CN114705134A - Elevator guide rail hangs down straightness and depth of parallelism automatic checkout device - Google Patents
Elevator guide rail hangs down straightness and depth of parallelism automatic checkout device Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
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Abstract
The invention provides an automatic detection device for perpendicularity and parallelism of an elevator guide rail, which is characterized in that an automatic detection robot carrying a camera module, a laser target, a laser ranging sensor and an encoder is arranged on the guide rail, a laser automatic leveling plumbing gauge is arranged below the elevator guide rail and emits vertical laser upwards, the laser ranging gauge emits laser vertical to the guide rail, the laser is focused by a thin lens and then respectively irradiates the corresponding laser target, a laser spot image is obtained by the camera module, the central coordinate of a laser spot is obtained through image processing, the central coordinate of the spot reflects deviation information of the perpendicularity and the parallelism of a side plane of the guide rail, corresponding height information and track gauge information are obtained according to values of the encoder and the laser ranging sensor, the automatic detection robot automatically completes the whole detection process along the elevator guide rail, and detection information is sent to the upper computer through the wireless transmission module.
Description
Technical Field
The invention relates to the technical field of elevator detection, in particular to a device for detecting the perpendicularity and the parallelism of an elevator guide rail.
Background
The elevator guide rail is the guide part that elevator car moved, and the good or bad direct influence of elevator guide rail installation quality whether the elevator can be safe steady operation, and elevator guide rail working face divide into top surface and side, and the straightness that hangs down divide into the top surface and hangs down straightness and the side straightness that hangs down. The verticality and the side parallelism of the guide rail are key indexes of the installation quality of the guide rail, and the comfort and the safety of the elevator operation are directly influenced. But the detection of the perpendicularity and the parallelism of the elevator guide rail is always a difficult problem.
The traditional detection method relies on manual work to detect each point to be detected in sequence, and the perpendicularity measurement mainly comprises the following two methods:
(1) utilize the plumb bob method to measure the guide rail straightness that hangs down, adsorb the magnetic force plumb bob on the guide rail surface, guide rail top surface and side need place respectively and measure, and the plumb line keeps perpendicular static state under gravity and damping action, utilizes the steel plate chi to measure the degree of deviation of guide rail working face and plumb line every a section distance to obtain the straightness deviation that hangs down of guide rail. Because magnetic plumb length is limited, this kind of measurement mode need replace magnetic plumb at an interval distance again, it is long to lead to whole measuring process to use, it leads to the measuring reference point to change to replace magnetic plumb at every turn, can bring the error for the whole measurement of guide rail, and the slight rocking of plumb can bring the error for measuring result in the measuring process, in addition, whole measuring process needs survey crew to be in the elevator well, lean on people's eye to carry out the reading, sultry moist environment and long-time measurement lead to the human error to be difficult to avoid.
(2) Along with the popularization of laser technology, the method for measuring the perpendicularity of the guide rail by matching the laser plummet with the digital display target is also gradually popularized. Firstly, the laser plummet is fixed on the guide rail, the laser plummet emits vertical laser by the adjusting knob, a detector stands on the top of the elevator car, the digital display target is sequentially installed at each detection position, the center of the digital display target is adjusted to coincide with the center of the laser, deviation information of detection points can be obtained, and the digital display target can simultaneously read the deviation information of the perpendicularity of the top surface and the side surface. The plumb bob laser range of laser plummet can reach hectometer, need not to dismantle the plummet in the measurement process repeatedly and just can accomplish the detection, but still need dismantle repeatedly between each measuring point and install the digital display mark target, measuring time is long to need the central point of artificial adjustment digital display mark target to put, people's eye observation mark target center is whether with the coincidence of laser facula center. The long-time observation of the laser light spots can cause damage to eyes, and the deviation is caused in the judgment of the central position of the light spots, so that the deviation is caused in the measurement result of the verticality of the guide rail.
