CN106370146A - Elevator guide rail verticality detection system - Google Patents
Elevator guide rail verticality detection system Download PDFInfo
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- CN106370146A CN106370146A CN201510435333.1A CN201510435333A CN106370146A CN 106370146 A CN106370146 A CN 106370146A CN 201510435333 A CN201510435333 A CN 201510435333A CN 106370146 A CN106370146 A CN 106370146A
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- guide rail
- laser
- control module
- data
- detecting system
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- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
Abstract
The invention discloses an elevator guide rail verticality detection system. The system comprises a measurement mechanism, a rotation support, a serial port server and a control module. The measurement mechanism comprises a first distance measurement laser, a second distance measurement laser and a double-shaft inclination angle sensor. The rotation support comprises a support plate, a rotation shaft, a shaft coupling, a motor and a motor driver. The measurement mechanism acquires position data of a detection point on a guide rail and inclination angle of the measurement mechanism and sends the data to the control module via the serial port server, and the control module determines a guide rail verticality deviation according to the received position data and inclination data. According to the invention, the data acquisition and verticality calculation process does not need manual participation, the automation degree is high, the measurement apparatus is simple in structure and convenient to operate, and the elevator guide rail verticality detection system is applied to detection of verticality of a top surface and a side surface of an elevator guide rail and other vertical objects whose work surfaces are planes.
Description
Technical field
The present invention relates to intelligent testing technology field, particularly a kind of lift rail perpendicularity detecting system.
Background technology
Cage guide is to ensure one of vitals of lift running safety and comfortableness, therefore in installation and periodic detection
There is higher requirement etc. link to slide rail verticality.
According to The Ministry of Construction of the People's Republic of China, MOC, State Administration for Quality Supervision and Inspection and Quarantine combine issue " elevator engineering is applied
Working medium amount acceptance specification " regulation, the phase between the every 5m plumb line measured value of each column working face of guide rail (including side and top surface)
Maximum deviation all not should be greater than with following numerical value: car guide rail and counterweight (balance weight) guide rail being provided with safety tongs are 1.2mm；
Do not set the t type guide rail of safety tongs as 2.0mm.It can be seen that, according to the method for artificial messenger wire and dipstick metering, then exist efficiency low,
The problems such as sampled point is limited, certainty of measurement is poor is it is impossible to realize testing goal.
Patent of invention 201310244184.1 discloses a kind of Elevator guide rail calibration device, using laser beam emitting device to bottom
Reception device transmitting laser, according to hot spot be distributed judge guide rails assembling situation；The installation of this device, laser beam emitting device
Leveling and the interpretation of slide rail verticality deviation be both needed to be accomplished manually.
Patent of invention 201410081452.7 discloses a kind of method for measuring perendicular, and the method is directed to camera and claps
The weight line taken the photograph or the image of laser plummet laser beam and guide rail relative position, with the serial of methods of image procossing
Carry out measuring for verticality；This method solve messenger wire or laser plummet detection need the problem of manual measurement and record data,
But still need to manually installed lift heavy hammer or plumb aligner is installed to be imaged, and the link of image procossing is more, needs man-machine friendship
Mutually, inevitably introduce error.
Patent of invention cn 102278956 a discloses a kind of lift rail perpendicularity and gauge robot measurement, this machine
People by fuselage, sorption wheel, sensor, be wirelessly transferred, control the modules such as driving to form, can move up and down along guide rail,
Stop to specified point and implement measuring, data is beamed back in host computer procedure and is processed.This system achieves detection automatically
Change, data sampling and processing process is without manpower intervention, but guide rail surface often has greasy dirt, Robot intimate 90
Climbing and easily skid in degree direction, affects the accuracy of positioning, produces detection error.And for example patent of invention cn 102607467 a,
Disclose a kind of lift rail perpendicularity detection means of view-based access control model measurement and detection method, luminous circle is driven by robot
Ring moves along the rail, and the video camera on ground shoots annulus position, and the change in vertical direction of its position can reflect to be led
Rail perpendicularity.This system is also capable of full automatic data acquisition and detection, and the structure of robot is relatively easy.But
The installation of luminous annulus needs auxiliary equipment just to can ensure that its level, and the stationarity of robot motion is also difficult to ensure that, all
The accuracy detecting can be affected.
In sum, current slide rail verticality detection method and detection means have that complexity is high, automaticity is low,
The low problem of accuracy of detection.
Content of the invention
It is an object of the invention to provide a kind of structure be simple and convenient to operate, high degree of automation and measure accurate elevator
Slide rail verticality detecting system.
The technical solution realizing the object of the invention is: a kind of lift rail perpendicularity detecting system, including measuring mechanism,
Runing rest, serial server and control module；
Measuring mechanism includes the first ranging laser, the second ranging laser and double-shaft tilt angle sensor, and runing rest includes
Supporting plate, rotating shaft, shaft coupling, motor and motor driver；
Described first ranging laser, the second ranging laser and double-shaft tilt angle sensor are arranged on supporting plate, described
Motor passes through shaft coupling, rotating shaft is connected with supporting plate, and one end of motor driver is connected with motor, and the other end passes through serial ports
Server is connected with control module, and control module controls supporting plate to rotate；Measuring mechanism gathers the position of test point on guide rail
Data and the inclination data of measuring mechanism, are sent to control module through serial server, and control module is according to the position receiving
Put data and inclination data determines slide rail verticality deviation.
Compared with prior art, its remarkable advantage is the present invention:
(1) the lift rail perpendicularity detecting system structure of the present invention is simple, belongs to integral type rather than split type equipment,
And need not be respectively mounted on ground on guide rail；
(2) present invention is easy to operate, and measurement apparatus are without Aminoplasmal Hepa-10；
(3) measuring speed of the present invention is fast, divide the scheme of measurement apparatus with artificial operation or guide rail upper mounting portion compared with, energy
Substantially time-consuming；
(4) present invention is not limited by illumination condition in working environment, has or not illumination in elevator；
(5) present invention utilizes ranging laser and obliquity sensor to obtain range data and the inclination angle of guide rail surface test point
Data, is then converted to coordinate data under horizontal coordinates for the test point, and then carries out perpendicularity deviation calculating, without people
Work participates in, and error is little, high precision.
Brief description
Fig. 1 is the structural representation of the lift rail perpendicularity detecting system of the present invention.
Fig. 2 is the lift rail perpendicularity detecting system top view of the present invention.
Fig. 3 is the element annexation block diagram of the present invention.
Fig. 4 is the data acquisition control flow chart of control module of the present invention.
Fig. 5 is the perpendicularity schematic diagram calculation of control module of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail.
In conjunction with Fig. 1, a kind of lift rail perpendicularity detecting system of the present invention, including measuring mechanism, runing rest, string
Mouth server 9 and control module；
Measuring mechanism includes the first ranging laser 1-1, the second ranging laser 1-2 and double-shaft tilt angle sensor 2, rotation
Support includes supporting plate 3, rotating shaft 4, shaft coupling 5, motor 6, casing 7 and motor driver 8；
Described first ranging laser 1-1, the second ranging laser 1-2 and double-shaft tilt angle sensor 2 are arranged at support
On plate 3, described motor is passed through shaft coupling 5, rotating shaft 4 and is connected with supporting plate 3, one end of motor driver 8 and motor
It is connected, the other end is connected with control module by serial server 9, control module controls supporting plate 3 to rotate；Measuring machine
The position data of test point and the inclination data of measuring mechanism on structure collection guide rail, are sent to control mould through serial server 9
Block, control module determines slide rail verticality deviation according to the position data receiving and inclination data.
Described motor driver 8 and serial server 9 are arranged in casing, supporting plate 3 as case lid, by rotating shaft
4 are movably arranged on casing.
The axis of described first ranging laser 1-1 and the second ranging laser 1-2 is kept with the x-axis of obliquity sensor 2
Parallel, two ranging lasers centre-to-centre spacing in y-axis direction is 6-8mm, if spacing is more than 10mm, it cannot be guaranteed that
Two ranging lasers all measure guide rail data；If spacing is too little, cannot preferably embody work with the plane of this data matching
Make region feature；
Or the axis of the first ranging laser 1-1 and the second ranging laser 1-2 is kept with the y-axis of obliquity sensor 2
Parallel, two ranging lasers centre-to-centre spacing in x-axis direction is 6-8mm.
With reference to specific embodiment, the invention will be further described.
Embodiment
The rail survey unit structure of the present embodiment is as shown in figure 1, the first ranging laser 1-1, the second ranging laser
1-2 and double-shaft tilt angle sensor 2 are located at supporting plate 3 top, and the axis of two ranging lasers is passed with double-shaft tilt angle
The y-axis of sensor 2 is parallel；Shaft coupling 5 and motor 6 is arranged in the rotating shaft 4 of supporting plate 3 so that supporting plate 3 is upper
State and rotated under part and the control of motor driver 8；Serial server 9 and motor driver 8 are located in casing 7
Portion.
The top view of above-mentioned part is as shown in Fig. 2 two-laser spacing 8mm that adopts in the present embodiment, range accuracy
0.1mm, obliquity sensor selects intelligent ais-2000 double-shaft tilt angle sensor, 0.001 degree of precision.
The flow direction of the annexation of each element of measurement apparatus and control information data is as shown in figure 3, control module passes through meter
Calculation machine 10 is realized, and serial server 8 one end connects computer, and one end connects ranging laser 1-1 and 1-2, double respectively
Axial rake sensor 2 and motor driver 8, so that by the data is activation of sensor acquisition to computer, or will calculate
The driving instruction that machine produces is sent to motor driver 8.
The control module of the present invention has the function of control and measure device and Measurement and Data Processing, its control flow such as Fig. 4 institute
Show, comprise the steps of
S1, opens serial ports, initializes maximum height value h of guide rail to be measured, and spacing d of two ranging lasers；
S2, putting current cycle time i is 0, and maximum cycle is n=h/d；Put present level h0=0；
S3, reads the reading of obliquity sensor and 2 ranging lasers；
S4, according to next tested point height h=h0+ d, calculates supporting plate and reaches the angle that this position need to rotate, and
Angle number is converted into the umber of pulse of controlled motor；
S5, control signal is issued motor driver, and drives supporting plate to go to specified angle under the effect of each part；
S6, dormancy 1 second, make obliquity sensor measured value more stable；If i≤n, current cycle time i adds 1, h's
Value is assigned to present level h0, the then operation of repeat step (3)-(6)；Otherwise, end loop, executes s7；
S7, support sheet reset, measurement process terminates.
After measurement terminates, original distance and inclination data preserve to array, are then converted to the seat under horizontal coordinates
Mark data.If the inclination angle of measurement initial position is α0And β0, that is, the attitude of measurement apparatus and the x-axis of horizontal coordinates and
The angle of y-axis.In measurement process, on guide rail certain test point by ranging laser 1-1 record apart from d, inclination alpha and
β, then this point convert the coordinate (x, y, z) to horizontal coordinatestFor:
The test point of ranging laser 1-2 collection, after above-mentioned conversion, also will move under the coordinate system of laser instrument 1-1.
After all detection point transformation terminate, coordinate figure is stored in array and is ready for data processing.
The data processing function of control module is divided into permutation detection and local detection both of which；According in national standard, close
Measuring for verticality in detection " the relative maximum deviation between each column working face of guide rail every 5m plumb line measured value " requires,
During permutation detection, the perpendicularity deviation data at output every 5 meters of intervals from guide rail bottom to top, that is, detect starting altitude
h1=0, detection terminates height h2=h (the guide rail maximum height of user input), middle detection height is followed successively by 5m,
10m ... ..., h/5m；Local detection then can achieve the detection to guide rail section arbitrarily interested, to be checked by user input
Survey the start-stop height h of guide rail section1And h2, middle detection height is followed successively by h1,……h1+h2/h1* 5, from calculating angle
For degree, permutation detection is the special circumstances of local detection.
The ultimate principle of two kinds of detection patterns is similar with calculating process, as shown in figure 5, because measurement is only capable of obtaining guide rail surface
Sparse test point arbitrarily detects the total data highly going up it is impossible to obtain guide rail, and solution here is: using treating
Near detection highly, four test points simulate this section of guide rail surface, then calculate two guide levels and detect at height
Horizontal plane and the intersection point of vertical plane, that is, draw perpendicularity deviation.The concrete detecting step of each guide rail section is as follows:
(1) data screening: find out respectively from measurement data from, only four nearest points of height h and h+5, a～
D and j～m；
(2) plane fitting: utilize method of least square, simulated respectively by point a～d and j～m and detect, only highly
Two neighbouring planes p1And p2, that is, obtain guide level equation a1x+b1y+c1z+d1=0 He
a2x+b2y+c2z+d2=0 coefficient；
(3) determine intersection: i.e. guide level p1And p2Respectively with detection height levels z1=h and z2The intersection of=h+5
l1And l2；
(4) determine perpendicularity deviation, i.e. straight line l1And l2With plane x=5 (5mm is in the plane of horizontal plane) phase
Hand over distance between two intersection points of gained.
If guide rail top surface work surface is parallel with yz plane, when the inclination that guide rail only rotates around x-axis and produces, currently
The perpendicularity deviation of work surface is close to 0, but side work surface will detect perpendicularity deviation；In the same manner, when guide rail only around
During the inclination that y-axis rotates and produces, top surface work surface will detect perpendicularity deviation, and side then zero deflection；When guide rail around
When x-axis and y-axis have rotation, top surface, side all can detect deviation.
During the system work, it is positioned over stair shaft bottom or car top surface, two ranging lasers are just to guide rail it is ensured that laser spots
Can get on working face of guide rail.Under the control of control module, intermittent rotation to one is the runing rest of measurement apparatus
Row angle position, measuring mechanism then gathers guide rail range data and the inclination data of current location on each position, concurrently
Give computer, until completing the data acquisition of permutation guide rail.The process of data acquisition and perpendicularity deviation calculating is all without people
Work is intervened, and high degree of automation, speed are fast, and avoids the error being introduced by artificial operation.
Claims (4)
1. a kind of lift rail perpendicularity detecting system it is characterised in that: include measuring mechanism, runing rest, serial ports
Server [9] and control module；
Measuring mechanism includes the first ranging laser [1-1], the second ranging laser [1-2] and double-shaft tilt angle sensor [2], rotation
Turn support and include supporting plate [3], rotating shaft [4], shaft coupling [5], motor [6] and motor driver [8]；
Described first ranging laser [1-1], the second ranging laser [1-2] and double-shaft tilt angle sensor [2] are arranged at support
On plate [3], described motor passes through shaft coupling [5], rotating shaft [4] and is connected with supporting plate [3], one end of motor driver [8] and electric
Machine is connected, and the other end is connected with control module by serial server [9], and control module controls supporting plate [3] to rotate；Survey
The position data of test point and the inclination data of measuring mechanism on measuring mechanism collection guide rail, are sent to control through serial server [9]
Molding block, control module determines slide rail verticality deviation according to the position data receiving and inclination data.
2. lift rail perpendicularity detecting system according to claim 1 it is characterised in that: described first range finding
The axis of laser instrument [1-1] and the second ranging laser [1-2] and the x-axis keeping parallelism of obliquity sensor [2], find range for two
The centre-to-centre spacing in y-axis direction for the laser instrument is 6-8mm.
3. lift rail perpendicularity detecting system according to claim 1 it is characterised in that: described first range finding
The axis of laser instrument [1-1] and ranging laser [1-2] and the y-axis keeping parallelism of obliquity sensor [2], two range laser
The centre-to-centre spacing in x-axis direction for the device is 6-8mm.
4. lift rail perpendicularity detecting system according to claim 1 it is characterised in that: detecting system is also wrapped
Include casing [7], described motor driver [8] and serial server [9] are arranged in casing, supporting plate [3] as case lid,
It is movably arranged on casing by rotating shaft [4].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510435333.1A CN106370146B (en) | 2015-07-23 | 2015-07-23 | Lift rail perpendicularity detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510435333.1A CN106370146B (en) | 2015-07-23 | 2015-07-23 | Lift rail perpendicularity detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106370146A true CN106370146A (en) | 2017-02-01 |
| CN106370146B CN106370146B (en) | 2019-03-29 |
Family
ID=57880159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510435333.1A Expired - Fee Related CN106370146B (en) | 2015-07-23 | 2015-07-23 | Lift rail perpendicularity detection system |
Country Status (1)
| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110482351A (en) * | 2019-08-05 | 2019-11-22 | 南京理工大学 | One kind is with straightness of elevator guide rail detection system and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060059700A1 (en) * | 2002-11-06 | 2006-03-23 | Lixin Sun | Detection method of lift guide rail perpendicularity and a detector for implementing this method |
| EP2248636A1 (en) * | 2009-04-15 | 2010-11-10 | KUKA Roboter GmbH | System and a method for measuring a manipulator |
| CN102278956A (en) * | 2011-04-15 | 2011-12-14 | 河北工业大学 | Elevator guide rail verticality and gauge measuring robot |
| CN104229582A (en) * | 2014-07-28 | 2014-12-24 | 江苏省特种设备安全监督检验研究院苏州分院 | Upper and lower computer system based on elevator rail gauge and verticality measurement and measuring method thereof |
| CN204085462U (en) * | 2014-09-29 | 2015-01-07 | 苏州大学 | A kind of based on the elevator gauge of laser range sensor and the measuring system of verticality |
-
2015
- 2015-07-23 CN CN201510435333.1A patent/CN106370146B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060059700A1 (en) * | 2002-11-06 | 2006-03-23 | Lixin Sun | Detection method of lift guide rail perpendicularity and a detector for implementing this method |
| EP2248636A1 (en) * | 2009-04-15 | 2010-11-10 | KUKA Roboter GmbH | System and a method for measuring a manipulator |
| CN102278956A (en) * | 2011-04-15 | 2011-12-14 | 河北工业大学 | Elevator guide rail verticality and gauge measuring robot |
| CN104229582A (en) * | 2014-07-28 | 2014-12-24 | 江苏省特种设备安全监督检验研究院苏州分院 | Upper and lower computer system based on elevator rail gauge and verticality measurement and measuring method thereof |
| CN204085462U (en) * | 2014-09-29 | 2015-01-07 | 苏州大学 | A kind of based on the elevator gauge of laser range sensor and the measuring system of verticality |
Non-Patent Citations (1)
| Title |
|---|
| 张浩 等: "电梯导轨垂直度检测机器人运行机构设计", 《机器人》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110482351A (en) * | 2019-08-05 | 2019-11-22 | 南京理工大学 | One kind is with straightness of elevator guide rail detection system and method |
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| Publication number | Publication date |
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| CN106370146B (en) | 2019-03-29 |
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Granted publication date: 20190329 Termination date: 20190723 |