Design And Research Of Multi-parameter Detection Robot For Vertical Elevator Guide Rail

As society advances and the economy develops,the number of high-rise buildings in China is also increasing.As a necessary carrying facility for high-rise buildings,vertical elevators have attracted more and more attention for their stable and safe operation.The elevator guide rail will be disturbed by human and external forces during installation and use,which will affect the smooth operation of the elevator.Therefore,it is necessary to detect the state of the guide rail regularly.The verticality,coplanarity and guide rail spacing of the vertical elevator guide rail are the main basis for judging the state of the guide rail.At present,in the elevator guide rail inspection industry,manual carrying instruments are mainly used to climb the guide rails,but this method has problems such as difficult detection,high risk,low efficiency and accuracy.How to use automation equipment to accurately and quickly detect the state parameters of the guide rail is of great significance to improve the detection efficiency,reduce labor investment,ensure the safe and stable operation of the elevator,and avoid accidents.Therefore,this thesis researches and develops an automatic climbing vertical elevator guide rail detection robot,and proposes a detection method based on spot positioning to realize simultaneous detection of multiple parameters of the guide rail.This thesis first discusses and expounds the specific requirements of the vertical elevator guide rail detection device,and designs the overall scheme.At the same time,the structure of the guide rail climbing device is designed and optimized.The main frame of the device is symmetrically designed,and the double drive source is used.The direct coupling transmission method provides power for the knurling traction wheel,and provides the necessary pressure for the device to climb through the adjustable clamping unit,so that the device closely fits the guide rail for vertical climbing.The design of the safety protection structure improves the safety of the device in the actual detection environment,and can mount the detection platform to realize the detection of the state parameters of the guide rail.Then,according to the detection scheme,the measurement and control system of the detection device is designed.In order to realize the function of automatic detection of guide rail parameters,this thesis selects the appropriate data processor,image sensor,DC deceleration motor,controller and other main hardware for the device,and designs the software interface to effectively and conveniently control the state of the device.The detection system is designed to obtain the guide rail parameters based on spot positioning.Next,this thesis analyzes the characteristics of the spot image and the influence of image processing methods on the spot location results,and proposes a sub-pixel level spot location method,combined with the Gaussian fitting method to achieve high-precision spot location.The positioning algorithm is optimized according to the shape of the light spot,so that it can meet the positioning of the cross-shaped light spot,thereby further improving the detection accuracy of the guide rail parameters.Finally,the platform construction and performance test of the designed device are carried out in this thesis.The performance test results show that the device can adapt to various types of guide rails,and can climb quickly and stably on the guide rail.The smoothness deviation can be guaranteed within ± 0.3°,and the running speed is 7cm / s.The experimental results in the actual environment show that the detection device can climb and detect smoothly and achieve high-precision detection results.The successful development of this device is of great significance in improving the detection efficiency of long-distance vertical elevator guide rails in high-rise buildings and reducing the risk faced by inspectors.