CN114705134B - An automatic detection device for verticality and parallelism of elevator guide rails - Google Patents

An automatic detection device for verticality and parallelism of elevator guide rails Download PDF

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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
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laser
guide rail
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detection
automatic detection
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CN114705134A (en
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金福江
王前
周丽春
黄凯
林海坤
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Huaqiao University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/26Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00Other common features of elevators
    • B66B7/12Checking, lubricating, or cleaning means for ropes, cables or guides
    • B66B7/1207Checking means
    • B66B7/1246Checking means specially adapted for guides

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  • 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

一种电梯导轨垂直度与平行度自动检测装置An automatic detection device for verticality and parallelism of elevator guide rails

技术领域Technical field

本发明涉及电梯检测技术领域,特别涉及一种电梯导轨垂直度与平行度检测装置。The invention relates to the technical field of elevator detection, and in particular to an elevator guide rail verticality and parallelism detection device.

背景技术Background technique

电梯导轨是电梯轿厢运行的导向部件,电梯导轨安装质量的好坏直接影响到电梯能否安全平稳的运行,电梯导轨工作面分为顶面和侧面,垂直度分为顶面垂直度和侧面垂直度。导轨的垂直度和侧面平行度是导轨安装质量的关键指标,直接影响电梯运行的舒适度和安全性。但对电梯导轨垂直度和平行度的检测始终是一个难题。Elevator guide rails are the guiding components for the operation of the elevator car. The installation quality of the elevator guide rails directly affects whether the elevator can run safely and smoothly. The working surface of the elevator guide rails is divided into top surface and side surface, and the verticality is divided into top surface verticality and side surface. Verticality. The verticality and side parallelism of the guide rail are key indicators of the quality of the guide rail installation, which directly affect the comfort and safety of the elevator operation. However, it is always a difficult problem to detect the verticality and parallelism of elevator guide rails.

传统的检测方法依靠人工依次对各个待检测点进行检测,垂直度测量主要包括以下两种方法:Traditional detection methods rely on manual detection of each to-be-detected point in sequence. Verticality measurement mainly includes the following two methods:

(1)利用铅锤法测量导轨垂直度,将磁力铅锤吸附在导轨表面,导轨顶面和侧面需分别放置并测量,铅垂线在重力和阻尼作用下保持垂直静止状态,每隔一段距离利用钢板尺来测量导轨工作面与铅垂线的偏离程度,从而得到导轨的垂直度偏差。由于磁力铅锤长度有限,这种测量方式需要每隔一段距离重新放置磁力铅锤,导致整个测量过程用时长,每次重新放置磁力铅锤导致测量的参考点发生变化,会给导轨的整体测量带来误差,并且在测量过程中铅锤轻微的晃动都会给测量结果带来误差,另外,整个测量过程需要测量人员处于电梯井内,靠人眼进行读数,闷热潮湿的环境以及长时间的测量导致人为误差难以避免。(1) Use the plumb bob method to measure the verticality of the guide rail. Attach the magnetic plumb bob to the surface of the guide rail. The top and sides of the guide rail need to be placed and measured separately. The plumb line remains vertical and stationary under the action of gravity and damping. Use a steel ruler to measure the deviation of the guide rail working surface from the plumb line to obtain the vertical deviation of the guide rail. Due to the limited length of the magnetic plumb bob, this measurement method requires repositioning the magnetic plumb bob at regular intervals, which causes the entire measurement process to take a long time. Each repositioning of the magnetic plumb bob causes the measurement reference point to change, which affects the overall measurement of the guide rail. Brings errors, and the slight shaking of the plumb bob during the measurement process will bring errors to the measurement results. In addition, the entire measurement process requires the measurement personnel to be in the elevator shaft and rely on the human eye for readings. The hot and humid environment and long-term measurement lead to Human error is inevitable.

(2)随着激光技术的普及,激光垂准仪与数显标靶配合测量导轨垂直度的方法也逐渐普及。首先将激光垂准仪固定在导轨上,调整旋钮使激光垂准仪发射垂直激光,检测人员站立在电梯轿厢顶部,数显标靶依次安装在各个检测位置,将数显标靶中心调整至与激光中心重合,即可得到检测点的偏差信息,数显标靶可同时读取顶面和侧面垂直度偏差信息。激光垂准仪的铅锤激光射程可达百米,测量过程中无需反复拆卸垂准仪就能完成检测,但是各个测量点之间依旧需要反复拆卸和安装数显标靶,测量时间长,并且需要人为调整数显标靶的中心位置,人眼观察标靶中心是否与激光光斑中心重合。长时间观察激光光斑会对眼睛产生危害,导致对光斑中心位置判断出现偏差,从而导致导轨垂直度测量结果出现偏差。(2) With the popularization of laser technology, the method of measuring the verticality of guide rails using a laser plummet and a digital display target has also gradually become popular. First, fix the laser collimator on the guide rail, adjust the knob to make the laser collimator emit vertical laser, the inspector stands on the top of the elevator car, the digital display target is installed at each detection position in turn, and the center of the digital display target is adjusted to By coinciding with the center of the laser, the deviation information of the detection point can be obtained. The digital display target can simultaneously read the verticality deviation information of the top and side surfaces. The plumb bob laser range of the laser plummet can reach up to 100 meters. During the measurement process, the detection can be completed without repeatedly disassembling the plummet. However, it is still necessary to repeatedly disassemble and install the digital display target between each measurement point, which takes a long time to measure, and It is necessary to manually adjust the center position of the digital display target, and the human eye observes whether the center of the target coincides with the center of the laser spot. Observing the laser spot for a long time will cause harm to the eyes, leading to deviations in the judgment of the center position of the spot, which will lead to deviations in the measurement results of the verticality of the guide rail.

