CN110482351A - One kind is with straightness of elevator guide rail detection system and method - Google Patents
One kind is with straightness of elevator guide rail detection system and method Download PDFInfo
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- CN110482351A CN110482351A CN201910718099.1A CN201910718099A CN110482351A CN 110482351 A CN110482351 A CN 110482351A CN 201910718099 A CN201910718099 A CN 201910718099A CN 110482351 A CN110482351 A CN 110482351A
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- guide rail
- carriage
- module
- straightness
- measurement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses one kind with straightness of elevator guide rail detection system and method, and system includes: that stable benchmark establishes module, Relative ranging module, relative position measurement module, data acquisition module, message processing module, power supply module.Method includes: to establish virtual gravity vertical benchmark using laser collimator, the frame of reference and carriage are established with moving coordinate system, determine that carriage with easy measurement parameter every in moving coordinate system, establishes integral position relationship transformation model using coordinate transform, it is final to obtain guide rail surface straightness.Present invention firstly provides " virtual gravity vertical benchmark ", and by the way of coordinate transform, it is merged by sensing datas such as position sensitive detector, geodimeter, inclinators, by the online accurate detection for being converted to absolute standard without benchmaring of cage guide, not only it is capable of measuring straightness of elevator guide rail situation, it can also reflect horizontal vibration situation of the elevator in actual motion, be a kind of in the effective means detected with straightness of elevator guide rail.
Description
Technical field
It is especially a kind of with straightness of elevator guide rail detection system and side the invention belongs to guide rail linearity detection field
Method.
Background technique
With the vigorous development of economy, more and more skyscrapers are rised sheer from level ground, and elevator has become indispensable now
Delivery vehicle, and guiding parts of the guide rail as elevator, straightness situation directly affect the running quality and safety of elevator
Property, therefore it is particularly important to detect straightness of elevator guide rail.Currently for the guide rail before installation, Linearity surveying means are very
It is more, and comparative maturity；But for after installation long-play with express elevator, it is continuous to be able to achieve full section guide rail linearity
The detection method of measurement is also very limited.
In the prior art, it is real that detection trolley or its simple modifications that one can move on cage guide are generallyd use
Existing, Correlative measurement method has: Chinese patent CN204778121U discloses a kind of cage guide detection device based on PSD,
Scheme specifically: Laser emission instrument is mounted on elevator pit, and PSD sensor is fixedly connected to stroke measuring device；With with electricity
The rolling bearing that the guide pass of ladder completely attaches to builds platform trolley, and placement location sensor, induction Laser emission instrument is sent out sharp
Light, optical signal are converted into the straightness situation of electric signal reaction guide rail；Rolling bearing and photoelectric encoder, which cooperate, determines trolley institute
It is corresponding with straightness result in the position of guide rail.But its shortcoming is not can avoid because of various vibration factors such as wind shake, electronic
Caused vibration of machine vibration, trolley guide line etc. is to influence caused by measurement accuracy, while it has ignored because of the surface PSD
Non-fully the introduced error of horizontal measurement influences.
Chinese patent CN207636295U discloses a kind of cage guide detection device and cage guide detection system, right
Detection trolley is improved, i.e. detection trolley does not use self-contained motor to drive, but passes through external servo motor
Shaft drive the movable axis of traction cable frame to rotate, to drive detection moving of car, avoid because of the self-contained electricity of trolley
Motivation, which generates additional vibratory, to be influenced, and measurement accuracy is improved.It is distinctly understood that the error that it solves only part influences, other factors
Do not pay attention to.
Summary of the invention
It influences and then realizes more acurrate the purpose of the present invention is to provide factors such as a kind of vibrations that can overcome measuring device
Measurement and simple and easy straightness of elevator guide rail detection system and method.
The technical solution for realizing the aim of the invention is as follows: a kind of with straightness of elevator guide rail detection system, comprising:
Stablize benchmark and establish module, for establishing virtual gravity vertical benchmark, to establish the frame of reference；
Relative ranging module arrives the distance between guide rail for measuring the module；
Relative position measurement module, for determining the location information of carriage relative virtual gravity vertical；
Data acquisition module, for acquiring the data of Relative ranging module, the measurement of relative position measurement module；
Message processing module obtains straightness and sedan-chair for being analyzed and processed to the collected data of data acquisition module
Compartment horizontal vibration situation；
Power supply module, for being above-mentioned module for power supply；
Stablize benchmark and establishes module, relative distance acquisition module and relative position determining module while the upside for being located at carriage
Or downside, and relative distance acquisition module and relative position determining module are installed on the pedestal for being fixed on carriage.
One kind is with straightness of elevator guide rail detection method, comprising the following steps:
Step 1 establishes virtual gravity vertical benchmark by the laser collimator for being set on the upside of carriage or downside, with the benchmark and
Based on position sensitive detector PSD, the frame of reference and carriage are established with moving coordinate system；
Step 2, according to the positional relationship of infrared range-measurement system and position sensitive detector PSD, determine the laser of infrared range-measurement system
Launch point A is in carriage with the position (y in moving coordinate systemA,zA)；The wherein laser emission point A and position sensor of infrared range-measurement system
Part PSD light-receiving surface is located at same level；
Step 3, in carriage in moving coordinate system, the distance between Two coordinate system origin Δ y is obtained by PSD, is passed by inclination angle
Sensor obtains the small deflection angle φ of carriage, measures its laser emission point A to its corresponding guide rail measurement point by infrared range-measurement system
The spacing y of A'j；
Step 4, according to laser emission point A in carriage with the position (y in moving coordinate systemA,zA) and the spacing yjObtain A'
Carriage with the coordinate in moving coordinate system be (yA+yj,zA)；
Step 5 is obtained each under the frame of reference with the coordinate of A' in moving coordinate system using coordinate transform according to carriage
Distance of the moment guide rail measurement point A' to virtual gravity vertical；
Step 6 handles all guide rail measurement point A' to the range data of virtual gravity vertical by message processing module, is led
Track surface straightness information.
Compared with prior art, the present invention its remarkable advantage are as follows: 1) present invention firstly provides and establish stable " virtual
Gravity vertical benchmark ", and then the frame of reference is established, the accurate measurement being able to achieve under absolute standard, and it is possible thereby to ignore measurement
Influence of the factors such as the vibration of device to measurement result；2) detection system includes obliquity sensor, the angle that can be measured using it
Amount carries out corresponding error compensation calculating, therefore can eliminate because deflection angle caused by the inclination of PSD light-receiving surface is to measurement result
It influences, keeps measurement result more accurate；3) be easily achieved by carriage with the parameters measurement on the basis of moving coordinate system, first with
On the basis of measure, then coordinate information is converted into the coordinate situation under the frame of reference, made easy to detect easy；4) it surveys
Amount device, which is integrated in, to be fixed on the pedestal in carriage, and each sensor data detected can be reflected directly in this guide rail linearity
In the case where carriage small horizontal Vibration Condition, to judge that elevator running operating condition provides a direct effective foundation.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the present invention with straightness of elevator guide rail detection system structure.
Fig. 2 is the present invention with straightness of elevator guide rail detection system functional block diagram.
Fig. 3 is relative distance acquisition module of the present invention and relative position determining module scheme of installation.
Fig. 4 is that the frame of reference of the present invention and carriage are servo-actuated co-ordinate system location relational model schematic diagram.
Specific embodiment
In conjunction with Fig. 1 to Fig. 3, the present invention is a kind of with straightness of elevator guide rail detection system, comprising:
Stablize benchmark and establish module, for establishing virtual gravity vertical benchmark, to establish the frame of reference；
Relative ranging module arrives the distance between guide rail for measuring the module；
Relative position measurement module, for determining the location information of carriage relative virtual gravity vertical；
Data acquisition module, for acquiring the data of Relative ranging module, the measurement of relative position measurement module；
Message processing module obtains straightness and sedan-chair for being analyzed and processed to the collected data of data acquisition module
Compartment horizontal vibration situation；
Power supply module, for being above-mentioned module for power supply；
Stablize benchmark and establishes module, relative distance acquisition module and relative position determining module while the upside for being located at carriage
Or downside, and relative distance acquisition module and relative position determining module are installed on the pedestal for being fixed on carriage.
Laser collimator 100 is specifically used it is further preferred that stablizing benchmark and establishing module.
It is further preferred that Relative ranging module includes infrared range-measurement system 801, it is arranged close on pedestal 700
The position of cage guide 600, the light that infrared range-measurement system 801 emits are parallel with carriage bottom surface.
It is further preferred that relative position measurement module is used for including the obliquity sensor 802 parallel with carriage bottom surface
Measure the deflection angle of carriage relative virtual gravity vertical；The light-receiving surface position sensitive detector PSD 803 parallel with carriage bottom surface is used
In the horizontal position with 100 conjunction measuring carriage relative virtual gravity vertical of laser collimator.
Further illustratively, data acquisition module specifically uses A/D capture card 300.
Illustratively, the pedestal of relative distance acquisition module and relative position determining module is installed the side such as to clamp or adsorb
Formula is fixed in carriage.
Based on the above-mentioned detection method with straightness of elevator guide rail detection system, comprising the following steps:
Step 1 establishes virtual gravity vertical benchmark by the laser collimator for being set on the upside of carriage or downside, with the benchmark and
Based on position sensitive detector PSD, the frame of reference and carriage are established with moving coordinate system；
Step 2, according to the positional relationship of infrared range-measurement system and position sensitive detector PSD, determine the laser of infrared range-measurement system
Launch point A is in carriage with the position (y in moving coordinate systemA,zA)；The wherein laser emission point A and position sensor of infrared range-measurement system
Part PSD light-receiving surface is located at same level；
Step 3, in carriage in moving coordinate system, the distance between Two coordinate system origin Δ y is obtained by PSD, is passed by inclination angle
Sensor obtains the small deflection angle φ of carriage, measures its laser emission point A to its corresponding guide rail measurement point by infrared range-measurement system
The spacing y of A'j；
Step 4, according to laser emission point A in carriage with the position (y in moving coordinate systemA,zA) and the spacing yjObtain A'
Carriage with the coordinate in moving coordinate system be (yA+yj,zA)；
Step 5 is obtained each under the frame of reference with the coordinate of A' in moving coordinate system using coordinate transform according to carriage
Distance of the moment guide rail measurement point A' to virtual gravity vertical；
Step 6 handles all guide rail measurement point A' to the range data of virtual gravity vertical by message processing module, is led
Track surface straightness information.
Further, in conjunction with Fig. 4, the frame of reference in step 1 specifically: using virtual gravity vertical as changeless z'
Direction is parallel to carriage using the intersection point at the virtual gravity vertical and PSD each moment as the origin O' of the moment frame of reference
Plane where the door and direction vertical with z' axis is as y' axis；
Carriage is with moving coordinate system specifically: the intersection point of virtual gravity vertical and PSD are as origin O when starting for measurement, parallel
In car door planar: the direction parallel with enabling direction be y-axis, the direction vertical with y-axis be z-axis.
Further, step 2 determines infrared distance measurement according to the positional relationship of infrared range-measurement system and position sensitive detector PSD
The laser emission point A of instrument is in carriage with the position (y in moving coordinate systemA,zA), specifically:
yA=yjp+yp0
In formula, yjpFor the distance of the photosensitive area laser emission point A to PSD geometric center in y-direction；yp0For in carriage
Initial position, the initial position co-ordinates of the photosensitive area PSD geometric center in y-direction；
The light-receiving surface of laser emission point A and PSD are contour, then zA=0.
Further, step 4 utilizes coordinate transform, obtains frame of reference lower guideway measurement point A' to virtual gravity vertical
Distance, specifically:
According to carriage with the coordinate of A' in moving coordinate system, coordinate (y', z') of the A' in the frame of reference is obtained are as follows:
In formula, (yO',zO') it is O' with the coordinate in moving coordinate system yOz；
Then distance of each moment guide rail measurement point A' to virtual gravity vertical under the frame of reference are as follows:
| y'|=| (yA+yj-Δy)·cosφ+zA·sinφ|。
Further, step 6 by message processing module handle all guide rail measurement point A' to virtual gravity vertical distance number
According to, guide rail surface straightness information is obtained, specifically:
Drawn by message processing module all | y ' | the curve graph constituted obtains maximum value from curve graph | y ' |maxWith most
Small value | y ' |min, then guide rail surface straightness δ is obtained are as follows:
δ=| y'|max-|y'|min。
Present invention firstly provides " virtual gravity vertical benchmark ", and by the way of coordinate transform, pass through position sensor, light
Cage guide is converted to the online of absolute standard without benchmaring by the fusion of the sensing datas such as electrical measurement distance meter, inclinator
Accurate detection, is not only capable of measuring straightness of elevator guide rail situation, moreover it is possible to reflect horizontality of the elevator in actual motion, be one
Kind is in the effective means detected with straightness of elevator guide rail.
Claims (10)
1. a kind of with straightness of elevator guide rail detection system characterized by comprising
Stablize benchmark and establish module, for establishing virtual gravity vertical benchmark, to establish the frame of reference；
Relative ranging module arrives the distance between guide rail for measuring the module；
Relative position measurement module, for determining the location information of carriage relative virtual gravity vertical；
Data acquisition module, for acquiring the data of Relative ranging module, the measurement of relative position measurement module；
Message processing module obtains straightness and carriage water for being analyzed and processed to the collected data of data acquisition module
Flat Vibration Condition；
Power supply module, for being above-mentioned module for power supply；
Stablize benchmark establish module, relative distance acquisition module and relative position determining module and meanwhile be located at carriage upside or under
Side, and relative distance acquisition module and relative position determining module are installed on the pedestal for being fixed on carriage.
2. according to claim 1 with straightness of elevator guide rail detection system, which is characterized in that the stable benchmark is built
Formwork erection block specifically uses laser collimator (100).
3. according to claim 1 with straightness of elevator guide rail detection system, which is characterized in that the relative distance is surveyed
Measuring module includes infrared range-measurement system (801), is arranged on pedestal (700) close to the position of cage guide (600), infrared distance measurement
The light of instrument (801) transmitting is parallel with carriage bottom surface.
4. according to claim 1 with straightness of elevator guide rail detection system, which is characterized in that the relative position is surveyed
Module is measured, including the obliquity sensor (802) parallel with carriage bottom surface, for measuring the deflection angle of carriage relative virtual gravity vertical
Degree；The light-receiving surface position sensitive detector PSD (803) parallel with carriage bottom surface is used for and 100 conjunction measuring carriage of laser collimator
The horizontal position of relative virtual gravity vertical.
5. according to claim 1 with straightness of elevator guide rail detection system, which is characterized in that the data acquisition module
Block specifically uses A/D capture card (300).
6. based on described in claim 1 to 5 any one in the detection method with straightness of elevator guide rail detection system, it is special
Sign is, comprising the following steps:
Step 1 establishes virtual gravity vertical benchmark by the laser collimator for being set to carriage upside or downside, with the benchmark and position
Based on Sensitive Apparatus PSD, the frame of reference and carriage are established with moving coordinate system；
Step 2, according to the positional relationship of infrared range-measurement system and position sensitive detector PSD, determine the Laser emission of infrared range-measurement system
Point A is in carriage with the position (y in moving coordinate systemA,zA)；The wherein laser emission point A and position sensitive detector of infrared range-measurement system
PSD light-receiving surface is located at same level；
Step 3, in carriage in moving coordinate system, the distance between Two coordinate system origin Δ y is obtained by PSD, by obliquity sensor
The small deflection angle φ for obtaining carriage, measures its laser emission point A to its corresponding guide rail measurement point A''s by infrared range-measurement system
Spacing yj；
Step 4, according to laser emission point A in carriage with the position (y in moving coordinate systemA,zA) and the spacing yjA' is obtained in sedan-chair
Compartment is (y with the coordinate in moving coordinate systemA+yj,zA)；
Step 5, according to carriage with the coordinate of A' in moving coordinate system, using coordinate transform, obtain each moment under the frame of reference
Distance of the guide rail measurement point A' to virtual gravity vertical；
Step 6 is handled all guide rail measurement point A' by message processing module to the range data of virtual gravity vertical, obtains guide rail meter
Face straightness information.
7. according to claim 6 with straightness of elevator guide rail detection method, which is characterized in that benchmark described in step 1
Coordinate system specifically: using virtual gravity vertical as the changeless direction z', with the friendship of the virtual gravity vertical and PSD each moment
Origin O' of the point as the moment frame of reference is parallel to car door place plane and the direction vertical with z' axis as y'
Axis；
Carriage is with moving coordinate system specifically: the intersection point of virtual gravity vertical and PSD are being parallel to sedan-chair as origin O when measurement beginning
Compartment door institute planar: the direction parallel with enabling direction be y-axis, the direction vertical with y-axis be z-axis.
8. according to claim 6 with straightness of elevator guide rail detection method, which is characterized in that basis described in step 2
The positional relationship of infrared range-measurement system and position sensitive detector PSD determines the laser emission point A of infrared range-measurement system in the servo-actuated seat of carriage
Position (y in mark systemA,zA), specifically:
yA=yjp+yp0
In formula, yjpFor the distance of the photosensitive area laser emission point A to PSD geometric center in y-direction；yp0For in the initial bit of carriage
Set place, the initial position co-ordinates of the photosensitive area PSD geometric center in y-direction；
The light-receiving surface of laser emission point A and PSD are contour, then zA=0.
9. according to claim 6 with straightness of elevator guide rail detection method, which is characterized in that utilized described in step 5
Coordinate transform, obtain the frame of reference under each moment guide rail measurement point A' to virtual gravity vertical distance, specifically:
According to carriage with the coordinate of A' in moving coordinate system, coordinate (y', z') of the A' in the frame of reference is obtained are as follows:
In formula, (yO',zO') it is O' with moving coordinate system yOzIn coordinate；
Then distance of each moment guide rail measurement point A' to virtual gravity vertical under the frame of reference are as follows:
| y'|=| (yA+yj-Δy)·cosφ+zA·sinφ|。
10. the detection method according to claim 6 with straightness of elevator guide rail, which is characterized in that described in step 6 by
Message processing module handles all guide rail measurement point A' to the range data of virtual gravity vertical, obtains guide rail surface straightness letter
Breath, specifically:
Drawn by message processing module all | y ' | the curve graph constituted obtains maximum value from curve graph | y ' |maxWith minimum value
|y'|min, then guide rail surface straightness δ is obtained are as follows:
δ=| y'|max-|y'|min。
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| CN111998775A (en) * | 2020-08-24 | 2020-11-27 | 中国航空工业集团公司北京长城计量测试技术研究所 | Device for high-precision real-time measurement of moving sliding table posture |
| CN113385554A (en) * | 2021-08-18 | 2021-09-14 | 马拉兹(江苏)电梯导轨有限公司 | Elevator guide rail bending degree evaluation method, elevator guide rail straightening method and system |
| CN113587856A (en) * | 2020-04-30 | 2021-11-02 | 南京理工大学 | Error compensation method for straightness of elevator guide rail |
| CN113772513A (en) * | 2021-10-15 | 2021-12-10 | 广州塞维拉电梯轨道系统有限公司 | Elevator guide rail detection method and system |
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