CN114705134B - Elevator guide rail perpendicularity and parallelism automatic detection device - Google Patents
Elevator guide rail perpendicularity and parallelism automatic detection device Download PDFInfo
- Publication number
- CN114705134B CN114705134B CN202210138938.4A CN202210138938A CN114705134B CN 114705134 B CN114705134 B CN 114705134B CN 202210138938 A CN202210138938 A CN 202210138938A CN 114705134 B CN114705134 B CN 114705134B
- Authority
- CN
- China
- Prior art keywords
- laser
- guide rail
- module
- detection
- automatic detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 185
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 22
- 230000003760 hair shine Effects 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 208000003464 asthenopia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
Abstract
The invention provides an automatic detection device for the verticality and the parallelism of an elevator guide rail, 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 plumb gauge is arranged below the elevator guide rail, vertical laser is emitted upwards, the laser rangefinder emits laser vertical to the guide rail, the laser is focused by a thin lens and then irradiates the corresponding laser target respectively, a laser spot image is obtained by the camera module, the central coordinate of the laser spot is obtained by image processing, the central coordinate of the spot reflects deviation information of the verticality and the parallelism of a side plane of the guide rail, corresponding height information and track gauge information are obtained according to the values of the encoder and the laser ranging sensor, and the automatic detection robot automatically completes the whole detection process along the elevator guide rail, and sends detection information to an upper computer through a wireless transmission module.
Description
Technical Field
The invention relates to the technical field of elevator detection, in particular to a device for detecting verticality and parallelism of an elevator guide rail.
Background
The elevator guide rail is a guide part for elevator car operation, the quality of elevator guide rail installation quality directly influences whether the elevator can safely and stably operate, the elevator guide rail working surface is divided into a top surface and a side surface, and the verticality is divided into a top surface verticality and a side surface verticality. The perpendicularity 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 operation of the elevator are directly affected. But detection of the perpendicularity and parallelism of the elevator guide rails is always a problem.
The traditional detection method relies on manual work to detect each detection point in turn, and the verticality measurement mainly comprises the following two methods:
(1) The perpendicularity of the guide rail is measured by using a plumb method, a magnetic plumb is adsorbed on the surface of the guide rail, the top surface and the side surface of the guide rail are required to be placed and measured respectively, the plumb line is kept in a vertical static state under the action of gravity and damping, and the deviation degree of the working surface of the guide rail and the plumb line is measured by using a steel plate ruler at intervals of a distance, so that the perpendicularity deviation of the guide rail is obtained. Because the length of the magnetic plumb is limited, the magnetic plumb needs to be replaced every a section of distance in the measurement mode, so that the whole measurement process is long, the reference point for measurement changes due to the fact that the magnetic plumb is replaced every time, errors can be brought to the whole measurement of the guide rail, errors can be brought to the measurement result due to slight shaking of the plumb in the measurement process, in addition, the whole measurement process needs to be carried out in an elevator shaft by measuring staff, reading is carried out by human eyes, and human errors are difficult to avoid due to the sultry and moist environment and long-time measurement.
(2) Along with the popularization of laser technology, a method for measuring the perpendicularity of a guide rail by matching a laser plumb gauge with a digital display target is also gradually popularized. The laser plumb aligner is fixed on a guide rail, an adjusting knob enables the laser plumb aligner to emit vertical laser, a detector stands at the top of an elevator car, a 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 a detection point can be obtained, and the digital display target can read the deviation information of the verticality of the top surface and the side surface simultaneously. Plumb laser range of laser plummet appearance can reach hundred meters, need not to dismantle the appearance of hanging down repeatedly in the measurement process and just can accomplish the detection, but still need dismantle repeatedly between each measuring point and install the digital display target, measuring time is long to need the human eye to observe the central point of target and whether coincide with the laser facula center of adjusting the central point of the digital display target by people. Long-time observation of the laser spot can cause harm to eyes, so that deviation occurs in judgment of the central position of the spot, and deviation occurs in measurement results of the perpendicularity 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 is, the lighter the color is, the light spot formed by irradiating on a digital display target is, the more blurred the spot boundary is, and speckle can be generated when laser irradiates on the target, so that the larger the diameter of the laser spot is, the more blurred the spot boundary is, the more serious the speckle influence is, and the spot center is difficult to align with the center of the digital display target, so that deviation is generated in detection data.
