Elevator guide rail comprehensive parameter detection and evaluation method and detection system

Abstract

The present invention discloses a comprehensive parameter detection and evaluation method and detection system for elevator guide rails, including: installing a robot on the guide rail to be detected, the robot walking to the bracket detection position to detect the guide rail step, guide rail spacing, and guide rail verticality; the detection data is transmitted to the handheld device terminal via wireless; the detection robot anti-collision system detects the guide rail terminal, completes the detection work, and returns to the initial position. The beneficial effects are: the independent control model can resolve conflicts between multiple detection or control tasks, and the guide rail climbing detection robot can detect the detection items specified in the standard with only one automatic operation, thereby improving the detection efficiency; the handheld device terminal is easy to carry and reduces labor intensity; the use of "Internet +" and artificial intelligence technology, through data mining, can detect safety hazards early and provide protection for elevator safety. The guide rail spacing detection module is rigidly connected to the step detection sensor to avoid assembly errors introduced by the guide rail spacing detection, and the detection results are accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of special equipment inspection and detection, and in particular to a method and system for detecting comprehensive parameters of guide rails of a traction elevator (hereinafter referred to as an elevator). Background Art

[0002] An elevator is a permanent transportation device serving specific floors within a building, with its car running on at least two rigid rails angled less than 15 degrees to the horizontal or plumb line. With the acceleration of urbanization, car elevators, as an efficient means of vertical transportation, have become an indispensable part of people's daily lives, and their safety issues are attracting increasing attention. Elevator guide rails, as guide devices similar to train tracks, are a key factor affecting elevator safety and comfort. To ensure elevator safety and comfort, elevator guide rails have strict requirements for rail spacing, verticality, and rail steps, and the higher the elevator speed, the more stringent these requirements are. However, dimensional deviations are inevitable during installation and operation due to factors such as foundation settlement, thermal expansion and contraction of the shaft ring beam structure, and car vibration and friction. If these deviations exceed the specified range, elevator comfort will plummet and may even threaten safe operation and cause serious accidents. Therefore, it is essential to inspect elevator guide rails after installation and during subsequent maintenance inspections.

[0003] The inspection contents and requirements for guide rails in TSG T7001-2009 "Rules for Supervisory Inspection and Periodic Inspection of Elevators - Traction and Forced Drive Elevators" are as follows: 3.6 Guide Rails (1) Each guide rail shall have at least two guide rail brackets, and the spacing between them shall generally not exceed 2.50m (if the spacing is greater than 2.50m, there shall be a calculation basis), and the number of brackets for the short guide rails at the end shall meet the design requirements; (2) The brackets shall be firmly installed, and the welds of the welded brackets shall meet the design requirements. Anchor bolts (such as expansion bolts) shall only be used for fixing on the concrete components of the shaft wall; (3) The relative maximum deviation between the measured values ​​of the plumb line every 5m on the working surface of each row of guide rails shall not exceed 1.2mm for car guide rails and T-type counterweight guide rails with safety clamps, and not exceed 2.0mm for T-type counterweight guide rails without safety clamps; (4) The distance deviation between the top surfaces of the two rows of guide rails shall be 0~+2mm for car guide rails and 0~+3mm for counterweight guide rails. The inspection method specified is visual inspection or measurement of relevant data, but no specific inspection method is specified. GB / T 10060-2011, "Elevator Installation Acceptance Code," stipulates the following regarding steps at the guide rail working surface joint: 5.2.5.6 The step at the joint between the car guide rail and the counterweight guide rail with a safety clamp shall be measured with a straightedge or other tool with a straightness of 0.01 / 300 and shall not exceed 0.05mm. The step at the joint between the counterweight guide rail without a safety clamp shall not exceed 0.15mm.

