CN112357726A - Robot device for elevator track comprehensive detection and elevator track detection method - Google Patents
Robot device for elevator track comprehensive detection and elevator track detection method Download PDFInfo
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- CN112357726A CN112357726A CN202011328630.3A CN202011328630A CN112357726A CN 112357726 A CN112357726 A CN 112357726A CN 202011328630 A CN202011328630 A CN 202011328630A CN 112357726 A CN112357726 A CN 112357726A
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- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 230000003287 optical effect Effects 0.000 claims description 18
- 238000013519 translation Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 14
- 238000003825 pressing Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/12—Checking, lubricating, or cleaning means for ropes, cables or guides
- B66B7/1207—Checking means
- B66B7/1246—Checking means specially adapted for guides
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- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- 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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- 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
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- 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
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a robot device for elevator track comprehensive detection and an elevator track detection method, and belongs to the technical field of elevator track detection. The automatic robot device for the comprehensive detection of the elevator track comprises a laser beam emitting part, a light target platform and a terminal control device; the laser beam emitting part comprises a laser emitter which is arranged on the elevator track and emits laser beams along the vertical direction; the light target platform comprises a platform seat moving along the elevator track, a control assembly arranged on the outer end surface of the platform seat and used for controlling the platform seat to move, a light target used for receiving laser beams and a laser ranging assembly; the laser ranging component emits laser beams towards the other elevator track along the horizontal direction; the laser beam emitting part and the light target platform are arranged on the elevator track at intervals. By means of establishing the space coordinate system of the elevator track, various parameters of the elevator track are detected, and the detection precision is more accurate.
Description
Technical Field
The invention relates to a robot device for elevator track comprehensive detection and an elevator track detection method, and belongs to the technical field of elevator track detection.
Background
With the development of economy, high-rise buildings in modern society are continuously increased, and the number of car-type elevators is increased, so that great attention is paid to elevator installation and maintenance. As a guide device of an elevator, an elevator guide rail occupies a position with light weight in an elevator system, and the quality of the manufacture and installation of the guide rail directly influences whether the elevator can run safely and smoothly.
The elevator guide rails are two or more rows of vertical or inclined rigid rails arranged in an elevator shaft or between floors, so that the lift car and the counterweight can move up and down along the rigid rails, the escalator and the steps of the moving sidewalk can move obliquely or horizontally along the rigid rails, and guidance is provided for the lift car, the counterweight device or the steps. In the running process of the elevator, the verticality and the linearity of the guide rails of the elevator and the distance and the coplanarity between the two guide rails all influence the safe running of the elevator, and the detection of the parameters is necessary.
At present, the parameters of the elevator guide rail are detected by using a manual measurement method, a wire hanging method, a tape measurement method and a feeler gauge, and by using a modern technology, a machine vision system, an optical measurement system and a semi-automatic robot system. A
The problems of low efficiency, uncontrollable error, complicated data recording and the like exist depending on manual detection in the detection of the elevator guide rail, and the requirements are difficult to meet in the actual detection of the elevator guide rail; the elevator guide rail detection is carried out by adopting a machine vision system, the characteristic identification of the guide rail is mainly carried out by utilizing a laser grid projection technology, and the method can be well used in the elevator guide rail manufacturing process, but is not suitable for elevator guide rail field detection; the detection of the elevator guide rail by using the optical system and the robot system is a novel technology developed in recent years, the detection precision is high, the speed is high, and meanwhile, the detection mode also has the problems of single detection parameter, complex field operation and low automation degree.
Disclosure of Invention
The invention aims to provide a robot device for elevator track comprehensive detection and an elevator track detection method.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic robot device for the comprehensive detection of an elevator track, wherein the elevator track is a T-shaped track in the vertical direction and comprises a laser beam emitting part, a light target platform and a terminal control device; the laser beam emitting part comprises a bracket which is used for being installed on the elevator track and a laser emitter which is fixedly arranged at the outer end of the bracket and emits laser beams along the vertical direction; the light target platform comprises a platform seat moving along the elevator track, a control assembly arranged on the outer end surface of the platform seat and used for controlling the platform seat to move, a light target used for receiving laser beams and a laser ranging assembly; the laser ranging assembly emits a laser beam in a horizontal direction toward the other elevator track.
The technical scheme of the invention is further improved as follows: the end surface of the platform seat, which is installed with the elevator track, is provided with a top magnetic wheel, a pinch roller and a guide magnetic wheel; the top magnetic wheel rolls along the outer end face of the web plate of the elevator track; the pinch roller and the guide magnetic wheel are oppositely arranged on two side faces of a web plate of the elevator track and roll along the side face of the web plate.
