CN210603265U - Elevator guide rail comprehensive parameter detection system - Google Patents
Elevator guide rail comprehensive parameter detection system Download PDFInfo
- Publication number
- CN210603265U CN210603265U CN201921345587.4U CN201921345587U CN210603265U CN 210603265 U CN210603265 U CN 210603265U CN 201921345587 U CN201921345587 U CN 201921345587U CN 210603265 U CN210603265 U CN 210603265U
- Authority
- CN
- China
- Prior art keywords
- detection
- guide rail
- module
- robot
- handheld device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The utility model discloses an elevator guide rail comprehensive parameter detection system, a robot detection system is installed on an elevator guide rail, and a detection robot comprises a driving module, an anti-collision system module, a position detection module, a guide rail bracket detection module, a guide rail interval detection module, a verticality detection module, a guide rail step detection module and a power supply system which are respectively connected with a main control system module; the wireless transmission module and the main control system module are integrally installed on the main body of the detection robot. The beneficial effects are that: the guide rail distance detection module is rigidly connected with the step detection sensor, so that assembly errors caused by guide rail distance detection are avoided, and the detection result is accurate; the handheld device terminal has the functions of local storage, information alarm, wireless transmission and cloud sending. In addition, the independent control model is adopted, the conflict among multiple detection or control tasks can be well solved, the guide rail climbing detection robot can detect detection items specified by standards only by carrying out one-time automatic operation, and the detection efficiency is improved.
Description
Technical Field
The utility model relates to the technical field of special equipment inspection and detection; in particular to a method and a system for detecting comprehensive parameters of guide rails of a traction type elevator (hereinafter referred to as an elevator).
Background
An elevator is a permanent transport device serving several specific floors in a building, the cars of which travel in at least two rows of rigid orbital movements perpendicular to the horizontal or vertical line by less than 15 °. With the acceleration of the urbanization process, the car elevator as an efficient vertical transportation vehicle has become an indispensable part in people's daily life, and the safety problem thereof draws more and more attention from people. As a guide, the elevator guide rails, like the rails of a train, are an important factor affecting the safety and comfort of the elevator. In order to ensure the safety and the comfort of the elevator, the elevator guide rails have higher requirements on the space between the guide rails, the verticality and the guide rail steps, and the faster the elevator speed is, the more rigorous the requirements are. However, in the installation process and the use process of the elevator, the size deviation is inevitably caused due to foundation settlement, expansion and contraction of the ring beam structure of the elevator shaft, vibration and friction of the elevator car and the like, if the deviation exceeds the range specified by the standard, the comfort level of the elevator is linearly reduced, even the safe operation of the elevator is possibly threatened, and serious elevator accidents are caused. Therefore, the elevator guide rails must be inspected for maintenance after installation and at a later date.
The inspection contents and requirements of the TSG T7001-2009 elevator supervision inspection and regular inspection rule-traction and forced drive elevator on the guide rail are as follows: 3.6 each guide rail (1) is provided with at least 2 guide rail brackets, the distance between the guide rail brackets is generally not more than 2.50m (if the distance is more than 2.50m, calculation basis should be provided), and the number of the brackets of the end short guide rail should meet the design requirement; (2) the support should be installed firmly, the weld seam of the welded support meets the design requirements, and the anchor bolt (such as an expansion bolt) is fixed and can only be used on the concrete member of the well wall; (3) the relative maximum deviation between the measured values of plumb lines of every 5m of the working surface of each row of guide rails is that the guide rail of the lift car and the T-shaped counterweight guide rail provided with the safety gear are not more than 1.2mm, and the T-shaped counterweight guide rail without the safety gear is not more than 2.0 mm; (4) the distance between the top surfaces of the two rows of guide rails is deviated, the cage guide rail is 0 to +2mm, and the counterweight guide rail is 0 to +3 mm. The specified inspection method is visual inspection or measurement of relevant data, and the inspection method is not specifically indicated. In GB/T10060 plus 2011 Elevator installation and acceptance Specification, the steps at the joints of the working surfaces of the guide rails are specified as follows: 5.2.5.6 the steps at the joint of car guide rail and counterweight guide rail working surface with safety tongs are measured by a straight ruler with 0.01/300 of straightness or other tools, and should not be larger than 0.05 mm. The step at the joint of the working surface of the counterweight guide rail without the safety gear is not more than 0.15 mm.