[0004] Guide rail dimensional deviations that affect elevator safety include guide rail bracket distance, verticality, and guide rail spacing. The primary factor affecting elevator comfort is guide rail steps. For a long time, guide rail bracket inspections have used a ruler to measure the distance between each guide rail bracket to determine whether it meets requirements. This method is time-consuming and poses certain safety risks. Guide rail verticality inspections use a plumb line method, which is time-consuming and inefficient. During actual on-site construction or inspections, verticality accuracy is difficult to ensure due to the influence of pendulums, wind in the hoistway, and slight vibrations from the building. Guide rail spacing inspections typically require an inspector standing on the car roof using a ruler or laser rangefinder. However, because the return pulley on some elevators is located between two rows of guide rails, the guide rail spacing cannot be measured, or the inspection error is large, and this is also subject to human influence. Guide rail steps inspections typically use a straightedge with a straightness of 0.01 / 300, but this is subject to significant human influence and requires manual recording, resulting in low accuracy and a time-consuming and labor-intensive inspection process.

[0005] Currently, the publication number 102278956A, "A Robot for Measuring Elevator Guide Rail Verticality and Gauge," discloses a method for measuring guide rail verticality and gauge. The guide rail verticality is measured by a crawling robot carrying an inclination sensor, which detects the angle value and calculates the guide rail verticality through mathematical transformation. The gauge is measured by a crawling robot carrying a laser rangefinder. This method effectively solves the problem of low efficiency, but it still has some shortcomings:

[0006] 1. The robot assembly error is not taken into account. The standard requirement for track gauge detection is 0 to +2mm, which requires high accuracy. If the assembly error is not avoided, the detection results are likely to be inaccurate.

[0007] 2. It does not include all the test items required by the standard, and the improvement in test efficiency is limited. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to overcome the defects of the existing technology and provide an elevator guide rail comprehensive parameter detection and evaluation method and detection system with simple structure, high accuracy and high detection efficiency.

[0009] The technical solution adopted by the present invention is a method for evaluating the comprehensive parameter detection of elevator guide rails, comprising the following steps:

[0010] A. Install the robot on the guide rail to be inspected, move it to the bracket inspection position, and inspect the guide rail bracket;

[0011] B. The robot moves to the step detection position and detects the guide rail steps;

[0012] C. The robot moves to the spacing detection position and detects the distance between the guide rails;

[0013] D. The robot moves to the verticality detection position and detects the verticality of the guide rail;

[0014] E. The detection data is transmitted to the handheld device terminal via wireless;

[0015] F. Compute and analyze, store the test results locally, and transmit them to the cloud server for storage and backup via the cloud sending module;

[0016] G. The detection robot's anti-collision system detects the end of the guide rail, completes the detection work, and returns to the initial position.

[0017] When the photoelectric sensor in step A detects that the guide rail bracket 5 is located directly below the sensor, the robot main control system is triggered to adjust the robot's current position height S i Save; when the guide rail bracket proximity sensor detects the position of the next guide rail bracket, the robot main control system is triggered to adjust the robot's current position height S i+1 Save; calculate the height difference ΔS=S based on two adjacent height values i+1 -S i ,, determine the distance ΔS between the guide rail brackets;

[0018] In step B, when the guide rail joint position sensor proximity sensor in the guide rail step detection module detects the signal of the guide rail joint bolt, the signal is sent to the robot main control system module, and the system records the position information at this time. When the position detection module detects that the robot has walked the distance between the guide rail joint position sensor and the guide rail step detection sensor, the system stops the robot and triggers the high-precision laser displacement sensor of the guide rail step detection sensor to detect the height value h1 at the guide rail working surface joint. Then, the robot stops after walking for 5 pulses and detects the height h2 of the guide rail working surface joint again. By calculating the height difference Δh=h2-h1, the step size is determined and sent to the handheld device terminal;

[0019] In step C, N spacing detection points are determined on the guide rail being tested. When the robot reaches the spacing detection position, it stops and uses the laser distance sensor of the guide rail spacing detection module to obtain the distance a1 from the sensor's emitting surface to the working top surface of the guide rail. Through design, the distance a2 from the guide rail spacing detection module to the step detection sensor can be obtained. The high-precision laser displacement sensor of the guide rail step detection sensor is used to detect the distance a3 to the working top surface of the other guide rail. The actual distance between the guide rails, a=a1+a2+a3, is compared with the guide rail spacing dimension A0 in the guide rail installation drawing. Determine whether it is within 0~+2mm / 0~+3mm.