For measuring the parallelism of the guide rail, the traditional measuring method is to use a tape measure or a rail calibrating ruler to be matched with a sample plate frame for measurement. The measuring tape is used for measuring the distance between the top surfaces of the two guide rails, namely the track gauge between the guide rails, a vertical reference line which sags is placed on the sample plate frame in parallel, and the deviation between the side planes of the two guide rails and the 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 are all needed to be manually participated in measurement, workers need to measure in the elevator shaft point by point in the whole measurement process, the whole measurement process is time-consuming and labor-consuming, the elevator car or the tripod is relied on, the detection data need 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 existing technical problems in the aspect of elevator guide rail verticality and parallelism measurement, the invention provides a device for automatically detecting the elevator guide rail verticality and parallelism, and provides a hardware basis for automatic and accurate detection.
The invention adopts the following technical scheme: an elevator guide rail straightness and parallelism automated inspection device that hangs down includes: the first automatic detection robot, the second automatic detection robot, the first laser plumb aligner and the first laser plumb aligner;
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 movement 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 at intervals in parallel;
the first laser plumb aligner and the second laser plumb aligner are respectively arranged below the first elevator guide rail and the second elevator guide rail and are used for emitting plumb laser upwards;
the image acquisition module is divided into a first verticality detection image acquisition module, a second verticality detection image acquisition module and a parallelism detection image acquisition module; the first verticality detection image acquisition module and the second verticality detection image acquisition module are respectively 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 plumb aligner and the second laser plumb aligner; the parallelism detection image acquisition module is arranged parallel to the first automatic detection robot and is used for acquiring laser spot images which are emitted by the laser ranging module and are perpendicular to the top surface of the guide rail;
the laser ranging module is arranged perpendicular to the second automatic detection robot and is used for measuring 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 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 do reciprocating motion along the guide rail; and 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 first camera, the second camera, the first laser target, the second laser target and the first thin lens; the second camera and the second laser target, the first thin lens are perpendicular to the first automatic detection robot, the second laser target is arranged below the second camera, the first thin lens is arranged below the second laser target, the second laser target is located at the focus of the first thin lens and aligned with the centers of the second laser target and the second camera, the first camera and the first laser target are parallel to the first automatic detection robot, and the first laser target is arranged 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 below the third camera, the second thin lens is below the third laser target and the third laser target is located at the focus of the second thin lens and aligned with the centers of the third laser target and the third camera.
In a preferred embodiment: the first laser plumb aligner, the second laser target, the first thin lens and the second camera are arranged in a straight line.
In a preferred embodiment: the second laser plumb aligner, the third laser target, the second thin lens and the third camera are arranged in a straight line.
In a preferred embodiment: the second laser target is positioned between the first laser plumb and the second camera; the third laser target is positioned between the second laser plumb aligner and the third camera;
the laser that first laser plummet, second laser plummet produced shines respectively on first thin lens, second thin lens and throws on second laser target, the third laser target after focusing, and the laser that laser rangefinder sensor launched shines on first laser target, and first camera, second camera, third camera gather respectively and first laser target, second laser target, the laser facula image on the third laser target.
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 a direct current motor and a speed reducer, and form a closed-loop control system 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 verticality and the side parallelism of the elevator guide rail are automatically measured by using the automatic detection robot, human participation is not needed in the whole measurement process, the verticality deviation, the parallelism deviation and the track gauge information of the guide rail can be simultaneously and automatically measured, the phenomena of long detection period and manpower waste in the traditional detection mode are overcome, the measurement time is greatly shortened, the detection efficiency is improved, and the detection function is rich.