同时,激光光斑直径会随着检测距离的增加而扩散,激光光斑越大,其能量密度越小,颜色越轻,照射在数显标靶上所形成的光斑越淡,其光斑边界越模糊,加上激光本身照射在标靶上会产生散斑,所以激光光斑直径的越大,其光斑边界越模糊,散斑影响越严重,难以将光斑中心与数显标靶中心对齐,从而导致检测数据产生偏差。At the same time, the laser spot diameter will expand as the detection distance increases. The larger the laser spot, the smaller its energy density and lighter color. The lighter the spot formed when it is irradiated on the digital display target, the blurr its spot boundary will be. In addition, the laser itself will produce speckles when it is irradiated on the target. Therefore, the larger the diameter of the laser spot, the blurr the boundary of the spot, and the more serious the effect of speckle. It is difficult to align the center of the spot with the center of the digital display target, resulting in poor detection data. produce deviation.

对于导轨平行度的测量,传统的测量方法是利用卷尺或者校轨尺配合样板架进行测量。利用卷尺测量两根导轨顶面的距离即导轨间的轨距,在样板架上平行放置下垂的铅垂参考线,分别测量两根导轨侧平面与铅垂线的偏差,从而得到两导轨侧平面平行度偏差。For the measurement of guide rail parallelism, the traditional measurement method is to use a tape measure or a calibration ruler combined with a sample frame to measure. Use a tape measure to measure the distance between the top surfaces of the two guide rails, which is the gauge between the guide rails. Place a sagging plumb reference line parallel to the sample frame, and measure the deviation between the side planes of the two guide rails and the plumb line respectively to obtain the side planes of the two guide rails. Parallelism deviation.

以上两种测量方法均需人为参与测量,测量过程中工作人员需要全程在电梯井逐点测量,整个测量过程费时费力,依赖电梯轿厢或者手脚架,并且检测数据需要人眼判断并读取,存在很大的人为误差,并且存在很大的安全隐患。Both of the above measurement methods require human participation in the measurement. During the measurement process, workers need to measure point by point in the elevator shaft. The entire measurement process is time-consuming and labor-intensive, relying on the elevator car or scaffolding, and the detection data requires human eyes to judge and read. There is a lot of human error, and there are big safety risks.

发明内容Contents of the invention

为了解决电梯导轨垂直度和平行度测量方面现有的技术问题,本发明提供了一种电梯导轨垂直度与平行的自动检测的装置,为自动化和精确化的检测提供硬件基础。In order to solve the existing technical problems in measuring the verticality and parallelism of elevator guide rails, the present invention provides a device for automatic detection of verticality and parallelism of elevator guide rails, providing a hardware basis for automated and precise detection.

本发明采用如下技术方案:一种电梯导轨垂直度与平行度自动检测装置,包括:第一自动检测机器人、第二自动检测机器人、第一激光垂准仪和第一激光垂准仪;The present invention adopts the following technical solution: an automatic detection device for elevator guide rail verticality and parallelism, including: a first automatic detection robot, a second automatic detection robot, a first laser collimator and a first laser collimator;

所述第一自动检测机器人、第二自动检测机器人上搭载图像采集模块、激光测距模块、第一位置检测模块、第二位置检测模块、第一控制模块、第二控制模块、第一运动模块、第一运动模块、第一无线传输模块、第二无线传输模块;The first automatic detection robot and the second automatic detection robot are equipped 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, and a first motion module. , the first motion module, the first wireless transmission module, the second wireless transmission module;

所述第一自动检测机器人和第二自动检测机器人对称安装在平行间隔设置的第一电梯导轨、第二电梯导轨上;The first automatic detection robot and the second automatic detection robot are symmetrically installed on the first elevator guide rail and the second elevator guide rail arranged in parallel intervals;