The technical scheme of the invention is further improved as follows: the light target is arranged on the translation lifting component and is fixed on the platform base through the translation lifting component.
The technical scheme of the invention is further improved as follows: the translation lifting assembly comprises a Y-axis platform and a Z-axis platform which are perpendicular to each other, and a Y-axis lead screw driven by a Y-axis motor is arranged in the Y-axis platform; the lower end of the Z-axis platform is arranged on the Y-axis lead screw to form a lead screw pair, and a Z-axis lead screw driven by a Z-axis motor is arranged in the Z-axis platform; the optical target platform is arranged on the Z-axis screw rod to form a screw rod pair.
The technical scheme of the invention is further improved as follows: the laser beam emitting part also comprises a bracket used for being installed on the elevator track; the support is fixedly arranged on the elevator track, and the laser emitter is fixedly arranged on the support
The technical scheme of the invention is further improved as follows: one end of the platform seat is provided with an anti-collision block; the light target module is arranged at one end, close to the laser beam emitting part, of the platform base, and the anti-collision block is arranged at the front end of the advancing direction when the platform base moves.
The technical scheme of the invention is further improved as follows: the diameter of the laser beam is less than or equal to 8 mm.
A comprehensive detection method for an elevator track uses an automatic robot device for the comprehensive detection of the elevator track; the detection method is as follows,
1) installing the calibrated laser beam emitting part and the light target platform on the elevator track;
2) the laser beam emitting part emits laser beams, parameters are set on the terminal control equipment to control the movement of the light target platform, and a three-dimensional coordinate system of the elevator track is established through the three-dimensional movement of the light target in the space;
3) the optical target platform starts to move upwards from the origin of the coordinate system, and the control assembly sends a signal to control the platform base and the translation lifting assembly to move so that the optical target platform can receive the laser beam; the space coordinate of the elevator track is obtained by analyzing the spot information of the laser beam on the light target, and the space coordinate of the opposite side track is collected by the laser ranging assembly;
4) and in the moving process of the light target platform, the control assembly transmits the collected space coordinate information of the elevator track to the terminal control equipment, and meanwhile, a space model of the elevator track is established, so that the verticality, the straightness, the double-track gauge and the coplanarity parameter of the elevator track are analyzed, and the detection is completed.
Due to the adoption of the technical scheme, the invention has the following technical effects:
the invention designs a set of moving device which can move freely in the space of the elevator track, the detection mode is more convenient, and a plurality of parameters can be detected simultaneously. The light target platform moves in a full-coverage manner on the elevator track, so that data information collection for covering each position can be realized.
The invention provides a method for detecting various parameters of the elevator track by establishing the space coordinate system of the elevator track, and the detection precision is more accurate.
Compared with the existing elevator track parameter detection mode, the device described in the patent establishes a space coordinate system through the three-dimensional motion of the light target module in space, can simultaneously detect the parameters of the elevator track, such as verticality, straightness, double-track gauge, coplanarity and the like in the process of one-time motion, and is faster and more efficient compared with the existing elevator track parameter detection method.
The elevator track detection device can realize accurate detection of the elevator track through the action of the laser beam emitting part and the light target platform, meanwhile, the light target platform is provided with the laser ranging assembly, and data parameters can be obtained by irradiating laser to the other opposite elevator track, so that double-track gauge and coplanarity parameters are realized.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a platform mount drive portion of the present invention;
FIG. 3 is a schematic view of the translating lift assembly of the present invention;
the device comprises a control assembly 1, a control assembly 2, an anti-collision block 3, a light target 4, a laser ranging assembly 5, a platform base 6, a translation lifting assembly 7, a top magnetic wheel 8, a guide magnetic wheel 9, a pressing wheel 10, a support 11, a laser emitter 12, an elevator track 13, a Z-axis motor 14, a Z-axis lead screw 15, a Z-axis platform 16, a Y-axis motor 17, a Y-axis lead screw 18 and a Y-axis platform.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention provides a robot device for elevator track comprehensive detection and an elevator track detection method. The elevator track 12 is typically a T-track, with the elevator track 12 being vertically oriented. The device is installed on an elevator track and used for detecting the vertically arranged elevator track.
As shown in fig. 1, 2 and 3, the apparatus mainly includes a laser beam emitting portion, an optical target platform and a terminal control device. The laser beam emitting part is fixed to one end of the elevator track 12 for emitting a laser beam. The light target platform is mounted on elevator track 12 and moves along elevator track 12 during operation. The light target platform is mainly used for receiving the laser beam emitted by the laser beam emitting part. The laser beam emitting part and the light target platform are arranged on the elevator track 12 at intervals, and the laser beam emitting part is fixed and the light target platform is movable in the working process. The terminal control equipment is used for controlling the device. When the laser detection device is used, the laser beam emitting part and the light target platform are arranged close to each other, the light target platform is gradually far away from the laser beam emitting part in the detection process, and the laser beam emitted by the laser beam emitting part is always irradiated on the light target platform.