(2) According to the invention, the deviation of the perpendicularity and the parallelism of the guide rail is obtained by adopting a laser spot image recognition method, an ARM single-chip microcomputer drives a camera module to collect laser spot images, the laser spot images are preprocessed and spot center coordinates are calculated to obtain center coordinates of the laser spots, and a laser ranging module is utilized to obtain the guide rail gauge. The method can overcome human errors caused by human eye reading, the detection precision reaches the pixel level, the visual fatigue is avoided, and the result is more accurate.
(3) The invention adopts the PID closed-loop control direct current motor, ensures that two automatic detection robots keep synchronous operation, has high automation degree in the whole detection process, avoids continuous disassembly and assembly of detection equipment and manual participation, can automatically execute detection steps, has high detection speed and high accuracy, and greatly improves detection efficiency and detection safety.
(4) The laser spot is focused by the lens and irradiates on the laser target, and the laser spot is reduced after passing through the lens, so that the laser spot is prevented from becoming large due to overlong detection distance, and the measurement error caused by the fact that the laser spot coordinates cannot be accurately obtained is avoided.
Drawings
Fig. 1 is a schematic diagram of an automatic detection method for verticality and parallelism of an elevator guide rail;
FIG. 2 is a graph of center coordinates of a left rail verticality detection light spot;
FIG. 3 is a graph of center coordinates of a right rail perpendicularity detection light spot;
FIG. 4 is a graph of center coordinates of a two-rail side-plane parallelism detection light spot;
FIG. 5 is a ray diagram of laser light passing through a thin lens;
in the figure: the system comprises a 1-first automatic detection robot, a 2-second automatic detection robot, a 3-first camera, a 5-second camera, an 8-third camera, a 4-first laser target, a 6-second laser target, a 9-third laser target, a 7-laser ranging sensor, a 10-first thin lens, a 11-second thin lens, a 12-first movement module, a 13-second movement module, a 14-first control module, a 15-second control module, a 16-first wireless transmission module, a 17-second wireless transmission module, a 18-first encoder, a 19-second encoder, a 20-parallelism detection image acquisition module, a 21-first perpendicularity detection image acquisition module, a 22-second perpendicularity detection image acquisition module, a 23-first elevator guide rail, a 24-second elevator guide rail, a 25-first laser plumb gauge and a 26-second laser plumb gauge.
Detailed Description
The technical solutions 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 apparent that the described embodiments are only some embodiments of the present invention, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present invention are within the protection scope of the present invention.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements 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," "second," and the like, 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, unless explicitly specified and limited otherwise, the terms "mounted," configured to, "" engaged with, "" connected to, "and the like are to be construed broadly, and may be, for example," connected to, "wall-mounted," connected to, removably connected to, or integrally connected to, mechanically connected to, electrically connected to, directly connected to, or indirectly connected to, through an intermediary, and may be in communication with each other between two elements, as will be apparent to those of ordinary skill in the art, in view of the detailed description of the terms herein.
Referring to fig. 1 to 4, the present embodiment provides an apparatus for automatically detecting verticality and parallelism of an elevator guide rail, including: 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 movement module 12, a first movement 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 at intervals in parallel;
the first laser plumb aligner 25 and the second laser plumb aligner 26 are respectively arranged below the first elevator guide rail 23 and the second elevator guide rail 24 and are used for emitting plumb laser upwards;
the image acquisition modules are divided into a first verticality detection image acquisition module 21, a second verticality 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 arranged 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 plumb aligner 25 and the second laser plumb aligner 26; the parallelism detection image acquisition module 20 is arranged parallel to the first automatic detection robot 1 and acquires laser spot images which are emitted by the laser ranging module 7 and are perpendicular to the top surface of the guide rail;
the laser ranging module 7 is arranged perpendicular to the second automatic detection robot 2 and is used for measuring 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 movement module 12 and the second movement module 13 are respectively used for controlling the first automatic detection robot 1 and the second automatic detection robot 2 to do reciprocating movement 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 and 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, 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, the second laser target 6 and the second camera 5 are aligned in the center, the first camera 3 and the first laser target 4 are parallel to the first automatic detection robot 1, and the first laser target 4 is arranged in front of the first camera 3.
The second perpendicularity detection image acquisition 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 inspection 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 and the third laser target 9 is located at the focus of the second thin lens 11, and aligned with the centers of the third laser target 9 and the third camera 8.
After the arrangement, the first laser plummet 25, the second laser target 6, the first thin lens 10 and the second camera 5 are arranged in a straight line. The second laser plummet 26, the third laser target 9, the second thin lens 11 and the third camera 8 are arranged in a straight line. The second laser target 6 is positioned between the first laser plumb gauge 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 lasers generated by the first laser plummet 25 and the second laser plummet 26 are respectively irradiated on the first thin lens 10 and the second thin lens 11, focused and then projected on the second laser target 6 and the third laser target 9, the lasers emitted by the laser ranging sensor 7 are irradiated 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 detecting module 18 and the second position detecting module 19 are photoelectric encoders. 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 with the first position detection module 18 and the second position detection module 19.
When in use, firstly, the acquisition and the processing of laser facula images are carried out: when the first automatic detection robot 1 and the second automatic detection robot 2 reach the position to be detected, the first verticality detection image acquisition module 21, the second verticality detection image acquisition module 22 and the parallelism detection image acquisition module 20 acquire laser spot images respectively irradiated on the first laser target 4, the second laser target 6 and the third laser target 9 by the first laser plummet 25, the second laser plummet 26 and the laser ranging module 7. In order to obtain the accurate barycentric coordinates of the laser spots, the laser spot images are required to be processed, the spot images are preprocessed, the spot images are grayed, the most suitable threshold value is found by using a threshold iteration method according to the obtained graying data, the spot images are binarized according to the threshold value, the obvious laser spot images are separated, the central coordinates of the laser spots are obtained by Hough transformation, and the change of the central coordinates of the laser spots represents the deviation of the verticality and the side parallelism of the detection points of the guide rail.
Specifically, the deviation of the perpendicularity and the parallelism of the guide rail is calculated by the following method: the laser spot images are shown in fig. 2, 3 and 4, and the laser is excitedAs shown in fig. 5, a ray diagram of light passing through the thin lens, the focal point F coordinate (X 0 ,Y 0 )。
1) The acquired reference point information is used as a zero point for detecting the perpendicularity and parallelism of the guide rail, and as shown in fig. 2 and 3, the center coordinate of a spot for detecting the perpendicularity of the zero point is A L (X L0 ver，Y L0 ver) and A R (X R0 ver， Y R0 ver), as shown in fig. 3, the center coordinates of the parallelism detecting light spot are (X 0 para，Y 0 para), gauge L 0 . After the zero point detection data is obtained, the closed-loop control system is used for controlling the two automatic detection robots to reach the position of the next detection point to serve as a first point, and as shown in fig. 2 and 3, the center coordinates of the first point verticality detection light spots of the left and right guide rails are obtained through processing and are respectively B L (X L1 ver，Y L1 ver) and B R (X R1 ver，Y R1 ver), as shown in fig. 3, the center coordinates of the parallelism detecting light spot are (X 1 para，Y 1 para), gauge L 1 。
The light path diagram of the laser refracted to the laser target through the thin lens is shown in fig. 5, and then:
spot center a at zero point on left rail 24 L Deviation from the focal point F in the top surface direction is S 0Lx ＝ X L0 ver-X 0 ，
Deviation in the side direction is S 0Ly ＝Y L0 ver-Y 0 。
The inclination angle of the top surface of the zero point on the left guide rail 24 with the vertical line is as follows
The inclination angle of the side surface and the vertical line is
Spot center a at zero point on right rail 23 R Deviation from the focal coordinate in the top surface direction is S 0Rx ＝ X R0 ver-X 0 ，
Deviation in the side direction is S 0Ry ＝Y R0 ver-Y 0 。
The inclination angle of the top surface of the zero point on the right side guide rail 23 and the vertical line is as follows
The inclination angle of the side surface and the vertical line is
The zero point is the reference point for detecting the guide rail, and then:
spot center B at the first point on left rail 24 L Deviation from the focus in the top surface direction is S 1Lx ＝ X L1 ver-X 0 ，
Deviation in the side direction is S 1Ly ＝Y L1 ver-Y 0 。