所述第一激光垂准仪、第二激光垂准仪分别设置在第一电梯导轨、第二电梯导轨下方,用于向上发射铅锤激光;The first laser collimator and the second laser collimator are respectively arranged below the first elevator guide rail and the second elevator guide rail, and are used to emit plumb bob laser upward;

所述图像采集模块分为第一垂直度检测图像采集模块、第二垂直度检测图像采集模块和平行度检测图像采集模块;第一垂直度检测图像采集模块、第二垂直度检测图像采集模块分别垂直于第一自动检测机器人、第二自动检测机器人安装,用于采集第一激光垂准仪、第二激光垂准仪发射的铅锤激光光斑图像;所述平行度检测图像采集模块平行于第一自动检测机器人安装,采集激光测距模块发射的垂直于导轨顶面的激光光斑图像;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 Installed perpendicularly to the first automatic detection robot and the second automatic detection robot, it is used to collect plumb laser spot images emitted by the first laser collimator and the second laser collimator; the parallelism detection image acquisition module is parallel to the first laser collimator. An automatic detection robot is installed to collect the laser spot image perpendicular to the top surface of the guide rail emitted by the laser ranging module;

所述激光测距模块垂直于第二自动检测机器人安装,用于测量第一电梯导轨、第二电梯导轨之间的轨距信息;所述第一位置检测模块、第二位置检测模块分别用于检测第一自动检测机器人、第二自动检测机器人的实时位置信息;所述第一控制模块、第二控制模块分别用于控制第一自动检测机器人、第二自动检测机器人;所述第一运动模块、第二运动模块分别用于控制第一自动检测机器人、第二自动检测机器人沿导轨做往复运动;所述第一无线传输模块、第二无线传输模块将检测得到的导轨信息发送给上位机。The laser ranging module is installed perpendicular to the second automatic detection robot and is used to measure 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 to measure Detect 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 to control the first automatic detection robot and the second automatic detection robot; the first motion module The second motion module is used to control the first automatic detection robot and the second automatic detection robot to reciprocate along the guide rail respectively; the first wireless transmission module and the second wireless transmission module send the detected guide rail information to the host computer.

在一较佳实施例中:所述第一垂直度检测图像采集模块包括:第一摄像头、第二摄像头和第一激光标靶、第二激光标靶和第一薄透镜;所述第二摄像头和第二激光标靶、第一薄透镜垂直于第一自动检测机器人安装,第二激光标靶在第二摄像头下方,第一薄透镜在第二激光标靶下方且第二激光标靶位于第一薄透镜的焦点处,与第二激光标靶和第二摄像头中心对齐,第一摄像头和第一激光标靶平行于第一自动检测机器人安装,第一激光标靶安装在第一摄像头前方。In a preferred embodiment: the first verticality detection image acquisition module includes: a first camera, a second camera and 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 installed perpendicularly to the first automatic detection robot. The second laser target is below the second camera. The first thin lens is below the second laser target and the second laser target is located on the second laser target. The focal point of a thin lens is aligned with the center of the second laser target and the second camera. The first camera and the first laser target are installed parallel to the first automatic detection robot, and the first laser target is installed in front of the first camera.

在一较佳实施例中:所述第二垂直度检测图像采集模块包括:第三摄像头、第三激光标靶、第二薄透镜;第三激光标靶、第二薄透镜和第三摄像头垂直于第二自动检测机器人,第三激光标靶在第三摄像头下方,第二薄透镜在第三激光标靶下方且第三激光标靶位于第二薄透镜焦点处,与第三激光标靶和第三摄像头中心对齐。In a preferred embodiment: the second verticality detection image acquisition module includes: a third camera, a third laser target, a second thin lens; a third laser target, a second thin lens and a third vertical camera In 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 the third laser target and The third camera is centered.

在一较佳实施例中:所述第一激光垂准仪、第二激光标靶、第一薄透镜和第二摄像头呈直线排列。In a preferred embodiment: the first laser plummet, the second laser target, the first thin lens and the second camera are arranged in a straight line.

在一较佳实施例中:所述第二激光垂准仪、第三激光标靶、第二薄透镜和第三摄像头呈直线排列。In a preferred embodiment: the second laser plummet, the third laser target, the second thin lens and the third camera are arranged in a straight line.

在一较佳实施例中:所述第二激光标靶处于第一激光垂准仪与第二摄像头之间;第三激光标靶处于第二激光垂准仪与第三摄像头之间;In a preferred embodiment: the second laser target is between the first laser collimator and the second camera; the third laser target is between the second laser collimator and the third camera;

第一激光垂准仪、第二激光垂准仪产生的激光分别照射在第一薄透镜、第二薄透镜上聚焦后投射到第二激光标靶、第三激光标靶上,激光测距传感器发射的激光照射在第一激光标靶上,第一摄像头、第二摄像头、第三摄像头分别采集第一激光标靶、第二激光标靶、第三激光标靶上的激光光斑图像。The lasers generated by the first laser collimator and the second laser collimator are respectively irradiated on the first thin lens and the second thin lens and then focused on the second laser target and the third laser target. Laser ranging sensor The emitted laser light is irradiated on the first laser target, and the first camera, the second camera, and the third camera collect laser spot images on the first laser target, the second laser target, and the third laser target respectively.