[0020] In step D, N verticality detection points are determined on the guide rail being inspected. When the robot reaches the verticality detection position, it stops running and uses the inclination sensor of the guide rail verticality detection module to detect the angle θ between the position and the plumb line. The angle is sent to the handheld device terminal. The handheld device terminal determines the verticality deviation Δc using the formula Δc = tanθ × 5000 and determines whether the verticality of the guide rail is greater than 1.2 mm / 2.0 mm.

[0021] In step A, each guide rail has at least two guide rail brackets, and the distance between two adjacent brackets is no more than 2.5m. The crawler robot detection system transmits the distance ΔS between the guide rail brackets to the handheld device terminal main control system module via the wireless transmission module and the wireless transmission module of the handheld device terminal on site. The handheld device terminal determines whether the requirements are met according to the standard requirements and sends the detection result to the cloud server via the cloud sending module. At the same time, the bracket distance that does not meet the requirements is displayed via the handheld device terminal alarm module;

[0022] In step B, the step at the joint between the car guide rail and the working surface of the counterweight guide rail equipped with a safety clamp should not be greater than 0.05mm, and the step at the joint between the counterweight guide rail without a safety clamp should not be greater than 0.15mm; the crawling robot detection system transmits the guide rail step size Δh to the handheld device terminal main control system module through the wireless transmission module on site. The handheld device terminal determines whether it meets the standard requirements based on the input target, and sends the detection result to the cloud server through the cloud sending module. At the same time, the guide rail step size that does not meet the requirements is displayed through the handheld device terminal alarm module;

[0023] In step C, the distance deviation between the top surfaces of the two rows of guide rails is 0 to +2 mm for the car guide rails and 0 to +3 mm for the counterweight guide rails. The crawler robot detection system transmits the guide rail top surface spacing a to the handheld device terminal main control system module on site via the wireless transmission module in the robot detection system and the wireless transmission module in the handheld device terminal. The handheld device terminal determines the guide rail top surface distance deviation △a = a-A0 based on the input target and the guide rail spacing dimension A0 in the drawing, determines whether the top surface spacing deviation meets the standard requirements, and sends the detection result to the cloud server via the cloud sending module. At the same time, the guide rail step size that does not meet the requirements is displayed via the handheld device terminal alarm module.

[0024] In step D, the maximum relative deviation between the plumb line measurements every 5 meters on the working surface of each guide rail row is no greater than 1.2 mm for car guide rails and T-type counterweight guide rails equipped with safety clamps, and no greater than 2.0 mm for T-type counterweight guide rails without safety clamps. The crawler robot detection system transmits the included angle θ to the handheld device terminal main control system module via a wireless transmission module on-site. The verticality deviation Δc is determined using the formula Δc = tanθ × 5000. Based on the target input into the handheld device terminal, compliance with standard requirements is determined. The detection results are sent to the cloud server via a cloud transmission module. Meanwhile, guide rail step dimensions that do not meet the requirements are displayed via an alarm module on the handheld device terminal.

[0025] A detection system that implements an evaluation method for comprehensive parameter detection of elevator guide rails, including a robot detection system and a handheld device terminal;

[0026] The robot detection system is installed on the elevator guide rail, including a drive module, an anti-collision system module, a position detection module, a guide rail bracket detection module, a guide rail spacing detection module, a verticality detection module, a guide rail step detection module and a power supply system installed on the detection robot body and respectively connected to the main control system module; the position detection module is coaxially installed with the undriven robot top magnetic wheel to ensure the accuracy of the robot position detection; the guide rail spacing detection module is rigidly connected to the step detection sensor to avoid assembly errors introduced by the guide rail spacing detection; the wireless transmission module is integrated with the main control system module and installed on the detection robot body;

[0027] The handheld device terminal includes a wireless transmission module, a cloud sending module and an alarm display module connected to the handheld device main control system module.

[0028] The anti-collision system module uses an ultrasonic displacement sensor installed on the detection robot body, the main control system module is an embedded system including a single chip microcomputer and a control program; the handheld device main control system module is an embedded system including a single chip microcomputer and a control program.

[0029] The beneficial effects of the present invention are as follows: 1. Due to the use of an independent control model, conflicts between multiple detection or control tasks can be effectively resolved. The guide rail climbing detection robot only needs to perform one automatic operation to detect the detection items specified in the standard, greatly improving the detection efficiency;

[0030] 2. Due to program control, it is possible to accurately measure the comprehensive parameters of the guide rails. The handheld device terminal is easy to carry, and inspectors can choose a testing location with a good environment for testing, avoiding testing in harsh working environments such as scaffolding or on the car roof, and reducing labor intensity.

[0031] 3. Due to the use of "Internet +" and artificial intelligence technology, through data mining, safety hazards can be discovered early in future guide rail maintenance inspections, thus providing protection for the safe use of elevators.

[0032] 4. This method can not only be used in the installation process of guide rails, but also provide good help for the evaluation and daily inspection of elevator guide rails in use in the future.

[0033] 5. The system boasts a compact structure. Because the guide rail spacing detection module is rigidly connected to the step detection sensor, assembly errors introduced by guide rail spacing detection are avoided. This results in accurate detection results, high reliability, and portability. The handheld device terminal features local storage, information alarms, wireless transmission, and cloud-based messaging. Wireless transmission offers real-time performance and is unaffected by cellular network coverage, facilitating on-site operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1a and Figure 1b This is the overall module diagram of the elevator guide rail comprehensive parameter detection system of the present invention;

[0035] Figure 2 It is a three-dimensional schematic diagram of the robot detection system of the present invention;

[0036] Figure 3 This is a front view of the robot detection system of the present invention;

[0037] Figure 4 This is a schematic diagram of the elevator guide rail comprehensive parameter detection system of the present invention;

[0038] Figure 5 This is a control block diagram of the elevator guide rail comprehensive parameter detection system of the present invention;

[0039] Figure 6 It is a flow chart of the elevator guide rail comprehensive parameter detection system of the present invention.

[0040] In the picture:

[0041] 1. Robot detection system 2. Handheld device terminal 3. Robot top magnetic wheel

[0042] 4. Guide rail joint bolts 5. Guide rail bracket 6. Guide rail connecting plate

[0043] 7. Guide rail. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0045] like Figure 4 As shown, the present invention provides an evaluation method for comprehensive parameter detection of elevator guide rails, comprising:

[0046] (1) Guide rail bracket detection: When the guide rail bracket proximity sensor detects that the guide rail bracket is directly below the sensor, the robot main control system is triggered to adjust the robot's current position height S i Save; when the guide rail bracket proximity sensor detects the position of the next guide rail bracket, the robot main control system is triggered to adjust the robot's current position height S i+1 Save. According to two adjacent height values, calculate the height difference △S=S i+1 -S i , determine the distance △S between the guide rail brackets and determine whether it is greater than 2.5m.

[0047] According to the requirements of inspection regulations and national standards, each guide rail has at least two guide rail brackets, and the distance between two adjacent brackets is not more than 2.5m. The crawling robot detection system transmits the distance △S between the guide rail brackets to the handheld device terminal main control system module 24 through the wireless transmission module 18 in the robot detection system and the wireless transmission module 21 in the handheld device terminal on site. The handheld device terminal determines whether it meets the requirements according to the standard requirements and sends the detection results to the cloud server through the cloud sending module 22. At the same time, the bracket distance that does not meet the requirements is displayed through the handheld device terminal alarm module 23.

[0048] (2) Guide rail step detection: When the guide rail joint position sensor (proximity sensor) in the guide rail step detection module detects the guide rail joint connecting bolt, it sends a signal to the robot main control system, and the system records the position information at this time. When the position detection module detects that the robot has walked 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 (high-precision laser displacement sensor) to detect the height value h1 at the guide rail working surface joint. Then the robot stops after walking 5 pulses and detects the height h2 at the guide rail working surface joint again. By calculating the height difference △h = h2-h1, the step size △h is determined and sent to the handheld device terminal to determine whether it is greater than 0.05mm / 0.15mm.