Inclination angle of top surface of left side guide rail 24 from vertical line at first point
The inclination angle of the side surface and the vertical line is satisfied
The deviation of the center coordinates of the light spot at the first point on the right guide rail 23 from the focal coordinates in the top surface direction is S 1Rx ＝X R1 ver-X 0 ，
Deviation in the side direction is S 1Ry ＝Y R1 ver-Y 0 。
The inclination angle of the top surface of the right side guide rail 23 at the first point with the vertical line is
The inclination angle of the side surface and the vertical line is
The distance D between the first detection point and the zeroth detection point is obtained by the encoders 18, 19,
the deviation of the top surface verticality of the first point of the left guide rail 24 isLateral perpendicularity deviation of +.>
The deviation of the perpendicularity of the top surface of the first point of the right guide rail 23 isLateral perpendicularity deviation of +.>
The deviation of the parallelism of the first point side surfaces of the two guide rails is delta X 1 para＝X 1 para-X 0 para。
The track gauge of the first point of the two guide rails is delta L 1 ＝(L 0 +ΔX L1 ver+ΔX R1 ver+L 1 )/2。
And then the automatic detection robot automatically moves to the next detection point.
And so on to obtain detection points at any position on the guide rail
The deviation of the verticality of the top surface of the left guide rail is
Deviation of verticality of side surface is
The deviation of the perpendicularity of the top surface of the right guide rail is
Deviation of verticality of side surface is
The deviation of the parallelism of the side surfaces of the two guide rails is delta X n para＝X n para-X 0 para。
The track gauge of the two guide rail detection points is delta L n ＝(L 0 +ΔX Ln ver+ΔX n1 ver+L n )/2。
And then obtaining the track gauges and the corresponding height information of the two guide rails 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 completed, the wireless transmission modules 16 and 17 are utilized to send data to an upper computer, the data are stored in 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 foregoing 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 will be able to make insubstantial modifications of the present invention within the scope of the present invention disclosed herein by this concept, which falls within the actions of invading the protection scope of the present invention.
Claims (7)
1. An automatic detection device for perpendicularity and parallelism of an elevator guide rail, which is characterized in that the adopted detection device comprises: the first automatic detection robot (1), the second automatic detection robot (2), the first laser plummet (25) and the second 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 movement module (12), a second movement 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 at intervals in parallel;
the first laser plumb aligner (25) and the second laser plumb aligner (26) are respectively arranged below the first elevator guide rail (23) and the second elevator guide rail (24) and are used for emitting plumb laser upwards;
the image acquisition module is divided into a first verticality detection image acquisition module (21), a second verticality 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 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 plumb aligner (25) and the second laser plumb aligner (26); the parallelism detection image acquisition module (20) is arranged parallel to the first automatic detection robot (1) and is used for acquiring laser spot images which are emitted by the laser ranging module (7) and are perpendicular to the top surface of the guide rail;
the laser ranging module (7) is arranged perpendicular to the second automatic detection robot (2) and is used for measuring 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 movement module (12) and the second movement module (13) are respectively used for controlling the first automatic detection robot (1) and the second automatic detection robot (2) to do reciprocating movement 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: the device 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) and the second laser target (6), the first thin lens (10) are arranged perpendicular to the first automatic detection robot (1), 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 positioned at the focus of the first thin lens (10), the first laser target (6) and the second camera (5) are aligned in the center, the first camera (3) and the first laser target (4) are arranged parallel to the first automatic detection robot (1), and the first laser target (4) is arranged in front of the first camera (3);
the second perpendicularity detection image acquisition module (22) includes: the device comprises 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 below the third camera (8), the second thin lens (11) is below the third laser target (9) and the third laser target (9) is located at the focus of the second thin lens (11) and aligned with the centers of the third laser target (9) and the third camera (8).
2. The automatic detection device for perpendicularity and parallelism of elevator guide rails according to claim 1, wherein: the first laser plummet (25), the second laser target (6), the first thin lens (10) and the second camera (5) are arranged in a straight line.
3. The automatic detection device for perpendicularity and parallelism of elevator guide rails according to claim 2, characterized in that: the second laser plumb bob (26), the third laser target (9), the second thin lens (11) and the third camera (8) are arranged in a straight line.
4. An elevator guide rail verticality and parallelism automatic detection device according to claim 3, characterized in that: the second laser target (6) is positioned between the first laser plumb bob (25) and the second camera (5); the third laser target (9) is positioned between the second laser plumb bob (26) and the third camera (8);
the laser that first laser plummet (25), second laser plummet (26) produced shines respectively on first thin lens (10), second thin lens (11) focus back and throws on second laser target (6), third laser target (9), and laser that laser rangefinder module (7) launched shines on first laser target (4), and first camera (3), second camera (5), third camera (8) gather laser facula image on first laser target (4), second laser target (6), third laser target (9) respectively.
5. The automatic elevator guide rail perpendicularity and parallelism detecting device according to claim 4, wherein: the first position detection module (18) and the second position detection module (19) are photoelectric encoders.
6. The automatic elevator guide rail perpendicularity and parallelism detecting device according to claim 5, characterized in that: the first movement module (12) and the second movement 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).
7. A detection method of an automatic detection apparatus according to any one of claims 1 to 6, characterized by comprising the steps of:
1) The acquired reference point information is used as a zero point for detecting the perpendicularity and parallelism of the guide rail, and the center coordinate of a zero point perpendicularity detection light spot is A L (X L0 ver，Y L0 ver) and A R (X R0 ver，Y R0 ver), the center coordinate of the parallelism detection light spot is (X) 0 para，Y 0 para), gauge L 0 The method comprises the steps of carrying out a first treatment on the surface of the After the zero point detection data are obtained, the closed-loop control system is utilized to control the two automatic detection robots to reach the position of the next detection point to serve as a first point, and the center coordinates of the first point verticality detection light spots of the left guide rail and the right guide rail are obtained through processing and are respectively B L (X L1 ver，Y L1 ver) and B R (X R1 ver，Y R1 ver) the center coordinate of the parallelism detection light spot is (X) 1 para，Y 1 para), gauge L 1；
Laser is refracted to a laser target through a thin lens, then:
spot center a at zero point on left guide rail L Deviation from the focal point F in the top surface direction is S 0Lx ＝X L0 ver-X 0 The deviation in the side direction is S 0Ly ＝Y L0 ver-Y 0 The method comprises the steps of carrying out a first treatment on the surface of the Wherein X is 0 ，Y 0 The focal point F coordinate;
the inclination angle between the top surface of the zero point on the left side guide rail and the vertical line isL is the distance between the thin lens and the laser target;
the inclination angle of the side surface and the vertical line is
Spot center a at zero point on right guide rail R Deviation from the focal coordinate in the top surface direction is S 0Rx ＝X R0 ver-X 0 ，
Deviation in the side direction is S 0Ry ＝Y R0 ver-Y 0 ；
The inclination angle between the top surface of the zero point on the right side guide rail and the vertical line is
The inclination angle of the side surface and the vertical line is
The zero point is the reference point for detecting the guide rail, and then:
spot center B at the first point on the left rail L Deviation from the focus in the top surface direction is S 1Lx ＝X L1 ver-X 0 ，
Deviation in the side direction is S 1Ly ＝Y L1 ver-Y 0 ；
Inclination angle of top surface at first point on left side guide rail and vertical line
The inclination angle of the side surface and the vertical line is satisfied
The deviation of the central coordinate of the light spot at the first point on the right guide rail and the focal point coordinate in the top surface direction is S 1Rx ＝X R1 ver-X 0 ，
Deviation in the side direction is S 1Ry ＝Y R1 ver-Y 0 ；
The inclination angle of the top surface at the first point on the right side guide rail and the vertical line is
The inclination angle of the side surface and the vertical line is
The distance between the first detection point and the zeroth detection point is obtained by the encoder as D,
the deviation of the verticality of the top surface of the first point of the left guide rail isLateral perpendicularity deviation of +.>
The deviation of the perpendicularity of the top surface of the first point of the right guide rail isLateral perpendicularity deviation of +.>
The deviation of the parallelism of the first point side surfaces of the two guide rails is delta X 1 para＝X 1 para-X 0 para；
The track gauge of the first point of the two guide rails is delta L 1 ＝(L 0 +ΔX L1 ver+ΔX R1 ver+L 1 )/2；
Then the automatic detection robot automatically runs to the next detection point;
and so on to get detection points at any position on the rail:
the deviation of the verticality of the top surface of the left guide rail is
Deviation of verticality of side surface is
The deviation of the perpendicularity of the top surface of the right guide rail is
Deviation of verticality of side surface is
The deviation of the parallelism of the side surfaces of the two guide rails is delta X n para＝X n para-X 0 para；
The track gauge of the two guide rail detection points is delta L n ＝(L 0 +ΔX Ln ver+ΔX n1 ver+L n )/2；
Obtaining the track gauges and the corresponding height information of the two guide rails according to the laser ranging module, the first position detection module and the second position detection module;
after the measurement of one position is completed, the wireless transmission module is utilized to send data to the upper computer, the data are stored in the database, and then the automatic detection trolley automatically moves to the next point to be measured until the whole measurement process is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210138938.4A CN114705134B (en) | 2022-02-15 | 2022-02-15 | Elevator guide rail perpendicularity and parallelism automatic detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210138938.4A CN114705134B (en) | 2022-02-15 | 2022-02-15 | Elevator guide rail perpendicularity and parallelism automatic detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114705134A CN114705134A (en) | 2022-07-05 |
| CN114705134B true CN114705134B (en) | 2024-02-02 |
Family
ID=82166215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210138938.4A Active CN114705134B (en) | 2022-02-15 | 2022-02-15 | Elevator guide rail perpendicularity and parallelism automatic detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114705134B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116659419B (en) * | 2023-07-28 | 2023-10-20 | 成都市特种设备检验检测研究院(成都市特种设备应急处置中心) | Elevator guide rail parameter measuring device and method |
| CN118323986B (en) * | 2024-06-14 | 2024-08-06 | 黎明职业大学 | Elevator guide rail inspection instrument |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101319867A (en) * | 2008-06-20 | 2008-12-10 | 苏州塞维拉上吴电梯轨道系统有限公司 | Guide rail verticality detection device |
| CN102607467A (en) * | 2012-03-07 | 2012-07-25 | 上海交通大学 | Device and method for detecting elevator guide rail perpendicularity based on visual measurement |
| CN106225721A (en) * | 2016-07-04 | 2016-12-14 | 天津工业大学 | A kind of cage guide parallelism detecting device based on angular surveying |
| CN107416627A (en) * | 2017-08-15 | 2017-12-01 | 广东省特种设备检测研究院珠海检测院 | A kind of elevator T type guide rail multi-parameter detecting system and method |