Meanwhile, the diameter of a laser spot can be diffused along with the increase of the detection distance, the larger the laser spot is, the smaller the energy density of the laser spot is, the lighter the color is, the lighter the spot formed by irradiating the laser spot on the digital display target is, the more fuzzy the boundary of the spot is, and in addition, the speckle can be generated by irradiating the laser spot on the target, so that the larger the diameter of the laser spot is, the more fuzzy the boundary of the spot is, the more serious the influence of the speckle is, the difficulty in aligning the center of the spot with the center of the digital display target is caused, and the deviation of the detection data is caused.
For the measurement of the parallelism of the guide rails, the traditional measurement method is to use a measuring tape or a track calibration ruler to match with a template frame for measurement. The distance between the top surfaces of the two guide rails, namely the track gauge between the guide rails, is measured by using the tape measure, sagging plumb reference lines are parallelly placed on the template frame, and the deviation between the side planes of the two guide rails and a plumb line is respectively measured, so that the deviation of the parallelism of the side planes of the two guide rails is obtained.
The two measurement methods need to be manually involved in measurement, workers need to perform point-by-point measurement in an elevator shaft in the whole measurement process, the whole measurement process is time-consuming and labor-consuming, an elevator car or a scaffold is relied on, detection data needs to be judged and read by human eyes, great human errors exist, and great potential safety hazards exist.
Disclosure of Invention
In order to solve the prior technical problems in the aspects of measuring the perpendicularity and the parallelism of the elevator guide rail, the invention provides an automatic detection device for the perpendicularity and the parallelism of the elevator guide rail, and provides a hardware basis for automatic and accurate detection.
The invention adopts the following technical scheme: the utility model provides an elevator guide rail straightness and depth of parallelism automatic checkout device that hangs down, includes: the system comprises a first automatic detection robot, a second automatic detection robot, a first laser plummet and a first laser plummet;
the first automatic detection robot and the second automatic detection robot are provided with an image acquisition module, a laser ranging module, a first position detection module, a second position detection module, a first control module, a second control module, a first motion module, a first wireless transmission module and a second wireless transmission module;
the first automatic detection robot and the second automatic detection robot are symmetrically arranged on a first elevator guide rail and a second elevator guide rail which are arranged in parallel at intervals;
the first laser plummet and the second laser plummet are respectively arranged below the first elevator guide rail and the second elevator guide rail and used for emitting plumb bob laser upwards;
the image acquisition module is divided into a first perpendicularity detection image acquisition module, a second perpendicularity detection image acquisition module and a parallelism detection image acquisition module; the first perpendicularity detection image acquisition module and the second perpendicularity detection image acquisition module are respectively arranged perpendicular to the first automatic detection robot and the second automatic detection robot and are used for acquiring plumb laser spot images emitted by the first laser plummet and the second laser plummet; the parallelism detection image acquisition module is arranged in parallel to the first automatic detection robot and acquires a laser spot image which is emitted by the laser ranging module and is vertical to the top surface of the guide rail;
the laser ranging module is perpendicular to the second automatic detection robot and is used for measuring the track gauge information between the first elevator guide rail and the second elevator guide rail; the first position detection module and the second position detection module are respectively used for detecting the real-time position information of the first automatic detection robot and the second automatic detection robot; the first control module and the second control module are respectively used for controlling the first automatic detection robot and the second automatic detection robot; the first motion module and the second motion module are respectively used for controlling the first automatic detection robot and the second automatic detection robot to reciprocate along the guide rail; the first wireless transmission module and the second wireless transmission module send the detected guide rail information to the upper computer.
In a preferred embodiment: the first perpendicularity detection image acquisition module comprises: the laser system comprises a first camera, a second camera, a first laser target, a second laser target and a first thin lens; the second camera, the second laser target and the first thin lens are perpendicular to the first automatic detection robot and are installed, the second laser target is arranged below the second camera, the first thin lens is arranged below the second laser target and located at the focus of the first thin lens, the second laser target and the second camera are aligned in the center, the first camera and the first laser target are installed in parallel with the first automatic detection robot, and the first laser target is installed in front of the first camera.
In a preferred embodiment: the second perpendicularity detection image acquisition module comprises: the third camera, the third laser target and the second thin lens; the third laser target, the second thin lens and the third camera are perpendicular to the second automatic detection robot, the third laser target is arranged below the third camera, the second thin lens is arranged below the third laser target, and the third laser target is positioned at the focus of the second thin lens and is aligned with the third laser target and the third camera.
In a preferred embodiment: the first laser plummet, the second laser target, the first thin lens and the second camera are linearly arranged.
In a preferred embodiment: the second laser plummet, the third laser target, the second thin lens and the third camera are linearly arranged.
In a preferred embodiment: the second laser target is positioned between the first laser plummet and the second camera; the third laser target is positioned between the second laser plummet and the third camera;
the laser that first laser plummet appearance, second laser plummet appearance produced shines respectively and throws on second laser mark target, third laser mark target after focusing on first thin lens, the thin lens of second, and the laser that laser range finding sensor launched shines on first laser mark target, and first camera, second camera, third camera gather the laser spot image on first laser mark target, second laser mark target, third laser mark target respectively.
In a preferred embodiment: the first position detection module and the second position detection module are photoelectric encoders.
In a preferred embodiment: the first motion module and the second motion module comprise direct current motors and speed reducers, and form a closed-loop control system together with the first position detection module and the second position detection module.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the invention, the automatic detection robot is used for automatically measuring the perpendicularity and the side parallelism of the elevator guide rail, no human labor is required in the whole measuring process, the perpendicularity deviation, the parallelism deviation and the gauge information of the guide rail can be simultaneously and automatically measured, the phenomena of long detection period and manpower waste of the traditional detection mode are overcome, the measurement time is greatly reduced, the detection efficiency is improved, and the detection functions are rich.
(2) According to the invention, the perpendicularity and parallelism deviation of the guide rail is obtained by adopting a laser spot image identification method, the ARM single chip microcomputer drives the camera module to collect a laser spot image, the laser spot image is preprocessed, the central coordinate of the laser spot is obtained by calculating the central coordinate of the laser spot, and the track gauge of the guide rail is obtained by utilizing the laser ranging module. The method can overcome human errors caused by human eye reading, the detection precision reaches a pixel level, visual fatigue is avoided, and the result is more accurate.
(3) According to the invention, the direct current motor is controlled in a PID closed loop manner, so that the two automatic detection robots are ensured to keep synchronous operation, the automation degree of the whole detection process is high, the continuous disassembly and assembly and manual participation of detection equipment are avoided, the detection steps can be automatically executed, the detection speed is high, the accuracy is high, and the detection efficiency and the detection safety are greatly improved.
(4) The laser spot is focused by the lens and irradiates the laser target, the laser spot is reduced after the laser passes through the lens, and the laser spot can be prevented from being enlarged due to the overlong detection distance, so that the measurement error caused by the fact that the laser spot coordinate cannot be accurately obtained is avoided.
Drawings
FIG. 1 is a schematic diagram of an automatic detection method for perpendicularity and parallelism of an elevator guide rail;
FIG. 2 is a left guide rail perpendicularity detection light spot center coordinate diagram;
FIG. 3 is a light spot center coordinate diagram for right guide rail perpendicularity detection;
FIG. 4 is a graph of the center coordinates of light spots detected by the parallelism of planes on the two guide rails;
FIG. 5 is a ray diagram of laser light through a thin lens;
in the figure: 1-a first automatic detection robot, 2-a second automatic detection robot, 3-a first camera, 5-a second camera, 8-a third camera, 4-a first laser target, 6-a second laser target, 9-a third laser target, 7-a laser ranging sensor, 10-a first thin lens, 11-a second thin lens, 12-a first motion module, 13-a second motion module, 14-a first control module, 15-a second control module, 16-a first wireless transmission module, 17-a second wireless transmission module, 18-a first encoder, 19-a second encoder, 20-a parallelism detection image acquisition module, 21-a first perpendicularity detection image acquisition module, 22-a second perpendicularity detection image acquisition module, 23-first elevator guide rail, 24-second elevator guide rail, 25-first laser plummet, 26-second laser plummet.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, which are merely for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, 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 should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like, are used in a broad sense, and for example, "connected" may be a wall-mounted connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, and those skilled in the art will understand the specific meaning of the terms in the present invention specifically.
Referring to fig. 1-4, the present embodiment provides an automatic detecting device for perpendicularity and parallelism of elevator guide rails, comprising: a first automatic inspection robot 1, a second automatic inspection robot 2, a first laser plummet 25, and a first laser plummet 26;
the first automatic detection robot 1 and the second automatic detection robot 2 are loaded with an image acquisition module, a laser ranging module 7, a first position detection module 18, a second position detection module 19, a first control module 14, a second control module 15, a first motion module 12, a first motion module 13, a first wireless transmission module 16 and a second wireless transmission module 17;
the first automatic detection robot 1 and the second automatic detection robot 2 are symmetrically arranged on a first elevator guide rail 23 and a second elevator guide rail 24 which are arranged in parallel at intervals;
the first laser plummet 25 and the second laser plummet 26 are respectively arranged below the first elevator guide rail 23 and the second elevator guide rail 24 and used for emitting plumb bob laser upwards;
the image acquisition module is divided into a first perpendicularity detection image acquisition module 21, a second perpendicularity detection image acquisition module 22 and a parallelism detection image acquisition module 20; the first verticality detection image acquisition module 21 and the second verticality detection image acquisition module 22 are respectively installed in a way of being perpendicular to the first automatic detection robot 1 and the second automatic detection robot 2 and are used for acquiring plumb laser spot images emitted by the first laser plummet 25 and the second laser plummet 26; the parallelism detection image acquisition module 20 is installed in parallel to the first automatic detection robot 1 and acquires a laser spot image which is emitted by the laser ranging module 7 and is vertical to the top surface of the guide rail;
the laser ranging module 7 is perpendicular to the second automatic detection robot 2 and is used for measuring the track gauge information between the first elevator guide rail 23 and the second elevator guide rail 24; the first position detection module 18 and the second position detection module 19 are respectively used for detecting real-time position information of the first automatic detection robot 1 and the second automatic detection robot 2; the first control module 14 and the second control module 15 are respectively used for controlling the first automatic detection robot 1 and the second automatic detection robot 2; the first motion module 12 and the second motion module 13 are respectively used for controlling the first automatic detection robot 1 and the second automatic detection robot 2 to reciprocate along the guide rail; the first wireless transmission module 16 and the second wireless transmission module 17 send the detected guide rail information to the upper computer.
The first perpendicularity detection image acquisition module 21 includes: a first camera 3, a second camera 5, a first laser target 4, a second laser target 6 and a first thin lens 10; the second camera 5, the second laser target 6 and the first thin lens 10 are perpendicular to the first automatic detection robot 1 and installed, the second laser target 6 is arranged below the second camera 5, the first thin lens 10 is arranged below the second laser target 6, the second laser target 6 is located at the focus of the first thin lens 10 and is aligned with the centers of the second laser target 6 and the second camera 5, the first camera 3 and the first laser target 4 are installed in parallel to the first automatic detection robot 1, and the first laser target 4 is installed in front of the first camera 3.
The second perpendicularity detection image capturing module 22 includes: a third camera 8, a third laser target 9, a second thin lens 11; the third laser target 9, the second thin lens 11 and the third camera 8 are perpendicular to the second automatic detection robot 2, the third laser target 9 is below the third camera 8, the second thin lens 11 is below the third laser target 9, the third laser target 9 is located at the focus of the second thin lens 11, and the third laser target 9 and the third camera 8 are aligned in the center.
After the above setting, the first laser plummet 25, the second laser target 6, the first thin lens 10, and the second camera 5 are linearly arranged. The second laser plummet 26, the third laser target 9, the second thin lens 11 and the third camera 8 are linearly arranged. The second laser target 6 is positioned between the first laser plummet 25 and the second camera 5; the third laser target 9 is located between the second laser plummet 26 and the third camera 8.
In this way, the laser beams generated by the first laser plummet 25 and the second laser plummet 26 irradiate on the first thin lens 10 and the second thin lens 11 respectively, are focused and then are projected on the second laser target 6 and the third laser target 9, the laser beams emitted by the laser ranging sensor 7 irradiate on the first laser target 4, and the first camera 3, the second camera 5 and the third camera 8 respectively collect laser spot images on the first laser target 4, the second laser target 6 and the third laser target 9.
In this embodiment, the first position detection module 18 and the second position detection module 19 are photoelectric encoders. The first motion module 12 and the second motion module 13 comprise a direct current motor and a speed reducer, and form a closed-loop control system together with the first position detection module 18 and the second position detection module 19.
When in use, firstly, the laser spot image is collected and processed: when the first automatic detection robot 1 and the second automatic detection robot 2 reach the position to be detected, the first perpendicularity detection image acquisition module 21, the second perpendicularity detection image acquisition module 22 and the parallelism detection image acquisition module 20 respectively acquire laser spot images of the first laser plummet 25, the second laser plummet 26 and the laser ranging module 7 irradiated on the first laser target 4, the second laser target 6 and the third laser target 9. In order to obtain accurate barycentric coordinates of laser spots, a laser spot image needs to be processed, the laser spot image is preprocessed firstly, the spot image is grayed, the most appropriate threshold value is found by using a threshold value iteration method according to the obtained grayed data, the spot image is binarized according to the threshold value, an obvious laser spot image is separated, the central coordinates of the laser spots are obtained by using Hough transformation, and the change of the central coordinates of the laser spots represents the verticality and side parallelism deviation of a guide rail detection point.
Specifically, the verticality and the parallelism deviation of the guide rail are calculated by adopting the following method: the laser spot images are shown in FIGS. 2, 3 and 4, the laser beam passing through the thin lens is shown in FIG. 5, and the focal point F coordinate (X)0,Y0)。
1) The collected reference point information is used as the first zero point of the detection of the perpendicularity and the parallelism of the guide rail, as shown in fig. 2 and 3, the central coordinate of the detection light spot of the perpendicularity of the first zero point is AL(XL0ver，YL0ver) and AR(XR0ver， YR0ver), as shown in fig. 3, the center coordinate of the parallelism detection spot is (X)0para，Y0para), gauge L0. After the first zero point detection data is obtained, the closed-loop control system is utilized to control the two automatic detection robots to reach the next detection point position as a first point, as shown in fig. 2 and 3, the coordinates of the perpendicularity detection light spot centers of the first points of the left and right guide rails are obtained through processing and are respectively BL(XL1ver，YL1ver) and BR(XR1ver，YR1ver), as shown in fig. 3, the center coordinate of the parallelism detection spot is (X)1para，Y1para), track gauge L1。
The light path diagram of the laser refracted to the laser target by the thin lens is shown in fig. 5, and then:
spot center a at the second zero point on left guide rail 24LDeviation from focal point F in the direction of top surface is S0Lx＝ XL0ver-X0，
Deviation in the lateral direction is S0Ly＝YL0ver-Y0。
The top surface of the left guide rail 24 at the zero point has an inclination angle with the vertical line of
The side surface has an inclination angle with the vertical line of
Light spot center A at the second zero point on the right guide rail 23RDeviation from focal point coordinate in top surface direction is S0Rx＝ XR0ver-X0，
Deviation in the lateral direction is S0Ry＝YR0ver-Y0。
The top surface of the right guide rail 23 at the zero point has an inclination angle with the vertical line of
The side surface has an inclination angle with the vertical line of
And if the zero point is the reference point of the guide rail detection, then:
spot center B at the first point on left rail 24LDeviation from focus in top surface direction is S1Lx＝ XL1ver-X0，
Deviation in the lateral direction is S1Ly＝YL1ver-Y0。
The top surface of the left guide rail 24 at a first point is inclined to the vertical
The inclination angle of the side surface and the vertical line satisfies
The deviation of the spot center coordinates and the focus coordinates at the first point on the right guide rail 23 in the top surface direction is S1Rx＝XR1ver-X0，
Deviation in the lateral direction is S1Ry＝YR1ver-Y0。
The top surface of the right guide rail 23 at the first point has an inclination angle with the vertical line of
The side surface has an inclination angle with the vertical line of
The distance D between the first detection point and the zero detection point is obtained by the encoders 18 and 19,
the first point of the left guide rail 24 has a top surface verticality deviation of
The deviation of the side surface verticality is
The verticality deviation of the top surface of the first point of the right guide rail 23 is
Deviation of side perpendicularity of
The deviation of the parallelism of the first point side surfaces of the two guide rails is DeltaX1para＝X1para-X0para。
The track distance of the first point of the two guide rails is delta L1＝(L0+ΔXL1ver+ΔXR1ver+L1)/2。
And then the automatic detection robot automatically runs to the next detection point.
By analogy, the detection point of any position on the guide rail is obtained
The perpendicularity deviation of the top surface of the left guide rail is
The deviation of the side surface verticality is
The perpendicularity deviation of the top surface of the right guide rail is
The deviation of the side surface verticality is
The deviation of the parallelism of the two guide rails is delta Xnpara＝Xnpara-X0para。
The track gauge of the two guide rail detection points is delta Ln＝(L0+ΔXLnver+ΔXn1ver+Ln)/2。
And then the track gauges and corresponding height information of the two guide rails are obtained according to the laser ranging module 7, the first position detection module 18 and the second position detection module 19.
After the measurement of one position is finished, the wireless transmission modules 16 and 17 are used for sending data to an upper computer and storing the data into a database, and then the automatic detection trolley automatically runs to the next point to be measured until the whole measurement process is finished.
The above description is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any person skilled in the art can make insubstantial changes to the present invention within the technical scope of the present invention, and all actions infringing the protection scope of the present invention.
Claims (8)
1. The utility model provides an elevator guide rail hangs down straightness and depth of parallelism automatic checkout device which characterized in that includes: the system comprises a first automatic detection robot (1), a second automatic detection robot (2), a first laser plummet (25) and a first laser plummet (26);
the first automatic detection robot (1) and the second automatic detection robot (2) are provided with an image acquisition module, a laser ranging module (7), a first position detection module (18), a second position detection module (19), a first control module (14), a second control module (15), a first motion module (12), a first motion module (13), a first wireless transmission module (16) and a second wireless transmission module (17);
the first automatic detection robot (1) and the second automatic detection robot (2) are symmetrically arranged on a first elevator guide rail (23) and a second elevator guide rail (24) which are arranged in parallel at intervals;
the first laser plummet (25) and the second laser plummet (26) are respectively arranged below the first elevator guide rail (23) and the second elevator guide rail (24) and used for emitting plumb bob laser upwards;
the image acquisition module is divided into a first perpendicularity detection image acquisition module (21), a second perpendicularity detection image acquisition module (22) and a parallelism detection image acquisition module (20); the first perpendicularity detection image acquisition module (21) and the second perpendicularity detection image acquisition module (22) are respectively arranged perpendicular to the first automatic detection robot (1) and the second automatic detection robot (2) and are used for acquiring plumb bob laser spot images emitted by the first laser plummet (25) and the second laser plummet (26); the parallelism detection image acquisition module (20) is arranged in parallel to the first automatic detection robot (1) and acquires a laser spot image which is emitted by the laser ranging module (7) and is vertical to the top surface of the guide rail;
the laser ranging module (7) is perpendicular to the second automatic detection robot (2) and is used for measuring the track gauge information between the first elevator guide rail (23) and the second elevator guide rail (24); the first position detection module (18) and the second position detection module (19) are respectively used for detecting real-time position information of the first automatic detection robot (1) and the second automatic detection robot (2); the first control module (14) and the second control module (15) are respectively used for controlling the first automatic detection robot (1) and the second automatic detection robot (2); the first motion module (12) and the second motion module (13) are respectively used for controlling the first automatic detection robot (1) and the second automatic detection robot (2) to reciprocate along the guide rail; the first wireless transmission module (16) and the second wireless transmission module (17) send the detected guide rail information to the upper computer.
2. The automatic detection device for the perpendicularity and the parallelism of the elevator guide rail according to claim 1, characterized in that: the first verticality detection image acquisition module (21) comprises: the laser system comprises a first camera (3), a second camera (5), a first laser target (4), a second laser target (6) and a first thin lens (10); the second camera (5), the second laser target (6) and the first thin lens (10) are perpendicular to the first automatic detection robot (1) and installed, the second laser target (6) is arranged below the second camera (5), the first thin lens (10) is arranged below the second laser target (6) and the second laser target (6) is located at the focus of the first thin lens (10) and is aligned with the centers of the second laser target (6) and the second camera (5), the first camera (3) and the first laser target (4) are installed in parallel to the first automatic detection robot (1), and the first laser target (4) is installed in front of the first camera (3).
3. The automatic detection device for the verticality and the parallelism of the elevator guide rail according to claim 2, characterized in that: the second perpendicularity detection image acquisition module (22) includes: a third camera (8), a third laser target (9) and a second thin lens (11); the third laser target (9), the second thin lens (11) and the third camera (8) are perpendicular to the second automatic detection robot (2), the third laser target (9) is arranged below the third camera (8), the second thin lens (11) is arranged below the third laser target (9), the third laser target (9) is located at the focus of the second thin lens (11), and the third laser target (9) and the third camera (8) are aligned in the center.
4. The automatic detection device for the perpendicularity and the parallelism of the elevator guide rail according to claim 3, characterized in that: the laser plummet comprises a first laser plummet (25), a second laser target (6), a first thin lens (10) and a second camera (5), wherein the first laser plummet, the second laser target, the first thin lens and the second camera are linearly arranged.
5. The automatic detection device for the perpendicularity and the parallelism of the elevator guide rail according to claim 4, characterized in that: the second laser plummet (26), the third laser target (9), the second thin lens (11) and the third camera (8) are linearly arranged.
6. The automatic detection device for the perpendicularity and the parallelism of the elevator guide rail according to claim 5, characterized in that: the second laser target (6) is positioned between the first laser plummet (25) and the second camera (5); the third laser target (9) is positioned between the second laser plummet (26) and the third camera (8);
the laser beam generated by the first laser plummet (25) and the second laser plummet (26) irradiates on the first thin lens (10) and the second thin lens (11) respectively and is focused and then projected on the second laser target (6) and the third laser target (9), the laser beam emitted by the laser ranging sensor (7) irradiates on the first laser target (4), and the first camera (3), the second camera (5) and the third camera (8) respectively collect laser spot images on the first laser target (4), the second laser target (6) and the third laser target (9).
7. The automatic detection device for the perpendicularity and the parallelism of the elevator guide rail according to claim 6, characterized in that: the first position detection module (18) and the second position detection module (19) are photoelectric encoders.
8. The automatic detection device for the perpendicularity and the parallelism of the elevator guide rail according to claim 7, characterized in that: the first motion module (12) and the second motion module (13) comprise direct current motors and speed reducers, and form a closed-loop control system together with the first position detection module (18) and the second position detection module (19).
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