在一较佳实施例中:所述第一位置检测模块、第二位置检测模块为光电编码器。In a preferred embodiment: the first position detection module and the second position detection module are photoelectric encoders.

在一较佳实施例中:所述第一运动模块、第二运动模块包括直流电机和减速器,与第一位置检测模块、第二位置检测模块组成闭环控制系统。In a preferred embodiment: the first motion module and the second motion module include a DC motor and a reducer, and form a closed-loop control system with the first position detection module and the second position detection module.

与现有技术相比,本发明具有如下有益效果:Compared with the prior art, the present invention has the following beneficial effects:

(1)本发明利用自动检测机器人对电梯导轨垂直度和侧面平行度进行自动测量,整个测量过程中无需人力参与,能够同时自动测量导轨的垂直度偏差、平行度偏差和轨距信息,克服了传统检测方式检测周期长、浪费人力的现象,大幅减少测量时间,提高了检测效率,检测功能丰富。(1) The present invention uses an automatic detection robot to automatically measure the verticality and side parallelism of the elevator guide rail. No human participation is required in the entire measurement process. It can automatically measure the verticality deviation, parallelism deviation and track gauge information of the guide rail at the same time, overcoming the problem of The traditional detection method has long detection cycle and wastes manpower. It greatly reduces the measurement time, improves the detection efficiency, and provides rich detection functions.

(2)本发明采用激光光斑图像识别方法得到导轨垂直度与平行度偏差,ARM 单片机驱动摄像头模块采集激光光斑图像,对光斑图像进行预处理和光斑中心坐标计算得到激光光斑的中心坐标,利用激光测距模块得到导轨轨距。此方法能够克服人眼读数带来的人为误差,检测精度达到像素级,避免视觉疲劳,使结果更加准确。(2) The present invention uses the laser spot image recognition method to obtain the verticality and parallelism deviation of the guide rail. The ARM microcontroller drives the camera module to collect the laser spot image, preprocesses the spot image and calculates the spot center coordinates to obtain the center coordinates of the laser spot. Using the laser The distance measurement module obtains the guide rail gauge. This method can overcome the human error caused by human eye readings, and the detection accuracy reaches pixel level, avoiding visual fatigue and making the results more accurate.

(3)本发明采用PID闭环控制直流电机,保证两自动检测机器人保持同步运行,整个检测过程自动化程度高,避免了检测设备的连续拆装以及人工的参与,能够自动执行检测步骤,检测速度快,准确性高,大大提高了检测效率和检测安全性。(3) The present invention uses PID closed-loop control of the DC motor to ensure that the two automatic detection robots maintain synchronized operation. The entire detection process is highly automated, avoiding the continuous disassembly and assembly of detection equipment and manual participation, and can automatically perform detection steps with fast detection speed. , high accuracy, greatly improving detection efficiency and detection safety.

(4)利用透镜将激光光斑聚焦,照射在激光标靶上,激光经过透镜后激光光斑缩小,能够避免因检测距离过长引起的激光光斑变大,从而引起无法准确得到激光光斑坐标而产生的测量误差。(4) Use a lens to focus the laser spot and irradiate it on the laser target. After the laser passes through the lens, the laser spot shrinks, which can avoid the laser spot becoming larger due to the long detection distance, resulting in the inability to accurately obtain the laser spot coordinates. Measurement error.

附图说明Description of the drawings

图1为电梯导轨垂直度与平行度自动检测方法原理图;Figure 1 is a schematic diagram of the automatic detection method for verticality and parallelism of elevator guide rails;

图2为左导轨垂直度检测光斑中心坐标图;Figure 2 is the center coordinate diagram of the left guide rail verticality detection spot;

图3为右导轨垂直度检测光斑中心坐标图;Figure 3 is the center coordinate diagram of the right guide rail verticality detection spot;

图4为两导轨侧平面平行度检测光斑中心坐标图;Figure 4 is the coordinate diagram of the center coordinates of the light spot for detecting the parallelism of the planes on the sides of the two guide rails;

图5为激光经薄透镜的光线图;Figure 5 is the light diagram of the laser passing through the thin lens;