The factors influencing the size deviation of the guide rail of the safe operation of the elevator comprise the distance between the guide rail brackets, the verticality and the space between the guide rails, and the factors influencing the comfort of the elevator are mainly guide rail steps. For a long time, the detection method for the guide rail brackets adopts a box ruler to measure the distance between each guide rail bracket and judges whether the distance meets the requirement, and the method is time-consuming and has certain safety risk; for the verticality detection of the guide rail, a hanging line method is adopted, the time consumption of the measuring process is high, the efficiency is low, and the verticality precision is difficult to ensure due to the influence of a pendulum, wind blowing in a well and small vibration of a building in the actual field construction or detection; for the detection of the guide rail spacing, the adopted method is that an inspector stands on the car roof and uses a box ruler or a laser range finder for detection, and because part of the elevator car roof diversion sheaves are arranged between two rows of guide rails, the guide rail spacing cannot be detected, or the detection error is large, and the elevator car roof diversion sheaves are also influenced by human factors; for the detection of the guide rail steps, a straight ruler with the straightness of 0.01/300 is adopted for detection, the artificial influence factors are large, manual recording is carried out one by one, and the detection precision is low, time and labor are wasted.
At present, the method of 102278956a 'robot for measuring perpendicularity and gauge of elevator guide rails' discloses a method for detecting perpendicularity and gauge of guide rails, wherein the detection of perpendicularity of guide rails is realized by detecting an angle value through a crawling robot carrying an inclination sensor and calculating the perpendicularity of the guide rails through mathematical transformation; the detection of the track gauge is carried out by the crawling robot with a laser range finder. The method well solves the problem of low efficiency, but has some defects:
1. the assembly error of the robot is not considered, the standard requirement of the track gauge detection is 0 to +2mm, the precision is higher, and if the assembly error is not avoided, the detection result is probably inaccurate;
2. all detection items required by the standard are not included, and the improved detection efficiency is limited.
Disclosure of Invention
The utility model aims to solve the technical problem that overcome prior art defect, provide a simple structure's elevator guide rail comprehensive parameter detecting system.
The utility model adopts the technical proposal that the elevator guide rail comprehensive parameter detection system comprises a robot detection system and a handheld device terminal;
the robot detection system is arranged on an elevator guide rail and comprises a driving module, an anti-collision system module, a position detection module, a guide rail bracket detection module, a guide rail interval detection module, a verticality detection module, a guide rail step detection module and a power supply system, wherein the driving module, the anti-collision system module, the position detection module, the guide rail bracket detection module, the guide rail interval detection module, the verticality detection module, the guide rail step detection module and the power supply system; the position detection module is coaxially mounted with the non-driven robot top magnetic wheel, so that the accuracy of robot position detection is ensured; the guide rail distance detection module is rigidly connected with the step detection sensor, so that assembly errors caused by guide rail distance detection are avoided; the first wireless transmission module and the main control system module are integrated into a whole and are arranged on the main body of the detection robot;
the handheld device terminal comprises a second wireless transmission module, a cloud sending module and an alarm display module, wherein the second wireless transmission module, the cloud sending module and the alarm display module are connected with the handheld device main control system module.
The collision avoidance system module is arranged on the main body of the detection robot by adopting an ultrasonic displacement sensor, and the main control system module is an embedded system and comprises a single chip microcomputer and a control program; the handheld device main control system module is an embedded system and comprises a single chip microcomputer and a control program.
The utility model has the advantages that: the guide rail distance detection module is rigidly connected with the step detection sensor, so that assembly errors caused by guide rail distance detection are avoided, the detection result is accurate, the equipment reliability is high, and the carrying is convenient; the handheld device terminal has the functions of local storage, information alarm, wireless transmission and cloud sending. The wireless transmission has good real-time performance, is not influenced by the coverage of a cellular network, and is convenient for field operation. In addition, due to the fact that the independent control model is adopted, the conflict among multiple detection or control tasks can be well solved, the guide rail climbing detection robot can detect detection items specified by standards only by automatically running once, and the detection efficiency is greatly improved.
Drawings
FIGS. 1a and 1b are block diagrams of the elevator guide rail comprehensive parameter detection system as a whole;
FIG. 2 is a perspective schematic view of a robotic inspection system;
FIG. 3 is a front view of a robotic inspection system;
FIG. 4 is a schematic view of the detection of an elevator guide rail composite parameter detection system;
FIG. 5 is a control block diagram of an elevator guide rail composite parameter detection system;
fig. 6 is a flow chart of an elevator guide rail composite parameter detection system.
In the figure:
1. robot detection system 2, handheld device terminal 3, robot top magnetic wheel
4. Guide rail joint bolt 5, guide rail bracket 6 and guide rail connecting plate
7. A guide rail.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
as shown in figure 4, the evaluation method for detecting the comprehensive parameters of the guide rails of the elevator comprises the following steps
(1) And (3) detecting a guide rail bracket: when the guide rail bracket approach sensor detects that the guide rail bracket is positioned under the sensorWhen the robot is in the right place, the main control system of the robot is triggered to carry out the height S of the current position of the robotiStoring; when the guide rail bracket proximity sensor detects the position of the next guide rail bracket, the robot main control system is triggered to carry out height S on the current position of the roboti+1And (5) storing. Calculating the height difference Delta S as S according to two adjacent height valuesi+1-SiAnd determining the distance delta S between the guide rail brackets and judging whether the distance delta S is larger than 2.5 m.
According to the requirements of inspection standards and national standards, each guide rail has at least two guide rail supports, the distance between every two adjacent supports is not more than 2.5m, the crawling robot detection system transmits the distance delta S between the guide rail supports to a handheld device terminal main control system module 24 through a first wireless transmission module 18 in the robot detection system and a second wireless transmission module 21 in a handheld device terminal on site, the handheld device terminal judges whether the distance meets the requirements according to standard requirements, the detection result is sent to a cloud server through a cloud sending module 22, and meanwhile, the distance of the supports which do not meet the requirements is displayed through a handheld device terminal alarm module 23.
(2) Detecting the steps of the guide rail: when a guide rail joint position sensor (a proximity sensor) in a guide rail step detection module detects a guide rail joint connecting bolt, a signal is sent to a robot main control system, the system records the position information at the moment, and when the position detection module detects that the robot walks the distance between the guide rail joint position sensor and the guide rail step detection sensor, the system stops the robot and triggers the guide rail step detection sensor (a high-precision laser displacement sensor) to detect the height h of the joint of the working face of the guide rail1Then the robot stops after walking for 5 pulses, and the height h of the joint of the working surface of the guide rail is detected again2By calculating the height difference Δ h ═ h2-h1And determining the step size delta h, sending the step size delta h to the handheld device terminal, and judging whether the step size delta h is larger than 0.05mm/0.15 mm.
According to the national standard requirements, the steps at the joints of the car guide rail and the counterweight guide rail working face provided with the safety gear are not more than 0.05mm, and the steps at the joints of the counterweight guide rail working face without the safety gear are not more than 0.15 mm. The crawling robot detection system transmits the size delta h of the guide rail step to a handheld device terminal main control system module 24 through a first wireless transmission module 18 in the robot detection system and a second wireless transmission module 21 in a handheld device terminal on site, the handheld device terminal judges whether the standard requirement is met according to an input target, a detection result is sent to a cloud server through a cloud sending module 22, and meanwhile the size of the guide rail step which is not met with the requirement is displayed through a handheld device terminal alarm module 23.
(3) Detecting the distance between the guide rails: determining N spacing detection points on the guide rail to be detected, stopping the robot after the robot reaches the spacing detection position, and obtaining the distance a from the emitting surface of the sensor to the working top surface of the guide rail through a guide rail spacing detection module (laser ranging sensor)1The guide rail space detection module is rigidly connected with the step detection sensor, and the distance a from the guide rail space detection module to the step detection sensor can be obtained through design2Detecting the distance a from the other guide rail to the working top surface by a guide rail step detection sensor (high-precision laser displacement sensor)3The distance a between the guide rails is a1+a2+a3And the dimension A of the space between the guide rail and the guide rail in the guide rail installation drawing0A comparison is made. It is judged whether or not the thickness is 0 to +2mm/0 to +3 mm. The method for detecting the distance between the guide rails can effectively avoid detection errors caused by robot assembly.
According to the requirements of inspection regulations and national standards, the distance between the top surfaces of two rows of guide rails is deviated, the cage guide rail is 0 to +2mm, and the counterweight guide rail is 0 to +3 mm. The crawling robot detection system transmits the distance a between the top surfaces of the guide rails to a main control system module 24 of the handheld device terminal through a first wireless transmission module 18 in the robot detection system and a second wireless transmission module 21 in the handheld device terminal on site, and the handheld device terminal transmits the distance A between the guide rails in the input target and drawing according to the distance A between the guide rails in the input target and the drawing0Determining the distance deviation △ a of the top surface of the guide rail as a-A0And judging whether the top surface distance deviation meets the standard requirement, sending the detection result to a cloud server through a cloud sending module 22, and displaying the size of the guide rail step which does not meet the requirement through a handheld device terminal alarm module 23.
(4) And (3) detecting the verticality of the guide rail: the method comprises the steps that N perpendicularity detection points are determined on a detected guide rail, when the detected guide rail reaches a perpendicularity detection position, the robot stops, a guide rail perpendicularity detection module (an inclination angle sensor) detects an included angle theta between the position and a plumb line and sends the included angle theta to a handheld device terminal, the handheld device terminal determines perpendicularity deviation delta c according to a formula delta c which is tan theta multiplied by 5000, and whether the perpendicularity deviation delta c is larger than 1.2mm/2.0mm or not.
According to the requirements of inspection standards and national standards, the relative maximum deviation between the measured values of the plumb lines of every 5m of the working surface of each row of guide rails, the guide rail of the lift car and the T-shaped counterweight guide rail provided with the safety tongs is not more than 1.2mm, and the T-shaped counterweight guide rail without the safety tongs is not more than 2.0 mm. The crawling robot detection system transmits an included angle theta to a handheld device terminal main control system module 24 through a first wireless transmission module 18 in the robot detection system and a second wireless transmission module 21 in a handheld device terminal on site, verticality deviation delta c is determined through a formula delta c of tan theta multiplied by 5000, then whether standard requirements are met or not is judged according to targets input by the handheld device terminal, a detection result is sent to a cloud server through a cloud sending module 22, and meanwhile, the size of a guide rail step which does not meet the requirements is displayed through a handheld device terminal alarm module 23.
As shown in fig. 5 and 6, the determined control program enables accurate measurement of the comprehensive parameters of the guide rail, and is designed in the control program in detail in consideration of the safety risk that may exist in the work. The specific operation steps are as follows.
Firstly, mounting a guide rail detection robot on a detected guide rail;
and secondly, starting the guide rail detection robot and the handheld device terminal, enabling the control systems of the two parties to enter initialization, and checking whether the wireless transmission of the two parties is successfully connected.
Inputting a detection target and a task on a handheld device terminal, and sending the detection target and the task to a robot main control system through wireless transmission;
fourthly, the robot main control system performs guide rail bracket detection, guide rail interval detection, guide rail verticality detection, guide rail step detection and anti-collision detection according to detection targets and tasks, and determines whether the robot performs automatic detection or manual detection through a handheld device terminal;
fifthly, detecting comprehensive parameters of the guide rail by the robot, and transmitting detection data to the handheld equipment terminal in a wireless mode;
sixthly, the handheld device terminal performs calculation analysis according to the input detection target and the input task, determines whether the received detection results meet the standard requirements or not, gives an alarm when the detection results do not meet the project requirements, and simultaneously locally stores the detection results and transmits the detection results to a cloud server through a cloud sending module for storage and backup; the local storage is used for preventing data loss when no cellular network exists on site, and the cloud server storage is used for analyzing and comparing a detection result with historical data when the elevator guide rail is detected at a later stage, so that defects of the elevator guide rail can be found in time;
and seventhly, detecting the guide rail terminal by the detection robot anti-collision system, finishing detection work, returning to the initial position, closing a robot power supply, dismounting the robot from the guide rail, collecting the guide rail robot and the handheld device terminal, and finishing the whole detection process.
As shown in fig. 1a to 3, the elevator guide rail comprehensive parameter detection system of the invention comprises a robot detection system 1 and a handheld device terminal 2;
the elevator guide rails 7 are arranged on the guide rail bracket 5, and the guide rails are connected into a whole through guide rail connecting plates 6 and guide rail joint bolts 4; the robot detection system 1 is arranged on the guide rail 7, the robot detection system 1 comprises a driving module 13, an anti-collision system module 12, a position detection module 19, a guide rail bracket detection module 11, a guide rail distance detection module 14, a verticality detection module 15, a guide rail step detection module 16 and a power supply system 20, wherein the driving module 13 is arranged on a detection robot main body and is respectively connected with a main control system module 17 and used for receiving system instructions, driving the robot to walk and stop, the position detection module 19 is used for recording the walking displacement of the robot and detecting the position of a defect, the guide rail bracket detection module 11 is used for detecting the distance between two guide rail brackets, the guide rail distance detection module 14 is used for detecting the distance between the two guide rails, the verticality detection module 15 is; the position detection module 19 is coaxially arranged with the non-driven robot top magnetic wheel 3; the guide rail step detection module 16 comprises a guide rail joint position sensor 161 and a guide rail step detection sensor 162, wherein the guide rail joint position sensor 161 is installed on the detection robot main body and connected with the robot main control system module 17 for detecting the position of the guide rail step, and the guide rail step detection sensor 162 is installed on the detection robot main body and connected with the robot main control system module 17 for detecting the step size between the butt-jointed guide rails; the first wireless transmission module 18 and the main control system module 17 are integrated and arranged on the detection robot main body and used for real-time interaction of detection data and a handheld device terminal; the collision avoidance system module 12 is mounted on the main body of the detection robot by an ultrasonic displacement sensor and is used for detecting the end point of a guide rail or whether an obstacle exists in the crawling process, and the main control system module 17 is an embedded system, comprises a single chip microcomputer and a control program and is mounted on the main body of the detection robot; the main control system module 24 of the handheld device is an embedded system and comprises a single chip microcomputer and a control program.
The second wireless transmission module 21 of the handheld device terminal is installed on the handheld device terminal, is connected with the handheld device main control system module 24, and is used for information interaction with the detection robot; the cloud sending module 22 is installed on the handheld device terminal, is connected with the handheld device main control system module 24, and is used for sending the detection data to the cloud server for storage, so that the data is convenient to store, data mining is performed on the guide rail maintenance and inspection in the later period, and potential safety hazards are discovered; the display alarm module 23 is arranged on the terminal of the handheld device and is connected with the main control system module 24 of the handheld device, so that the defect information can be conveniently checked; the main control system module 24 of the handheld device is an embedded system, comprises a single chip microcomputer and a control program, and is installed on a terminal of the handheld device.
Cloud sending, namely sending the detected guide rail comprehensive parameter data to a cloud server for storage, so as to facilitate data mining in maintenance and inspection of the guide rail in the future; the local storage means that when the cellular network is not available on site and cloud sending fails, data is locally stored, and cloud storage is performed after a network signal exists; the information alarm means that the alarm and the display are carried out at the place where the defect is found during the field detection, so that the maintenance is conveniently guided and the result judgment is conveniently carried out.
It should be noted that the protection scope of the present invention is not limited to the above specific examples, and the object of the present invention can be achieved by substantially the same structure according to the basic technical concept of the present invention, and embodiments that can be imagined by those skilled in the art without creative efforts belong to the protection scope of the present invention.
Claims (2)
1. The elevator guide rail comprehensive parameter detection system is characterized by comprising a robot detection system (1) and a handheld device terminal (2);
the robot detection system (1) is arranged on an elevator guide rail (7) and comprises a driving module (13), an anti-collision system module (12), a position detection module (19), a guide rail bracket detection module (11), a guide rail space detection module (14), a verticality detection module (15), a guide rail step detection module (16) and a power supply system (20), wherein the driving module (13), the anti-collision system module (12), the position detection module (19), the guide rail bracket detection module (11), the guide rail space detection module (14) and the verticality detection module are arranged on a; the position detection module (19) is coaxially mounted with the non-driven robot top magnetic wheel (3), so that the accuracy of robot position detection is ensured; the guide rail distance detection module (14) is rigidly connected with the step detection sensor (162), so that assembly errors caused by guide rail distance detection are avoided; the first wireless transmission module (18) and the main control system module (17) are integrated into a whole and are arranged on the main body of the detection robot;
the handheld device terminal comprises a second wireless transmission module (21), a cloud sending module (22) and an alarm display module (23), wherein the second wireless transmission module is connected with a handheld device main control system module (24).
2. The elevator guide rail comprehensive parameter detection system according to claim 1, wherein the collision avoidance system module (12) is mounted on a detection robot body by adopting an ultrasonic displacement sensor, and the main control system module (17) is an embedded system and comprises a single chip microcomputer and a control program; the handheld device main control system module (24) is an embedded system and comprises a single chip microcomputer and a control program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921345587.4U CN210603265U (en) | 2019-08-19 | 2019-08-19 | Elevator guide rail comprehensive parameter detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921345587.4U CN210603265U (en) | 2019-08-19 | 2019-08-19 | Elevator guide rail comprehensive parameter detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210603265U true CN210603265U (en) | 2020-05-22 |
Family
ID=70688696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921345587.4U Active CN210603265U (en) | 2019-08-19 | 2019-08-19 | Elevator guide rail comprehensive parameter detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210603265U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978655A (en) * | 2021-11-10 | 2022-01-28 | 上海外高桥造船有限公司 | Device for total assembly positioning and cabin capacity detection of container ship guide rail |
-
2019
- 2019-08-19 CN CN201921345587.4U patent/CN210603265U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978655A (en) * | 2021-11-10 | 2022-01-28 | 上海外高桥造船有限公司 | Device for total assembly positioning and cabin capacity detection of container ship guide rail |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110500983A (en) | A kind of cage guide comprehensive parameters method of determination and evaluation and detection system | |
| US7428781B2 (en) | Method and apparatus for performing overhead crane rail alignment surveys | |
| JP2768293B2 (en) | Anti-collision device and method for moving objects | |
| CN205951992U (en) | Railway tunnel boundary limit dynamic inspection system based on laser scanning distance measurement appearance | |
| CN107416627A (en) | A kind of elevator T type guide rail multi-parameter detecting system and method | |
| CN111948999A (en) | Automatic control system for frame beam | |
| CN210603265U (en) | Elevator guide rail comprehensive parameter detection system | |
| CN107202992A (en) | A kind of detection method | |
| CN111173502A (en) | Pipe jacking excavation laser guiding measurement construction method for municipal engineering | |
| CN110540136A (en) | Bridge crane cart position detection method, device, equipment and storage medium | |
| CN114233299A (en) | Shield tunnel segment displacement monitoring method and device | |
| CN101551241A (en) | Method, system and device for detecting lock seat planarity of container flat car | |
| CN105334014A (en) | Adjustable suspended cable method for testing bridge deflection | |
| CN110657787B (en) | Crane track deformation detection method based on inertia measurement | |
| CN110962876A (en) | Novel limit measurement method for railway I-shaped steel pole tower | |
| CN115406458A (en) | Comprehensive positioning and navigation method for urban rail vehicle inspection robot | |
| CN110631559A (en) | Bridge crane track detection device based on inertia measurement | |
| CN213265431U (en) | Real-time positioning device for overhead traveling crane hook | |
| US7929118B2 (en) | Method for geodetic monitoring of rails | |
| CN212276263U (en) | Automatic control system for frame beam | |
| CN111267902B (en) | Detection assembly, control method and device of detection assembly, and readable storage medium | |
| CN102829727A (en) | Line structured light based device and line structured light based method for automatic detection of level difference of cutting head of boom-type roadheader | |
| CN206959792U (en) | A kind of vehicle travels dynamic measurement system | |
| CN209117054U (en) | Semi-automatic quality inspection device for highway measurement | |
| CN203310401U (en) | Tunnel limit detecting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |