JP7614076B2 - Measuring device, elevator system, and installation position confirmation method - Google Patents

Description

The present invention relates to a measuring device, an elevator system, and an installation position confirmation method, and is suitable for application to a measuring device, an elevator system, and an installation position confirmation method that calculates information related to the movement of a moving object.

Conventionally, in elevators equipped with a car (hereinafter referred to as "elevator car" or "cage") as a moving object, a governor rope has been used as a safety device to monitor the position and speed of the elevator car. In recent years, a non-contact sensor (hereinafter referred to as "position and speed sensor") that measures the position and speed of the elevator car without contact has become known as an alternative to the governor rope.

For example, Patent Document 1 discloses an optical position and speed sensor that uses an image sensor installed on the elevator car to photograph structures in the elevator shaft and measure the position and speed of the elevator car. A non-contact measuring device such as this position and speed sensor does not require a long structure such as a governor rope, which has the advantage of improving installation and maintainability, and also has the advantage of preventing measurement errors due to slippage.

International Publication No. 2019/239536

In the optical position and speed sensor disclosed in Patent Document 1, in order to obtain sufficient measurement performance (precision) for the position and speed of the car, when installing the position and speed sensor on the car, it is required to measure and determine the relative distance and angle with respect to the guide rail, and to install the measuring device with high installation precision. However, in the past, in order to install the position and speed sensor with sufficient installation precision as described above, a dedicated measuring tool was required in addition to the position and speed sensor. Furthermore, even when a dedicated measuring tool was used, there was an issue that the installation precision was affected by the proficiency of the installation worker in terms of measurement technology and optical adjustment technology.

The present invention has been made in consideration of the above points, and aims to propose a measuring device, elevator system, and installation position confirmation method that can measure with high precision the relative distance and angle to a stationary structure that serves as a reference in a measuring device that measures information related to the movement of a moving object, and determine and output whether the measuring device is placed with appropriate precision in a specified installation position.

In order to solve such problems, the present invention provides a measuring device that is installed on an elevator car moving in a hoistway and measures at least one of the moving distance or speed of the elevator car, and includes a light transmitting unit that transmits light that illuminates a stationary structure arranged in the hoistway along a first direction parallel to the moving direction of the elevator car, an imaging unit that forms an image on an imaging surface of scattered light from the stationary structure by the light, an imaging unit that takes in the optical signal of the scattered light imaged on the imaging surface, converts it into an electrical signal, and images it, and an image processing unit that calculates and transmits at least one of the moving distance or speed of the elevator car based on the electrical signal converted by the imaging unit, When checking the installation position of the measuring device relative to a stationary structure, the measurement device provides a measurement device in which, when one of two directions perpendicular to the first direction is a direction including an imaging plane captured by the imaging unit, the second direction is a direction perpendicular to both the first direction and the second direction is a third direction, the image processing unit calculates, based on the electrical signal converted by the imaging unit, a translation error along the direction or a rotation error about the axis of the direction of the placement position of the measuring device relative to a specified installation design position for at least one of the first to third directions, and determines, based on the calculation result, whether the placement position is compatible with the installation design position and transmits installation location determination information related to the determination.

In order to solve such problems, the present invention comprises an elevator car moving in a hoistway, a guide rail arranged in the hoistway along a first direction parallel to the direction of movement of the elevator car, an elevator control unit that controls the operation of the elevator car, and a measuring device that is installed in the elevator car and measures at least one of the moving distance and speed of the elevator car, the measuring device comprising a light transmitting unit that transmits light that irradiates the guide rail in the hoistway, an imaging unit that forms an image of scattered light from the guide rail by the light on an imaging surface, an imaging unit that takes in the optical signal of the scattered light imaged on the imaging surface and converts it into an electrical signal to image it, and a measuring device that calculates the moving distance or speed of the elevator car based on the electrical signal converted by the imaging unit. and an image processing unit that calculates and transmits at least one of the speed and the distance, and when checking the installation position of the measuring device relative to the stationary structure, if a direction including the imaging plane captured by the imaging unit among two directions perpendicular to the first direction is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction, the image processing unit calculates a translation error along the direction of the mounting position of the measuring device relative to a specified installation design position or a rotation error about the axis of the direction based on the electrical signal converted by the imaging unit, for at least one of the first to third directions, and determines whether the mounting position is compatible with the installation design position based on the calculation result, and transmits installation location determination information related to the determination.

In addition, in order to solve such problems, the present invention provides a method for confirming an installation position using a measuring device that is attached to an elevator car moving in a hoistway and measures at least one of the moving distance or speed of the elevator car, the measuring device comprising: a light transmitting unit that transmits light to irradiate a stationary structure disposed in the hoistway along a first direction parallel to the moving direction of the elevator car; an imaging unit that forms an image on an imaging surface of scattered light from the stationary structure by the light; an imaging unit that captures the optical signal of the scattered light formed on the imaging surface, converts it into an electrical signal, and images it; and an image processing unit that calculates and transmits at least one of the moving distance or speed of the elevator car based on the electrical signal converted by the imaging unit. and an image processing unit, in which, when confirming the installation position of the measuring device relative to the stationary structure, a direction including an imaging surface captured by the imaging unit among two directions perpendicular to the first direction is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction, the image processing unit calculates a translation error along the direction or a rotation error about the axis of the direction of the placement position of the measuring device relative to a specified installation design position for at least one of the first to third directions based on the electrical signal converted by the imaging unit, and determines whether the placement position is compatible with the installation design position based on the calculation result, and transmits installation location determination information related to the determination.

According to the present invention, a measuring device that measures information related to the movement of a moving object can measure the relative distance and angle with respect to a stationary structure that serves as a reference with high accuracy, and can determine and output whether the measuring device is placed with appropriate accuracy in a specified installation position.

1 is a diagram showing a configuration example of an elevator system 10 according to a first embodiment of the present invention. 1 is a diagram showing a first example of the internal configuration of a measurement device 110 and an elevator control unit 130. FIG. 13 is a diagram showing a second example of the internal configuration of the measurement device 110 and the elevator control unit 130. FIG. FIG. 13 is a diagram showing a third example of the internal configuration of the measurement device 110 and the elevator control unit 130. 11A and 11B are diagrams illustrating examples of arrangement of an indication unit 260. FIG. 13 is a diagram showing an example (part 1) of the internal configuration of an instruction unit 260. FIG. 2 is a diagram showing an internal configuration example (part 2) of the instruction unit 260. FIG. 13 is a diagram showing an internal configuration example (part 3) of the instruction unit 260. 2 is a diagram illustrating an example of the internal configuration of an image processing unit 240 that determines a translation error or a rotation error of the measuring device 110. FIG. 11 is a conceptual diagram for explaining a method for determining a translation error of the measuring device 110 along the x-axis based on a difference value in the x-direction. FIG. 11 is a conceptual diagram for explaining a method for determining a rotation error (tilt) of the measurement device 110 around the x-axis based on a difference value in the y-direction. FIG. 10 is a conceptual diagram for explaining the distribution of luminance in each scattering angle direction of scattered light from a guide rail 140. FIG. 1 is a conceptual diagram (part 1) for explaining the directions of illumination light from an optical transmitter 210, its scattered light, and specularly reflected light. FIG. 13 is a conceptual diagram (part 2) for explaining the directions of illumination light from the optical transmitter 210, its scattered light, and specularly reflected light. FIG. 13 is a conceptual diagram (part 3) for explaining the directions of illumination light from the optical transmitter 210, its scattered light, and specularly reflected light. FIG. 11 is a conceptual diagram for explaining a method for determining a rotation error (tilt) of the measurement device 110 around the y axis based on a difference value in the x direction. FIG. 13 is a diagram showing an example of the internal configuration of an image processing unit 240 that distinguishes a translation error in the x-axis direction and a rotation error around the y-axis in the installation location determination process. FIG. 13 is a diagram showing an example of the internal configuration of an image processing unit 240 that determines a translation error in the z-axis direction in the installation location determination process. FIG. FIG. 1 is a diagram (part 1) showing a specific example of a design installation position of a measuring device 110. FIG. 2 is a diagram (part 2) showing a specific example of a design installation position for the measuring device 110. FIG. 3 is a diagram showing a specific example of a design installation position for the measuring device 110. FIG. 4 is a diagram showing a specific example of a design installation position of the measuring device 110. 10 is a flowchart showing an example of a procedure for installation work. 10 is a flowchart showing an example of a procedure for inspection work. 13 is a flowchart showing an example of an error adjustment procedure. 16 is a diagram showing a configuration example of an installation position adjustment jig 1600. FIG. 17A and 17B are diagrams illustrating an example of the configuration of an installation position adjustment jig 1700. FIG. 11 is a diagram illustrating an example of the internal configuration of a measurement device 110 and an elevator control unit 130 according to a second embodiment of the present invention. FIG. 19 is a diagram showing an example of the configuration of a vehicle movement information detection system 1900 in which the measurement device 110 is applied to a vehicle. 2 is a diagram showing an example of the configuration of a crane movement information detection system 2000 in which the measuring device 110 is applied to a crane. FIG.

The following describes an embodiment of the present invention in detail with reference to the drawings.

In each embodiment of the present invention described in detail below, a measurement device, elevator system, installation position confirmation method, etc. that uses a measurement unit (optical transmission unit, imaging unit, and image capture unit) to measure information related to the movement of a moving object (position, movement distance, speed, acceleration, etc.) at high speed and with high accuracy, measures the relative distance and angle with respect to a reference stationary structure with high accuracy, determines whether the measurement device is placed in a specified installation position with appropriate accuracy (i.e., whether the installation position of the measurement device matches the specified installation position), and notifies (e.g. displays) the determination result to an installation worker or inspection worker, etc., will be described. However, the present invention is not limited to the embodiments described below.

The measuring device shown in each embodiment of the present invention described in detail below is mounted on a predetermined installation position of a moving body and measures information related to the movement of the moving body along a course (moving course) that guides the moving body (specifically, at least one of the position (moving distance), speed, acceleration, and vibration of the moving body). For example, in response to a gate signal generated by the control unit, the measuring device irradiates (transmits) light from the optical transmitter from the moving body toward the surface of the stationary structure that is the subject of the measurement, and the measuring device causes the light (which may include specularly reflected light and diffusely reflected light, hereinafter referred to as "scattered light") reflected by the surface of the stationary structure to be incident on the imaging surface of the imaging unit via the imaging unit, and photoelectrically converts the optical signal into an electrical signal in the imaging unit. The measuring device then measures information related to the movement of the moving body in the image processing unit based on an image generated from the converted electrical signal. The measuring device then transmits the information related to the movement of the moving body to the moving body control unit that controls the operation control or safety device of the moving body based on the information related to the movement of the moving body. The mobile object control unit then controls the operation of the mobile object and safety devices based on the information related to the movement of the mobile object calculated by the measuring device.

In addition, in some embodiments, an elevator car is used as an example of a moving body on which the measuring device according to the present invention is installed, but the moving body to which the present invention can be applied is not limited to an elevator car. The technology shown in each embodiment can also be applied to moving bodies (e.g., automatic doors, trains, cars, cranes, etc.) that move along stationary structures (e.g., guide rails, railway tracks, roads, etc.) that have artificial polishing scratches. In this specification, "light" refers to electromagnetic waves, and specifically, in addition to visible light, it may be any of microwaves, terahertz waves, infrared rays, ultraviolet rays, X-rays, etc. Similarly, the measuring system to which the present invention can be applied is not limited to a measuring system incorporated into an elevator system, and can also be applied to, for example, a vehicle positioning system controlled by automatic driving, a crane positioning system, etc.

In the following description, when describing elements of the same type without distinction, the common portion (part excluding the branch number) of the reference sign including the branch number may be used, whereas when describing elements of the same type with distinction, the reference sign including the branch number may be used. For example, when describing a measuring device without distinction, it may be written as "measuring device 110", whereas when describing individual measuring devices 110 with distinction, it may be written as "measuring device 110-A", "measuring device 110-B", etc.

(1) First Embodiment (1-1) Configuration of Elevator System 10 FIG. 1 is a diagram showing an example of the configuration of an elevator system 10 according to a first embodiment of the present invention.

As shown in FIG. 1, elevator system 10 includes measuring devices 110 (individually 110-A and 110-B) mounted on top of elevator car 120 that moves up and down in a hoistway (pathway for moving objects) in a building (not shown). Also, as shown in FIG. 1, elevator system 10 includes elevator car 120, elevator control unit 130, and guide rails 140 (individually 140-A and 140-B), and at least any of these components may be included in measuring device 110.

The measuring device 110 outputs signal information useful for controlling the operation of the elevator car 120 (e.g., signal information related to the position, speed, or acceleration of the elevator car 120) to the elevator control unit 130. The elevator control unit 130 controls the operation of the elevator car 120 and the safety devices. The measuring device 110 is not limited to being placed on the top of the elevator car 120, but may be placed on a part other than the top, such as the side or bottom (details will be described later). The measuring device 110 shown in FIG. 1 has a redundant configuration by duplication with the measuring device 110-A and the measuring device 110-B, but the redundant configuration of the measuring device 110 in this embodiment is not limited to a duplication configuration, and may be used in a single system configuration without redundancy, or may be a triple or more redundant configuration.

The guide rail 140 is an example of a stationary structure that serves as a reference when measuring the relative distance and angle of the measuring device 110, and is arranged in the elevator shaft. The guide rail 140 is arranged in the elevator shaft along the movement direction of the moving body (the y-axis direction in FIG. 1), and contacts the guide rollers of the elevator car 120 to support the movement of the moving body (elevator car 120).

In the following explanation, a coordinate system is used to indicate the translation error direction and rotation error direction of the measurement device 110. As shown in FIG. 1, the coordinate system is defined by defining the direction of movement of the moving body as the y-axis direction, the direction perpendicular to the imaging surface (in FIG. 1, the top surface of the convex portion of the guide rail 140) as the z-axis direction, and the direction perpendicular to both the y-axis and z-axis as the x-axis direction. Note that unless otherwise specified, the terms x-direction, y-direction, and z-direction can be considered to be synonymous with the x-axis, y-axis, and z-axis directions.

Figure 2 is a diagram showing a first example of the internal configuration of the measurement device 110 and the elevator control unit 130. As shown in Figure 2, the measurement device 110 is configured to have an optical transmission unit 210, an imaging unit 220, an image capture unit 230, an image processing unit 240, a car movement related information output unit 250, and an instruction unit 260. Note that in Figure 2, the optical path is indicated by a dashed line with an arrow, and the path of the electrical signal is indicated by a solid line with an arrow.

The optical transmitter 210 includes a light source (not shown) and is positioned to irradiate light toward the subject, the guide rail 140. The light source of the optical transmitter 210 may be a temporally and spatially incoherent light source such as an LED (Light Emitting Diode) or a halogen lamp, or a temporally and spatially coherent light source such as a laser light source.

The imaging unit 220 is configured as an optical system that forms an image of the scattered light, which is emitted from the optical transmitter 210 toward the surface of the guide rail 140 and scattered on the surface of the guide rail 140, on the imaging surface of the imaging unit 230. The imaging unit 220 can be, for example, a single lens made of glass or resin, or a set of multiple lenses, a concave mirror, etc.

The imaging unit 230 converts the optical signal (optical signal indicating the distribution of scattered luminance on the surface of the guide rail 140) from the imaging unit 220, which is imaged on an imaging surface including a plurality of pixels, into an electrical signal corresponding to the luminance of the pixel, and transmits the converted electrical signal to the image processing unit 240 as an image signal in synchronization with a timing signal indicating the start and end times of imaging transmitted from the image processing unit 240. The imaging unit 230 may be, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The imaging unit 230 may also be a two-dimensional area sensor, or a one-dimensional line sensor having a spatial resolution function in the ascending and descending direction of the car 120.

The measuring device 110 may be provided with a wavelength-selective filter such as a bandpass filter in addition to the imaging unit 220 in the path of the emitted light from the optical transmitter 210 and the scattered light, to remove external light other than that of the desired wavelength. The measuring device 110 may also be provided with a window material or the like in the path of the incident light and scattered light in order to protect the measuring device 110 from sand, dust, etc., so as to prevent the inside of the measuring device 110.

The image processing unit 240 performs image processing on the image signal (electrical signal converted from the optical signal focused on the imaging surface) received from the imaging unit 230, and calculates information related to the movement of the elevator car 120 (specifically, the measurement results of at least one of the movement distance (movement amount) or speed of the elevator car 120, hereafter referred to as car movement related information) based on the captured image generated by the image processing, and transmits this information to the car movement related information output unit 250.

In calculating the cage movement related information, the image processing unit 240 measures the amount of movement by comparing images of the guide rail 140 taken in different frames between the frames. For example, when the subject, the guide rail 140, is photographed from a moving elevator cage 120, a shift occurs in the direction of movement between two images of the subject surface (the surface of the guide rail 140) taken at different times, which corresponds to the amount of movement of the elevator cage 120. Therefore, the image processing unit 240 can measure the amount of movement of the elevator cage 120 by calculating the amount of shift in the direction of movement between the images. The method of comparing the two images may, for example, calculate the correlation function between the two images using the correlation function method, or calculate the displacement vector of a feature point in the image using the optical flow method.

The image processing unit 240 also performs a predetermined calculation process (described in detail below) on the image signal received from the imaging unit 230 to determine whether the measuring device 110 is placed with appropriate accuracy in an appropriate installation position (hereinafter, the installation design position) that is determined based on the guide rail 140 (installation location determination process), and transmits information related to the determination (installation location determination information) to the instruction unit 260. The installation location determination information can include not only determination result information indicating whether the current measuring device 110 is placed in a position with appropriate accuracy relative to the installation design position, but also adjustment information such as in which direction and how far the current placement position is from the installation design position (or in which direction and how much the measuring device 110 needs to be moved to correct it to the installation design position).

Specifically, the image processing unit 240 may be configured with an information processing storage medium such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a microcontroller, or may be configured with logic circuit elements such as an FPGA (Field-Programmable Gate Array). The image processing unit 240 converts the installation location determination information according to a communication protocol that can be received by the elevator control unit 130 (e.g., a protocol such as CAN (Controller Area Network) communication or USB (Universal Serial Bus) communication), and outputs the converted signal information to the car movement related information output unit 250.

The car movement related information output unit 250 outputs the car movement related information received from the image processing unit 240 to the outside of the measuring device 110. In the case of FIG. 2, the measuring device 110 is connected to the elevator control unit 130 via the car movement related information output unit 250 by an electric cable, and transmits the car movement related information to the elevator control unit 130. The car movement related information output unit 250 may be a connector for connecting an electric cable, or an antenna for wireless communication. The car movement related information output by the car movement related information output unit 250 may be used by the elevator control unit 130 or other control devices (not shown) to perform a specific elevator control, or may be notified to the worker 270. In addition, the car movement related information output unit 250 may transmit the car movement related information to an instruction unit 260 having a display function for the car movement related information in order to notify the worker 270.

The instruction unit 260 notifies the worker 270 by displaying the installation location determination information received from the image processing unit 240 on the outside of the measuring device. If the worker 270 is an installation worker, the worker 270 places the measuring device 110 on the top of the elevator car 120 and installs it at the installation design position based on the display of the instruction unit 260. If the worker 270 is an inspection worker, the worker 270 inspects whether the measuring device 110 placed on the top of the elevator car 120 is installed at the installation design position based on the display of the instruction unit 260. The ideal installation design position is a position where the scattered light from the guide rail 140 is uniformly incident on the entire imaging surface of the imaging unit 230 with little blurring (details will be described later).

Specifically, the above-mentioned indicator 260 may be configured by combining single light sources such as LEDs and light bulbs, or may be configured by elements that allow the worker 270 to visually recognize the determination result, such as a digital indicator using a liquid crystal display. Alternatively, the elements that make up the indicator 260 may be elements that allow the worker 270 to audibly recognize the determination result, such as a speaker or buzzer that transmits audio guidance.

In addition, in the elevator system 10 according to this embodiment, the internal configuration of the measurement device 110 and the elevator control unit 130 is not limited to the configuration shown in FIG. 2, and may be, for example, a configuration as shown in FIG. 3 or FIG. 4.

Figure 3 is a diagram showing a second internal configuration example of the measurement device 110 and the elevator control unit 130. In the configuration shown in Figure 3, the measurement device 110 is configured to have an installation location determination information output unit 280 in addition to the optical transmission unit 210, the imaging unit 220, the image capture unit 230, the image processing unit 240, and the car movement related information output unit 250 shown in Figure 2. In the configuration shown in Figure 3, the instruction unit 260 built into the measurement device 110 in Figure 2 is provided on the elevator control unit 130 side. In the configuration shown in Figure 3, the functions of the optical transmission unit 210, the imaging unit 220, the image capture unit 230, and the instruction unit 260 are the same as the functions of each unit described in Figure 2, so the description will be omitted. Also, as in Figure 2, in Figure 3, the optical path is indicated by a dashed line with an arrow, and the path of the electrical signal is indicated by a solid line with an arrow.

In the configuration shown in FIG. 3, the image processing unit 240 transmits the installation location determination information to the installation location determination information output unit 280, not to the instruction unit 260.

Then, the installation location determination information output unit 280 outputs the installation location determination information received from the image processing unit 240 to the outside of the measurement device 110 (for example, the instruction unit 260 of the elevator control unit 130). In the case of FIG. 3, the measurement device 110 is connected to the elevator control unit 130 by an electric cable via the installation location determination information output unit 280, and transmits the installation location determination information to the elevator control unit 130. Note that the installation location determination information output unit 280 may be a connector for connecting an electric cable, or an antenna for wireless communication.

Figure 4 is a diagram showing a third example of the internal configuration of the measurement device 110 and the elevator control unit 130. In the configuration shown in Figure 4, the measurement device 110 is configured to have the same components as those in Figure 3. However, the difference from Figure 3 is that in the configuration shown in Figure 4, the installation location determination information output unit 280 transmits installation location determination information to a display terminal 290 held by a worker 270. As in Figures 2 and 3, in Figure 4, the optical path is indicated by a dashed line with an arrow, and the path of the electrical signal is indicated by a solid line with an arrow.

The display terminal 290 is a portable terminal that can be carried by the worker 270 when installing or inspecting the measuring device 110 in the building in which the elevator system 10 is installed, and is, for example, a tablet, smartphone, or personal computer.

In the configuration shown in FIG. 4, the image processing unit 240 converts the installation location determination information according to a communication protocol that can be received by the display terminal 290, and outputs the converted signal information to the installation location determination information output unit 280. The installation location determination information output unit 280 then transmits the installation location determination information received from the image processing unit 240 to the display terminal 290, and the display terminal 290 displays the received installation location determination information to the worker 270. The method of displaying information on the display terminal 290 is not particularly limited, and may be the same as that of the instruction unit 260 (see FIGS. 6 to 8), for example, or may display more detailed information on a screen. The worker 270 can accurately install or inspect the measuring device 110 by checking the installation location determination information displayed on the display terminal 290.

In this embodiment, the worker 270 may install or inspect the measuring device 110 by remote operation from a work site far away from the building in which the elevator system 10 is installed. In this case, even if the installation location determination information is displayed on the instruction unit 260 in the building as shown in Figures 2 and 3, the worker 270 cannot confirm this. Therefore, as shown in the configuration of Figure 4, it is effective to configure the display terminal 290 to be able to communicate with the measuring device 110 via the Internet, for example, and to display the installation location determination information on the display terminal 290 held by the worker 270.

(1-2) Configuration of the instruction unit 260 The following describes in detail the instruction unit 260. Note that since the display terminal 290 also has a role of notifying the operator 270 as described in FIG. 4, the following description regarding the display by the instruction unit 260 is also applicable to the display terminal 290.

Figure 5 is a diagram showing an example of the arrangement of the indication unit 260. Also, Figures 6 to 8 are diagrams showing examples (parts 1 to 3) of the internal configuration of the indication unit 260. In the following explanation, the example configuration of the measurement device 110 shown in Figure 2 is used, but the example configurations shown in Figures 3 and 4 can also be applied as appropriate.

Figure 5 shows an example of the arrangement of the indicator 260 in the configuration shown in Figure 2. As shown in Figure 5, this indicator 260 is provided outside the measurement device 110 so that the display content can be visually recognized by the operator 270.

The instruction unit 260 is equipped with various displays as exemplified in Figures 6 to 8, and displays information based on the installation location determination information generated by the image processing unit 240 to the worker 270. As a result, by checking the display contents of the instruction unit 260, the worker 270 can visually recognize the placement position determination result, that is, whether the measuring device 110 is placed with appropriate accuracy at the installation design position based on the guide rail 140, and further, if the placement position is not appropriate, can recognize correction information on what corrections should be made to place the measuring device 110 at the installation design position with appropriate accuracy.

The indicator 260 shown in FIG. 6 is configured to include a judgment result display 310. The judgment result display 310 outputs whether or not the measuring device 110 is placed in the installation design position with appropriate accuracy (the placement position is appropriate), and is configured, for example, with a single light source such as an LED or a light bulb. The judgment result display 310 "lights up" if the placement position is appropriate, and "flashes" if the placement position is inappropriate.

Note that, as with other indicators described below, the display method using a single light source is not limited to lighting and blinking, and various lighting patterns (lighting, blinking, off) and lighting colors can be combined. In addition to a visual indicator, the indicator 260 may also use an auditory output device (alarm), and for example, the measuring device 110 may be equipped with a buzzer that emits a beep sound inside. In this case, for example, the buzzer sounds when the measuring device 110 is not placed in the installation design position with appropriate accuracy.

The indicator 260 shown in FIG. 7 includes a correction direction indicator 320 in addition to the judgment result display 310. When the current placement position of the measuring device 110 is not appropriate, the correction direction indicator 320 displays the direction of at least one of the translation error or rotation error (tilt) of the current placement position relative to the installation design position, thereby notifying the operator 270 of the adjustment method for placing the device at the installation design position. The correction direction indicator 320 is composed of a combination of single light sources such as LEDs and light bulbs, and notifies the operator 270 of the direction of the translation error or rotation error (which may be the direction in which the error is occurring or the direction to be corrected) by the light emission pattern of the single light sources arranged in a cross shape as shown in FIG. 7.

The indicator 260 shown in FIG. 8 includes a correction amount indicator 330 in addition to the judgment result indicator 310 and the correction direction indicator 320. When the current placement position of the measuring device 110 does not match the installation design position, the correction amount indicator 330 notifies the operator 270 of the adjustment method for placing the measuring device 110 at the installation design position by displaying the magnitude of at least one of the translation error or rotation error (tilt) of the current placement position relative to the installation design position. The correction amount indicator 330 is composed of a combination of single light sources such as LEDs and light bulbs, and notifies the operator 270 of the magnitude of the translation error or rotation error by the light emission pattern of the single light sources arranged in a row as shown in FIG. 8. Note that, when an auditory indicator having the same function as the correction amount indicator 330 is provided, the adjustment method may be notified by a high-low or strong beep pattern, or audio guidance may be played from a speaker.

(1-3) Installation Location Determination Processing The installation location determination processing in which the image processing unit 240 determines whether or not the measuring device 110 is placed at the designed installation position with appropriate accuracy will be described in detail below.

In the installation location determination process, the image processing unit 240 determines the displacement along the x-axis and z-axis directions as translation errors along each axis for the placement position of the measuring device 110 relative to the installation design position, and determines the tilt around the x-axis and y-axis as rotation errors around each axis. Based on the amount of these errors, the image processing unit 240 can then calculate the amount of correction required to place the current measuring device 110 at the installation design position with appropriate accuracy.

Note that adjustment is not required for the displacement in the y-axis direction and the tilt around the z-axis other than those mentioned above for the following reasons. Displacement along the y-axis direction is the direction of movement of the moving body (elevator car 120), and deviation in the y-axis direction during installation does not affect the measured values of the relative movement distance and speed of the elevator car 120 (measuring device 110) with respect to the guide rail 140. Adjustment is not required for the tilt around the z-axis because the tilt of the captured image can be corrected by image processing in the image processing unit 240. In other words, in the comparison process of two images taken at different times, the correlation function method can be used to calculate the displacement in not only the y direction but also the x direction between frames, and the tilt angle of the car can be measured.

Figure 9 is a diagram showing an example of the internal configuration of the image processing unit 240 that determines the translation error or rotation error of the measurement device 110. The image processing unit 240 performs a predetermined arithmetic process on the image signal received from the imaging unit 230 to determine the translation error of the measurement device 110 along the x-axis direction, or the rotation error of the measurement device 110 around the x-axis or y-axis.

The image processing unit 240 receives an image signal related to scattered light from the guide rail 140 from the imaging unit 230, and divides the captured image into two in the x direction and two in the y direction into a total of four quadrants (quadrants 401, 402, 403, and 404) as shown in FIG. 9. The image processing unit 240 calculates the sum or average value of the pixel values in each quadrant, and calculates the difference values in the x and y directions from the calculated pixel values of each quadrant.

Here, the pixel value of quadrant 401 of the captured image (corresponding to the sum or average value of the pixel values in that quadrant, the same applies below) is _P401 , and similarly, the pixel values of quadrants ₄₀₂ , 403, and 404 are P402, _P403 , and _P404 . In this case, the pixel value " _Px,+ " on the positive side of the x-axis of the captured image is calculated from "Px _,+ = _P402 + _P404 ", and the pixel value " _Px,- " on the negative side of the x-axis is calculated from "Px _,- = _P401 + _P403 ". Furthermore, the pixel value "P _y,+ " on the positive y-axis side of the captured image is calculated from "P _y,+ = P ₄₀₁ + P ₄₀₂ ", and the pixel value "P _y,- " on the negative y-axis side is calculated from "P _y,- = P ₄₀₃ + P ₄₀₄ ".

Therefore, the difference value in the x direction can be defined as, for example, "P x _{, +} -P _x, - " by subtracting the pixel value "P _x,- " on the negative side of the x axis from the pixel value "P x,+ " on the positive side of the x axis. Similarly, the difference value in the y direction can be defined as, for example, "P _{y, +} -P y _,- " by subtracting the pixel value "P y, _{- " on the negative side of the y axis from the pixel value "P y} ,+ " on the positive side of the y axis.

The image processing unit 240 uses the x-direction difference value and the y-direction difference value calculated as described above to determine in the determination circuit 405 whether or not there is a translation error of the measuring device 110 along the x-axis direction, or a rotation error of the measuring device 110 around the x-axis or the y-axis. Each determination method will be described in detail below. The image processing unit 240 then transmits the determination result by the determination circuit 405 to the instruction unit 260.

(1-3-1) Method for determining translation error along the x-axis direction Fig. 10 is a conceptual diagram for explaining a method for determining a translation error of the measuring device 110 along the x-axis direction based on a difference value in the x-axis direction. In Fig. 10, (A) shows an example of the positional relationship between the guide rail 140 and the measuring device 110 (image capture area 501 captured by the image capture unit 230) for the measuring device 110 at different positions in the x-axis direction relative to the guide rail 140, (B) shows a conceptual diagram of an image 502 in each of the above positional relationships, and (C) shows a conceptual diagram showing the transition of the relationship between the displacement in the x-direction with respect to the installation design position of the measuring device 110 and the difference value in the x-direction.

The measuring device 110 forms an image of scattered light from a predetermined imaging area 501 on the surface of the guide rail 140 on the imaging unit 230 and transmits it to the image processing unit 240 as an image signal. The captured image 502 is a schematic representation of the image signal received by the image processing unit 240. In FIG. 10, the captured image in the imaging area 501-B when the measuring device 110 is placed in the installation design position is taken as image 502-B, the captured image in the imaging area 501-A when the measuring device 110 has a translation error in the negative direction of the x-axis from the installation design position is taken as image 502-A, and the captured image in the imaging area 501-C when the measuring device 110 has a translation error in the positive direction of the x-axis from the installation design position is taken as image 502-C.

When the measuring device 110 is placed in the designed installation position, scattered light from the guide rail 140 is incident on the entire imaging surface of the imaging unit 230, so no dark areas are produced in the captured image 502-B. However, when the mounting position of the measuring device 110 translates from the designed installation position in either direction along the x-axis and part of the guide rail 140 moves out of the imaging area 501, scattered light from the guide rail 140 does not enter part of the imaging surface, so dark areas 503 are produced in parts of the captured images 502-A and 502-C.

The difference value in the x direction will now be described in light of the above. The difference value in the x direction calculated based on captured image 502-B when the measuring device 110 is placed in the installation design position has almost no difference between the sum of pixel values on the positive side of the x axis (quadrants 402, 404) and the sum of pixel values on the negative side of the x axis (quadrants 401, 403), and the difference value is approximately equal to 0. On the other hand, the difference value in the x direction calculated based on captured images 502-A and 502-C when the measuring device 110 is not placed in the installation design position increases in proportion to the area of the dark region included in the captured image and the magnitude of the pixel value of the scattered light from the guide rail 140, resulting in a finite difference value 504 as shown in (C).

Then, the judgment circuit 405 executes an installation location judgment process in which, when the difference value (absolute value) in the x direction is equal to or less than a predetermined threshold value T, it judges it as "OK" (there is no translation error in the x direction from the installation design position), and when the difference value (absolute value) in the x direction exceeds the predetermined threshold value T, it judges it as "NG" (there is a translation error in the x direction from the installation design position), and outputs these judgment results to the instruction unit 260.

Here, the threshold value T will be described more quantitatively. Consider the pixels on which scattered light from the guide rail 140 is incident, among all the pixels in the imaging unit 230. Assume that the average pixel value of these pixels is I ₀ , the standard deviation is σ _I , and the distribution of the pixel values follows a normal distribution. In addition, the number of pixels in the x direction of the imaging unit 230 is N _x , and the number of pixels in the y direction is N _y .

In captured image 502-B, the difference value in the x direction is approximately the same as the variation in pixel values, and its magnitude follows a normal distribution with a standard deviation of _σI /(√( _Nx × _Ny )). On the other hand, if the measuring device 110 has a translation error in the x direction and a dark region 503 occurs in the x direction, a difference value proportional to the area of the dark region 503 occurs. For example, if the dark region 503 occurs for only one row of pixels, the magnitude of the difference value approximately equals _I0 × _Ny .

Therefore, in this embodiment, the threshold value T for the difference value is set to a value that is greater than the variation in pixel values (e.g., five times the standard deviation) and smaller than the difference value due to the smallest dark area. Such a threshold value T is determined, for example, by the following relational expression 1.

By performing the above installation location determination process using the threshold value T defined by the above formula 1, the determination circuit 405 can output an OK determination when the difference value in the x direction matches "0 (or approximately 0)" within the range of pixel value variation, and can output an NG determination when a dark area occurs in at least one row in the x direction.

具体的には例えば、計測装置１１０においてＷ_ｉｍ＝１３ｍｍ、ガイドレール１４０においてＷ_ｒａｉｌ＝１５ｍｍの場合、ｘ方向の変位の許容量（ｘ方向の据付要求精度）は１ｍｍとなる。 Next, the required installation accuracy in the x direction of the measuring device 110 will be described. The required installation accuracy is a standard accuracy for determining whether the measuring device 110 is placed at the installation design position during installation or inspection of the measuring device 110, and a sufficiently appropriate accuracy is required. The ideal installation design position in the x direction is an arrangement in which the central axis 505 of the guide rail 140 in the x direction and the central axis 506 of the imaging range of the measuring device 110 in the x direction coincide with each other. Even if the central axis 506 of the imaging range is displaced from the central axis 505 of the guide rail 140, the positional fluctuation in the x direction is allowed as long as the scattered light from the guide rail 140 is incident on the entire imaging surface of the imaging unit 230. Therefore, when the x-direction width of the imaging range of the measuring device 110 is W _im and the x-direction width of the guide rail 140 is W _rail , the allowable amount of translation error in the x direction (i.e., the required installation accuracy in the x direction) is required to be the value of the following formula 2.

Specifically, for example, when W _im =13 mm in the measuring device 110 and W _rail =15 mm in the guide rail 140, the allowable displacement in the x direction (required installation accuracy in the x direction) is 1 mm.

Next, we will explain how the image processing unit 240 calculates the magnitude and direction of the translation error based on the magnitude and positive/negative sign of the difference value in the x direction when there is a translation error in the x direction. Since the magnitude of the difference value in the x direction is proportional to the width of the dark area in the x direction, it is possible to calculate the adjustment movement amount from the magnitude of the difference value in the x direction. In addition, it is determined whether the deviation is to the left or right based on the sign of the difference value in the x direction.

In this example, an example of dividing the captured image into two parts in each of the x and y directions into a total of four quadrants has been shown, but the number of divisions is not limited to four. For example, by adopting an internal configuration that processes the captured image in a total of 16 quadrants divided into four parts in each of the x and y directions, the image processing unit 240 can estimate the adjustment movement amount with higher accuracy than in the case of a total of four quadrants.

In addition, when calculating the magnitude of the translation error from the difference amount in the x direction, the measurement device 110 needs to be placed with appropriate accuracy (displacement is smaller than W _rail /2). For example, when the placement position of the measurement device 110 is significantly deviated from the installation design position, such as when the displacement is even larger than that of the captured image 502-A, all pixels in the quadrants 401 and 403 become dark areas 503, and dark areas 503 are also generated in parts of the quadrants 402 and 404, the ratio of bright areas other than the dark areas 503 in the captured image 502 becomes too small, and the translation error cannot be accurately calculated by the method using the quadrants divided into four as described above. In this case, it is necessary to divide the number of divisions into pixels finer than four and estimate the adjustment movement amount from the small number of bright areas.

(1-3-2) Method for determining rotation error around the x-axis Fig. 11 is a conceptual diagram for explaining a method for determining a rotation error (tilt) of the measuring device 110 around the x-axis based on a difference value in the y direction. In Fig. 11, (A) shows an example of the positional relationship between the guide rail 140 and the measuring device 110 for the measuring device 110 at different positions around the x-axis relative to the guide rail 140, (B) shows a conceptual diagram of a captured image 602 in each of the above positional relationships, and (C) shows a conceptual diagram showing the transition of the relationship between the tilt angle around the x-axis with respect to the installation design position of the measuring device 110 and the difference value in the y direction.

In FIG. 11, the captured image when the measuring device 110 is placed in the installation design position is designated as captured image 602-B, and the captured images when the measuring device 110 is placed at an angle around the x-axis from the installation design position are designated as captured images 602-A and 602-C.

When the measuring device 110 is placed at an inclination around the x-axis from the installation design position, the pixel value gradually decreases, as shown in the captured images 602-A and 602-C shown in (B). This is because, as described later, the scattered brightness from the guide rail 140 decreases as the scattering angle increases. When the measuring device 110 is placed at the installation design position, the difference value in the y direction is almost equal to 0. On the other hand, when the measuring device 110 is placed at an inclination around the y-axis from the installation design position, asymmetry (unevenness in pixel values 603) appears in the left and right quadrants, resulting in a finite difference value 604 as shown in (C). Therefore, the image processing unit 240 (determination circuit 405) can determine the inclination of the measuring device 110 around the x-axis from the difference value in the y direction.

Specifically, the judgment circuit 405 executes an installation location judgment process in which, when the difference value (absolute value) in the y direction is equal to or less than a predetermined threshold value T, it judges it as "OK" (there is no tilt (rotation error) around the x axis from the installation design position), and when the difference value (absolute value) in the y direction exceeds the predetermined threshold value T, it judges it as "NG" (there is tilt (rotation error) around the x axis from the installation design position), and outputs these judgment results to the instruction unit 260. Note that the threshold value T can be determined in the same manner as the threshold value T used in judging the translation error along the x axis direction described with reference to FIG. 10, and may be the same value.

Next, the installation required accuracy of the tilt around the x-axis of the measuring device 110 will be described. The ideal installation design position is an arrangement in which the measuring device 110 is not tilted, that is, an arrangement in which the optical axis of the imaging unit 220 in the measuring device 110 coincides with the z-axis direction. On the other hand, when tilt around the x-axis occurs, the optical axis of the imaging unit 220 and the top surface of the convex part of the guide rail 140 are not perpendicular to each other, and the magnification in the y direction decreases. That is, if the tilt angle around the x-axis during installation is θ _set,x , the magnification in the y direction decreases in proportion to cos(θ _set,x ). As a result, compared to the actual moving distance, the moving distance measured by the measuring device 110 decreases in proportion to cos(θ _set,x ), and a systematic error occurs.

If the relative tolerance of this systematic error is δr, then the tolerance of the tilt around the x-axis at the installation design position is acos(1-δr). Specifically, for example, if it is desired to suppress the systematic error to within 0.1% (δr≦0.001), an installation accuracy of 2.5 degrees or less (i.e., θ _set,x ≦2.5°) is required.

Next, when installing or inspecting the measuring device 110 with the required installation accuracy, the configuration of the optical transmission unit 210 and the imaging unit 220 of the present invention will be described, focusing on the "unevenness of pixel values" that occurs across the entire imaging surface of the imaging unit 230 as the measuring device 110 is tilted due to scattered light from the guide rail 140 described above.

Figure 12 is a conceptual diagram for explaining the distribution of brightness in each scattering angle direction of the scattered light of the guide rail 140. In detail, Figure 12 shows the relationship between the light transmission direction of the optical transmitter 210, the polishing direction of the guide rail 140, and the distribution of brightness in the scattering angle direction of the scattered light of the guide rail 140 (scattering angle distribution), and the inset 701 shows an image of the variation in scattered light depending on the polishing direction of the guide rail 140.

In a configuration in which the polishing direction of the guide rail 140 is along the y-axis, the surface of the guide rail 140 is rough in the x-axis direction perpendicular to the polishing direction (see inset 701 (B)). As a result, in the xz plane perpendicular to the polishing direction (y direction), the direction of scattered light from the polishing scratches varies greatly. On the other hand, in the yz plane parallel to the polishing direction (y direction), the slope of the surface of the guide rail 140 is uniform along the polishing, so scattered light is less likely to occur (see inset 701 (C)), and the light is concentrated in the emission direction of the specularly reflected light, with little variation in the angular distribution.

Therefore, when the polishing direction of the guide rail 140 is configured along the y-axis, as shown in FIG. 12, if the light transmission direction in the light transmitting unit 210 is configured to be within the xz plane, the emission direction of the specularly reflected light will also be within the xz plane. As a result, the scattering angle distribution is strongly centered on the xz plane (see inset 701 (A)), and high-brightness scattered light is incident on the imaging unit 220.

Figures 13 to 15 are conceptual diagrams (parts 1 to 3) for explaining the directions of the illumination light from the optical transmitter 210 and the scattered light and specularly reflected light.

Figure 13 shows the state when the measurement device 110 is placed in an ideal installation design position (where the optical axis of the imaging unit 220 coincides with the z-axis) inclined about the x-axis. In the ideal installation design position as in Figure 13, the specularly reflected light in the imaging range is located within the xz plane. When the emission position of the illumination light from the optical transmitter 210 is distributed in the y direction over a length approximately equal to the width of the imaging range, the specularly reflected light from within the imaging range is uniformly incident on the imaging unit 220.

On the other hand, Figure 15 shows a state where the measurement device 110 is significantly tilted around the x-axis with respect to the ideal installation design position. When a large tilt around the x-axis occurs as in Figure 15, there is no light source at the position that emits the specularly reflected light that should be reflected in the imaging range and enter the imaging unit 220 as the chief ray, and the specularly reflected light from a part of the imaging range does not enter the imaging unit 220. As a result, a gradual decrease in brightness occurs in the captured image.

Figure 14 is a conceptual diagram for explaining the conditions under which specularly reflected light from the imaging range is no longer incident on the imaging unit 220.

上記式３のようにＨ_ＬＥＤを構成すれば、ｘ軸周りの傾斜の据付要求精度「θ_{ｓｅｔ，ｘ}」を上回ったときに、画像処理部２４０（判定回路４０５）は据付箇所判定処理において「ＮＧ」（据付設計位置からのｘ軸周りの傾斜あり）と判定することが可能となる。 14, the height of the optical transmitter 210 in the y direction is H _LED , the height of the imaging area is H _im , and the z-component of the displacement of the optical transmitter 210 relative to the guide rail 140 is L _z . In this case, the inclination angle at which a gradual decrease in pixel value begins to occur is a tan((H _LED -H _im )/(2 x L _z ))/2. Therefore, in order for specularly reflected light from the imaging range to enter the imaging unit 220, the upper limit boundary of the height H _LED of the optical transmitter 210 can be determined, for example, by the following formula 3.

If the H _LED is configured as shown in the above formula 3, when the tilt around the x-axis exceeds the required installation accuracy “θ _set,x ”, the image processing unit 240 (determination circuit 405) can determine “NG” (there is tilt around the x-axis from the installation design position) in the installation location determination process.

When the above formula 3 is solved for the required installation accuracy of the tilt around the x-axis, "θ _set,x ", it is expressed as the following formula 4. The right side of this formula 4 indicates the minimum measurable value of the rotation error around the x-axis.

Furthermore, the measuring device 110 may tilt around the x-axis while traveling due to car sway. In order to obtain a uniform image even when such a tilt occurs, it is necessary to sufficiently increase the size of the optical transmitter 210 and provide a margin for tilt. If the magnitude of tilt due to car sway is "θ _vib,x ", then a sufficient margin for tilt can be ensured by determining the lower limit boundary of the height H _LED of the optical transmitter 210 as in, for example, the following formula 5.

Using the above-mentioned formulas 3 and 5, the height H _LED of the optical transmitter 210 in the y direction is specifically calculated. For example, the measurement device 110 is configured so that the z component of the displacement of the optical transmitter 210 relative to the guide rail 140 is 70 mm, and the height H _im of the imaging area is 12.8 mm. In this case, in order to install the measurement device 110 with the magnitude of the car sway of 1 degree and the required installation accuracy of an inclination angle of 2.5 degrees or less (magnification fluctuation within 0.1%), the height H _LED of the optical transmitter 210 in the y direction is made larger than the height H _im of the imaging area, and the difference is selected to be greater than 3.5 mm and less than 8.9 mm, so that the inclination around the x axis from the installation design position that is greater than the required installation accuracy can be determined, and a uniform image without unevenness can be obtained even if the car sway occurs.

(1-3-3) Method for determining rotation error around y axis Fig. 16 is a conceptual diagram for explaining a method for determining the rotation error (tilt) of the measuring device 110 around the y axis based on the difference value in the x direction. In Fig. 16, (A) shows an example of the positional relationship between the guide rail 140 and each measuring device 110 for measuring devices 110 at different positions around the y axis relative to the guide rail 140, (B) shows a conceptual diagram of a captured image 902 in each of the above positional relationships, and (C) shows a conceptual diagram showing the transition of the relationship between the tilt angle around the y axis with respect to the installation design position of the measuring device 110 and the difference value in the x direction.

In FIG. 16, the captured image when the measuring device 110 is placed in the installation design position is designated as captured image 902-B, and the captured images when the measuring device 110 is placed at an angle around the y-axis from the installation design position are designated as captured images 902-A and 902-C.

When the measuring device 110 is placed at an inclination around the y-axis from the installation design position, the pixel values gradually decrease as shown in the captured images 902-A and 902-C shown in (B). This is because the scattering luminance from the guide rail 140 decreases as the scattering angle increases. Therefore, similar to the above-mentioned x-direction translation error and x-axis rotation error, as shown in (C), it is possible to determine the inclination of the measuring device 110 around the y-axis from the difference value in the x-direction based on the captured images 902-A to 902-C.

Next, the required installation accuracy for tilt around the y-axis in this configuration will be described. As described above with reference to Figure 12, the grinding scratches on the guide rail 140 are parallel to the direction of movement (y-axis direction), so the angular distribution of scattered light from the grinding scratches varies greatly in the xz plane (see (A) of inset 701 in Figure 12). As a result, even if some tilt around the y-axis occurs, the angular distribution of scattered luminance is broad, so a gradual drop in pixel value as shown in (B) of Figure 16 is unlikely to occur, and it is possible to always obtain a uniform image without unevenness. In other words, tilt around the y-axis has lower error sensitivity and is easier to adjust than tilt around the x-axis.

On the other hand, when the spread angle in the x direction of the angular distribution of scattered light due to polishing scratches is "θ _scat,x ", if the measurement device 110 is tilted around the y axis significantly exceeding θ _scat,x, a gradual decrease in pixel value (unevenness in pixel value 903) as shown in (B) occurs in the captured images 902-A and 902-C. Therefore, the installation accuracy required for tilting around the y axis is determined by the spread angle in the x direction "θ _scat,x " of the angular distribution of scattered light due to polishing scratches.

(1-3-4) Distinguishing Between Translation Error in the x-Axis Direction and Rotation Error Around the y-Axis When comparing the captured images 502-A to 502-C in Fig. 10 described in (1-3-1) above with the captured images 902-A to 902-C in Fig. 16 described in (1-3-3) above, it can be seen that a gradual drop in pixel value can occur in the x-direction in both captured images. This means that similar captured images can be obtained when the measuring device 110 has a translation error in the x-axis direction and when it has a rotation error around the y-axis. In order to accurately determine the placement position of the measuring device 110 relative to the installation design position, it is preferable to be able to distinguish the causes of these errors.

Figure 17 is a diagram showing an example of the internal configuration of the image processing unit 240 that distinguishes between a translation error in the x-axis direction and a rotation error around the y-axis in the installation location determination process. The image processing unit 240 shown in Figure 17 is configured with a counting circuit 1001 and a determination circuit 1003.

When the measuring device 110 is moved in the x-direction, the guide rail 140 moves out of the imaging range, causing a dark area in part of the imaging range, which is a factor in reducing accuracy. On the other hand, when the measuring device 110 is tilted around the y-axis, the gradual decrease in brightness distribution along the x-direction due to the tilt is a factor in reducing accuracy.

In the internal configuration of the image processing unit 240 shown in FIG. 17, the summing circuit 1001 calculates the sum of the pixels in the y-axis direction for the image signal received from the imaging unit 230, and calculates the difference between adjacent pixels in the x-axis direction to generate a differential profile 1002. In such a differential profile 1002, when a positional change occurs in the x-axis direction, a steep and high peak occurs at the end of the guide rail 140 (differential profile 1002-A). On the other hand, when a tilt occurs around the y-axis, no steep peak appears, and a gradual and low peak occurs (differential profile 1002-B).

The determination circuit 1003 pays attention to the difference between the difference profiles 1002-A and 1002-B as described above, calculates the height and width of the difference profile 1002, and determines whether the decrease in pixel value in the captured image is caused by a positional variation in the x-axis direction (translation error), a tilt around the y-axis (rotation error), or both, based on the magnitude of the height and width. In the determination using the height, the determination circuit 1003 determines that the height in the difference profile 1002 is a positional variation in the x-axis direction when it is as large as the average pixel value I _{0 ,} and determines that the height is a tilt around the y-axis when it is somewhat smaller than the average pixel value I _0. At this time, the height threshold value used as the determination criterion for the tilt around the y-axis is, for example, half the average pixel value I _0. In addition, in the determination using the width, the determination circuit 1003 determines that the height is a positional variation in the x-axis direction when the width is as small as one pixel, and determines that the width is a tilt around the y-axis when the width is somewhat larger than one pixel. In this case, the width threshold value used as the discrimination criterion for the inclination around the y axis is set to, for example, several pixels (2 to 3 pixels).

Then, the judgment circuit 1003, based on the results of determining the causes of errors relative to the installation design position, identifies the adjustment information (adjustment direction and adjustment movement amount) required to eliminate each error, and outputs the judgment result (OK judgment or NG judgment) of whether the measuring device 110 is placed at the installation design position or not, and in the case of an NG judgment, the adjustment information (adjustment direction and adjustment movement amount) to the instruction unit 260, etc., together with the installation location judgment information.

As described above, the scattered light from the guide rail 140 spreads widely in the x direction due to polishing scratches in the y-axis direction on the surface of the guide rail 140, so the tilt around the y axis has a smaller error sensitivity and is easier to adjust than the tilt around the x axis. Therefore, the determination circuit 1003 may roughly adjust the rotation error around the y axis, and then finely adjust the translation error in the x direction by referring to the difference value in the x direction.

Furthermore, for the rotation error around the x-axis described in (1-3-2), the internal configuration of the image processing unit 240 shown in FIG. 17 can perform similar processing with the x-axis and y-axis swapped, making it possible to determine whether the cause of the error is tilt (rotation) around the x-axis or something else (for example, displacement in the y-axis direction). In this case, specifically, the summing circuit 1001 calculates the sum of the pixels in the x-axis direction, and calculates the difference between adjacent pixels in the y-axis direction to create a difference profile 1002 along the y-axis direction. Then, the judgment circuit 1003 judges the magnitude and direction (or either one) of the rotation error around the x-axis from the position of the peak of the difference profile 1002.

(1-3-5) Method for determining translation error along the z-axis direction Fig. 18 is a diagram showing an example of the internal configuration of the image processing unit 240 that determines the translation error in the z-axis direction in the installation location determination process. The image processing unit 240 shown in Fig. 18 is configured to include a Fourier transform circuit 1101 and a determination circuit 1102.

The image processing unit 240 shown in FIG. 18 receives an image signal related to scattered light from the guide rail 140 from the imaging unit 230, and performs two-dimensional Fourier transform in the x-axis direction and the y-axis direction in the Fourier transform circuit 1101. At this time, if the measuring device 110 is displaced in the z-axis direction from the installation design position and blurring occurs in the captured image, the high spatial frequency components decrease as shown in the graph in FIG. 18. Therefore, the judgment circuit 1102 judges the positional fluctuation along the z-axis direction based on the decrease in the Fourier intensity of the high-frequency component. For example, if the Fourier intensity of the high-frequency component is lower than that expected from the captured image of the guide rail 140, it is judged as "NG" (there is a translation error in the z-axis direction from the installation design position) and sends an NG signal to the instruction unit 260. On the other hand, if the Fourier intensity obtained by the Fourier transform is equal to or higher than the Fourier intensity of the high-frequency component expected above, the judgment circuit 1102 judges as "OK" (there is no translation error in the z-axis direction from the installation design position) and sends an OK signal to the instruction unit 260. In addition, the judgment circuit 1102 can calculate the amount of adjustment (correction amount) required to eliminate the error in the installation design position from the amount of reduction in the Fourier intensity of the high-frequency component.

As described above in (1-3-1) to (1-3-5), the measuring device 110 according to this embodiment can determine the translation error in the x-axis direction and the rotation error around the y-axis based on the difference value in the x-axis when the image processing unit 240 has the internal configuration shown in FIG. 9, and can determine the rotation error around the x-axis based on the difference value in the y-axis. Furthermore, when the image processing unit 240 has the internal configuration shown in FIG. 18, the measuring device 110 can determine the translation error in the z-axis direction by two-dimensional Fourier transform in the x-axis and y-axis directions. Furthermore, when the image processing unit 240 has the internal configuration shown in FIG. 17, the measuring device 110 can determine whether the error factor is the translation error in the x-axis direction or the rotation error around the y-axis, or whether the rotation error around the x-axis is the factor.

The internal configurations of the image processing unit 240 shown in Figures 4, 17, and 18 described above can function independently, but may be combined as appropriate. For example, by combining the internal configuration of Figure 4 with the internal configuration of Figure 18 to configure the image processing unit 240, it is possible to determine the displacement (translation error) and tilt (rotation error) for all axes except for the displacement in the y-axis direction and the tilt around the z-axis, which do not require adjustment. Furthermore, by adding the internal configuration of Figure 17, the cause of the error can be accurately determined, and the accuracy of the installation design position determination process can be improved.

(1-4) Design installation position of measuring device 110 Up until now, the design installation position of measuring device 110 has been the top of elevator car 120, but the design installation position of measuring device 110 in this embodiment is not limited to this, and various configurations can be adopted in which the measuring device 110 is placed directly or indirectly on a horizontal (or approximately horizontal) surface among the surfaces that make up elevator car 120, as exemplified below.

Figures 19 to 22 are diagrams (parts 1 to 4) showing specific examples of the design installation position of the measuring device 110. In the specific examples of Figures 19 to 22, a position where the guide rail 140 is clearly visible from the elevator car 120 is selected as the design installation position of the measuring device 110.

Figure 19 shows an example in which the measuring device 110 is installed on top of the umbrella 1202 located above the guide roller 1201 of the elevator car 120. This configuration has the advantage that there is no need to change the configuration of the current elevator car 120. In addition, the installation work requires little man-hours, since on-site workers only need to place and secure the measuring device 110 on top of the umbrella 1202 when working on the car.

Figure 20 shows an example in which a gap is provided below the guide roller 1201 of the elevator car 120, and the measuring device 110 is installed in that gap. This configuration can be installed on the top surface of the elevator car 120, which has high surface precision, so rotational errors are unlikely to occur when the measuring device 110 is installed. In addition, by preparing screw holes or marks at the installation design position of the measuring device 110 during the design stage of the elevator car 120, it is possible to reduce translational and/or rotational errors and install the measuring device 110 with higher precision.

Figure 21 shows an example in which an opening is provided in front of the guide rail 140 of the elevator car 120, and the measuring device 110 is installed in this opening. In this configuration, the indicator 260 of the measuring device 110 is provided inside the elevator car 120, so that a worker 270 can install and inspect the measuring device 110 by working only inside the car. This is expected to simplify the work and reduce the work time.

Figure 22 shows an example in which the measuring device 110 is installed under the elevator car 120 (on the floor surface or under the floor, etc.). This configuration is effective when there is little space above the elevator car 120. For example, it is effective to select this configuration in a building with a low ceiling where the height inside the elevator shaft is restricted.

The design installation position of the measuring device 110 in this embodiment may be configured by combining the above examples. For example, when it is necessary to install multiple measuring devices 110 for the purpose of improving reliability through redundancy, it is possible to install one above the car (Figure 19) and the other below the car (Figure 22).

(1-5) Installation and Inspection Work of the Measuring Device 110 Below, the installation work of installing the measuring device 110 in an appropriate installation position (designed installation position) and the inspection work of maintaining and inspecting the position of the installed measuring device 110 will be described in detail. The installation work and inspection work are performed by a worker 270. Also, the internal configurations of the measuring device 110 and the elevator control unit 130 may be any of the configuration examples shown in Figures 2 to 4.

(1-5-1) Installation Work FIG. 23 is a flowchart showing an example of the procedure for installation work.

As shown in FIG. 23, first, the worker 270 places the measuring device 110 at the installation design position of the elevator car 120 (step S101).

Next, the worker 270 recognizes the installation location judgment information displayed on the instruction unit 260 (or the display terminal 290) and checks whether the measuring device 110 is placed at the installation design position (step S102). Specifically, the worker 270 checks whether the judgment result display 310 shown in Figures 6 to 8 displays a message indicating an OK judgment.

Note that operations such as connecting the measuring device 110 to the elevator control unit 130 or the display terminal 290 and energizing the measuring device 110 may be performed before starting the installation work procedure shown in FIG. 23, or may be performed at least before step S102.

If the measurement device 110 is not placed at the installation design position in the confirmation of step S102, that is, if an NG judgment is output (NO in step S103), the worker 270 adjusts the placement position of the measurement device 110 based on the installation location judgment information displayed on the instruction unit 260 (or the display terminal 290) (step S104). Specifically, if the instruction unit 260 or the display terminal 290 is equipped with the correction direction indicator 320 shown in Figure 7 or Figure 8, the worker 270 adjusts the placement position of the measurement device 110 using an installation position adjustment tool described later according to the displacement or tilt indicated by the correction direction indicator 320. Note that if the instruction unit 260 or the display terminal 290 is not equipped with the correction direction indicator 320, the worker 270 moves the measurement device 110 in each direction to search for the installation design position by himself.

After step S104, the process returns to step S102, where the worker 270 checks whether the adjusted measuring device 110 is placed at the installation design position based on the installation location determination information displayed on the instruction unit 260 or the display terminal 290. The worker 270 repeats the processes of steps S102 to S104 until the determination in step S103 is YES.

On the other hand, if the measurement device 110 is placed at the installation design position in the confirmation of step S102, i.e., if an OK judgment is output (YES in step S103), proceed to step S105.

Then, in step S105, the worker 270 uses the fixing jig to fix the measuring device 110 in its current placement position, completing the installation work.

As described above, by performing the installation work shown in FIG. 23, the worker 270 can easily place and install the measuring device 110 in the installation design position with sufficient appropriate precision without using any special measuring tools and without relying on his or her own level of proficiency in measuring techniques and optical adjustment techniques.

(1-5-2) Inspection Work FIG. 24 is a flowchart showing an example of the procedure for inspection work.

According to FIG. 24, first, the worker 270 recognizes the installation location judgment information displayed on the indicator 260 in the measuring device 110 installed in the elevator car 120, and checks whether the measuring device 110 is placed at the installation design position (step S201). Specifically, the worker 270 checks whether the judgment result display 310 shown in FIG. 6 to FIG. 8 displays an OK judgment. The worker 270 may use the display terminal 290 instead of the indicator 260, and this is also the case in the following processing. By checking in step S201, it is possible to know whether the measuring device 110 has shifted from the installation design position due to, for example, vibration, impact, or loosening of the jig of the elevator car 120 while the elevator car 120 is in operation for a long period of time.

If the confirmation in step S201 indicates that the measuring device 110 is placed in the installation design position, i.e., an OK judgment is output (YES in step S202), the worker 270 ends the inspection work regarding the installation position of the measuring device 110.

On the other hand, if the check in step S201 indicates that the measuring device 110 is not placed at the installation design position, i.e., an NG judgment is output (NO in step S202), the worker 270 removes the fixing jig of the measuring device 110 (step S203).

Next, the worker 270 checks whether the measuring device 110 is placed at the installation design position based on the installation location determination information displayed by the instruction unit 260 (step S204). If the measuring device 110 is not placed at the installation design position in the check in step S204, that is, if an NG determination is output (NO in step S205), the process proceeds to step S206. Note that immediately after removing the fixing jig in step S203, the measuring device 110 remains in a state where it is not placed at the installation design position, so the process of steps S204 and S205 may be skipped and the process may proceed to step S206.

In step S206, the worker 270 adjusts the placement position of the measuring device 110 based on the installation location determination information displayed on the instruction unit 260. The adjustment method in step S206 is similar to the adjustment method in the installation work (step S104 in FIG. 23), and a detailed description will be omitted.

After step S206, the process returns to step S204, where the worker 270 checks whether the adjusted measuring device 110 is placed at the installation design position based on the installation location determination information displayed on the instruction unit 260. The worker 270 repeats the processes of steps S204 to S206 until the determination in step S205 is YES.

On the other hand, if the measurement device 110 is placed at the installation design position in the confirmation of step S204, i.e., if an OK judgment is output (YES in step S205), proceed to step S207.

Then, in step S207, the worker 270 uses the fixing jig to fix the measuring device 110 in its current placement position, and ends the inspection work.

As described above, by performing the inspection work shown in FIG. 24, the worker 270 can easily check whether the measuring device 110 is placed in the installation design position with appropriate accuracy without using any special measuring tools and without relying on his/her own level of proficiency in measuring techniques and optical adjustment techniques, and if the placement position is misaligned, he/she can easily reset it to the installation design position.

The inspection procedure shown in FIG. 24 can be applied not only to maintenance inspections, but also to any work in which the measuring device 110 is temporarily removed (released) from the elevator car 120 and then reinstalled for maintenance or repair of the measuring device 110.

23 and step S206 in Fig. 24, the worker 270 adjusts the error of the measuring device 110 with respect to the installation design position based on the installation location determination information. The procedure of such error adjustment will be described.

Figure 25 is a flowchart showing an example of the error adjustment procedure.

According to FIG. 25, first, the operator 270 adjusts the tilt angle (rotation error) of the measuring device 110 around the y axis (step S301). The reason for adjusting the rotation error first in the error adjustment is that, depending on the position of the rotation axis, when the tilt angle is changed, not only the tilt angle but also the position in the translation direction of the measuring device 110 fluctuates. Also, as described above, the error sensitivity of the rotation error around the y axis in the captured image of the measuring device 110 is smaller than that of the rotation error around the x axis, so the rotation error around the y axis is adjusted first.

Next, the operator 270 adjusts the tilt angle (rotation error) of the measuring device 110 around the x-axis (step S302).

Next, the operator 270 translates the measuring device 110 along the x-axis to adjust the displacement in the x-direction (translation error) (step S303).

In the error adjustment, the x-axis translation error and the z-axis translation error are the subject of adjustment, but of the x-axis and z-axis, the z-axis direction, which has a stronger effect on the optical system performance (image blur), has a greater effect on the measurement performance. In addition, in the z-axis adjustment, the presence or absence of image blur is detected, so the measurement accuracy of the z-axis translation error is improved by first confirming that the guide rail 140 is positioned over the entire imaging range and then measuring the amount of blur using the entire image. Therefore, first, in step S303, the x-direction translation error is adjusted and it is confirmed that the guide rail 140 can be seen over the entire imaging range of the imaging unit 230.

After the adjustment in step S303, the operator 270 translates the measurement device 110 along the z-axis to adjust the displacement in the z-direction (translation error) (step S304), and ends the error adjustment.

(1-6) Installation Position Adjustment Jig The following provides a detailed explanation of the installation position adjustment jig used to adjust the installation position (mounting position) when installing the measuring device 110 on the elevator car 120. Note that the installation position adjustment jigs 1600 and 1700 described below may be considered as one configuration of the measuring device 110 according to this embodiment.

Figure 26 is a diagram showing an example of the configuration of an installation position adjustment jig 1600. The installation position adjustment jig 1600 is an example of an installation position adjustment jig that can be used to adjust the position of the measuring device 110 according to this embodiment. As shown in Figure 26, the installation position adjustment jig 1600 includes a z-axis rotation adjustment tool 1610, an x-axis rotation adjustment tool 1620, an x-axis translation adjustment tool 1630, and a z-axis translation adjustment tool 1640.

As explained in the error adjustment in FIG. 25, since the translation position of the measuring device 110 varies depending on the position of the rotation axis, the installation position adjustment jig 1600 is configured to first adjust the rotation error, and then adjust the translation error. Specifically, as shown in FIG. 26, the rotation adjusters (z-axis rotation adjuster 1610, x-axis rotation adjuster 1620) are first installed on the elevator car 120, then the translation adjusters (x-axis translation adjuster 1630, z-axis translation adjuster 1640) are installed on the rotation adjusters, and finally the measuring device 110 is installed on the translation adjuster (e.g., on the top surface of the x-axis translation adjuster 1630).

The z-axis rotation adjustment tool 1610 includes at least two layers of jigs. The lower layer of the two layers of jigs is fixed to the elevator car 120. The upper layer of jigs can rotate only around the z axis independently of the fixed lower layer jig, and translational movement in each axial direction and rotational movement around axes other than the z axis are restricted. The z-axis rotation adjustment tool 1610 is, for example, a manual rotation stage.

The x-axis rotation adjustment tool 1620 includes at least two jigs. One jig is fixed to the z-axis rotation adjustment tool 1610. The other jig rotates only around the x-axis independently of the fixed jig, and translational movements in each axis direction and rotational movements around axes other than the x-axis are restricted. The x-axis rotation adjustment tool 1620 may be, for example, a manual one-axis goniostage.

The z-axis translation adjustment tool 1640 includes at least two jigs. One jig is fixed to a jig that can rotate around the x-axis of the x-axis rotation adjustment tool 1620, and the other jig translates in the z-axis direction independently of the fixed jig, and rotational movement around each axis and translational movement in directions other than the z-axis direction are restricted. The z-axis translation adjustment tool 1640 is, for example, a manual translation stage.

The x-axis translation adjustment tool 1630 includes at least two jigs. One jig is fixed to a jig that can translate in the z-axis direction of the z-axis translation adjustment tool 1640. The other jig translates in the x-axis direction independently of the fixed jig, and rotational movement around each axis and translational movement in directions other than the x-axis direction are restricted. The x-axis translation adjustment tool 1630 is, for example, a manual translation stage. Note that the positional relationship between the x-axis translation adjustment tool 1630 and the z-axis translation adjustment tool 1640 in FIG. 26 may be reversed.

Figure 27 is a diagram showing an example of the configuration of an installation position adjustment jig 1700. The installation position adjustment jig 1700 is another example of an installation position adjustment jig that can be used to adjust the position of the measuring device 110 according to this embodiment, and has a simpler configuration (e.g., a configuration including fewer jigs) than the installation position adjustment jig 1600 shown in Figure 26 for the purpose of reducing manufacturing costs. As shown in Figure 27, the installation position adjustment jig 1700 includes a z-axis rotation adjustment tool 1710, an x-axis rotation adjustment tool 1720, an x-axis translation adjustment tool 1730, and a z-axis translation adjustment tool 1740.

As shown in FIG. 27, the installation position adjustment jig 1700 first installs rotation adjusters (z-axis rotation adjusters 1710, x-axis rotation adjusters 1720) on the elevator car 120, then installs translation adjusters (x-axis translation adjusters 1730, z-axis translation adjusters 1740) on the rotation adjusters, and finally installs the measuring device 110 on the translation adjusters (e.g., on the top surface of the z-axis translation adjuster 1740). In addition, a smooth cylindrical protrusion 1701 is provided on the elevator car 120.

The z-axis rotation adjustment tool 1710 has a single layer jig in which a recess 1711 that fits with the protrusion 1701 is formed. The z-axis rotation adjustment tool 1710 is configured to be rotatable only around the z-axis with the protrusion 1701 as the center by inserting the recess 1711 into the protrusion 1701.

When the protrusion 1701 is provided on the elevator car 120, it is provided at a position where the center of the guide rail 140 and the x-coordinate coincide. As a result, even if the z-axis rotation adjustment tool 1710 adjusts the rotational movement around the z-axis, the distance from the measuring device 110 placed on the installation position adjustment jig 1700 to the guide rail 140 does not change, and there is no need for adjustment by translational movement in the x-axis direction. Furthermore, if the protrusion 1701 is provided so as to be located at the installation design position in the z direction, there is no need for adjustment by translational movement in the z-axis direction.

The x-axis rotation adjustment tool 1720 is equipped with a jig having a hole with a tap at one end in the z direction, and is fixed by an adjustment screw 1721 screwed into the hole. The x-axis rotation adjustment tool 1720 adjusts the tilt angle around the x-axis by adjusting the height of one side of the x-axis rotation adjustment tool 1720 according to the number of rotations of the adjustment screw 1721. In addition, a smooth groove 1722 parallel to the x-axis is provided on the upper surface of the jig (the side of the x-axis translation adjustment tool 1730) of the x-axis rotation adjustment tool 1720. This groove 1722 is a structure for the x-axis translation adjustment tool 1730.

The x-axis rotation adjustment tool 1720 may be configured so that the screw hole into which the adjustment screw 1721 is screwed is provided not only at one end in the z direction but also at the other end. In such a configuration, it is possible to adjust the rotation error around the x-axis in both positive and negative directions (clockwise and counterclockwise).

The x-axis translation adjustment tool 1730 is provided with a jig with a smooth convex portion 1731 on the underside parallel to the x-axis that fits into the groove 1722 of the x-axis rotation adjustment tool 1720. The x-axis translation adjustment tool 1730 adjusts the displacement in the x-axis direction by sliding it along the groove 1722 in the x-axis direction. In addition, the upper surface of the x-axis translation adjustment tool 1730 (the side facing the z-axis translation adjustment tool 1740) is provided with a smooth groove 1732 parallel to the z-axis. This groove 1732 is a structure for the z-axis translation adjustment tool 1740.

The z-axis translation adjustment tool 1740 is provided with a jig having a smooth convex portion 1741 on the underside that is parallel to the z-axis and fits into the groove 1732 of the x-axis translation adjustment tool 1730. The z-axis translation adjustment tool 1740 adjusts the displacement in the z-axis direction by sliding it along the groove 1732 in the z-axis direction.

A detailed explanation of an example structure of the installation position adjustment jig has been given above with reference to Figures 26 and 27. Using such an installation position adjustment jig, the worker 270 adjusts the rotational error and translational error with each adjustment tool according to the error adjustment procedure shown in Figure 25, and after completing this, fixes each tool with, for example, a screw, etc., and restricts their movement.

(2) Second embodiment In the first embodiment described above, the worker 270 manually adjusts the installation position of the measuring device 110 in the elevator car 120 using the installation position adjustment jig 1600 based on the display of the instruction unit 260 or the display terminal 290 of the measuring device 110. In the second embodiment, however, for example, a signal input to the instruction unit 260 is input to an actuator, and the actuator automatically adjusts the installation position of the measuring device 110 to the designed installation position.

Figure 28 is a diagram showing an example of the internal configuration of the measurement device 110 and elevator control unit 130 in the second embodiment of the present invention.

As shown in FIG. 28, in the elevator system 20 according to the second embodiment, the measurement device 110 is configured to include an optical transmitter 210, an imaging unit 220, an image capture unit 230, an image processor 240, a car movement related information output unit 250, and an installation location determination information output unit 280, similar to FIG. 3 in the first embodiment. The functions and configurations of each unit are similar to those of each unit shown in FIG. 2 or FIG. 3, and therefore detailed explanations are omitted.

Also, as a difference from the elevator system 10 according to the first embodiment, the elevator system 20 according to the second embodiment is configured to include an actuator 1800 in addition to the measurement device 110.

The actuator 1800 is configured to include a z-axis rotation adjustment tool, an x-axis rotation adjustment tool, an x-axis translation adjustment tool, and a z-axis translation adjustment tool, similar to the installation position adjustment jigs 1600 and 1700 in the first embodiment. However, unlike the first embodiment, it is electronically controlled by the actuator 1800, not manually by the operator 270, and therefore uses an electric adjustment stage, such as an electric translation stage, an electric rotation stage, or an electric goniostage.

As shown in FIG. 28, the actuator 1800 is fixed to the elevator car 120 and holds the measuring device 110 thereon. Note that in FIG. 28, the example shown in FIG. 19 is used as the design installation position for the measuring device 110, but this embodiment can also be applied to other design installation positions such as those shown in FIG. 20 to FIG. 22.

The actuator 1800 receives installation location determination information (including the determination result of whether or not the measuring device 110 is placed at the installation design position, and adjustment information (adjustment direction and adjustment movement amount) if the determination result is NG) from the installation location determination information output unit 280 of the measuring device 110. Then, based on the received installation location determination information, the actuator 1800 performs translational movement or rotational movement, or both, of the measuring device 110 based on the elevator car 120, and adjusts the displacement (translation error) and angle (rotation error) of the measuring device 110 until an OK determination is obtained from the installation location determination information of the measuring device 110. The adjustment procedure by the actuator 1800 may follow the error adjustment procedure shown in FIG. 25, but since it is not a task performed by an operator, other procedures (for example, moving each adjustment tool all at once) may be used.

As described above, in the second embodiment, the actuator 1800 can automatically adjust the installation position of the measuring device 110, so that the measuring device 110 can be easily installed with sufficient appropriate accuracy relative to the installation design position, regardless of the skill level of the operator 270.

(3) Third Embodiment In the above-described first and second embodiments, the measurement device 110 is applied to a device that measures at least one of the position and the speed of the elevator car 120 moving in the elevator systems 10 and 20. However, the present invention is not limited to the above applications, and can be widely applied to various other systems, devices, methods, and programs.

For example, the measuring device 110 according to the first or second embodiment can be applied not only to elevator operation, but also to applications for detecting with high accuracy the position and speed of a vehicle (moving body) such as an automobile or train that travels faster than the elevator car 120. For example, in an autonomous vehicle, the measuring device 110 can be applied for the purpose of position monitoring or speed monitoring on a highway, or for the purpose of determining the position with high accuracy in a parking lot, a gas station, a charging station, or the like.

Figure 29 is a diagram showing an example configuration of a vehicle movement information detection system 1900 in which the measurement device 110 is applied to a vehicle.

In the vehicle movement information detection system 1900 shown in FIG. 29, the measurement device 110 is placed on the side or bottom of a vehicle 1910 (e.g., an automobile or a train) traveling on a road surface 1920 (e.g., on a railroad track). The measurement device 110 measures information related to the movement of the vehicle 1910 (specifically, for example, at least one of the travel distance, speed, acceleration, etc. of the vehicle 1910) and outputs signal information useful for controlling the operation of the vehicle 1910 to a vehicle control unit (not shown). The vehicle control unit then performs operation control, for example, to safely operate and stop the vehicle 1910.

By applying the measuring device 110 to the vehicle 1910 as described above, the vehicle movement information detection system 1900 can measure the travel distance, speed, etc. with high accuracy and in a short time even from a vehicle moving at higher speeds, which can be useful for controlling the safe operation and stopping of the vehicle 1910.

For example, the measuring device 110 according to the first or second embodiment can also be applied to the operation control of a crane.

Figure 30 shows an example configuration of a crane movement information detection system 2000 in which the measuring device 110 is applied to a crane.

In the crane movement information detection system 2000 shown in FIG. 30, the measurement device 110 is placed on the side or bottom of a crane 2010 that moves in one axial direction along a rail 2020. In the case of FIG. 30, the rail 2020 corresponds to the stationary structure.

The measuring device 110 captures an image of the wall surface of the rail 2020, measures information related to the movement of the crane 2010 (specifically, for example, at least one of the movement amount or speed of the crane 2010), and outputs signal information useful for controlling the operation of the crane 2010 to a crane control unit (not shown). The crane control unit then monitors the operation of the crane 2010 based on the information input from the measuring device 110, and detects positional and speed abnormalities.

By applying the measuring device 110 to the crane 2010 as described above, the crane movement information detection system 2000 can improve the safety of the operation control of the crane 2010.

Note that the above-described embodiments are intended to clearly explain the present invention, and are not intended to limit the scope of the present invention. For example, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Also, for example, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

Furthermore, the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in part or in whole in hardware, for example by designing them as integrated circuits. Furthermore, the above-mentioned configurations, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. Information on the programs, tables, files, etc. that realize each function can be stored in a memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

In addition, the control lines and information lines shown in the drawings are those that are considered necessary for explanation, and do not necessarily show all control lines and information lines on the product. In reality, it can be assumed that almost all components are interconnected.

10, 20 Elevator system 110 Measuring device 120 Elevator car 130 Elevator control unit 140 Guide rail 210 Optical transmission unit 220 Imaging unit 230 Imaging unit 240 Image processing unit 250 Cage movement related information output unit 260 Instructing unit 270 Worker 280 Installation location determination information output unit 290 Display terminal 310 Determination result display unit 320 Correction direction indicator 330 Correction amount indicator 405, 1003 Determination circuit 1001 Counting circuit 1002 Difference profile 1101 Fourier transform circuit 1201 Guide roller 1202 Umbrella 1600, 1700 Installation position adjustment jig 1610, 1710 Rotation adjustment tool around z-axis 1620, 1720 Rotation adjustment tool around x-axis 1630, 1730 x-axis translation adjustment tool 1640, 1740 z-axis translation adjustment tool 1800 actuator 1900 vehicle movement information detection system 1910 vehicle 1920 road surface 2000 crane movement information detection system 2010 crane 2020 rail

Claims (15)

A measuring device that is installed on an elevator car moving in a hoistway and measures at least one of a moving distance or a speed of the elevator car,
an optical transmitter that transmits light to illuminate a stationary structure disposed in the elevator shaft along a first direction parallel to a moving direction of the elevator car;
an imaging unit that forms an image of light scattered from the stationary structure on an imaging surface;
an imaging unit that captures an optical signal of the scattered light formed on the imaging surface, converts it into an electrical signal, and images the image;
an image processing unit that calculates and transmits at least one of a moving distance or a speed of the elevator car based on the electrical signal converted by the imaging unit;
Equipped with
When confirming the installation position of the measuring device relative to the stationary structure,
Of the two directions perpendicular to the first direction, a direction including an imaging surface captured by the imaging unit is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction.
The image processing unit includes:
calculating, for at least one of the first to third directions based on the electrical signal converted by the imaging unit, a translation error along the direction or a rotation error about an axis of the direction of a placement position of the measuring device relative to a predetermined installation design position;
and determining whether the placement position conforms to the design installation position based on a result of the calculation, and transmitting installation location determination information relating to the determination. 2. The measuring device according to claim 1, wherein an optical axis of the optical transmitter is provided within a plane perpendicular to a direction of a scratch on the surface of the stationary structure and obliquely provided with respect to the stationary structure. The installation location determination information includes:
A determination result indicating whether the placement position is consistent with the installation design position; and
and adjustment information required for correction to the installation design position, the adjustment information being indicated using the calculated translation error or rotation error. The image processing unit includes:
Dividing the captured image based on the electrical signal converted by the imaging unit into a predetermined number of parts;
calculating a rotation error about an axis of the second direction based on a difference value of pixel values in the first direction between the divided captured images;
The measurement device according to claim 1 , further comprising: a translation error along the second direction and a rotation error about an axis of the first direction, the translation error being calculated based on a difference value of pixel values in the second direction between the divided captured images. The image processing unit includes:
5. The measuring device according to claim 4, further comprising: a differential profile for an image captured by the electrical signal converted by the imaging unit, the differential profile being biaxially determined by a sum of the number of pixels in the first direction and a difference between adjacent pixels in the second direction; and based on characteristics of the differential profile, determining whether a cause of an error in the mounting position relative to the installation design position is a translation error along the second direction or a rotation error about an axis of the first direction. The image processing unit includes:
2. The measurement device according to claim 1, further comprising: a two-dimensional Fourier transform of the electrical signal converted by the imaging unit in the first direction and the second direction; and a translation error along the third direction is calculated based on a degree of reduction in the obtained Fourier intensity. The measuring device according to claim 3 , further comprising an instruction unit that receives the installation location determination information created by the image processing unit and notifies an operator of information included in the installation location determination information. The instruction unit is
a determination result display that outputs the determination result of the installation location determination information;
the measurement device according to claim 7, further comprising: a correction indicator that outputs, as the adjustment information of the installation location determination information, a rotation error about an axis of the first direction, a translation error along the second direction, a rotation error about an axis of the second direction, and a translation error along the third direction. When the length of the imaging area of the imaging unit in the second direction is W _im and the length of the stationary structure along the second direction is W _rail ,
The minimum value of the translation error along the second direction that can be calculated by the image processing unit is

The measuring device according to claim 3 , wherein the measuring device corresponds to Let H _LED be the length in the first direction of the transmission surface of the optical transmitter, H _im be the length in the first direction of the imaging area of the imaging unit, and L _z be the distance from the stationary structure to the optical transmitter along the third direction,
The minimum value of the rotation error about the axis of the second direction that can be calculated by the image processing unit is

The measuring device according to claim 3 , wherein the measuring device corresponds to An elevator car moving through a hoistway,
a guide rail disposed in the hoistway along a first direction parallel to a direction of movement of the elevator car;
an elevator control unit for controlling an operation of the elevator car;
a measuring device mounted on the elevator car to measure at least one of a travel distance or a speed of the elevator car;
Equipped with
The measuring device includes:
an optical transmitter that transmits light to irradiate the guide rail in the elevator;
an imaging unit that forms an image on an imaging surface of light scattered from the guide rail by the light;
an imaging unit that captures an optical signal of the scattered light formed on the imaging surface, converts it into an electrical signal, and images the image;
an image processing unit that calculates and transmits at least one of a moving distance or a speed of the elevator car based on the electrical signal converted by the imaging unit;
having
When checking the installation position of the measuring device relative to the guide rail,
Of the two directions perpendicular to the first direction, a direction including an imaging surface captured by the imaging unit is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction.
The image processing unit includes:
calculating, for at least one of the first to third directions based on the electrical signal converted by the imaging unit, a translation error along the direction of a placement position of the measuring device relative to a predetermined installation design position or a rotation error about an axis of the direction;
and determining whether the placement position conforms to the design installation position based on a result of the calculation, and transmitting installation location determination information relating to the determination. an instruction device that receives the installation location determination information created by the image processing unit and notifies an operator of information included in the installation location determination information;
an adjustment device for adjusting the placement position of the measuring device;
12. The elevator system of claim 11, further comprising: an opening is provided at a predetermined position of the elevator car opposite to the guide rail;
the indicating device is arranged so as to be visible from within the elevator car;
13. The elevator system of claim 12, wherein the adjustment device is positioned to be operable from within the elevator car. an adjustment device for adjusting the placement position of the measuring device;
an actuator capable of controlling the adjustment device;
Further equipped with
The adjustment device is
an x-axis translation adjustment tool that moves the measurement device in a translation direction along the second direction;
an x-axis rotation adjustment tool that moves the measurement device in a rotation direction about the second direction;
a y-axis rotation adjustment tool that moves the measurement device in a rotation direction about an axis of the first direction;
a z-axis translation adjustment tool that moves the measurement device in a translation direction along the third direction;
having
The elevator system according to claim 11, characterized in that the actuator receives the installation location determination information created by the image processing unit, and controls operation of each adjustment tool of the adjustment device so as to move the measuring device by an amount corresponding to the translation error or the rotation error included in the installation location determination information. A method for confirming an installation position using a measuring device that is installed on an elevator car moving in a hoistway and measures at least one of a moving distance or a speed of the elevator car, comprising the steps of:
The measuring device includes:
an optical transmitter that transmits light to illuminate a stationary structure disposed in the elevator shaft along a first direction parallel to a moving direction of the elevator car;
an imaging unit that forms an image of light scattered from the stationary structure on an imaging surface;
an imaging unit that captures an optical signal of the scattered light formed on the imaging surface, converts it into an electrical signal, and images the image;
an image processing unit that calculates and transmits at least one of a moving distance or a speed of the elevator car based on the electrical signal converted by the imaging unit;
Equipped with
When confirming the installation position of the measuring device relative to the stationary structure,
Of the two directions perpendicular to the first direction, a direction including an imaging surface captured by the imaging unit is defined as a second direction, and a direction perpendicular to both the first direction and the second direction is defined as a third direction.
The image processing unit
calculating, for at least one of the first to third directions based on the electrical signal converted by the imaging unit, a translation error along the direction of a placement position of the measuring device relative to a predetermined installation design position or a rotation error about an axis of the direction;
an installation position confirmation method comprising: judging whether the placing position conforms to the installation design position based on a result of the calculation, and transmitting installation location judgment information relating to the judgment.

Images