| Verticality is one of the most important parameters of elevator's guide rail, which is directly related to elevator's safety and comfort. The verticality measurement for elevator's guide rail is needed at both stages of installation and maintenance. At present, verticality measurement for elevator's guide rail can only be done with the help of scaffold, the measuring course is complicated and time-consuming. A verticality-measuring robot for elevator's guide rail is designed in this paper, which can run autonomously along vertical guide rail and automatize the measuring course.Firstly, mechanism design is introduced in this paper. An absorbing mechanism with multiple magnetic wheels is employed. According to the force analysis of the elevator, we decided absorbing force of every wheel and design the drive system, and analyses the calculation of magnetic circuit using method of magnetic permanence. Secondly, the design of control system is introduced. Thirdly, verticality measurement for elevator's guide rail on the basic reference of laser is discussed in the paper. Laser collimator emits a laser beam along the guide rail, and a CCD camera is used to receive the laser spot. The spot image is segmented using the OSTU algorithm and then the centre of the laser spot is recognised by the Hough transformation.A software is developed using Visual C++ to do the work of data processing. The robot is tested on a 10m guide rail. It can run autonomously along vertical guide rail, and the error curves obtained from the software is useful to the regulating of elevator's guide rail. |
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