[0049] According to national standards, the step at the joint between the car guide rail and the working surface of the counterweight guide rail equipped with a safety clamp should not be greater than 0.05mm, and the step at the joint between the counterweight guide rail without a safety clamp should not be greater than 0.15mm. The crawling robot detection system transmits the guide rail step size △h on-site via the wireless transmission module 18 in the robot detection system and the wireless transmission module 21 in the handheld device terminal to the handheld device terminal main control system module 24. The handheld device terminal determines whether the input target meets the standard requirements and sends the detection results to the cloud server via the cloud sending module 22. At the same time, the handheld device terminal alarm module 23 displays the guide rail step size that does not meet the requirements.

[0050] (3) Guide rail spacing detection: N spacing detection points are determined on the guide rail to be tested. When the robot reaches the spacing detection position, it stops and obtains the distance a1 from the sensor's emitting surface to the guide rail's working top surface through the guide rail spacing detection module (laser distance sensor). The guide rail spacing detection module is rigidly connected to the step detection sensor. Through design, the distance a2 from the guide rail spacing detection module to the step detection sensor can be obtained. The guide rail step detection sensor (high-precision laser displacement sensor) is used to detect the distance a3 to the working top surface of the other guide rail. The distance between the guide rails a = a1 + a2 + a3 is compared with the guide rail spacing dimension A0 in the guide rail installation drawing. Determine whether it is within 0 ~ + 2mm / 0 ~ + 3mm. This method of detecting guide rail spacing can effectively avoid detection errors caused by robot assembly.

[0051] According to the requirements of the inspection regulations and national standards, the distance deviation between the top surfaces of the two rows of guide rails is 0 to +2mm for the car guide rails and 0 to +3mm for the counterweight guide rails. The crawler robot detection system transmits the guide rail top surface spacing a to the handheld device terminal main control system module 24 via the wireless transmission module 18 in the robot detection system and the wireless transmission module 21 in the handheld device terminal on site. The handheld device terminal determines the distance deviation △a = a-A0 of the guide rail top surface based on the input target and the guide rail spacing dimension A0 in the drawing, determines whether the top surface spacing deviation meets the standard requirements, and sends the detection results to the cloud server via the cloud sending module 22. At the same time, the guide rail step size that does not meet the requirements is displayed via the handheld device terminal alarm module 23.

[0052] (4) Guide rail verticality detection: N verticality detection points are determined on the guide rail to be inspected. When the robot reaches the verticality detection position, it stops. The guide rail verticality detection module (tilt sensor) detects the angle θ between the position and the plumb line and sends it to the handheld device terminal. The handheld device terminal determines the verticality deviation Δc through the formula Δc = tanθ×5000 and determines whether it is greater than 1.2mm / 2.0mm.

[0053] According to the requirements of the inspection regulations and national standards, the relative maximum deviation between the plumb line measurements every 5m on the working surface of each guide rail row is no more than 1.2mm for car guide rails and T-type counterweight guide rails equipped with safety clamps, and no more than 2.0mm for T-type counterweight guide rails without safety clamps. The crawler robot detection system transmits the angle θ to the handheld terminal main control system module 24 via the wireless transmission module 18 in the robot detection system and the wireless transmission module 21 in the handheld terminal. The verticality deviation Δc is determined using the formula Δc = tanθ × 5000. Then, based on the target input by the handheld terminal, it is determined whether it meets the standard requirements. The test results are sent to the cloud server via the cloud sending module 22. At the same time, the guide rail step dimensions that do not meet the requirements are displayed via the handheld terminal alarm module 23.

[0054] like Figure 5 and Figure 6 As shown in the figure, the control program can accurately measure the comprehensive parameters of the guide rail and takes into account the possible safety risks in the operation. The specific operation steps are as follows.

[0055] The first step is to install the guide rail inspection robot on the guide rail to be inspected;

[0056] The second step is to start the rail detection robot and the handheld device terminal, and the control systems of both parties enter initialization to check whether the wireless transmission between the two parties is successfully connected.

[0057] The third step is to input the detection target and task on the handheld device terminal and send it to the robot main control system via wireless transmission;

[0058] In the fourth step, the robot's main control system performs guide rail bracket inspection, guide rail spacing inspection, guide rail verticality inspection, guide rail step inspection, and anti-collision inspection based on the inspection target and task, and determines whether the robot should conduct automatic inspection or manual inspection through the handheld device terminal;

[0059] In the fifth step, the robot performs comprehensive parameter detection on the guide rail and transmits the detection data wirelessly to the handheld device terminal;

[0060] In the sixth step, the handheld device terminal performs calculations and analysis based on the input inspection targets and tasks to determine whether the received inspection results meet the standard requirements. If they do not meet the requirements, an alarm will be issued. At the same time, the inspection results are stored locally and transmitted to the cloud server for storage and backup through the cloud sending module. Local storage prevents data loss when there is no cellular network on site, and cloud server storage is used for analysis and comparison of inspection results with historical data when the elevator guide rail is inspected again in the future, so as to promptly detect defects in the elevator guide rail.

[0061] In the seventh step, the robot's anti-collision system detects the guide rail terminal, completes the inspection, returns to the initial position, turns off the robot power, removes the robot from the guide rail, puts away the guide rail robot and handheld device terminal, and the entire inspection process is completed.

[0062] like Figures 1a to 3 As shown, the present invention provides an elevator guide rail comprehensive parameter detection system including a robot detection system 1 and a handheld device terminal 2;

[0063] The elevator guide rail 7 is installed on the guide rail bracket 5, and the multiple guide rails are connected as a whole through the guide rail connecting plate 6 and the guide rail joint bolt 4; the robot detection system 1 is installed on the guide rail 7, and the robot detection system 1 includes a drive module 13 installed on the detection robot body and connected to the main control system module 17 for receiving system instructions, driving the robot to walk and stop, an anti-collision system module 12, a position detection module 19 for recording the displacement of the robot walking and detecting the defect position, a guide rail bracket detection module 11 for detecting the distance between two guide rail brackets, a guide rail spacing detection module 14 for detecting the distance between two guide rails, a verticality detection module 15 for detecting the verticality of the guide rail, a guide rail step detection module 16 for detecting the position of the guide rail step and a power supply system 20 for powering the system; the position detection module 19 is coaxially installed with the undriven robot top magnetic wheel 3; the guide rail step detection module 16 includes a guide rail joint position sensor 161 and a guide rail step detection sensor 162, the guide rail joint position sensor 161 is installed on the detection robot body and is connected to the robot main control system module 17 The guide rail step detection sensor 162 is installed on the detection robot body and is connected to the robot main control system module 17 for detecting the step size between the docking guide rails; the wireless transmission module 18 is integrated with the main control system module 17 and installed on the detection robot body for detecting data and real-time interaction with the handheld device terminal; the anti-collision system module 12 adopts an ultrasonic displacement sensor installed on the detection robot body for detecting the end point of the guide rail or whether there is an obstacle during the crawling process. The main control system module 17 is an embedded system including a single-chip microcomputer and a control program, which is installed on the detection robot body; the handheld device main control system module 24 is an embedded system including a single-chip microcomputer and a control program.

[0064] The handheld device terminal wireless transmission module 21 is installed on the handheld device terminal and is connected to the handheld device main control system module 24, for exchanging information with the detection robot; the cloud sending module 22 is installed on the handheld device terminal and is connected to the handheld device main control system module 24, for sending the detection data to the cloud server for storage, so as to facilitate data preservation and data mining for the later maintenance inspection of the guide rail to discover safety hazards; the display alarm module 23 is installed on the handheld device terminal and is connected to the handheld device main control system module 24, for facilitating the viewing of defect information; the handheld device main control system module 24 is an embedded system, including a single-chip microcomputer and a control program, and is installed on the handheld device terminal.

