KR-20260062828-A - METHOD AND MOUNTING DEVICE FOR INSTALLATION WORK IN ELEVATOR HOISTWAY

Abstract

A mounting device for installation work in an elevator shaft comprises: a main body suspended from a lifting module installed in the elevator shaft; first, second, third, and fourth cameras arranged in sequence on one side of the main body; a robot module configured to perform work in the elevator shaft; an inertial measuring device configured to measure the roll and pitch of the mounting device; a distance sensor configured to measure the height (z) of the mounting device from the elevator; and a control module for controlling the mounting device.

Inventors

• 김성민
• 이상혁

Assignees

• 현대엘리베이터주식회사
• 주식회사 지오봇

Dates

Publication Date

20260507

Application Date

20250915

Priority Date

20241029

Claims (5)

1. As a mounting device for installation work in an elevator shaft, A main body suspended from a lifting module installed in the above elevator shaft, First, second, third, and fourth cameras arranged in order on one side of the main body; A robot module configured to perform work in the above elevator shaft; An inertial measuring device configured to measure the roll and pitch of the above-mentioned mounted device; A distance sensor configured to measure the height (z) from the elevator of the above-mentioned mounted device; It includes a control module that controls the above-mentioned mounted device, and The above control module is, The first and third cameras capture the first reference line among the two reference lines positioned in the elevator shaft to acquire a first image, and the second and fourth cameras capture the second reference line among the two reference lines to acquire a second image. Estimating the first coordinates of the first reference line in the device coordinate system from the first image above, and Estimating the first coordinates of the second reference line in the device coordinate system from the second image above, and Based on the first and second coordinates and the first and second images, the position (x, y) and yaw angle (yaw) in the device coordinate system are estimated to obtain the 6 degrees of freedom (x, y, z, roll, pitch, yaw) in the elevator shaft coordinate system of the mounted device, and Based on the above 6 degrees of freedom, the robot module is configured to be controlled to perform work in the elevator shaft, and A mounting device in which the first to fourth cameras are controlled to capture images including two reference lines placed in the elevator shaft in a frame at the same point in time.
2. In paragraph 1, A mounting device comprising estimating the above position (x, y) and yaw angle by the intersection of the orientation lines of at least two cameras arranged on one side.
3. In paragraph 1, A mounting device that estimates the above position (x, y) and yaw angle based on the condition that the x coordinates of the two reference lines in the elevator shaft coordinate system are the same, and the condition that the distance between the two reference lines is secured in advance by the control module.
4. In paragraph 1, A mounted device, wherein the control module estimates the image display width from the actual thickness of the reference line and the distance from the camera, and based thereon, estimates the coordinates of the two reference lines in the device coordinate system.
5. In paragraph 1, The above-mentioned mounting device further includes lighting, and A mounted device that uses the above lighting to generate reflected light of the above reference line and further uses the luminance of the above reflected light to estimate the coordinates of the two reference lines in the device coordinate system.

Description

Method and Mounting Device for Installation Work in Elevator Hoistway The present disclosure relates to a method and a mounting device for installation work in an elevator shaft. It can be dangerous for humans to perform installation work inside an elevator shaft where an elevator car is moving. Therefore, methods are being studied to perform installation work inside the elevator shaft using automated robots. For example, wires (reference lines) are placed across the upper and lower parts of the elevator shaft to install the elevator car. Then, an automated robot installs the necessary components for the elevator car installation in the shaft based on the position of the wires. For the accurate installation of the elevator car, the automated robot needs to accurately identify the position of the wires. However, it is difficult to accurately identify the position of the wires due to vertical patterns formed on the side walls of the elevator shaft. Korean Published Patent No. 10-2018-0128905 discloses a technology for determining the position of an automated robot from a reference line inside the elevator shaft using a sensor mounted on a robot arm. However, according to Korean Published Patent No. 10-2018-0128905, since the robot arm moves to determine the position of the reference line, the center of gravity of the automated robot changes depending on the movement of the robot arm, making it difficult to accurately recognize the position of the robot and potentially reducing the precision of the operation. FIG. 1 is a configuration diagram of a system according to one embodiment of the present disclosure. FIG. 2 is an exemplary block diagram of a mounting device according to one embodiment of the present disclosure. FIG. 3 is a flowchart of a baseline recognition method according to one embodiment of the present disclosure. FIG. 4 is a flowchart of the operation execution according to one embodiment of the present disclosure. FIGS. 5a to 5c are examples of image photographs of an elevator shaft according to one embodiment of the present disclosure. FIGS. 6a to 6k are exemplary photographs of a reference line detection method according to one embodiment of the present disclosure being performed on an elevator shaft image. Embodiments of the present disclosure are described below with reference to the attached drawings so that those skilled in the art can easily implement them. However, the present disclosure may be embodied in various different forms and is not limited to the embodiments described herein. In addition, to clearly explain the present disclosure in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification have been given similar reference numerals. Throughout the specification, when a part is described as "comprising" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. It should be understood that the technology described in this disclosure is not intended to be limited to specific embodiments and includes various modifications, equivalents, and/or alternatives to the embodiments of this disclosure. As used in this disclosure, the expression “configured to” may be replaced, depending on the context, with, for example, “suitable for,” “having the capacity to,” “designed to,” “adapted to,” “made to,” or “capable of.” The term “configured to” may not necessarily mean only that which is “specifically designed to” in hardware. Instead, in some situations, the expression “device configured to” may mean that the device is “capable of” together with other devices or components. The prior art described in this disclosure is incorporated herein by reference in its entirety, and it will be understood that a person skilled in the art may apply the contents described in the prior art to the parts briefly described in this disclosure. Within the context of the present disclosure, the two terms “system” and “device” refer to the same concept and may be used interchangeably. FIG. 1 is a configuration diagram of a system according to one embodiment of the present disclosure. Referring to FIG. 1, the system includes a lifting module (10), a mounting device (20), and a control module (30). The system may include a configuration in which the lifting module (10), the mounting device (20), and the control module (30) are interconnected to calculate the position and posture of the installation robot in the elevator shaft coordinate system (camera, IMU, ToF data fusion) and automatically perform drilling and anchoring operations using the calculated results. The mounting device (20) may include a main body (22), a robot module (24), a pose calculation module (25), and a work control module (26). In one embodiment, the lifting module (10) moves the chassis up and down to a target height within the hoistway using a hoisting machine and a transfer system, and can pro