| JP6579595B1 (en) * | 2018-11-30 | 2019-09-25 | 東芝エレベータ株式会社 | Reference position setting system |
| CN110444095A (en) * | 2019-08-02 | 2019-11-12 | 中国刑事警察学院 | A kind of laser thermal lens focometry experimental provision |
| CN112344886A (en) * | 2020-11-02 | 2021-02-09 | 江苏科技大学 | Geometric error measuring device and method for hollow guide rail of elevator |
-
2022
- 2022-02-15 CN CN202210138938.4A patent/CN114705134B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101319867A (en) * | 2008-06-20 | 2008-12-10 | 苏州塞维拉上吴电梯轨道系统有限公司 | Guide rail verticality detection device |
| CN102607467A (en) * | 2012-03-07 | 2012-07-25 | 上海交通大学 | Device and method for detecting elevator guide rail perpendicularity based on visual measurement |
| CN106225721A (en) * | 2016-07-04 | 2016-12-14 | 天津工业大学 | A kind of cage guide parallelism detecting device based on angular surveying |
| CN107416627A (en) * | 2017-08-15 | 2017-12-01 | 广东省特种设备检测研究院珠海检测院 | A kind of elevator T type guide rail multi-parameter detecting system and method |
| JP6579595B1 (en) * | 2018-11-30 | 2019-09-25 | 東芝エレベータ株式会社 | Reference position setting system |
| CN110444095A (en) * | 2019-08-02 | 2019-11-12 | 中国刑事警察学院 | A kind of laser thermal lens focometry experimental provision |
| CN112344886A (en) * | 2020-11-02 | 2021-02-09 | 江苏科技大学 | Geometric error measuring device and method for hollow guide rail of elevator |
Non-Patent Citations (3)
| Title |
|---|
| 党威武 等.异面间垂直度的检测装置设计与误差分析.《自动化技术与应用》.2020,第39卷(第08期),第111-114页. * |
| 刘元建.高层电梯导轨不平顺度测量方法研究.《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》.2017,(第02期),第C038-2016页. * |
| 秦煜 等.基于双目视觉的电梯导轨自动测量系统研究.《现代制造工程》.2017,(第6期),第24-30页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114705134A (en) | 2022-07-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114705134B (en) | Elevator guide rail perpendicularity and parallelism automatic detection device | |
| CN107764213B (en) | Laser track flatness detection device and method | |
| CN108981580A (en) | A kind of crane runway on-line measuring device and method | |
| CN111268530B (en) | Method and apparatus for measuring, positioning and installing elevator shaft | |
| CN108680124B (en) | Photoelectric detection robot and detection method for shape tolerance | |
| CN207472215U (en) | A kind of objects' contour detecting system | |
| EP2788715B1 (en) | Robotic leveling | |
| CN114808575B (en) | Track smoothness detection system and method based on scanning laser | |
| CN106441168A (en) | Rolling linear guide rail pair slider profile accuracy measurement method | |
| JP4371406B2 (en) | Orbit measurement system and orbit measurement method | |
| CN104655024A (en) | Image measurement equipment as well as quick and accurate height measurement device and method of image measurement equipment | |
| CN209310743U (en) | Height measuring device | |
| TW201018871A (en) | Verticality detector calibration device and method thereof | |
| CN109342561A (en) | Curved surface weldment ultrasonic detection device and method | |
| CN110482351A (en) | One kind is with straightness of elevator guide rail detection system and method | |
| JP2019124496A (en) | Three-dimensional surveying device and three-dimensional surveying method | |
| CN111721265A (en) | Three-dimensional measuring device of indoor ground gradient | |
| CN107792116B (en) | Portable contact rail detection device and detection method | |
| CN207540512U (en) | A kind of laser rail smooth degree detection device | |
| CN115320664A (en) | Receiving device for detecting track smoothness and system for detecting track smoothness | |
| CN112278011A (en) | Robot device for comprehensive detection of crane track and comprehensive detection method | |
| CN110207595B (en) | Device and method for measuring length of retro-reflective ball length standard rod | |
| KR101871798B1 (en) | Apparatus and method for automatic measuring train rail | |
| JPS5825207B2 (en) | Device for setting each point and straight line | |
| JP2000230816A (en) | Angle measuring instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |