodiment; FIG. It is a schematic diagram for demonstrating the effect by 7th Embodiment.

(1) First Embodiment Hereinafter, one embodiment of the present invention will be described in detail. In the present embodiment, in a device, system, method, etc. for measuring the position, speed, acceleration, etc. of a moving object using a measurement unit, a technology capable of quickly detecting the occurrence of an abnormality related to the measurement unit will be described. do. However, the present invention is not limited to the embodiments described below.

The measuring device shown in this embodiment includes a measuring section and a determining section. Such a measuring device measures information related to the movement of the moving body, such as the position of the moving body, the moving speed of the moving body, the acceleration of the moving body, and the vibration of the moving body, in a measuring unit provided in the moving body. Judge the abnormality of the measurement part.

For example, the measuring device irradiates (transmits) light from the moving object toward the surface of the stationary structure, which is the object, from the light transmitting unit in response to the gate signal generated by the timing 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. The light is incident on the imaging surface of the unit, and the optical signal is photoelectrically converted into an electrical signal in the imaging unit. In addition, based on the image generated from the converted electrical signal, the measuring device measures information related to the movement of the moving body, such as the moving speed of the moving body, the position of the moving body, and the vibration of the moving body, in the image processing unit. do.

Here, in the measurement section, at least two or more of each of the timing control section, the optical transmission section, and the image processing section are provided (for example, duplicated). For example, in the determination unit, the measuring device may perform A comparison process is performed, and based on the result of the comparison process, information related to abnormality in the first measurement unit and the second measurement unit is determined.

In the present embodiment, an elevator car will be described as an example of a moving object provided with a measuring unit, but the mobile object is not limited to an elevator car. The technology shown in this embodiment can be applied to mobile objects (automatic doors, trains, cars, etc.) that move along stationary structures (guide rails, railroad tracks, roads, etc.) that have artificial polishing scratches. . In this specification, "light" refers to electromagnetic waves, and may be, for example, visible light, microwaves, terahertz waves, infrared rays, ultraviolet rays, X-rays, and the like.

In the following description, when the same type of elements are described without distinguishing between them, common parts (parts excluding the branch numbers) of the reference numerals including the branch numbers are used to distinguish between the same types of elements. In some cases, reference signs with branch numbers are used. For example, when describing the measuring units without distinguishing them in particular, it is described as “measuring unit 111”, and when describing each measuring unit separately, it is described as “measuring unit 111-A”, It may be written as B.

Next, this embodiment will be described with reference to the drawings. In FIG. 1, 100 generally indicates an elevator system according to a first embodiment.

FIG. 1 is a diagram showing an example of the configuration of an elevator system 100. As shown in FIG.

Elevator system 100 includes measuring device 110 . The measurement device 110 includes two or more measurement units 111 and one or more determination units 112 . Here, at least two measurement units 111 may be provided, and in the present embodiment, for the sake of clarity, two (measurement unit 111-A and measurement unit 111-B) are arranged as an example. explain.

The measurement unit 111 performs various processes in the measurement device 110 , such as calculation of information related to movement of the elevator car 120 . The determination unit 112 determines various abnormalities in the measurement unit 111 based on each signal from the measurement unit 111 .

The measuring device 110 is arranged above an elevator car 120 that ascends and descends in a building hoistway (moving body movement path) (not shown). 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 control the operation of the elevator car 120, and to operate the safety device. The data is output to the elevator control unit 130 that performs control and the like.

In addition, the measuring device 110 may be arranged on a side surface, a lower part, or the like, other than the upper part of the elevator car 120 . Moreover, although the measurement units 111-A and 111-B are arranged vertically, they may be arranged horizontally, and different guide rails 140 may be observed. Elevator system 100 may also include elevator car 120 and elevator controller 130 , and may include guide rails 140 .

FIG. 2 is a diagram showing an example of the configuration of the measuring device 110. As shown in FIG. The measurement device 110 includes at least two measurement units 111 and one determination unit 112 .

Since the measurement units 111-A and 111-B have the same configuration, the configuration of the measurement unit 111-A will be described below as a representative.

The measurement unit 111-A includes an optical transmission unit 210-A, an imaging unit 220-A, an imaging unit 230-A, an image processing unit 240-A, an overall control unit 250-A, and a timing control unit 260. -A. 1 and 2, for convenience of explanation, optical paths are indicated by dashed arrows, and electrical signal paths are indicated by solid arrows.

The light transmission unit 210-A includes a light source (not shown) and is arranged to emit light toward the guide rail 140, which is a subject. As the light source, 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. good too.

The image forming unit 220-A is emitted light (emitted light) that is light emitted from the light transmitting unit 210-A toward the surface of the guide rail 140, and scattered light scattered on the surface of the guide rail 140. is configured as an optical system for forming an image on the imaging surface of the imaging section 230-A.

The imaging unit 230-A is an optical signal (an optical signal indicating the scattered luminance distribution on the surface of the guide rail 140) from the imaging unit 220-A, and is imaged on an imaging surface including a plurality of pixels. The obtained optical signal is converted into an electric signal corresponding to the luminance of the pixel, and the converted electric signal is transmitted to the image processing section 240-A as an image signal representing a dark field image. As the imaging unit 230-A, 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 imaging unit 230-A may be a two-dimensional area sensor, or a one-dimensional line sensor having a function of spatial resolution in the ascending/descending direction of the elevator car 120. FIG.

In addition, a wavelength selective filter such as a bandpass filter may be provided in the paths of the incident light and the scattered light in addition to the imaging unit 220-A to have a role of removing external light having a wavelength other than the desired wavelength. . Further, for the purpose of protecting the measuring device 110 from dust, dust, etc., a window material or the like may be provided in the paths of the incident light and the scattered light.

The image processing unit 240-A spatially resolves the electric signal (image signal indicating the dark field image) from the imaging unit 230-A, for example, an image corresponding to the scattered luminance distribution on the surface of the guide rail 140. Processed as an image, information related to the movement of the elevator car 120, for example, signal information related to the position, moving speed, etc. of the elevator car 120 is calculated from the result of the image processing, and the calculated signal information is sent to the overall control unit 250-A. Output.

The overall control unit 250-A controls the image processing unit 240-A and the timing control unit 260-A, and receives signal information from the image processing unit 240-A (for example, information related to movement of the elevator car 120). Output to determination unit 112 .

The timing control unit 260-A generates a plurality of gate signals (gate pulse signals) based on the information from the overall control unit 250-A, and outputs one of the generated gate signals to the optical transmission unit. 210-A, and the other gate signal is sent to the imaging unit 230-A. One gate signal is used as a timing signal that defines the driving time of the light source in the optical transmission section 210-A. The other gate signal is used as a timing signal that defines the exposure time in the imaging section 230-A.

Image processing unit 240-A, overall control unit 250-A, timing control unit 260-A, and determination unit 112 are implemented by an information processing recording medium such as a computer, a field-programmable gate array (FPGA), a microcontroller, or the like. Logic circuit elements and the like.

Next, an image of the scattered luminance distribution obtained by imaging the surface of the guide rail 140 will be described.

FIG. 3 is an image captured by the imaging unit 230 and is a schematic diagram showing an image of the scattered luminance distribution on the surface of the guide rail 140. As shown in FIG.

When the subject, the guide rail 140, is photographed from the elevator car 120 moving at the moving speed V, as shown in FIG. In the two images 302 of , there is a shift in the movement direction. The image processing unit 240 compares images between different frames and measures the amount of movement.

FIG. 4 is a diagram showing an example of a timing chart of gate signals transmitted from the timing control section 260 to the imaging section 230. As shown in FIG.

The timing control section 260 transmits the gate signal 401 to the imaging section 230 every frame period Δt. The imaging unit 230 performs exposure for the pulse width T in response to the pulse of the gate signal 401 from the timing control unit 260 . At this time, the gate signal 401 may be transmitted from the timing control section 260 to the optical transmission section 210, and the lighting period of the light source may be performed during the exposure time T only. As a result, the average output power per unit time of the optical transmitter 210 can be reduced, and the power required for driving and heat dissipation can be suppressed.

Next, movement speed measurement processing by the measurement device 110 will be described.

FIG. 5 is a diagram showing an example of a flowchart relating to the moving speed measurement process by the image processing unit 240. As shown in FIG. In the present embodiment, for convenience of explanation, moving speed measurement processing using the correlation function method will be described, but the method of calculating the moving speed is not limited to the correlation function method.

The image processing unit 240 first starts processing on the condition that a measurement start signal is received from the overall control unit 250 (step S501), and acquires the dark field image I(i) from the imaging unit 230 for each frame i. (step S502).

Next, the image processing unit 240 stores the acquired dark field image I(i) of the frame i in the storage element (memory) in the image processing unit 240 (step S503). Note that the storage element may be a volatile memory such as a register included in the image processing unit 240, the overall control unit 250, or the like, or may be an external nonvolatile memory.

Next, the image processing unit 240 reads the dark field image I(i) of the frame i stored in the storage element in step S503 from the storage element, and reads the frame (i) stored in the storage element before the frame i. The dark field image I(ik) of ik) is read from the storage element, and the cross-correlation function C between the read dark field image I(i) and the dark field image I(ik) is calculated (step S504). As for the method of selecting the dark field image of the previous frame, the dark field image of the previous frame may be selected, or the dark field image of several frames before may be selected. Also, as for the method of calculating the cross-correlation function C, other calculation methods may be employed.

Next, the image processing unit 240 calculates the cross-correlation function C to estimate the y-component (component in the same direction as the elevation direction) Δy of the peak coordinate position of the cross-correlation function C, and the dark field image read in step S504. Among them, the time k × Δt from the dark field image I (ik) to the dark field image I (i) is calculated, and from the ratio of the y component Δy of the peak coordinate position and the time k × Δt, the elevator car 120 A moving speed V=Δy/(k×Δt) is calculated (step S505). Regarding the method of estimating the y component Δy of the peak coordinate position, the peak coordinate of the maximum position may be used, or estimation may be performed by performing least-squares fitting using several points near the maximum position. Not limited.

Next, the image processing unit 240 outputs information on the moving speed V to the general control unit 250, adds “1” to the frame i (step S506), and receives a measurement end signal from the general control unit 250. It is determined whether or not (step S507). When the image processing unit 240 determines that the measurement end signal has not been received from the overall control unit 250, the process returns to step S502, and the processes of steps S502 to S506 are repeated. On the other hand, if the image processing unit 240 determines in step S507 that the measurement end signal has been received from the general control unit 250, it ends the moving speed measurement process (step S508).

Note that the overall control unit 250 outputs information on the moving speed V output from the image processing unit 240 to the determination unit 112 .

In this way, the image processing unit 240 sequentially acquires electrical signals from the imaging unit 230 at a frame cycle corresponding to the generation cycle of the gate signal output from the timing control unit 260, and generates an image for each frame from each electrical signal. do. Subsequently, the image processing unit 240 generates a first measurement target image (a measurement target image including a characteristic image) in the first frame image among the generated multiple frame images, and a second frame image. A measurement target image that occurs between the first measurement target image and a second measurement target image (the measurement target image including the same characteristic image as the first measurement target image) corresponding to the first measurement target image. Calculate the deviation of Then, the image processing unit 240 calculates the moving speed V of the elevator car 120 from the ratio between the calculated shift in the image and the time indicating the time difference between the first frame and the second frame.

Note that the image processing unit 240 may calculate only the moving speed V of the elevator car 120 in the vertical direction. Further, the image processing unit 240 may calculate the position of the elevator car 120 by accumulating the moving speed V or the y component Δy of the peak coordinate position. Information on the calculated position may be stored in a memory element via the overall control unit 250 or may be transmitted to the elevator control unit 130, like the moving speed V. FIG. Further, the image processing unit 240 may calculate the movement acceleration by calculating the inter-frame difference of the movement speed V and dividing it by the frame time Δt.

Next, reliability determination processing by the measuring device 110 will be described.

FIG. 6 is a diagram showing an example of a flowchart relating to reliability determination processing by the determination unit 112. As shown in FIG.

The determination unit 112 starts reliability determination processing at an appropriate timing (step S601). Determination unit 112 starts reliability determination processing on the condition that information related to movement of elevator car 120 is received from overall control unit 250 of each of measurement unit 111-A and measurement unit 111-B. , may be started periodically, may be started at a predetermined time, or may be started at another timing.

First, the determination unit 112 acquires signal information (information related to movement of the elevator car 120, etc.) from each of the measurement units 111-A and 111-B (step S602).

Next, the determination unit 112 determines whether or not the signal information from the two measurement units 111 is the same (comparison processing of the two signal information) (step S603). If the determining unit 112 determines that the two pieces of signal information are the same, it determines that the measuring units 111-A and 111-B are operating normally, and moves the process to step S604. On the other hand, if the determination unit 112 determines that the two pieces of signal information are not the same, it determines that at least one of the measurement units 111-A and 111-B is abnormal, and moves the process to step S605.

Here, "the two pieces of signal information are the same" may mean that they match completely, or that they substantially match (substantially match). As a case of a perfect match, for example, the moving speed of the elevator car 120 measured by the measuring unit 111-A and the moving speed of the elevator car 120 measured by the measuring unit 111-B are the same value. mentioned. As a case of almost matching, for example, the difference between the moving speed of the elevator car 120 measured by the measuring unit 111-A and the moving speed of the elevator car 120 measured by the measuring unit 111-B is within a predetermined range. (for example, the range of velocity resolution).

Further, for example, as a case of a perfect match, the position of the elevator car 120 measured by the measuring unit 111-A and the position of the elevator car 120 measured by the measuring unit 111-B are the same. mentioned. As a case of almost matching, for example, the difference between the position of the elevator car 120 measured by the measuring unit 111-A and the position of the elevator car 120 measured by the measuring unit 111-B is within a predetermined range (for example , tolerance).

If there are three or more measuring units 111, for example, it is determined whether or not the signal information is the same for all pairs. , and if it is determined that one or more pairs do not have the same signal information, the process proceeds to step S605.

In step S604, determination unit 112 receives signal information from measurement units 111-A and 111-B, and signal information indicating the result of determination that measurement unit 111 is operating normally (indicating normal determination). information) to the elevator control unit 130 .

Here, the determination unit 112 may not only determine whether or not there is an abnormality related to the measurement unit 111, but also identify the type of abnormality during the reliability determination process.

In step S605, the determination unit 112 identifies the type of abnormality of the measurement unit 111 based on the signal information output from the measurement units 111-A and 111-B.

Here, the signal information output from the measurement units 111-A and 111-B includes, for example, the same direction as the ascending/descending direction of the elevator car 120 (height direction in the elevator car 120, y-axis direction in FIG. ), moving speed, and acceleration (hereinafter referred to as “information in the y-axis direction”). In addition, the in-plane direction (the width of the elevator car 120) perpendicular to the elevation direction (the y-axis direction in FIG. direction (x-axis direction in FIG. 1), position, moving speed, and acceleration (hereinafter referred to as "x-axis direction information"). In addition, the position (hereinafter referred to as "z-axis direction information”). Further, an output signal from the imaging unit 230 acquired by the area sensor before being processed in the image processing unit 240 can be used.

For example, by comparing the information in the x-axis direction for a predetermined period, the determination unit 112 determines whether there is an abnormality in the x-axis direction of the measurement unit 111, for example, abnormal vibration due to loosening or breakage of the mounting jig, deviation in the mounting position, tilting, and so on. etc. can be detected. For example, if the determining unit 112 determines that the amplitude of the position of the measuring unit 111-A in the x-axis direction is larger than the amplitude of the position of the measuring unit 111-B in the x-axis direction, the x Identify axial anomalies.

In addition, for example, the determination unit 112 compares the information in the y-axis direction for a predetermined period to determine if there is an abnormality in the y-axis direction of the measurement unit 111, such as looseness of the mounting jig, abnormal vibration due to breakage, or deviation in the mounting position. , inclination, etc. can be detected. For example, when determining unit 112 determines that the amplitude of the position of measuring unit 111-A in the y-axis direction is greater than the amplitude of the position of measuring unit 111-B in the y-axis direction, y Identify axial anomalies.

Further, for example, the determination unit 112 compares the information in the z-axis direction for a predetermined period to determine whether there is an abnormality in the position of the measurement unit 111 in the z-axis direction. It becomes possible to detect positional deviation, inclination, and the like. For example, when determining unit 112 determines that the amplitude of the position of measuring unit 111-A in the z-axis direction is larger than the amplitude of the position of measuring unit 111-B in the z-axis direction, the z Identify axial anomalies.

Further, in the elevator system 100, the output signal from the imaging unit 230 acquired by the area sensor before being processed by the image processing unit 240 can be output to the determination unit 112 and comparison processing can be performed. Through this comparison process, the determination unit 112 can identify an abnormality on the surface of the guide rail 140, an abnormality related to foreign matter on the optical paths from the guide rail 140 to the imaging unit 220, and from the imaging unit 220 to the imaging unit 230. is possible. Abnormalities on the surface of the guide rail 140 include corrosion and contamination of the guide rail. Abnormalities related to foreign matter include insects, small animals, etc. crossing the optical path, and fogging due to oil droplets, water droplets, dust, dust, etc. in the imaging unit 220 .

Further, in the elevator system 100, the brightness of the image signal in the imaging unit 230, for example, the average value or sum of the pixel values of all pixels, can be output to the determination unit 112 for comparison processing. By this comparison processing, the determination unit 112 can determine the presence or absence of illumination light, and detect an abnormality in the optical transmission unit 210, for example, failure of the light source due to factors such as aged deterioration and element breakdown.

In the elevator system 100, the process of identifying the type of abnormality of the measurement unit 111 described above may not be performed, any one of them may be performed, or any combination thereof may be performed. good.

In step S606, the determination unit 112 transmits information indicating the type of abnormality identified in step S605, and signal information indicating the determination result that the measurement unit 111 is operating abnormally (information indicating abnormality determination) for elevator control. Output to unit 130 . As a result, when an abnormality occurs in the measurement unit 111 , the elevator control unit 130 can appropriately perform control to stop the operation of the elevator car 120 . Also, for example, the maintenance personnel of the elevator system 100 can appropriately repair and restore the abnormality of the measurement unit 111 promptly based on the identified type of abnormality.

If the determination unit 112 determines in step S604 or step S606 that it has received a signal indicating the end of the reliability determination process from the elevator control unit 130, it ends the reliability determination process (step S607).

Note that the determination unit 112 may be integrated with the measurement unit 111-A and the measurement unit 111-B, or may be integrated with the elevator control unit 130 to form one information processing circuit, for example, an information processing device such as a computer. It may be composed of a recording medium, an FPGA, a logic circuit element such as a microcontroller, or the like.

Further, the elevator system 100 may not only send the determination result of the determination unit 112 to the elevator control unit 130, but may also be provided with an illumination unit such as an LED, and may indicate an abnormality by whether or not the illumination unit is lit. Also, the elevator system 100 may be provided with a function of automatically turning off the power. As a result, it is possible to quickly notify the abnormality of the measuring section 111-A and the measuring section 111-B, and it is possible to improve the ease of replacement.

Next, a method for calculating information in the x-axis direction will be described.

Regarding the position, movement speed, and acceleration in the direction (x-axis direction) including the imaging surface of the area sensor among the in-plane directions perpendicular to the elevation direction (y-axis direction), the image described above with reference to the flowchart of FIG. It can be calculated in the same manner as the processing of the processing unit 240 . That is, the measurement unit 111 calculates the shift Δx in the x-axis direction of the images between the frames by estimating the x-component of the peak coordinate position of the cross-correlation function.

As for the information in the z-axis direction, for example, it is possible to measure the distance from the elevator car 120 to the guide rail 140 with the following configuration. For example, the measuring unit 111 measures the time it takes for the emitted light (emitted light) emitted from the light transmitting unit 210 to enter the imaging unit 230 via the imaging unit 220, and based on the measurement result, the elevator A distance from the car 120 to the guide rail 140 is measured.

FIG. 7 is a diagram showing an example of a timing chart of the gate signal transmitted from the timing control section 260 to the light transmission section 210 and the imaging section 230 and the scattered light entering the imaging section 230 from the guide rail 140. As shown in FIG.

As shown in a timing chart 710, a first gate signal 711 (gate pulse signal) is transmitted from the timing control section 260 to the optical transmission section 210. The first gate signal 711 is at a high level from time t1 to time t3. Then, emitted light (illumination light) is emitted from the light transmitting unit 210 to the guide rail 140 , and scattered light scattered on the surface of the guide rail 140 enters the imaging unit 230 via the imaging unit 220 . At this time, as shown in a timing chart 720, the imaging unit 230 receives scattered light 721 whose level is high during the period from time t2 to time t4 (scattered light whose brightness is high). That is, scattered light 721 having a time delay=(time t2−time t1) is incident on the imaging unit 230 with respect to the light emitted from the light transmitting unit 210 .

On the other hand, as shown in a timing chart 730, at the same timing as the first gate signal 711 transmitted from the timing control unit 260 to the imaging unit 230 to the optical transmission unit 210, a period from time t1 to time t3 When a first gate signal 731 (gate pulse signal) is transmitted, the imaging unit 230 sets the period from time t1 to time t3 as the exposure time T, and the scattered light 721 from the imaging unit 220 is transmitted. is taken into the imaging plane (first imaging plane), and an image signal (electrical signal 732 ) is generated in response to the first gate signal 711 . At this time, the period during which the high-level scattered light 721 is incident from the imaging unit 220 to the imaging unit 230 is the period from time t2 to time t3 in the exposure time T (time t1 to time t3), An image signal (electrical signal 732 ) captured during this period is output from the imaging section 230 to the image processing section 240 .

Next, as shown in a timing chart 740, a second gate signal 741 (gate pulse signal) is transmitted from the timing control section 260 to the imaging section 230, which is at a high level from time t3 to time t5. Then, the imaging unit 230 takes the scattered light 721 from the imaging unit 220 into the imaging plane (second imaging plane) with the period from time t3 to time t4 as the exposure time T, and outputs the second gate signal 741 The captured image signal (electrical signal 742) is generated in response to . At this time, the period during which the high-level scattered light 721 is incident from the imaging unit 220 to the imaging unit 230 is the period from time t3 to time t4 in the exposure time T (time t3 to time t5), An image signal (electrical signal 742 ) captured during this period is output to the image processing section 240 .

Here, the emitted light beam emitted from the light transmitting unit 210 toward the guide rail 140 is scattered by the guide rail 140, and out of the scattered light scattered on the surface of the guide rail 140, the scattered light 721 is incident on the imaging unit 230. When calculating the transmission time T0 (=the period from time t1 to time t2), the image processing unit 240 acquires the electric signal 732 and the electric signal 742 from the imaging unit 230, and calculates the transmission time T0 as follows. (Equation 1).

T0=T·V2/(V1+V2) (Formula 1)

Here, T is the exposure time defined by the first gate signal 711 and the second gate signal 741, and V1 and V2 are the size of the image belonging to the image signal output from the imaging unit 230. Equivalent areas (V1 is the amount of light captured by the first imaging plane and V2 is the amount of light captured by the second imaging plane).

The image processing unit 240 calculates the distance from the elevator car 120 to the guide rail 140 from the transmission time T0×the speed of light, and transmits information on the calculated distance to the overall control unit 250 . At this time, the image processing unit 240, the overall control unit 250, or the determination unit 112 compares the distance calculated by the image processing unit 240 with a set value (reference value) to determine whether the elevator car 120 is shaken in the z-axis direction ( vibration) can be determined.

According to the present embodiment, at least two measuring units 111 having the same function are provided, output signals from the measuring units 111 are subjected to comparison processing, and based on the result of the comparison processing, presence or absence of an abnormality in the measuring unit 111 is determined. By providing the determination unit for determining the position and speed of the elevator car 120, the highly reliable measurement device 110 can be provided.

Furthermore, in the determination unit 112, not only information related to the movement of the elevator car 120 in the ascending/descending direction, but also information related to the movement of the elevator car 120 in the in-plane direction perpendicular to the ascending/descending direction, The type of abnormality in the measurement unit 111 is identified based on information on movement of the elevator car 120 in the direction perpendicular to the surface of the guide rail 140, information on the surface of the guide rail 140, or information on foreign matter on the optical path. With such a configuration, it is possible to shorten the repair time, recovery time, etc. of the measuring device 110 based on the type of abnormality of the measuring unit 111 .

(2) Second Embodiment In the measuring device 110 of the present embodiment, the imaging unit 230 is more sensitive to the z-axis direction vibration of the elevator car 120 than the imaging unit 220 of the first embodiment. It has a robust imaging unit 220 that keeps the imaging magnification unchanged. Since other configurations are the same as those of the first embodiment, description thereof is omitted.

FIG. 8 is a diagram showing an example of a configuration related to imaging section 220 in the present embodiment. In FIG. 8, scattered light rays from the guide rail 140 (for example, scattered light rays 811-A to scattered light rays 813-A, scattered light rays 811-B to scattered light rays 813-B) are indicated by dashed arrows. .

As shown in FIG. 8 , the imaging section 220 forms an image of the scattered light in the imaging region 800 on the imaging section 230 . More specifically, imaging unit 220 includes objective lens 801 (first lens) and diaphragm 802 . The objective lens 801 is arranged to face the guide rail 140 and collects scattered light scattered by the guide rail 140 . A diaphragm 802 limits the amount of scattered light condensed by the objective lens 801 and transmits the limited amount of scattered light toward the imaging surface of the imaging unit 230 .

In the imaging unit 220 described above, the guide rail 140, which is a subject (target to be detected), is positioned relative to the elevator car 120 in the z-axis direction (perpendicular to the ascending/descending direction of the elevator car 120 (y-axis direction)). The optical arrangement is telecentric on the object side (on the guide rail 140 side) in order to eliminate the influence of the change in magnification when the image is shaken in the direction of movement.

That is, in the imaging unit 220 in the present embodiment, the center of the imaging surface of the imaging unit 230, the center of the diaphragm 802, and the center of the optical axis of the objective lens 801 are arranged on the same straight line, In addition, the diaphragm 802 is arranged at the focal position of the objective lens 801 on the imaging unit 230 side.

Scattered light from the guide rail 140 is imaged on the imaging surface of the imaging unit 230 after passing through the objective lens 801 . Of the scattered lights, scattered rays 811, 812, and 813 shown in the figure are principal rays of this imaging optical system. That is, scattered rays 811 , 812 , 813 pass through the center of stop 802 . The positions of the objective lens 801 and the diaphragm 802 are arranged so that the scattered light beams 811 , 812 , 813 are always parallel to the optical axis of the objective lens 801 and emerge from the scattering surface of the guide rail 140 .

The y-axis and the z-axis are virtual axes formed on the guide rail 140. The y-axis indicates an axis parallel to the elevation direction of the elevator car 120, and the z-axis indicates the elevation of the elevator car 120. An axis orthogonal to the direction and parallel to the optical axis of the imaging section 220 is shown.

According to this embodiment, the scattered rays 811, 812, 813 from the guide rail 140 are principal rays, and are always incident on the objective lens 801 in parallel with the optical axis of the objective lens 801. Even if the image of the guide rail 140 is shaken in the optical axis direction (z-axis direction) due to the z-axis direction vibration of the elevator car 120, the magnification of the image formed on the imaging surface of the imaging unit 230 is constant. The measured value of the movement amount Δy in the y-axis direction of the elevator car 120 can always be kept constant with respect to the vibration of the elevator car 120 in the z-axis direction.

Also, the material of the objective lens 801 can be glass. By using a glass lens as the objective lens 801, a sufficiently high durability can be obtained as compared with a plastic lens. Further, the shape of the surface of the objective lens 801 through which light rays pass can be configured such that both sides are spherical or one side is spherical and the other side is flat. With this configuration, even if the objective lens 801 is a glass lens, it is possible to configure the imaging unit 220 at a lower cost than with an aspherical shape.

(3) Third Embodiment The measurement apparatus 110 of the present embodiment is configured to detect the vibration of the elevator car 120 in the z-axis direction in the imaging section 230 more than the imaging section 220 of the first embodiment. It is a robust imaging optical system that keeps the image magnification unchanged, and includes an imaging section 220 that suppresses geometrical aberrations occurring in an imaging section 230 more than the imaging section 220 of the second embodiment. Since other configurations are the same as those of the first embodiment, description thereof is omitted.

FIG. 9 is a diagram showing an example of a configuration related to imaging section 220 in the present embodiment. In FIG. 9, scattered light rays from the guide rail 140 (for example, scattered light rays 911-A to scattered light rays 913-A, scattered light rays 911-B to scattered light rays 913-B) are indicated by dashed arrows. .

As shown in FIG. 9 , the imaging section 220 forms an image of the scattered light in the imaging region 900 on the imaging section 230 . More specifically, the imaging unit 220 includes an objective lens 901 (first lens), a diaphragm 902, and a condenser lens 903 (second lens). The objective lens 901 is arranged to face the guide rail 140 and collects scattered light scattered by the guide rail 140 . A diaphragm 902 limits the amount of scattered light collected by the objective lens 901 . The condenser lens 903 is arranged between the diaphragm 902 and the imaging unit 230 , collects scattered light from the diaphragm 902 , and transmits the collected scattered light toward the imaging surface of the imaging unit 230 .

The imaging unit 220 described above is configured to eliminate the influence of a change in magnification when the guide rail 140, which is a subject (detection target), moves relative to the elevator car 120 in the z-axis direction. The side (guide rail 140 side) has a telecentric optical arrangement, and the image side (image pickup section 230 side) has a telecentric optical arrangement in order to suppress the geometric aberration that occurs in the image pickup section 230 .

That is, the center of the imaging surface of the imaging unit 230, the optical axis of the condenser lens 903, the center of the diaphragm 902, and the optical axis of the objective lens 901 are arranged on the same straight line, and The diaphragm 902 is arranged at the focal position of the objective lens 901 on the imaging unit 230 side, and is arranged at the focal position of the condenser lens 903 on the objective lens 901 side.

Also, the scattered light from the guide rail 140 passes through the objective lens 901 and then forms an image on the imaging surface of the imaging unit 230 via the condenser lens 903 . At this time, scattered light rays 911, 912, and 913 of the scattered light are principal rays of the imaging optical system. That is, scattered rays 911 , 912 and 913 pass through the center of stop 902 . Scattered light beams 911 , 912 , and 913 are always parallel to the optical axis of the objective lens 901 and emitted from the scattering surface of the guide rail 140 . An objective lens 901, a diaphragm 902, and a condensing lens 903 are positioned so that the light is incident on the .

According to the present embodiment, as in the second embodiment, even if the image on the guide rail 140 is blurred in the optical axis direction (z-axis direction), the magnification of the image formed on the imaging surface of the imaging unit 230 is In addition, the magnification of the image formed on the imaging surface of the imaging unit 230 can be maintained unchanged even when the mounting position of the imaging unit 230 is shifted in the z-axis direction. As a result, it is possible to secure a large dimensional tolerance when attaching the image forming section 220 and the imaging section 230, and it is possible to construct a more robust optical system. In addition, since two lenses including the objective lens 901 and the condenser lens 903 are used in the imaging section 220, the influence of geometrical aberration of the imaging section 220 can be reduced.

In this embodiment, as in the second embodiment, the objective lens 901 can be configured as a glass lens with spherical surfaces on both sides or a spherical surface on one side and a flat surface on the other side. The condensing lens 903 can also be configured as a glass lens with spherical surfaces on both sides or a spherical surface on one side and a flat surface on the other side, through which light rays pass. With this configuration, it is possible to configure the imaging unit 220 at a lower cost and with high durability.

(4) Fourth Embodiment The measuring device 110 of the present embodiment has fewer parts than the imaging section 220 of the second embodiment and the imaging section 220 of the third embodiment. It is an inexpensive imaging optical system that requires less costs for procurement, assembly, inspection, and the like. Since other configurations are the same as those of the first embodiment, description thereof is omitted. A configuration corresponding to the second embodiment will be described with reference to FIG. 10, and a configuration corresponding to the third embodiment will be described with reference to FIG.

FIG. 10 is a diagram showing an example of a configuration related to imaging section 220 in the present embodiment. In FIG. 10, scattered light rays from the guide rail 140 (for example, scattered light rays 1011-A to scattered light rays 1013-A, scattered light rays 1011-B to scattered light rays 1013-B) are indicated by dashed arrows. .

As shown in FIG. 10 , the imaging section 220 forms an image of the scattered light in the imaging region 1000 on the imaging section 230 . More specifically, the imaging section 220 comprises a single objective lens 1001 (first lens) and a single diaphragm 1002 . The objective lens 1001 is arranged to face the guide rail 140 and collects scattered light scattered by the guide rail 140 . A diaphragm 1002 limits the amount of scattered light condensed by the objective lens 1001 and transmits the limited amount of scattered light toward the imaging surface of the imaging unit 230 .

Unlike the second embodiment, the imaging unit 220 captures the scattered light in the two different imaging regions 1000-A and 1000-B with only one objective lens 1001 and only one diaphragm 1002. Images are formed on two different imaging units 230-A and 230-B.

As in the second embodiment, the imaging unit 220 described above has a magnification ratio when the guide rail 140, which is a subject (detection target), moves relative to the elevator car 120 in the z-axis direction. In order to eliminate the effect of change, the optical arrangement is telecentric on the object side (guide rail 140 side).

According to the present embodiment, as in the second embodiment, even if the image on the guide rail 140 is blurred in the optical axis direction (z-axis direction), the magnification of the image formed on the imaging surface of the imaging unit 230 is It can be immutable. Furthermore, the scattered light in the two different imaging regions 1000-A and 1000-B is handled by using only one common objective lens 1001 and aperture 1002, and two different imaging units 230-A and 1000-B. 230-B, the number of parts can be reduced, the costs for procurement, assembly, inspection, etc. can be reduced, and the image forming section 220 can be configured at low cost.

In this embodiment, as in the second embodiment, the objective lens 1001 can be configured as a glass lens with spherical surfaces on both sides or a spherical surface on one side and a flat surface on the other side. With this configuration, it is possible to configure the imaging unit 220 at a lower cost and with high durability.

FIG. 11 is a diagram showing an example of a configuration related to image forming section 220 according to the present embodiment, which is different from FIG. In FIG. 11, scattered light rays from the guide rail 140 (for example, scattered light rays 1111-A to scattered light rays 1113-A, scattered light rays 1111-B to scattered light rays 1113-B) are indicated by dashed arrows. .

As shown in FIG. 11 , the imaging section 220 forms an image of the scattered light in the imaging region 1100 on the imaging section 230 . More specifically, the imaging section 220 comprises only one objective lens 1101 (first lens), only one diaphragm 1102, and only one condenser lens 1103 (second lens). The objective lens 1101 is arranged to face the guide rail 140 and collects scattered light scattered by the guide rail 140 . A diaphragm 1102 limits the amount of scattered light collected by the objective lens 1101 . A condenser lens 1103 is arranged between the diaphragm 1102 and the imaging unit 230 , collects scattered light from the diaphragm 1102 , and transmits the collected scattered light toward the imaging surface of the imaging unit 230 .

Unlike the third embodiment, the imaging unit 220 converts the scattered light from the two different imaging regions 1100-A and 1100-B into a single objective lens 1101 and a single diaphragm 1102. , with only one condenser lens 1103, images are formed on two different imaging units 230-A and 230-B.

In the above-described image forming unit 220, as in the third embodiment, the magnification when the guide rail 140, which is a subject (detection target), is relatively shaken in the z-axis direction with respect to the elevator car 120 is In order to eliminate the effect of change, the optical arrangement is telecentric on the object side (guide rail 140 side). Furthermore, in the imaging section 220, the image side (imaging section 230 side) also has a telecentric optical arrangement in order to suppress the geometrical aberration that occurs in the imaging section 230. FIG.

According to the present embodiment, as in the third embodiment, even if the image on the guide rail 140 is blurred in the optical axis direction (z-axis direction), the magnification of the image formed on the imaging surface of the imaging unit 230 is The magnification of the image formed on the imaging surface of the imaging unit 230 can be made unchanged even when the mounting position of the imaging unit 230 is shifted in the z-axis direction. Further, the scattered light in the two different imaging regions 1100-A and 1100-B is transferred to the two different imaging units 230-A using the common objective lens 1101, diaphragm 1102, and condenser lens 1103. Since the image is formed on the imaging unit 230-B, the number of parts can be reduced, and the costs for procurement, assembly, inspection, etc. can be reduced, and the imaging unit 220 can be configured at low cost.

In this embodiment, as in the second embodiment, the objective lens 1101 can be configured as a glass lens with spherical surfaces on both sides or a spherical surface on one side and a flat surface on the other side. The condensing lens 1103 can also be configured as a glass lens with spherical surfaces on both sides or a spherical surface on one side and a flat surface on the other side. With this configuration, it is possible to configure the imaging unit 220 at a lower cost and with high durability.

(5) Fifth Embodiment A measuring apparatus 110 according to the present embodiment has a distance between imaging positions of two imaging regions by the imaging unit 220 rather than the imaging unit 220 according to the fourth embodiment. can be separated, and constraints on the size and arrangement of the imaging unit 230 can be reduced. As a result, even if the imaging unit 230 is enlarged, two units can be arranged, so that the degree of freedom in design can be increased. Since other configurations are the same as those of the first embodiment, description thereof is omitted.

FIG. 12 is a diagram showing an example of a configuration related to imaging section 220 in the present embodiment. In FIG. 12, scattered light rays from the guide rail 140 (for example, scattered light rays 1211-A to scattered light rays 1213-A, scattered light rays 1211-B to scattered light rays 1213-B) are indicated by dashed arrows. .

As shown in FIG. 12 , the imaging section 220 forms an image of the scattered light in the imaging region 1200 on the imaging section 230 . More specifically, the imaging section 220 comprises only one objective lens 1201 (first lens), only one diaphragm 1202, and only one condenser lens 1203 (second lens). The objective lens 1201 is arranged to face the guide rail 140 and collects scattered light scattered by the guide rail 140 . A diaphragm 1202 limits the amount of scattered light condensed by the objective lens 1201 and sends the limited amount of scattered light toward the imaging surface of the imaging unit 230 . A condenser lens 1203 is arranged between the diaphragm 1202 and the imaging unit 230 , collects scattered light from the diaphragm 1202 , and transmits the collected scattered light toward the imaging surface of the imaging unit 230 .

In the imaging unit 220 described above, similarly to the second embodiment, the magnification when the guide rail 140, which is a subject (detection target), is relatively shaken in the z-axis direction with respect to the elevator car 120 is In order to eliminate the effect of change, the optical arrangement is telecentric on the object side (guide rail 140 side). Furthermore, in the image forming unit 220, in order to suppress the geometrical aberration that occurs in the image forming unit 230 and to separate the image forming positions of the two image pickup regions 1200 by the image forming unit 220, an entry point is provided on the image side (the image pickup unit 230 side). It has a centric optical arrangement.

Scattered light from the guide rail 140 passes through the objective lens 1201 and then forms an image on the imaging surface of the imaging unit 230 via the condenser lens 1203 . At this time, scattered rays 1211, 1212, and 1213 of the scattered light are principal rays of the imaging optical system. That is, scattered rays 1211 , 1212 and 1213 pass through the center of stop 1202 . The scattered light beams 1211, 1212, and 1213 are always parallel to the optical axis of the objective lens 1201, and are emitted from the scattering surface of the guide rail 140. The positions of the objective lens 1201, the diaphragm 1202, and the condensing lens 1203 are determined (arranged) so that the light diverges toward the left side.

That is, the center of the imaging surface of the imaging unit 230, the optical axis of the condenser lens 1203, the center of the diaphragm 1202, and the optical axis of the objective lens 1201 are arranged on the same straight line, and , the diaphragm 1202 is arranged at a focal position 1204 of the objective lens 1201 on the imaging unit 230 side, and is arranged inside a focal position 1205 of the condenser lens 1203 on the objective lens 1201 side.

According to the present embodiment, as in the second embodiment, even if the image on the guide rail 140 is blurred in the optical axis direction (z-axis direction), the magnification of the image formed on the imaging surface of the imaging unit 230 is It can be immutable. Furthermore, the scattered light in the two different imaging regions 1200-A and 1200-B is transferred to two different imaging units 230 using a single common objective lens 1201, aperture 1202, and condenser lens 1203. -A and the image pickup unit 230-B, the number of parts can be reduced, the cost for procurement, assembly, inspection, etc. can be reduced, and the image formation unit 220 can be configured at low cost. . Furthermore, it is possible to widen the distance between the image pickup units 230-A and 230-B, and to eliminate restrictions on the size of the image pickup unit 230. FIG. As a result, even if the imaging unit 230 is enlarged, two units can be arranged, so that the degree of freedom in design can be increased.

In this embodiment, as in the second embodiment, the objective lens 1201 can be configured as a glass lens with spherical surfaces on both sides or a spherical surface on one side and a flat surface on the other side. The condensing lens 1203 can also be configured as a glass lens with spherical surfaces on both sides or a spherical surface on one side and a flat surface on the other side, through which light rays pass. With this configuration, it is possible to configure the imaging unit 220 at a lower cost and with high durability.

FIG. 13 is a diagram showing an example of a configuration related to imaging section 220 according to the present embodiment, which is different from FIG. 12 . In FIG. 13, scattered light rays from the guide rail 140 (for example, scattered light rays 1311-A to scattered light rays 1313-A, scattered light rays 1311-B to scattered light rays 1313-B) are indicated by dashed arrows. .

As shown in FIG. 13 , the imaging section 220 forms an image of the scattered light in the imaging region 1300 on the imaging section 230 . More specifically, the imaging section 220 comprises a single objective lens 1301 (first lens), a single diaphragm 1302 and a mirror 1303 . The objective lens 1301 is arranged to face the guide rail 140 and collects scattered light scattered by the guide rail 140 . A diaphragm 1302 limits the amount of scattered light condensed by the objective lens 1301 and transmits the limited amount of scattered light toward the imaging surface of the imaging unit 230 . Mirror 1303 is arranged between diaphragm 1302 and imaging unit 230-B, reflects scattered light from diaphragm 1302, and transmits the reflected scattered light toward the imaging surface of imaging unit 230-B.

As in the second embodiment, the imaging unit 220 described above has a magnification ratio when the guide rail 140, which is a subject (detection target), moves relative to the elevator car 120 in the z-axis direction. In order to eliminate the effect of change, the optical arrangement is telecentric on the object side (guide rail 140 side).

According to the present embodiment, as in the second embodiment, even if the image on the guide rail 140 is blurred in the optical axis direction (z-axis direction), the magnification of the image formed on the imaging surface of the imaging unit 230 is It can be immutable. Furthermore, the scattered light in the two different imaging regions 1300-A and 1300-B can be separated into two different imaging units 230-A and 1300-B using a single common objective lens 1301 and aperture 1302. 230-B, the number of parts can be reduced, the costs for procurement, assembly, inspection, etc. can be reduced, and the image forming section 220 can be configured at low cost. Furthermore, using the mirror 1303, it is possible to separate the imaging units 230-A and 230-B from each other, so that restrictions on the size of the imaging unit 230 can be eliminated. As a result, even if the imaging unit 230 is enlarged, two units can be arranged, so that the degree of freedom in design can be increased.

In this embodiment, as in the second embodiment, the objective lens 1301 can be configured as a glass lens with spherical surfaces on both sides or a spherical surface on one side and a flat surface on the other side. With this configuration, it is possible to configure the imaging unit 220 at a lower cost and with high durability.

Further, the configuration in which the imaging unit 230 is separated by using the mirror 1303 shown in this embodiment is the same as the configuration shown in the third embodiment, which is telecentric not only on the object side but also on the image side. May be combined. The mirror 1303 may be arranged immediately before the imaging unit 230-B as in the embodiment shown in FIG. 13, or may be configured as shown in FIG.

FIG. 14 is a diagram showing an example of a configuration related to imaging section 220 in the present embodiment, which is different from the configurations shown in FIGS. 12 and 13. In FIG. In FIG. 14, scattered light rays from the guide rail 140 (for example, scattered light rays 1411-A to scattered light rays 1413-A, scattered light rays 1411-B to scattered light rays 1413-B) are indicated by dashed arrows. .

As shown in FIG. 14 , the imaging section 220 forms an image of the scattered light in the imaging region 1400 on the imaging section 230 . More specifically, imaging unit 220 includes only one objective lens 1401 (first lens), only one diaphragm 1402, condenser lens 1403-A (second lens), and condenser lens 1403-A (second lens). 1403-B (third lens) and a mirror 1404 are provided.

The objective lens 1401 is arranged to face the guide rail 140 and collects scattered light scattered by the guide rail 140 . A diaphragm 1402 limits the amount of scattered light condensed by the objective lens 1401 and transmits the limited amount of scattered light toward the imaging surface of the imaging unit 230 . Condensing lens 1403-A is arranged between diaphragm 1402 and imaging unit 230-A, and among the scattered light from diaphragm 1402, scattered light emitted from imaging region 1400-A (scattered light ray 1411-A in FIG. 14) 1413-A), and transmits the collected scattered light toward the imaging surface of the imaging unit 230-A. Mirror 1404 reflects the scattered light emitted from imaging region 1400-B (scattered light of scattered light rays 1411-B to 1413-B in FIG. 14) among the scattered light from diaphragm 1402. FIG. The condenser lens 1403-B is arranged between the mirror 1404 and the imaging unit 230-B, collects the scattered light from the mirror 1404, and directs the collected scattered light to the imaging surface of the imaging unit 230-B. to be sent out.

According to the above configuration, the imaging positions of the two imaging regions 1400 by the imaging unit 220 can be provided on different planes, and the restrictions on the arrangement of the imaging unit 230 can be further reduced.

(6) Sixth Embodiment The measurement apparatus 110 of the present embodiment has a smaller imaging surface distance and a smaller size than the imaging units 230-A and 230-B of the first embodiment. An imaging unit 230 can be provided. Other configurations are the same as those of the first to fifth embodiments, so description thereof will be omitted.

FIG. 15 is a diagram showing an example of the configuration of imaging section 230 according to the present embodiment. In this configuration, a two-dimensional frame transfer CCD image sensor will be used as an example. However, a full frame transfer CCD image sensor or an interline CCD image sensor may be used. A sensor, such as a CMOS image sensor, may also be used. Further, the sensor is not limited to a two-dimensional area sensor, and a one-dimensional line sensor having a function of spatial resolution in the ascending and descending direction of the elevator car 120 may be used.

As shown in FIG. 15 , the imaging section 230 includes an image sensor 1510 , an ADC (Analog-Digital Converter) 1520 and an image selection section 1530 . The image sensor 1510 forms an image of the scattered light sent from the image forming unit 220, converts each pixel into an analog voltage according to the illuminance of the scattered light, and sequentially reads out each pixel. ADC 1520 converts analog voltage values sequentially read from image sensor 1510 into an array of digital signals. The image selection unit 1530 associates the arrangement of the digital voltage signals output from the ADC 1520 with the arrangement of pixels according to the output timing of the arrangement of the digital voltage signals, and performs image processing with the image processing unit 240-A according to the pixels. selects the digital voltage signal to be sent to section 240-B.

The image sensor 1510 includes a light receiving section 1511 , a vertical transfer section 1512 , a horizontal transfer section 1513 and a charge voltage conversion section 1514 . The light receiving unit 1511 forms an image of the scattered light sent from the image forming unit 220 on a region that receives the scattered light, and photoelectrically converts the scattered light into an amount of charge according to the illuminance of the scattered light. The vertical transfer section 1512 transfers charges generated by the light receiving section 1511 in the vertical direction. The horizontal transfer section 1513 further transfers the charges transferred by the vertical transfer section 1512 in the horizontal direction. The charge-voltage conversion unit 1514 converts the charge transferred from the horizontal transfer unit 1513 into a voltage in proportion to the charge amount of the charge.

The imaging unit 230 described above includes a light receiving unit 1511-A and a light receiving unit 1511-B obtained by dividing the light receiving unit 1511 into two regions. The light receiving section 1511-A has a region for receiving the scattered light imaged by the imaging section 220-A. The light receiving section 1511-B has a region for receiving the scattered light imaged by the image forming section 220-B.

According to the present embodiment, the image sensor 1510 in the imaging unit 230 can be shared, and the distance between the light receiving unit 1511-A and the light receiving unit 1511-B can be shortened, so that a smaller measuring device 110 can be provided. becomes possible.

(7) Seventh Embodiment A measurement apparatus 110 according to the present embodiment shifts the phase of the timing of driving the optical transmission section 210 and the imaging section 230 by the timing control section 260 among the plurality of measurement sections 111. Thus, it is possible to prevent omission of detection of abnormality of the optical transmission unit 210 . Other configurations are the same as those of the first to sixth embodiments, so description thereof will be omitted.

FIG. 16 shows the transmission from timing control unit 260-A and timing control unit 260-B to optical transmission unit 210-A and optical transmission unit 210-B and imaging unit 230-A and imaging unit 230-B in the present embodiment. FIG. 3 is a diagram showing an example of a timing chart of a gate signal to be transmitted and scattered light incident on an imaging unit 230 from a guide rail 140;

As shown in a timing chart 1610-A, a first gate signal 1611-A (gate When the pulse signal) is transmitted, the guide rail 140 is irradiated with an emitted light beam (illumination light) from the light transmission unit 210-A, and the scattered light scattered on the surface of the guide rail 140 passes through the imaging unit 220-A. The light enters the imaging unit 230-A through.

On the other hand, as shown in the timing chart 1620-A, the same timing as the first gate signal 1611-A is transmitted from the timing control unit 260-A to the imaging unit 230-A to the optical transmission unit 210-A. Then, when the first gate signal 1621-A (gate pulse signal), which is high level for a period of time T at a repetition period Δt, is transmitted, the imaging unit 230-A sets the high level period to the exposure time T , the scattered light from the imaging unit 220-A is taken into the imaging surface, and an image signal is generated in response to the first gate signal 1611-A.

Next, as shown in a timing chart 1610-B, a first gate signal 1611-, which is at a high level for a period of time T at a repetition period Δt, is sent from the timing control section 260-B to the optical transmission section 210-B. When B (gate pulse signal) is transmitted, the guide rail 140 is irradiated with an emitted light beam (illumination light) from the light transmission unit 210-B, and the scattered light scattered on the surface of the guide rail 140 reaches the imaging unit 220. -B to enter the imaging unit 230-B.

On the other hand, as shown in the timing chart 1620-B, the same timing as the first gate signal 1611-B is transmitted from the timing control unit 260-B to the imaging unit 230-B to the optical transmission unit 210-B. Then, when the first gate signal 1621-B (gate pulse signal), which is high level for the period of time T at the repetition period Δt, is transmitted, the imaging unit 230-B sets the high level period to the exposure time T , the scattered light from the imaging unit 220-B is taken into the imaging plane, and an image signal is generated in response to the first gate signal 1611-B.

The first gate signal 1611-B is out of phase with the first gate signal 1611-A in the timing chart 1610-A and becomes high level after a period 1630. At this time, the timing control section 260 selects the timing so that the gate signal 1611-A and the gate signal 1611-B do not go high at the same time.

FIG. 17 is a schematic diagram for explaining the effects of this embodiment. Since the group of emitted light rays output from the light transmitting section 210 spreads and illuminates the guide rail 140, there is a possibility that the light illuminated by the light transmitting section 210-A enters the imaging section 230-B as stray light. be. At this time, if the illumination timings of the optical transmitter 210-A and the optical transmitter 210-B are the same, the light from the other optical transmitter 210 is transmitted even though one of them has an abnormality. The output light may enter the imaging unit 230 as stray light and the abnormality may not be detected.

In this regard, according to the present embodiment, the timing of light beams emitted from light transmitting section 210-A and light transmitting section 210-B is shifted, and the timing of light beams emitted from image capturing section 230-A and image capturing section 230-B is shifted. By also shifting the exposure timing, it is possible to avoid interference between the two in terms of time, and to avoid failure to detect an abnormality in one of them.

It should be noted that this timing chart is only an example. It may be combined with a timing chart configured to measure the time until the light enters the imaging unit 230 via the elevator car 120 and measure the distance from the elevator car 120 to the guide rail 140 based on the measurement result.

Each embodiment described above is for explaining the present invention in an easy-to-understand manner, and does not limit the scope of the present invention. Moreover, it is possible to add, delete, replace, etc. other configurations for a part of the configuration of each embodiment. Further, each of the above configurations, functions, processing units, processing means, and the like may be realized by hardware, for example, by designing a part or all of them using an integrated circuit. Moreover, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, and files that implement each function can be stored in recording devices such as memories, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.

(8) Supplementary Notes The above-described embodiments include, for example, the following contents.

In the above-described embodiment, the case where the present invention is applied to a measuring device has been described, but the present invention is not limited to this, and can be widely applied to various other systems, devices, methods, and programs. can.

The embodiments described above have, for example, the following characteristic configurations.

A metrology device (e.g., metrology device 110) generates a gating signal (e.g., gating signal 401) to a stationary structure positioned along a path (e.g., hoistway) of movement (e.g., elevator car 120). Light illuminating an object (eg, guide rail 140) is transmitted in response to the gating signal, and light reflected from the stationary structure (eg, scattered rays 811-A through 813-A, 811-B through 813- B) is imaged, the imaged reflected light is captured on the imaging surface for the exposure time specified by the gate signal, the optical signal of the captured reflected light is converted into an electrical signal, and the converted electrical signal is used as an image. a plurality of measurement units (e.g., measurement unit 111-A, measurement unit 111-A) provided on the moving object, which are processed and calculate information related to the movement of the moving object from the processed image; A determination unit (e.g., determination section 112);

In the above configuration, at least two measurement units are provided, and an abnormality of the measurement units can be detected by comparing information regarding the movement of the moving object calculated by each measurement unit.

Each of the plurality of measurement units includes a timing control unit (for example, timing control unit 260-A and timing control unit 260-B) that generates the gate signal, and a stationary structure in response to the gate signal. An optical transmission unit (eg, optical transmission unit 210-A, optical transmission unit 210-B) that transmits illumination light, and an image processing unit (eg, image processing) that calculates information related to the movement of the moving object from the image. unit 240-A, image processing unit 240-B), and the plurality of measurement units are arranged to face the stationary structure and form an image of the reflected light from the stationary structure. or a common imaging unit (for example, an imaging unit 220-A and an imaging unit 220-B), and the plurality of measurement units are exposed by the imaging unit for an exposure time defined by the gate signal. An individual or common imaging unit (for example, imaging unit 230-A, imaging unit 230-B) that captures the imaged reflected light onto the imaging surface and converts an optical signal from the captured reflected light into an electrical signal. Prepare.

In the above configuration, by providing at least two timing control units, optical transmission units, and image processing units in which anomalies are relatively likely to occur, the reliability of the measurement unit can be improved.

The determination unit identifies the type of abnormality related to the plurality of measurement units based on information related to movement of the moving body and/or the image (see step S605, for example).

According to the above configuration, for example, the recovery time, repair time, etc. of the measuring device can be shortened based on the type of abnormality in the measuring unit.

The measurement unit sequentially captures the electrical signals at a frame cycle (for example, a frame cycle Δt) corresponding to the generation cycle of the gate signal, generates an image for each frame from each captured electrical signal, and generates a plurality of frames. A first measurement target image (for example, a dark field image I(i) of frame i) in the image of the first frame among the images of and a measurement target image in the image of the second frame, wherein the first Image deviation (eg, cross-correlation function C The peak coordinate position Δy) is calculated, and the time indicating the calculated shift and the time difference between the first frame and the second frame (for example, from the dark field image I (ik) to the dark field image I ( The moving speed of the moving object is calculated from the ratio of the time k×Δt) up to i).

According to the above configuration, for example, the moving speed of the moving body can be calculated.

The timing control unit outputs a first gate signal (for example, a first gate signal 711) at the same timing to the optical transmission unit and the imaging unit, and then outputs the first gate signal to the imaging unit. , a second gate signal (for example, a second gate signal 741) is output at a timing different from that of the first gate signal, and the optical transmission section responds to the first gate signal to stop the Light for illuminating a structure is transmitted, and the imaging section responds to the first gate signal by using the first gate signal as the imaging surface to reflect the reflected light of the light from the imaging section. a first imaging surface that captures only a prescribed first exposure time (for example, a period of time t1 to time t3); and reflected light of the light from the imaging section in response to the second gate signal. a second exposure time defined by the second gate signal (for example, a period of time t3 to time t5), and the image processing unit is provided with the first imaging surface (eg, electrical signal 732), the electrical signal (eg, electrical signal 742) of the second imaging plane, and the time (eg, time t2 to time t3) during which the capture was performed on the first imaging plane. period) and the time (for example, the period from time t3 to time t4) during which the capture was performed on the second imaging surface, the light is reflected on the first imaging surface of the imaging unit as reflected light. The distance from the moving body to the stationary structure is calculated based on the calculated propagation time and the speed of light (for example, the speed of light). Calculate

According to the above configuration, it is possible to measure the distance from the moving body to the stationary structure. Therefore, for example, it is possible to determine whether or not there is vibration in the moving body in the direction of the stationary structure from the measurement result. become.

The imaging unit includes a first lens (e.g., objective lens 801) that collects reflected light from the stationary structure, and an aperture (e.g., aperture 802) that limits the light amount of the reflected light. The diaphragm is provided so that the center of the diaphragm is aligned with the optical axis of the first lens and is positioned at the focal position of the first lens.

According to the above configuration, for example, even if the distance between the moving body and the stationary structure changes during the movement of the moving body, the change in magnification of the image can be suppressed. On the other hand, it is possible to keep the measured value of the moving amount of the moving body constant.

The imaging unit includes a first lens (for example, objective lens 901) that collects reflected light from the stationary structure, a diaphragm (for example, diaphragm 902) that limits the amount of reflected light, and the diaphragm. and a second lens (e.g., a condenser lens 903) disposed between and the imaging surface for condensing the reflected light whose light amount is limited by the aperture, and the aperture is located at the center of the aperture. is provided on the same straight line as the optical axis of the first lens and is provided at the focal position of the first lens, and the second lens is provided so that the optical axis of the second lens is aligned with the first lens. is provided on the same straight line as the optical axis of the lens.

According to the above configuration, for example, even if the distance between the moving body and the stationary structure changes, it is possible to suppress the change in the magnification of the image, and the displacement of the mounting position of the imaging unit in the optical axis direction Also, since the magnification of the image formed on the image pickup surface of the image pickup section can be kept unchanged, a large dimensional tolerance can be ensured when the image formation section and the image pickup section are attached.

The plurality of measuring units have a common imaging unit, and the imaging unit corresponds the reflected light from the stationary structure of the light transmitted by each of the optical transmission units to each of the optical transmission units. and form an image (see, for example, FIGS. 10 and 11).

According to the above configuration, for example, it is possible to provide an inexpensive imaging optical system with a small number of parts and a low cost for procurement, assembly, inspection, and the like.

The imaging unit includes a first lens (for example, objective lens 1201) that collects reflected light from the stationary structure, a diaphragm (for example, diaphragm 1202) that limits the amount of reflected light, and the diaphragm. and a second lens (e.g., a condenser lens 1203) disposed between the imaging unit and condensing the reflected light whose light amount is limited by the aperture, and the aperture is located at the center of the aperture. is provided on the same straight line as the optical axis of the first lens and is provided at the focal position of the first lens, and the second lens is provided so that the optical axis of the second lens is aligned with the first lens. and the focal position of the second lens is provided on the first lens side with respect to the center of the diaphragm (see, for example, FIG. 12).

According to the above configuration, for example, it is possible to increase the distance between the imaging positions of the two imaging regions by the imaging unit, and reduce the restrictions on the size of the imaging unit. As a result, even if the imaging unit is enlarged, two imaging units can be arranged, so that the degree of freedom in design can be increased.

The imaging unit reflects a part of the reflected light from the stationary structure of the light transmitted by each of the optical transmitting units, and one or more mirrors are arranged in the optical path of the reflected reflected light. (eg, mirror 1303, mirror 1404) (see, eg, FIGS. 13 and 14).

According to the above configuration, for example, the imaging positions of the two imaging regions by the imaging unit can be provided on different planes, and the restrictions on the arrangement of the imaging units can be further reduced.

The plurality of measurement units include the common imaging unit, and the imaging unit is provided in each of the plurality of regions (for example, the light receiving unit 1511-A and the light receiving unit 1511-B) of the imaging surface. captures the reflected light imaged corresponding to each of the above-mentioned optical transmitters, and converts the optical signal of the captured reflected light into an electrical signal (see, for example, FIG. 15).

According to the above configuration, for example, it is possible to reduce the distance between the imaging surfaces and provide a more compact imaging unit.

Each of the timing control units outputs the gate signal to the optical transmission unit and the imaging unit at the same timing, and the timing at which the gate signal is output by each of the timing control units is different. (See, for example, FIGS. 16 and 17).

According to the above configuration, for example, by shifting the phase of the timing of driving the optical transmission unit and the imaging unit by the timing control unit between at least two or more of the measurement units, detection failure of the abnormality of the optical transmission unit can be prevented. can be prevented.

Moreover, the above-described configurations may be appropriately changed, rearranged, combined, or omitted within the scope of the present invention.

Note that the items contained in the list in the format "at least one of A, B, and C" are (A), (B), (C), (A and B), (A and C), It should be understood that (B and C) or (A, B and C) can be meant. Similarly, items listed in the format "at least one of A, B, or C" are (A), (B), (C), (A and B), (A and C), (B and C) or (A, B, and C).

100...Elevator system, 110...Measurement device, 111...Measurement part, 112...Judgment part.

Claims (14)

a plurality of measurement units provided on the moving body that calculate information related to movement of the moving body;
a determination unit that performs comparison processing on information related to movement of the moving object output from each of the plurality of measurement units, and determines an abnormality related to the plurality of measurement units based on the result of the comparison processing; ,
with
The plurality of measurement units are arranged to face a stationary structure arranged along the moving path of the moving body, and form an image of the reflected light from the stationary structure individually or in common. having a department,
Each of the plurality of measurement units
transmitting light illuminating the stationary structure in response to a first gating signal;
In response to the first gate signal, the reflected light of the light is captured by the first imaging surface for a first exposure time defined by the first gate signal, and the first gate signal and In response to a second gate signal output at a different timing, the reflected light of the light is captured by a second imaging surface for a second exposure time defined by the second gate signal;
Based on the electric signals of the first and second imaging surfaces and the first and second exposure times, a transmission time until the light enters the first imaging surface as reflected light is calculated. , calculating the distance from the moving object to the stationary structure based on the calculated transmission time and the speed of light;
measuring device. The plurality of measurement units form an image of the reflected light from the stationary structure, and the imaged reflected light is projected onto an imaging surface, which is a first or second imaging surface, for an exposure time defined by the gate signal. An optical signal obtained by taking in and taking in reflected light is converted into an electrical signal, and the converted electrical signal is processed as an image.
Each of the plurality of measurement units includes: a timing control unit that generates the gate signal; an optical transmission unit that transmits light for illuminating the stationary structure in response to the gate signal; and an image processing unit that calculates information related to the movement of
The plurality of measurement units capture reflected light imaged by the imaging unit onto the imaging surface for an exposure time defined by the gate signal, and convert an optical signal resulting from the captured reflected light into an electrical signal. with individual or common imaging units,
The measuring device according to claim 1. The plurality of measurement units form an image of the reflected light from the stationary structure, and the imaged reflected light is projected onto an imaging surface, which is a first or second imaging surface, for an exposure time defined by the gate signal. An optical signal obtained by taking in and taking in reflected light is converted into an electrical signal, and the converted electrical signal is processed as an image.
The determination unit identifies a type of abnormality related to the plurality of measurement units based on information related to movement of the moving object and/or the image.
The measuring device according to claim 1. The measurement unit sequentially captures the electrical signals in a frame cycle corresponding to the generation cycle of the gate signal, generates an image for each frame from each captured electrical signal, and selects a first image among the generated multiple frame images. On the image that occurs between the first measurement target image in the frame image and the second measurement target image that is the measurement target image in the second frame image and corresponds to the first measurement target image and calculating the moving speed of the moving body from the ratio of the calculated deviation and the time indicating the time difference between the first frame and the second frame;
The measuring device according to claim 1. The timing control section outputs a first gate signal to the optical transmission section and the imaging section at the same timing, and then outputs a gate signal different from the first gate signal to the imaging section. outputting the second gate signal at the timing,
The light transmission unit transmits light for illuminating the stationary structure in response to the first gate signal,
The imaging unit, as the imaging surface, captures the reflected light of the light from the imaging unit for a first exposure time defined by the first gate signal in response to the first gate signal. a first imaging surface; and a second imaging surface that captures the reflected light of the light from the imaging unit for a second exposure time defined by the second gate signal in response to the second gate signal. and an imaging surface,
The image processing unit processes the electric signal of the first imaging plane, the electric signal of the second imaging plane, the time when the capture was performed on the first imaging plane, and the time when the capture was performed on the second imaging plane. Based on the calculated time, a transmission time until the light is incident on the first imaging surface of the imaging unit as reflected light is calculated, and based on the calculated transmission time and the speed of light , calculating the distance from the moving object to the stationary structure;
The measuring device according to claim 2. The imaging unit includes a first lens that collects reflected light from the stationary structure, and a diaphragm that limits the amount of reflected light,
The aperture is provided so that the center of the aperture is on the same straight line as the optical axis of the first lens, and is provided at the focal position of the first lens.
The measuring device according to claim 2. The imaging unit includes a first lens that collects reflected light from the stationary structure, a diaphragm that limits the amount of reflected light, and a diaphragm that is disposed between the diaphragm and the imaging surface. A second lens that collects the reflected light whose light amount is limited by
the aperture is provided so that the center of the aperture is on the same straight line as the optical axis of the first lens and is provided at the focal position of the first lens;
The second lens is provided so that the optical axis of the second lens is on the same straight line as the optical axis of the first lens,
The measuring device according to claim 2. The plurality of measurement units have a common imaging unit,
The imaging unit forms an image of the reflected light from the stationary structure of the light transmitted by each of the optical transmission units, corresponding to each of the optical transmission units.
The measuring device according to claim 2. The imaging unit includes a first lens that collects reflected light from the stationary structure, a diaphragm that limits the amount of reflected light, and a diaphragm that is disposed between the diaphragm and the imaging unit. A second lens that collects the reflected light whose light amount is limited by
the aperture is provided so that the center of the aperture is on the same straight line as the optical axis of the first lens and is provided at the focal position of the first lens;
In the second lens, the optical axis of the second lens is provided on the same straight line as the optical axis of the first lens, and the focal position of the second lens is positioned relative to the center of the diaphragm. provided on the first lens side,
The measuring device according to claim 8. The imaging section reflects a part of the reflected light from the stationary structure of the light transmitted by each of the optical transmission sections, and one or more mirrors are arranged in the optical path of the reflected reflected light. comprising
The measuring device according to claim 8. The plurality of measurement units include the common imaging unit,
The imaging unit captures the reflected light imaged by the imaging unit corresponding to each of the optical transmission units in each of a plurality of regions of the imaging surface, and converts an optical signal of the captured reflected light into an electrical signal. convert to,
The measuring device according to claim 2. each of the timing control units outputs the gate signal at the same timing to the optical transmission unit and the imaging unit;
The timing at which the gate signal is output by each of the timing control units is different.
The measuring device according to claim 2. a plurality of measurement units provided in the elevator car for calculating information related to movement of the elevator car;
a determination unit that compares information related to the movement of the elevator car output from each of the plurality of measurement units and determines an abnormality related to the plurality of measurement units based on the result of the comparison processing; ,
with
The plurality of measurement units are arranged to face a stationary structure arranged along the moving path of the elevator car, and form an image of reflected light from the stationary structure, either individually or in common. having a department,
Each of the plurality of measurement units
transmitting light illuminating the stationary structure in response to a first gating signal;
In response to the first gate signal, the reflected light of the light is captured by the first imaging surface for a first exposure time defined by the first gate signal, and the first gate signal and In response to a second gate signal output at a different timing, the reflected light of the light is captured by a second imaging surface for a second exposure time defined by the second gate signal;
Based on the electric signals of the first and second imaging surfaces and the first and second exposure times, a transmission time until the light enters the first imaging surface as reflected light is calculated. , calculating the distance from the elevator car to the stationary structure based on the calculated travel time and the speed of light;
elevator system. a step in which a plurality of measuring units provided in a moving body calculates information related to the movement of the moving body from the processed image;
A determination unit performs comparison processing on information related to the movement of the moving body output from each of the plurality of measurement units, and determines an abnormality related to the plurality of measurement units based on the result of the comparison processing. and
including
The plurality of measurement units are arranged to face a stationary structure arranged along the moving path of the moving body, and form an image of the reflected light from the stationary structure individually or in common. having a department,
In the calculating step, each of the plurality of measurement units
transmitting light illuminating the stationary structure in response to a first gating signal;
In response to the first gate signal, the reflected light of the light is captured by the first imaging surface for a first exposure time defined by the first gate signal, and the first gate signal and In response to a second gate signal output at a different timing, the reflected light of the light is captured by a second imaging surface for a second exposure time defined by the second gate signal;
Based on the electric signals of the first and second imaging surfaces and the first and second exposure times, a transmission time until the light enters the first imaging surface as reflected light is calculated. , calculating the distance from the moving object to the stationary structure based on the calculated transmission time and the speed of light;
measurement method.

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