图中:1-第一自动检测机器人、2-第二自动检测机器人、3-第一摄像头、 5-第二摄像头、8-第三摄像头、4-第一激光标靶、6-第二激光标靶、9-第三激光标靶、7-激光测距传感器、10-第一薄透镜、11-第二薄透镜、12-第一运动模块、13-第二运动模块、14-第一控制模块、15-第二控制模块,16-第一无线传输模块、17-第二无线传输模块、18-第一编码器、19-第二编码器、20-平行度检测图像采集模块,21-第一垂直度检测图像采集模块、22-第二垂直度检测图像采集模块、23-第一电梯导轨、24-第二电梯导轨、25-第一激光垂准仪、 26-第二激光垂准仪。In the picture: 1-The first automatic detection robot, 2-The second automatic detection robot, 3-The first camera, 5-The second camera, 8-The third camera, 4-The first laser target, 6-The second laser Target, 9-third laser target, 7-laser ranging sensor, 10-first thin lens, 11-second thin lens, 12-first movement module, 13-second movement module, 14-first Control module, 15-second control module, 16-first wireless transmission module, 17-second wireless transmission module, 18-first encoder, 19-second encoder, 20-parallelism detection image acquisition module, 21 -The first verticality detection image acquisition module, 22-the second verticality detection image acquisition module, 23-the first elevator guide rail, 24-the second elevator guide rail, 25-the first laser collimator, 26-the second laser vertical Accurate instrument.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述;显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例,基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。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; obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on The embodiments of the present invention and all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

在本发明的描述中,需要说明的是,术语“上”、“下”、“内”、“外”、“顶/底端”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the orientation shown in the drawings. or positional relationships are only for the convenience of describing the present invention and simplifying the 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 therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance.

在本发明的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“设置有”、“套设/接”、“连接”等,应做广义理解,例如“连接”,可以是壁挂连接,也可以是可拆卸连接,或一体地连接,可以是机械连接,也可以是电连接,可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通,对于本领域的普通技术人员而言,可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise clearly stated and limited, the terms "installed", "provided with", "set/connected", "connected", etc., should be understood in a broad sense, such as " "Connection" can be a wall-mounted connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be a direct connection or an indirect connection through an intermediate medium. It can be internal to two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

参考图1-图4,本实施例提供了一种电梯导轨垂直度与平行度自动检测装置,包括:第一自动检测机器人1、第二自动检测机器人2、第一激光垂准仪 25和第一激光垂准仪26;Referring to Figures 1-4, this embodiment provides an automatic detection device for verticality and parallelism of elevator guide rails, including: a first automatic detection robot 1, a second automatic detection robot 2, a first laser plummet 25 and a second automatic detection robot 2. a laser vertical collimator 26;

所述第一自动检测机器人1、第二自动检测机器人2上搭载图像采集模块、激光测距模块7、第一位置检测模块18、第二位置检测模块19、第一控制模块 14、第二控制模块15、第一运动模块12、第一运动模块13、第一无线传输模块16、第二无线传输模块17;The first automatic detection robot 1 and the second automatic detection robot 2 are equipped 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, and a second control module. Module 15, first motion module 12, first motion module 13, first wireless transmission module 16, second wireless transmission module 17;

所述第一自动检测机器人1和第二自动检测机器人2对称安装在平行间隔设置的第一电梯导轨23、第二电梯导轨24上;The first automatic detection robot 1 and the second automatic detection robot 2 are symmetrically installed on the first elevator guide rail 23 and the second elevator guide rail 24 arranged in parallel intervals;

所述第一激光垂准仪25、第二激光垂准仪26分别设置在第一电梯导轨23、第二电梯导轨24下方,用于向上发射铅锤激光;The first laser collimator 25 and the second laser collimator 26 are respectively arranged below the first elevator guide rail 23 and the second elevator guide rail 24 for emitting plumb laser upward;

所述图像采集模块分为第一垂直度检测图像采集模块21、第二垂直度检测图像采集模块22和平行度检测图像采集模块20;第一垂直度检测图像采集模块21、第二垂直度检测图像采集模块22分别垂直于第一自动检测机器人1、第二自动检测机器人2安装,用于采集第一激光垂准仪25、第二激光垂准仪 26发射的铅锤激光光斑图像;所述平行度检测图像采集模块20平行于第一自动检测机器人1安装,采集激光测距模块7发射的垂直于导轨顶面的激光光斑图像;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, the second verticality detection image acquisition module 21 The image acquisition module 22 is installed perpendicularly to the first automatic detection robot 1 and the second automatic detection robot 2 respectively, and is used to collect plumb bob laser spot images emitted by the first laser collimator 25 and the second laser collimator 26; The parallelism detection image acquisition module 20 is installed parallel to the first automatic detection robot 1, and collects the laser spot image perpendicular to the top surface of the guide rail emitted by the laser ranging module 7;

所述激光测距模块7垂直于第二自动检测机器人2安装,用于测量第一电梯导轨23、第二电梯导轨24之间的轨距信息;所述第一位置检测模块18、第二位置检测模块19分别用于检测第一自动检测机器人1、第二自动检测机器人 2的实时位置信息;所述第一控制模块14、第二控制模块15分别用于控制第一自动检测机器人1、第二自动检测机器人2;所述第一运动模块12、第二运动模块13分别用于控制第一自动检测机器人1、第二自动检测机器人2沿导轨做往复运动;所述第一无线传输模块16、第二无线传输模块17将检测得到的导轨信息发送给上位机。The laser ranging module 7 is installed perpendicular to the second automatic detection robot 2 and is used to measure 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 7 are installed perpendicularly to the second automatic detection robot 2. The detection module 19 is used to detect the real-time position information of the first automatic detection robot 1 and the second automatic detection robot 2 respectively; the first control module 14 and the second control module 15 are used to control the first automatic detection robot 1 and the second automatic detection robot 2 respectively. Two automatic detection robots 2; the first movement module 12 and the second movement module 13 are respectively used to control 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 , the second wireless transmission module 17 sends the detected guide rail information to the host computer.

所述第一垂直度检测图像采集模块21包括:第一摄像头3、第二摄像头5和第一激光标靶4、第二激光标靶6和第一薄透镜10;所述第二摄像头5和第二激光标靶6、第一薄透镜10垂直于第一自动检测机器人1安装,第二激光标靶6在第二摄像头5下方,第一薄透镜10在第二激光标靶6下方且第二激光标靶6位于第一薄透镜10的焦点处,与第二激光标靶6和第二摄像头5中心对齐,第一摄像头3和第一激光标靶4平行于第一自动检测机器人1安装,第一激光标靶4安装在第一摄像头3前方。The first verticality 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 and The second laser target 6 and the first thin lens 10 are installed perpendicularly to the first automatic detection robot 1. The second laser target 6 is below the second camera 5. The first thin lens 10 is below the second laser target 6 and the first thin lens 10 is installed vertically to the first automatic detection robot 1. The second laser target 6 is located at the focus of the first thin lens 10 and is centrally aligned with the second laser target 6 and the second camera 5. The first camera 3 and the first laser target 4 are installed parallel to the first automatic detection robot 1 , the first laser target 4 is installed in front of the first camera 3 .

所述第二垂直度检测图像采集模块22包括:第三摄像头8、第三激光标靶9、第二薄透镜11;第三激光标靶9、第二薄透镜11和第三摄像头8垂直于第二自动检测机器人2,第三激光标靶9在第三摄像头8下方,第二薄透镜11在第三激光标靶9下方且第三激光标靶9位于第二薄透镜11焦点处,与第三激光标靶9和第三摄像头8中心对齐。The second verticality 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 In 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 focal point of the second thin lens 11, and The third laser target 9 and the third camera 8 are centrally aligned.

经过上述设置后,所述第一激光垂准仪25、第二激光标靶6、第一薄透镜 10和第二摄像头5呈直线排列。所述第二激光垂准仪26、第三激光标靶9、第二薄透镜11和第三摄像头8呈直线排列。所述第二激光标靶6处于第一激光垂准仪 25与第二摄像头5之间;第三激光标靶9处于第二激光垂准仪26与第三摄像头8 之间。After the above settings, the first laser collimator 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 collimator 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 between the first laser collimator 25 and the second camera 5; the third laser target 9 is between the second laser collimator 26 and the third camera 8.

这样,第一激光垂准仪25、第二激光垂准仪26产生的激光分别照射在第一薄透镜10、第二薄透镜11上聚焦后投射到第二激光标靶6、第三激光标靶9上,激光测距传感器7发射的激光照射在第一激光标靶4上,第一摄像头3、第二摄像头5、第三摄像头8分别采集第一激光标靶4、第二激光标靶6、第三激光标靶 9上的激光光斑图像。In this way, the lasers generated by the first laser collimator 25 and the second laser collimator 26 are irradiated on the first thin lens 10 and the second thin lens 11 respectively and then are focused and projected to the second laser target 6 and the third laser target. On the target 9, the laser emitted by the laser ranging sensor 7 is irradiated on the first laser target 4. The first camera 3, the second camera 5, and the third camera 8 respectively collect the first laser target 4 and the second laser target. 6. The laser spot image on the third laser target 9.

本实施例中,所述第一位置检测模块18、第二位置检测模块19为光电编码器。所述第一运动模块12、第二运动模块13包括直流电机和减速器,与第一位置检测模块18、第二位置检测模块19组成闭环控制系统。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 include a DC motor and a reducer, and together with the first position detection module 18 and the second position detection module 19 form a closed-loop control system.

