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

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

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

Technical field

The invention relates to the technical field of elevator detection, and in particular to an elevator guide rail verticality and parallelism detection device.

Background technique

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.

Traditional detection methods rely on manual detection of each to-be-detected point in sequence. Verticality measurement mainly includes the following two methods:

(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) 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.

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.

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.

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.

Contents of the invention

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.

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;

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;

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;

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;

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;

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.

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.

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.

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.

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.

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;

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.

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 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.

Compared with the prior art, the present invention has the following beneficial effects:

(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) 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) 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) 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.

Description of the drawings

Figure 1 is a schematic diagram of the automatic detection method for verticality and parallelism of elevator guide rails;

Figure 2 is the center coordinate diagram of the left guide rail verticality detection spot;

Figure 3 is the center coordinate diagram of the right guide rail verticality detection spot;

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;

Figure 5 is the light diagram of the laser passing through the thin lens;

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.

Detailed ways

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.

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.

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.

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;

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;

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;

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;

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;

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.

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 .

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.

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.

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.

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.

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.

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) 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 .

The optical path diagram of the laser refracted by the thin lens to the laser target is shown in Figure 5, then:

The 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 ,

The deviation in the side direction is S _0Ly =Y _L0 ver-Y ₀ .

The inclination angle between the top surface at the zeroth point on the left guide rail 24 and the vertical line is

The inclination angle between the side and the vertical line is

The 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 ,

The deviation in the side direction is S _0Ry =Y _R0 ver-Y ₀ .

The inclination angle between the top surface at the zeroth point on the right guide rail 23 and the vertical line is

The inclination angle between the side and the vertical line is

The zeroth point is the reference point for guide rail detection, then:

The 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 ,

The deviation in the side direction is S _1Ly =Y _L1 ver-Y ₀ .

The inclination angle between the top surface at the first point on the left guide rail 24 and the vertical line

The inclination angle between the side and the vertical line satisfies

The 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 ,

The deviation in the side direction is S _1Ry =Y _R1 ver-Y ₀ .

The inclination angle between the top surface and the vertical line at the first point on the right guide rail 23 is

The inclination angle between the side and the vertical line is

The distance between the first detection point and the zeroth detection point obtained by the encoders 18 and 19 is D,

Then the vertical deviation of the top surface of the first point of the left guide rail 24 is Side verticality deviation is/>

The vertical deviation of the top surface of the first point of the right guide rail 23 is Side verticality deviation is/>

The side parallelism deviation of the first point of the two guide rails is ΔX ₁ para＝X ₁ para-X ₀ para.

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.

Afterwards, the automatic detection robot automatically runs to the next detection point.

By analogy, the detection point at any position on the guide rail can be obtained

The vertical deviation of the top surface of the left guide rail is

The side verticality deviation is

The vertical deviation of the right rail top surface is

The side verticality deviation is

The parallelism deviation of the two guide rail sides is ΔX _n para=X _n para-X ₀ para.

The track gauge of the two guide rail detection points is ΔL _n =(L ₀ +ΔX _Ln ver+ΔX _n1 ver+L _n )/2.

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 .

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.

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.