Elevator shaft dimensions measurement device and elevator shaft dimensions measurement method

Patent metadata

Field	Value
Publication number	US-10926973-B2
Application number	US-201615579249-A
Country	US
Kind code	B2
Filing date	Jun 9, 2016
Priority date	Jun 9, 2015
Publication date	Feb 23, 2021
Grant date	Feb 23, 2021

Abstract

Provided is an elevator shaft dimensions measurement device including: a plurality of 3-D distance image sensors which are arranged on a circumference of the same circle, facing the direction of the center of the circle and inclined at an elevation angle with respect to a horizontal plane, and which output measurement data by capturing an image of a pattern irradiated onto the inner walls of an elevator shaft that are imaging objects; and a computer which integrates the measurement data output from the plurality of 3-D distance image sensors at a plurality of height positions in the elevator shaft, generates first integrated measurement data covering 360 degrees in the horizontal direction, aligns the first integrated measurement data to create second integrated measurement data after the alignment, and calculates the dimensions of the elevator shaft on the basis of the second integrated measurement data after the alignment.

First claim

The invention claimed is:

1. An elevator shaft dimensions measurement device, comprising:
a plurality of 3-D distance image sensors which are arranged on a circumference of a same circle, facing a direction of the center of the circle and inclined at an elevation angle with respect to a horizontal plane, configured to simultaneously measure through 360 degrees in a horizontal direction in an elevator shaft, which irradiate a distance measurement pattern through a measurement range in the horizontal direction and a vertical direction onto inner walls of the elevator shaft that are imaging objects, and which output measurement data configured as a group of three-dimensional points by capturing an image of the distance measurement pattern irradiated onto the inner walls;
a calculator which calculates dimensions of the elevator shaft over the entire length of the elevator shaft, by calculating distances to the inner walls from the plurality of 3-D distance image sensors, on the basis of the measurement data output respectively from the plurality of 3-D distance image sensors.

2. The elevator shaft dimensions measurement device according to claim 1 , wherein
the calculator integrates the measurement data output from the plurality of 3-D distance image sensors, and calculates dimensions of the elevator shaft over the entire length of the elevator shaft, by calculating distances to the inner walls from the plurality of 3-D distance image sensors, on the basis of integrated measurement data.

3. The elevator shaft dimensions measurement device according to claim 2 ,
the calculator comprising:
a measurement data integrator which integrates the measurement data output respectively from the plurality of 3-D distance image sensors, respectively at a plurality of height positions in the elevator shaft, and generates first integrated measurement data covering 360 degrees in the horizontal direction;
a measurement data alignment processor which aligns the first integrated measurement data integrated at the plurality of height positions in the elevator shaft, to create second integrated measurement data after the alignment; and
a dimension calculator which calculates dimensions of the elevator shaft over the entire length of the elevator shaft, by calculating distances to the inner walls from the plurality of 3-D distance image sensors, on the basis of the second integrated measurement data after the alignment.

4. The elevator shaft dimensions measurement device according to claim 3 , further comprising:
a feature extractor which extracts feature data for use when aligning the first integrated measurement data by the measurement data alignment processor, from among the first integrated measurement data generated for the plurality of height positions in the elevator shaft by the measurement data integrator,
wherein the measurement data alignment processor aligns the first integrated measurement data using the feature data extracted by the feature extractor, to create the second integrated measurement data after the alignment.

5. The elevator shaft dimensions measurement device according to claim 3 , further comprising:
a reference object extractor which extracts a component of a known shape present in the elevator shaft as an object forming a reference for calculation of the dimensions, from among the second integrated measurement data after the alignment generated by the measurement data alignment processor,
wherein the calculator calculates the dimensions of the elevator shaft over the entire length of the elevator shaft, by using, as a reference for calculating the dimensions, a position of the component of a known shape extracted by the reference object extractor.

6. The elevator shaft dimensions measurement device according to claim 4 , further comprising:
a reference object extractor which extracts a component of a known shape present in the elevator shaft as an object forming a reference for calculation of the dimensions, from among the second integrated measurement data after the alignment generated by the measurement data alignment processor,
wherein the calculator calculates the dimensions of the elevator shaft over the entire length of the elevator shaft, by using, as a reference for calculating the dimensions, a position of the component of a known shape extracted by the reference object extractor.

7. The elevator shaft dimensions measurement device according to claim 5 ,
wherein the reference object extractor includes:
a rail information acquirer which sets a guide rail of an elevator car as a dimensional measurement object, and acquires dimensions of a cross-sectional shape of the guide rail, and a dimension between rails;
a rail detector which detects, as a position of the guide rail, a position corresponding to the dimensions of the cross-sectional shape and the dimension between the rails as acquired by the rail information acquirer, from among the second integrated measurement data after the alignment generated by the measurement data alignment processor; and
a rail reference corrector which uses the position of the guide rail detected by the rail detector to correct a position of the second integrated measurement data after the alignment generated by the measurement data alignment processor.

8. The elevator shaft dimensions measurement device according to claim 6 ,
wherein the reference object extractor includes:
a rail information acquirer which sets a guide rail of an elevator car as a dimensional measurement object, and acquires dimensions of a cross-sectional shape of the guide rail, and a dimension between rails;
a rail detector which detects, as a position of the guide rail, a position corresponding to the dimensions of the cross-sectional shape and the dimension between the rails as acquired by the rail information acquirer, from among the second integrated measurement data after the alignment generated by the measurement data alignment processor; and
a rail reference corrector which uses the position of the guide rail detected by the rail detector to correct a position of the second integrated measurement data after the alignment generated by the measurement data alignment processor.

9. The elevator shaft dimensions measurement device according to claim 3 , further comprising:
a height information acquirer which acquires information of the plurality of height positions in the elevator shaft, as height information; and
a height direction corrector which uses the height information acquired by the height information acquirer to correct a position of the second integrated measurement data after the alignment generated by the measurement data alignment processor.

10. The elevator shaft dimensions measurement device according to claim 4 , further comprising:
a height information acquirer which acquires information of the plurality of height positions in the elevator shaft, as height information; and
a height direction corrector which uses the height information acquired by the height information acquirer to correct a position of the second integrated measurement data after the alignment generated by the measurement data alignment processor.

11. The elevator shaft dimensions measurement device according to claim 5 , further comprising:
a height information acquirer which acquires information of the plurality of height positions in the elevator shaft, as height information; and
a height direction corrector which uses the height information acquired by the height information acquirer to correct a position of the second integrated measurement data after the alignment generated by the measurement data alignment processor.

12. The elevator shaft d

Assignees

• Mitsubishi Electric Corp
• Mitsubishi Electric Res Laboratories Inc

Inventors

• Kawanishi Ryosuke
• Tsutada Hiroyuki
• Sambongi Keisuke
• Enomoto yu
• Taguchi Yuichi
• Thornton Jay

Classifications

• B66B7/1246 Primary

  specially adapted for guides · CPC title

• G01C7/06

  of cavities, e.g. tunnels · CPC title

• G01B11/24

  for measuring contours or curvatures · CPC title

• B66B7/00

  Other common features of elevators · CPC title

• B66B3/02 Primary

  Position or depth indicators · CPC title