使用时,首先进行激光光斑图像的采集和处理:当第一自动检测机器人1、第二自动检测机器人2到达待检测位置时,第一垂直度检测图像采集模块21、第二垂直度检测图像采集模块22和平行度检测图像采集模块20分别采集第一激光垂准仪25、第二激光垂准仪26和激光测距模块7照射在第一激光标靶4、第二激光标靶6、第三激光标靶9上的激光光斑图像。为了得到激光光斑的准确重心坐标,需对激光光斑图像进行处理,首先对光斑图像进行预处理,将光斑图像灰度化,根据得到的灰度化数据,利用阈值迭代法找到最合适的阈值,根据阈值将光斑图像二值化,分离出明显的激光光斑图像,利用Hough变换求得激光光斑的中心坐标,激光光斑中心坐标的变化即代表导轨检测点的垂直度和侧面平行度偏差。When used, the laser spot image is first collected and processed: when the first automatic detection robot 1 and the second automatic detection robot 2 arrive at the position to be detected, the first verticality detection image acquisition module 21 and the second verticality detection image acquisition module 21 The module 22 and the parallelism detection image acquisition module 20 respectively collect the first laser collimator 25, the second laser collimator 26 and the laser ranging module 7 to illuminate the first laser target 4, the second laser target 6, and the Laser spot image on the three-laser target 9. In order to obtain the accurate center of gravity coordinates of the laser spot, the laser spot image needs to be processed. First, the spot image is preprocessed and the spot image is grayscaled. Based on the obtained grayscale data, the threshold iteration method is used to find the most appropriate threshold. Binarize the spot image according to the threshold, separate the obvious laser spot image, and use Hough transformation to obtain the center coordinates of the laser spot. The change in the laser spot center coordinate represents the verticality and side parallelism deviation of the guide rail detection point.

具体来说,导轨垂直度与平行度偏差采用如下的方法计算:激光光斑图像如图2、图3、图4所示,激光经薄透镜的光线图如图5所示,焦点F坐标(X0,Y0)。Specifically, the guide rail verticality and parallelism deviations are calculated using the following method: the laser spot image is shown in Figure 2, Figure 3, and Figure 4, the light diagram of the laser passing through the thin lens is shown in Figure 5, and the focus F coordinate (X 0 , Y 0 ).

1)将采集的参照点信息作为导轨垂直度与平行度检测的第零点,如图2、图3所示,第零点垂直度检测光斑中心坐标为AL(XL0ver,YL0ver)和AR(XR0ver, YR0ver),如图3所示,平行度检测光斑中心坐标为(X0para,Y0para),轨距L0。得到第零点检测数据之后,利用闭环控制系统控制两自动检测机器人到达下一个检测点位置作为第一点,如图2、图3所示,经处理得到左右两根导轨第一点垂直度检测光斑中心坐标为分别为BL(XL1ver,YL1ver)和BR(XR1ver,YR1ver),如图3所示,平行度检测光斑中心坐标为(X1para,Y1para),轨距L11) Use the collected reference point information as the zeroth point for guide rail verticality and parallelism detection, as shown in Figure 2 and Figure 3. The zeroth point verticality detection light spot center coordinate is A L (X L0 ver, Y L0 ver ) and A R (X R0 ver, Y R0 ver), as shown in Figure 3. The center coordinates of the parallelism detection spot are (X 0 para, Y 0 para), and the track distance is L 0 . After obtaining the zero-point detection data, the closed-loop control system is used to control the two automatic detection robots to reach the next detection point as the first point, as shown in Figure 2 and Figure 3. After processing, the first point verticality detection of the left and right guide rails is obtained The light spot center coordinates are B L (X L1 ver, Y L1 ver) and BR (X R1 ver, Y R1 ver) respectively. As shown in Figure 3, the parallelism detection light spot center coordinates are (X 1 para, Y 1 para), track gauge L 1 .

激光经薄透镜折射至激光标靶的光路图如图5所示,则:The optical path diagram of the laser refracted by the thin lens to the laser target is shown in Figure 5, then:

左侧导轨24上第零点处光斑中心AL与焦点F在顶面方向上的偏差为S0Lx= XL0ver-X0The deviation between the spot center A L at the zeroth point on the left guide rail 24 and the focus F in the top surface direction is S 0Lx = X L0 ver-X 0 ,

侧面方向上的偏差为S0Ly=YL0ver-Y0The deviation in the side direction is S 0Ly =Y L0 ver-Y 0 .

左侧导轨24上第零点处顶面与垂线倾角为 The inclination angle between the top surface at the zeroth point on the left guide rail 24 and the vertical line is

侧面与垂线倾角为 The inclination angle between the side and the vertical line is

右侧导轨23上第零点处光斑中心AR与焦点坐标在顶面方向上的偏差为S0Rx=XR0ver-X0The deviation between the spot center A R at the zeroth point on the right guide rail 23 and the focus coordinate in the top surface direction is S 0Rx =X R0 ver-X 0 ,

侧面方向上的偏差为S0Ry=YR0ver-Y0The deviation in the side direction is S 0Ry =Y R0 ver-Y 0 .

右侧导轨23上第零点处顶面与垂线倾角为 The inclination angle between the top surface at the zeroth point on the right guide rail 23 and the vertical line is

侧面与垂线倾角为 The inclination angle between the side and the vertical line is

已第零点为导轨检测的参考点,则:The zeroth point is the reference point for guide rail detection, then:

左侧导轨24上第一点处光斑中心BL与焦点在顶面方向上的偏差为S1Lx= XL1ver-X0The deviation between the spot center B L at the first point on the left guide rail 24 and the focus in the top surface direction is S 1Lx = X L1 ver-X 0 ,

侧面方向上的偏差为S1Ly=YL1ver-Y0The deviation in the side direction is S 1Ly =Y L1 ver-Y 0 .

左侧导轨24上第一点处顶面与垂线倾角 The inclination angle between the top surface at the first point on the left guide rail 24 and the vertical line

侧面与垂线倾角满足 The inclination angle between the side and the vertical line satisfies

右侧导轨23上第一点处光斑中心坐标与焦点坐标在顶面方向上的偏差为 S1Rx=XR1ver-X0The deviation between the light spot center coordinate and the focus coordinate at the first point on the right guide rail 23 in the top surface direction is S 1Rx =X R1 ver-X 0 ,

侧面方向上的偏差为S1Ry=YR1ver-Y0The deviation in the side direction is S 1Ry =Y R1 ver-Y 0 .

右侧导轨23上第一点处顶面与垂线倾角为 The inclination angle between the top surface and the vertical line at the first point on the right guide rail 23 is

侧面与垂线倾角为 The inclination angle between the side and the vertical line is

由编码器18、19得到第一检测点与第零检测点的距离为D,The distance between the first detection point and the zeroth detection point obtained by the encoders 18 and 19 is D,

则左侧导轨24第一点顶面垂直度偏差为侧面垂直度偏差为/> Then the vertical deviation of the top surface of the first point of the left guide rail 24 is Side verticality deviation is/>

右侧导轨23第一点顶面垂直度偏差为侧面垂直度偏差为/> The vertical deviation of the top surface of the first point of the right guide rail 23 is Side verticality deviation is/>

两导轨第一点侧面平行度偏差为ΔX1para=X1para-X0para。The side parallelism deviation of the first point of the two guide rails is ΔX 1 para=X 1 para-X 0 para.

两导轨第一点的轨距为ΔL1=(L0+ΔXL1ver+ΔXR1ver+L1)/2。The gauge of the first point of the two guide rails is ΔL 1 =(L 0 +ΔX L1 ver+ΔX R1 ver+L 1 )/2.

之后自动检测机器人自动运行至下一个检测点。Afterwards, the automatic detection robot automatically runs to the next detection point.

以此类推得到导轨上任何位置的检测点By analogy, the detection point at any position on the guide rail can be obtained

左侧导轨顶面垂直度偏差为 The vertical deviation of the top surface of the left guide rail is

侧面垂直度偏差为 The side verticality deviation is

右侧导轨顶面垂直度偏差为 The vertical deviation of the right rail top surface is

侧面垂直度偏差为 The side verticality deviation is

两导轨侧面平行度偏差为ΔXnpara=Xnpara-X0para。The parallelism deviation of the two guide rail sides is ΔX n para=X n para-X 0 para.

两导轨检测点的轨距为ΔLn=(L0+ΔXLnver+ΔXn1ver+Ln)/2。The track gauge of the two guide rail detection points is ΔL n =(L 0 +ΔX Ln ver+ΔX n1 ver+L n )/2.

之后根据激光测距模块7和第一位置检测模块18、第二位置检测模块19 得到两导轨的轨距和对应的高度信息。Then, the track gauge and corresponding height information of the two guide rails are obtained according to the laser ranging module 7 and the first position detection module 18 and the second position detection module 19 .

在完成一个位置的测量之后,利用无线传输模块16、17将数据发送给上位机,存入数据库中,之后自动检测小车自动运行至下一待测点,直至整个测量过程结束。After completing the measurement of a position, the wireless transmission modules 16 and 17 are used to send the data to the host computer and store it in the database. Then the automatic detection car automatically runs to the next point to be measured until the entire measurement process is completed.

以上所述,仅为本发明较佳的具体实施方式,但本发明的设计构思并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,利用此构思对本发明进行非实质性的改动,均属于侵犯本发明保护范围的行为。The above are only preferred embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any person familiar with the technical field can use this concept to carry out the present invention within the technical scope disclosed in the present invention. Non-substantive modifications are infringements of 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.
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