[0065] Cloud transmission refers to sending the detected comprehensive parameter data of the guide rail to the cloud server for storage, which is convenient for data mining in the future maintenance and inspection of the guide rail; local storage means that when there is no cellular network on site and cloud transmission fails, the data is stored locally, and then stored in the cloud after there is a network signal; information alarm refers to the alarm and display of defects found during on-site inspection, which is convenient for guiding maintenance and judging the results.

[0066] It is worth pointing out that the protection scope of the present invention is not limited to the above-mentioned specific examples. According to the basic technical concept of the present invention, basically the same structure can also be used to achieve the purpose of the present invention. As long as ordinary technicians in this field can think of implementation methods without creative work, they all fall within the protection scope of the present invention.

Claims

1. An evaluation method for comprehensive parameter detection of elevator guide rails, characterized in that: The following steps are involved: A. Install the robot on the guide rail to be detected, install the position detection module (19) coaxially with the top magnetic wheel (3) of the robot without drive, and move the robot to the detection position of the bracket; B. The robot moves to the step detection position and detects the guide rail steps; C. The robot moves to the spacing detection position and detects the spacing of the guide rails; D. The robot moves to the verticality detection position to detect the verticality of the guide rail; Determine N verticality detection points on the guide rail to be inspected. When the robot reaches the verticality detection position, it stops running and uses the inclination sensor of the guide rail verticality detection module (15) to detect the angle θ between the position and the plumb line, and sends it to the handheld device terminal. The handheld device terminal determines the verticality deviation Δc through the formula Δc = tanθ ×5000, and determines whether the verticality of the guide rail is greater than 1.2 mm / 2.0 mm. E. The detection data is transmitted to the handheld device terminal via wireless; F. Calculate and analyze, store the test results locally, and transmit them to the cloud server for storage and backup through the cloud sending module; G. The detection robot's anti-collision system detects the end of the rail, completes the detection work, and returns to the initial position; In step B, when the guide rail joint position sensor (161) proximity sensor in the guide rail step detection module (16) detects a signal from the guide rail joint bolt (4), the signal is sent to the robot main control system module (17), and the system records the position information at this time. When the position detection module (19) detects that the robot has walked the distance between the guide rail joint position sensor (161) and the guide rail step detection sensor (162), the system stops the robot and triggers the high-precision laser displacement sensor of the guide rail step detection sensor (162) to detect the height value h1 at the guide rail working surface joint. The robot then stops after walking for 5 pulses and detects the height h2 at the guide rail working surface joint again. The step size is determined by calculating the height difference Δh=h2-h1 and the step size is sent to the handheld device terminal. In step C, N spacing detection points are determined on the guide rail to be tested. When the robot reaches the spacing detection position, the robot stops and obtains the distance a1 from the sensor emission surface to the working top surface of the guide rail through the laser distance measurement sensor of the guide rail spacing detection module (14), obtains the distance a2 from the guide rail spacing detection module to the guide rail step detection sensor (162), and uses the high-precision laser displacement sensor of the guide rail step detection sensor (162) to detect the distance a3 to the working top surface of another guide rail. The actual distance a between the guide rails is a=a1+a2+a3, which is compared with the guide rail spacing dimension A0 in the guide rail installation drawing to determine whether it is within 0~+2mm / 0~+3mm; In step A, each guide rail has at least two guide rail brackets, and the distance between two adjacent brackets is not greater than 2.5 m. The robot detection system transmits the distance ΔS between the guide rail brackets to the handheld device terminal main control system module (24) through the wireless transmission module (18) in the robot detection system and the wireless transmission module (21) of the handheld device terminal on site. The handheld device terminal determines whether the requirements are met according to the standard requirements, and sends the detection result to the cloud server through the cloud sending module (22). At the same time, the bracket distance that does not meet the requirements is displayed through the handheld device terminal alarm module (23).

2. The method for evaluating the comprehensive parameter detection of elevator guide rails according to claim 1, characterized in that: When the photoelectric sensor in step A detects that the guide rail bracket (5) is directly below the sensor, the robot main control system is triggered to adjust the robot's current position height S i When the guide rail bracket proximity sensor detects the position of the next guide rail bracket, the robot main control system is triggered to adjust the robot's current position height S i+1 Save; calculate the height difference ΔS=S based on two adjacent height values i+1 -S i , determine the distance ΔS between the guide rail brackets; In step B, the step at the joint between the car guide rail and the working surface of the counterweight guide rail provided with a safety clamp should not be greater than 0.05 mm, and the step at the joint between the working surface of the counterweight guide rail without a safety clamp should not be greater than 0.15 mm; the robot detection system transmits the size Δh of the guide rail step to the handheld device terminal main control system module (24) through the wireless transmission module (18) in the robot detection system and the wireless transmission module (21) in the handheld device terminal on site; the handheld device terminal determines whether the input target meets the standard requirements, and sends the detection result to the cloud server through the cloud sending module (22); at the same time, the guide rail step size that does not meet the requirements is displayed through the handheld device terminal alarm module (23); In step C, the distance deviation of the top surfaces of the two rows of guide rails is 0~+2mm for the car guide rails and 0~+3mm for the counterweight guide rails; the robot detection system transmits the guide rail top surface spacing a to the handheld device terminal main control system module (24) through the wireless transmission module (18) in the robot detection system and the wireless transmission module (21) in the handheld device terminal on site; the handheld device terminal determines the guide rail top surface distance deviation Δa=a-A0 based on the input target and the guide rail spacing dimension A0 in the drawing, determines whether the top surface spacing deviation meets the standard requirements, and sends the detection result to the cloud server through the cloud sending module (22); at the same time, the guide rail step size that does not meet the requirements is displayed through the handheld device terminal alarm module (23); In the step D, the relative maximum deviation between the measured values ​​of the plumb line every 5 m on the working surface of each row of guide rails is not greater than 1.2 mm for the car guide rails and the T-type counterweight guide rails with safety clamps, and is not greater than 2.0 mm for the T-type counterweight guide rails without safety clamps. The robot detection system transmits the angle θ to the handheld device terminal main control system module (24) through the wireless transmission module (18) in the robot detection system and the wireless transmission module (21) in the handheld device terminal on site, and determines the verticality deviation Δc through the formula Δc=tanθ×5000. Then, based on the target input by the handheld device terminal, it is determined whether it meets the standard requirements, and the detection result is sent to the cloud server through the cloud sending module (22). At the same time, the guide rail step size that does not meet the requirements is displayed through the handheld device terminal alarm module (23).

3. A detection system for realizing the evaluation method for detecting comprehensive parameters of elevator guide rails according to claim 1, characterized in that: It includes a robot detection system (1) and a handheld device terminal (2); The robot detection system (1) is installed on the elevator guide rail (7), and comprises a drive module (13), an anti-collision system module (12), a position detection module (19), a guide rail bracket detection module (11), a guide rail spacing detection module (14), a verticality detection module (15), a guide rail step detection module (16) and a power supply system (20) which are installed on the detection robot body and respectively connected to the main control system module (17); the position detection module (19) is coaxially installed with the non-driven robot top magnetic wheel (3); the guide rail spacing detection module (14) is rigidly connected with the guide rail step detection sensor (162) to avoid assembly errors introduced by the guide rail spacing detection; the actuator of the drive module (13) is connected by means of a synchronous belt; the wireless transmission module (18) in the robot detection system is integrated with the main control system module (17) and installed on the detection robot body; The handheld device terminal comprises a wireless transmission module (21) in the handheld device terminal, a cloud sending module (22) and a handheld device terminal alarm module (23) connected to a handheld device terminal main control system module (24).

4. The detection system of the evaluation method for detecting comprehensive parameters of elevator guide rails according to claim 3, characterized in that: The anti-collision system module (12) uses an ultrasonic displacement sensor installed on the detection robot body, the main control system module (17) is an embedded system including a single-chip microcomputer and a control program; the handheld device terminal main control system module (24) is an embedded system including a single-chip microcomputer and a control program.

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