As shown in fig. 1, the laser beam emitting section mainly includes a laser emitter 11 for generating laser light. Generally, a laser beam emitting part is further provided with a bracket 10 for mounting on an elevator rail 12 for the convenience of mounting on the elevator rail 12. The laser emitter 11 is fixedly arranged at the outer end of the bracket 10. The support 10 is fixedly arranged on an elevator track 12, and the laser emitter 11 is fixedly arranged on the support 10. The laser transmitter 11 emits a laser beam toward the light target platform in the vertical direction.
As shown in fig. 1, the light target platform includes a platform base 5 moving along an elevator rail 12 and a control assembly 1 mounted on an outer end surface of the platform base 5. The control assembly 1 is used for driving the control platform base 5 to move, and the control platform base form a device similar to an automatic walking trolley together, and can drive other functional components to move. The terminal control device can control the movement of the platform base 5. An optical target 3 for receiving a laser beam and a laser ranging assembly 4 are also provided on the platform base 5. The light target 3 is directed in the direction in which the laser beam is emitted, downward in fig. 1. The laser distance measuring assembly 4 emits a laser beam towards the other elevator track, in particular in the horizontal direction, which laser beam emitted by the laser distance measuring assembly 4 needs to be irradiated on the other elevator track.
The platform base 5 of the detection device is mounted on the same elevator rail 12 and moves along the elevator rail 12. It is necessary to ensure that the platform support 5 does not fall off on the elevator track 12, so that the top magnetic wheel 7 and the guide magnetic wheel 8 are arranged on the end face of the platform support 5. Wherein, the top magnetic wheel 7 rolls along the outer end face of the web plate of the elevator track 12; the guiding magnetic wheels are arranged on one side of the web of the elevator track 12 and roll along the side of the web. The top magnetic wheel 7 and the guide magnetic wheel 8 have magnetic force, and can attract the platform seat 5 and the elevator rail 12. The top magnetic wheel 7 also has a driving function. A pressing wheel 9 is further arranged on the other side face of the web plate of the elevator track 12 relative to the guide magnetic wheel, and the pressing wheel 9 and the guide magnetic wheel 8 are oppositely arranged on the two side faces of the web plate of the elevator track 12 and roll along the side face of the web plate. In the actual implementation, the structure of platform seat 5, light target platform is less, and weight is lighter, adopts top magnetic wheel 7 and direction magnetic wheel 8 and elevator track's absorption, can ensure that platform seat 5 can not drop on elevator track 12. The top magnetic wheel 7, the guide magnetic wheel 8 and the pinch roller 9 are arranged in groups, and are usually provided with a plurality of groups of the roller structures for the platform base 5, and two groups of the roller structures are arranged in figure 2.
The optical target 3 of the detection device is typically fixed to the platform base by a translational lifting assembly 6. Specifically, the light target 3 is mounted on the translational lifting assembly 6, and the translational lifting assembly 6 is fixedly mounted on the end surface of the platform base 5. As shown in fig. 3, the translational lifting assembly 6 comprises a Y-axis platform 18 and a Z-axis platform 15 which are arranged perpendicular to each other, and a Y-axis lead screw 17 driven by a Y-axis motor 16 is arranged in the Y-axis platform 18; the lower end of the Z-axis platform 15 is arranged on a Y-axis screw 17 to form a screw pair, and a Z-axis screw 14 driven by a Z-axis motor 13 is arranged in the Z-axis platform 15; the optical target platform is arranged on a Z-axis lead screw 14 to form a lead screw pair. The terminal control equipment controls the translation lifting assembly 6, and the Y-axis motor 16 and the Z-axis motor 13 receive control signals of the terminal control equipment.
One end of the platform seat 5 is provided with an anti-collision block 2; the light target module is arranged at one end of the platform base 5 close to the laser beam emitting part, and the anti-collision block 2 is arranged at the front end of the advancing direction when the platform base 5 moves.
In a specific implementation, preferably, a translation and lifting assembly for mounting the light target 3 is provided on the platform base 5, and the light target 3 is mounted on the translation and lifting assembly. Light target 3 is fixed on platform seat 5 through translation lifting unit, and translation lifting unit can adjust the horizontal position and the height position of light target 3 to the laser beam that makes laser emitter 11 send can shine on light target 3 accurately, ensures to measure accurately. As shown in fig. 3, the translational lift assembly includes a Y-axis stage 18 and a Z-axis stage 15 disposed perpendicular to each other. Wherein, Y axle platform 18 is fixed on the terminal surface of platform seat 5, sets up Y axle platform 18 level and sets up the Y axle lead screw 17 by Y axle motor 16 drive inside. The lower end of the Z-axis platform 15 is installed on a Y-axis screw rod 17, the Y-axis screw rod and the Y-axis screw rod form a screw rod pair, and the rotation of the Y-axis screw rod 17 can drive the Z-axis platform 15 to move horizontally. Similarly, a Z-axis screw 14 driven by a Z-axis motor 13 is arranged in the Z-axis platform 15, the optical target platform is mounted on the Z-axis screw 14, the Z-axis screw and the optical target platform form a screw pair, and the rotation of the Z-axis screw 14 can drive the optical target platform to move up and down. The translation lifting assembly realizes the position adjustment of the light target platform.
Preferably, the detection device of the present invention further comprises an anti-collision block 2 disposed at one end of the platform base 5 for protecting the platform base 5 and the functional components on the platform base 5. The light target 3 and the anti-collision block 2 are respectively arranged at two ends of the platform base 5. As shown in fig. 1, the light target 3 is disposed at one end of the stage base 5 near the laser beam emitting portion, and the anti-collision block 2 is disposed at the front end in the advancing direction when the stage base 5 moves.
When the invention is used for measurement, the spot diameter of the laser beam is controlled to be less than or equal to 8mm preferentially.
The invention also discloses a comprehensive detection method of the elevator track, and the method uses the automatic robot device for the comprehensive detection of the elevator track. Firstly, establishing a complete space coordinate system for a space where an elevator guide rail is located by using a fixed laser beam and a movable light target, then driving a platform where the light target is located to move in the space by using an automatic control technology, and acquiring data in the moving process; the light target platform is arranged on the plane of the elevator guide rail, so that the acquired data can truly reflect various parameters of the elevator guide rail, and the detection of parameters such as verticality, straightness, gauge, coplanarity and the like of the elevator guide rail is completed after data analysis.
The specific detection method is as follows:
1) and installing the calibrated laser beam emitting part and the light target platform on the elevator track. The laser distance measuring device is characterized in that a laser beam emitting part is fixed at one end of an elevator track, a light target platform is installed on the elevator track, the laser beam emitted by the laser beam emitting part can be ensured to be irradiated on a light target of the light target platform, and the laser beam emitted by a laser distance measuring assembly can be ensured to be irradiated on another elevator track.
2) The laser beam emitting part emits laser beams, parameters are set on the terminal control equipment to control the movement of the light target platform, and a three-dimensional coordinate system of the elevator track is established through the three-dimensional movement of the light target in the space; and the terminal control equipment controls the movement of the light target platform.
3) The optical target platform starts to move upwards from the origin of the coordinate system, and the control assembly sends a signal to control the platform base and the translation lifting assembly to move so that the optical target platform can receive the laser beam; the space coordinate of the elevator track is obtained by analyzing the spot information of the laser beam on the light target, and the space coordinate of the opposite side track is collected by the laser ranging assembly;
4) and in the moving process of the light target platform, the control assembly transmits the collected space coordinate information of the elevator track to the terminal control equipment, and meanwhile, a space model of the elevator track is established, so that the verticality, the straightness, the double-track gauge and the coplanarity parameter of the elevator track are analyzed, and the detection is completed.
The invention provides a method for detecting various parameters of the elevator track by establishing the space coordinate system of the elevator track, and the detection precision is more accurate. The detection device can realize the establishment of the space coordinate system of the elevator track and ensure the precision.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. An automatic robot device for elevator track comprehensive detection, an elevator track (12) is a T-shaped track in the vertical direction, and is characterized in that: comprises a laser beam emitting part, an optical target platform and a terminal control device; the laser beam emitting part comprises a laser emitter (11) which is arranged on the elevator track (12) and emits laser beams along the vertical direction; the light target platform comprises a platform base (5) moving along an elevator track (12), a control assembly (1) which is arranged on the outer end surface of the platform base (5) and used for controlling the platform base (5) to move, a light target (3) used for receiving laser beams and a laser ranging assembly (4); the laser distance measuring assembly (4) emits a laser beam in the horizontal direction towards the other elevator track.
2. The robot apparatus for elevator track comprehensive inspection according to claim 1, characterized in that: the end surface of the platform seat (5) which is installed with the elevator track (12) is provided with a top magnetic wheel (7), a pinch roller (9) and a guide magnetic wheel (8); the top magnetic wheel (7) rolls along the outer end face of a web plate of the elevator track (12); the pressing wheel (9) and the guide magnetic wheel (8) are oppositely arranged on two side surfaces of a web plate of the elevator track (12) and roll along the side surfaces of the web plate.
3. The robot apparatus for elevator track comprehensive inspection according to claim 1, characterized in that: the light target (3) is arranged on the translation lifting component (6) and is fixed on the platform base through the translation lifting component (6).
4. The robotic device for elevator track integrity inspection as defined in claim 3, wherein: the translation lifting assembly (6) comprises a Y-axis platform (18) and a Z-axis platform (15) which are perpendicular to each other, and a Y-axis lead screw (17) driven by a Y-axis motor (16) is arranged in the Y-axis platform (18); the lower end of the Z-axis platform (15) is arranged on a Y-axis lead screw (17) to form a lead screw pair, and a Z-axis lead screw (14) driven by a Z-axis motor (13) is arranged in the Z-axis platform (15); the optical target platform is arranged on a Z-axis lead screw (14) to form a lead screw pair.
5. The robot apparatus for elevator track comprehensive inspection according to claim 1, characterized in that: the laser beam emitting part also comprises a bracket (10) used for being installed on the elevator track (12); the support (10) is fixedly arranged on the elevator track (12), and the laser emitter (11) is fixedly arranged on the support (10).
6. The robot apparatus for elevator track comprehensive inspection according to claim 1, characterized in that: an anti-collision block (2) is arranged at one end of the platform seat (5); the light target module is arranged at one end, close to the laser beam emitting part, of the platform base (5), and the anti-collision block (2) is arranged at the front end of the advancing direction when the platform base (5) moves.
7. The robot device for the comprehensive inspection of the elevator track according to any one of claims 1 to 6, characterized in that: the diameter of the laser beam is less than or equal to 8 mm.
8. A comprehensive detection method for an elevator track is characterized by comprising the following steps: use of an automatic robot device for comprehensive inspection of elevator tracks according to any of claims 1 to 6; the detection method is as follows,
1) installing the calibrated laser beam emitting part and the light target platform on the elevator track;
2) the laser beam emitting part emits laser beams, parameters are set on the terminal control equipment to control the movement of the light target platform, and a three-dimensional coordinate system of the elevator track is established through the three-dimensional movement of the light target in the space;
3) the optical target platform starts to move upwards from the origin of the coordinate system, and the control assembly sends a signal to control the platform base and the translation lifting assembly to move so that the optical target platform can receive the laser beam; the space coordinate of the elevator track is obtained by analyzing the spot information of the laser beam on the light target, and the space coordinate of the opposite side track is collected by the laser ranging assembly;
4) and in the moving process of the light target platform, the control assembly transmits the collected space coordinate information of the elevator track to the terminal control equipment, and meanwhile, a space model of the elevator track is established, so that the verticality, the straightness, the double-track gauge and the coplanarity parameter of the elevator track are analyzed, and the detection is completed.
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| CN202011328630.3A CN112357726A (en) | 2020-11-24 | 2020-11-24 | Robot device for elevator track comprehensive detection and elevator track detection method |
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| CN202011328630.3A CN112357726A (en) | 2020-11-24 | 2020-11-24 | Robot device for elevator track comprehensive detection and elevator track detection method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112985309A (en) * | 2021-02-22 | 2021-06-18 | 浙江城际特种设备检测有限公司 | Elevator guide rail vertical detection system and method thereof |
| CN114104894A (en) * | 2021-11-09 | 2022-03-01 | 青岛市特种设备检验研究院 | Multi-parameter detection method for quality of elevator guide rail |
| CN114293410A (en) * | 2021-12-03 | 2022-04-08 | 中铁第四勘察设计院集团有限公司 | High-speed magnetic suspension traffic engineering line |
| CN114858099A (en) * | 2022-03-24 | 2022-08-05 | 江苏徐工工程机械研究院有限公司 | Straightness detection device of horizontal directional drilling machine |
| CN115043289A (en) * | 2022-07-01 | 2022-09-13 | 日立电梯（中国）有限公司 | Novel elevator guide rail installation precision testing method |
| CN115507744A (en) * | 2022-08-02 | 2022-12-23 | 中国船舶重工集团公司第七一三研究所 | Marine equipment guide rail precision measurement device |
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| CN114104894A (en) * | 2021-11-09 | 2022-03-01 | 青岛市特种设备检验研究院 | Multi-parameter detection method for quality of elevator guide rail |
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