Elevator guide rail butt joint adjustment method and device

Abstract

The application discloses an elevator guide rail butt joint adjusting method and device, and the adjusting method comprises the following steps: the upper guide rail is grabbed by adjusting a mechanical hand, and the position image information set of the guide rail is acquired by a visual snapshot mechanism; the space coordinate system is constructed taking the lower guide rail as the reference, and the space coordinate offset of the upper guide rail and the lower guide rail is determined; the adjusting instruction is generated and the adjusting mechanical hand is controlled to work, so that the upper guide rail and the lower guide rail are in the butt joint state; the distance between the guide rail butt joint position and the elevator reference line is detected by a measuring device, and the detection data is obtained; the guide rail butt joint position image is acquired by the visual snapshot mechanism, the adjusting instruction is generated in combination with the detection data, and the guide rail is adjusted based on the adjusting instruction. The adjusting method is used for butt joining the upper guide rail and the lower guide rail by the visual snapshot mechanism and the adjusting mechanical hand, the distance between the guide rail butt joint position and the elevator reference line is detected, the guide rail is adjusted in the vertical direction in combination with the image information, and the convenience and reliability of the elevator guide rail butt joint installation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of elevator installation, and particularly relates to an elevator guide rail butt joint adjustment method and device. BACKGROUND

[0002] The elevator is a transportation device for vertical conveying of people or goods in a building with specified floors. In the installation process of the elevator, guide rails need to be installed in the elevator shaft for vertical lifting of the elevator. The existing guide rail installation is achieved by splicing several guide rails to meet the requirements of elevator operation. In the installation process, manual operation is required to adjust the upper guide rail so that the upper guide rail is butt jointed with the lower guide rail. After the butt joint is completed, the accuracy of the guide rail needs to be measured manually. However, this kind of elevator guide rail butt joint installation method is time-consuming and labor-intensive, affects the convenience of guide rail installation, and the manual operation method is prone to human operation errors, which reduces the reliability of guide rail installation. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art. The present application provides an elevator guide rail butt joint adjustment method and device. The adjustment method obtains the positional relationship between the upper guide rail and the lower guide rail through a visual snapshot mechanism, butt joints the upper guide rail and the lower guide rail with the aid of an adjusting manipulator, detects the distance between the butt joint position of the guide rail and the elevator reference line, adjusts the guide rail in the vertical direction in combination with the image information, and improves the convenience and reliability of the elevator guide rail butt joint installation.

[0004] The present application provides an elevator guide rail butt joint adjustment method, which comprises the following steps:

[0005] The adjusting manipulator grasps the upper guide rail, and the visual snapshot mechanism obtains the positional image information set of the upper guide rail and the lower guide rail;

[0006] In combination with the positional image information set, a spatial coordinate system is constructed with the lower guide rail as the reference to determine the spatial coordinate offset between the upper guide rail and the lower guide rail;

[0007] An adjusting instruction is generated according to the spatial coordinate offset, and the adjusting manipulator drives the upper guide rail to move based on the adjusting instruction so that the upper guide rail and the lower guide rail are in a butt joint state;

[0008] A measuring device detects the distance between the butt joint position of the upper guide rail and the lower guide rail and the elevator reference line to obtain detection data;

[0009] The visual snapshot mechanism obtains the butt joint position image of the upper guide rail and the lower guide rail, and generates an adjusting instruction in combination with the detection data;

[0010] The adjusting manipulator is driven based on the adjusting instruction to adjust the guide rail.

[0011] Further, the adjustment method further comprises:

[0012] The first image information of the upper guide rail and the second image information of the lower guide rail are acquired at the first capturing position by the visual capturing mechanism, and the third image information of the upper guide rail and the fourth image information of the lower guide rail are acquired at the second capturing position by the visual capturing mechanism.

[0013] The reliability of the butt joint end of the upper guide rail and the lower guide rail is detected according to the first image information, the second image information, the third image information and the fourth image information.

[0014] Further, the position image information set of the upper guide rail and the lower guide rail is acquired by adjusting the mechanical hand to grab the upper guide rail and by the visual capturing mechanism, comprising:

[0015] The position image information set of the upper guide rail and the lower guide rail is acquired by the visual capturing mechanism through multi-angle shooting of the upper guide rail and the lower guide rail.

[0016] Further, the space coordinate offset between the upper guide rail and the lower guide rail is determined by constructing a space coordinate system based on the position image information set and taking the lower guide rail as a reference, comprising:

[0017] The outer contour feature points of the upper guide rail and the lower guide rail are extracted in each position image information, and a three-dimensional model of the upper guide rail and the lower guide rail is constructed by combining the contour feature points in the multi-angle position image information.

[0018] The space coordinate system is constructed according to the three-dimensional model of the lower guide rail, and the coordinate points of the three-dimensional model of the upper guide rail are marked in the space coordinate system to obtain the space coordinate offset between the upper guide rail and the lower guide rail.

[0019] Further, the adjustment instruction is generated according to the space coordinate offset, and the mechanical hand drives the upper guide rail to move based on the adjustment instruction, so that the upper guide rail and the lower guide rail are in a butt joint state, comprising:

[0020] The deflection angle and the offset distance of the upper guide rail are acquired according to the space coordinate offset, and the adjustment instruction is generated based on the deflection angle and the offset distance.

[0021] The mechanical hand drives the upper guide rail to rotate and move based on the adjustment instruction, so that the butt joint end of the upper guide rail is connected with the butt joint end of the lower guide rail.

[0022] Further, the distance between the butt joint position of the upper guide rail and the lower guide rail and the reference line of the elevator is detected by the measuring device to obtain detection data, comprising:

[0023] The infrared detection device arranged on the adjusting manipulator detects a first distance from the butt joint position of the upper guide rail and the lower guide rail to a first elevator reference line and a second distance from the butt joint position of the upper guide rail and the lower guide rail to a second elevator reference line.

[0024] Further, the detection data obtained by measuring the distance between the butt joint position of the upper guide rail and the lower guide rail and the elevator reference line further comprises:

[0025] The first distance and the second distance are calculated by difference to obtain a midline deviation value of the upper guide rail and the lower guide rail.

[0026] Further, the adjustment instruction generated by combining the detection data and the butt joint position image of the upper guide rail and the lower guide rail obtained by the visual snapshot mechanism comprises:

[0027] The butt joint position image of the upper guide rail and the lower guide rail is obtained by the visual snapshot mechanism, and the overall inclination of the upper guide rail and the lower guide rail is analyzed according to the butt joint position image.

[0028] Further, the adjustment instruction generated by combining the detection data and the butt joint position image of the upper guide rail and the lower guide rail obtained by the visual snapshot mechanism further comprises:

[0029] The horizontal movement distance of the upper guide rail and the lower guide rail is determined according to the detection data, and the deflection angle of the upper guide rail and the lower guide rail is determined according to the overall inclination of the upper guide rail and the lower guide rail;

[0030] The adjustment instruction is generated by combining the horizontal movement distance and the deflection angle.

[0031] The application also provides an elevator guide rail butt joint adjusting device, the adjusting device comprising:

[0032] An image acquisition module: the upper guide rail is grabbed by the adjusting manipulator, and the position image information set of the upper guide rail and the lower guide rail is obtained by the visual snapshot mechanism;

[0033] A space construction module: the space coordinate system is constructed with the lower guide rail as a reference based on the position image information set, and the space coordinate offset between the upper guide rail and the lower guide rail is determined;

[0034] An adjusting module: the adjusting instruction is generated according to the space coordinate offset, and the adjusting manipulator drives the upper guide rail to move based on the adjusting instruction, so that the upper guide rail and the lower guide rail are in a butt joint state;

[0035] A detection module: the distance between the butt joint position of the upper guide rail and the lower guide rail and the elevator reference line is detected by the measuring device to obtain detection data;

[0036] An analysis module: an image of a butt joint position of the upper guide rail and the lower guide rail is acquired by a visual snapshot mechanism, and an adjustment instruction is generated in combination with the detection data;

[0037] An adjustment module: the guide rail is adjusted by a regulating manipulator based on the adjustment instruction.

[0038] The application provides an elevator guide rail butt joint adjustment method and device, which acquires the position relationship of the upper guide rail and the lower guide rail by a visual snapshot mechanism, adjusts the upper guide rail and the lower guide rail by a regulating manipulator, detects the distance between the butt joint position of the upper guide rail and the lower guide rail and the reference line of the elevator, and adjusts the guide rail in the vertical direction in combination with the image information, thereby improving the convenience and reliability of the elevator guide rail butt joint installation. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0040] Figure 1 is the elevator guide rail butt joint adjustment method flow chart of the embodiment of the application;

[0041] Figure 2 is the space coordinate offset calculation flow chart in the embodiment of the application;

[0042] Figure 3 is the adjustment instruction generation flow chart in the embodiment of the application;

[0043] Figure 4 is the elevator guide rail butt joint adjustment device schematic diagram in the embodiment of the application. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments only constitute some embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0045] Embodiment one:

[0046] Figure 1 is the elevator guide rail butt joint adjustment method flow chart of the embodiment of the application, and the adjustment method comprises:

[0047] The first image information of the upper guide rail and the second image information of the lower guide rail are acquired at the first capturing position by the visual capturing mechanism, and the third image information of the upper guide rail and the fourth image information of the lower guide rail are acquired at the second capturing position by the visual capturing mechanism;

[0048] The reliability of the butt joint end of the upper guide rail and the lower guide rail is detected according to the first image information, the second image information, the third image information and the fourth image information.

[0049] Specifically, the first capturing position and the second capturing position are arranged at a preset interval in the vertical direction of the axial direction of the upper guide rail and the lower guide rail.

[0050] The visual capturing mechanism moves to the butt joint position of the upper guide rail and the lower guide rail, and sequentially passes through the first capturing position and the second capturing position.

[0051] Specifically, the main control system performs perspective transformation on the first image information to obtain first transformed image information, and performs perspective transformation on the second image information to obtain second transformed image information. The coordinate point data of the butt joint end face of the upper guide rail is acquired according to the first image information, and the projection coordinate point data of the butt joint end face of the upper guide rail is calculated through a transformation matrix.

[0052] The second image information is subjected to perspective transformation to obtain second image transformation information, the coordinate point data of the butt joint end face of the lower guide rail is acquired according to the second image information, and the projection coordinate point data of the butt joint end face of the lower guide rail is calculated through a transformation matrix.

[0053] Specifically, the main control system stores standard image information, the standard image information includes the front view of the butt joint end face of the upper guide rail, and the front view of the butt joint end face of the lower guide rail, and the main control system can extract the standard coordinate points of the butt joint end face contour of the upper guide rail according to the standard image information, and perform perspective transformation on the first image information according to the standard coordinate points.

[0054] Further, the main control system extracts the butt joint end face contour of the upper guide rail in the first image information, selects the corner points of the butt joint end face contour of the upper guide rail in a clockwise direction from the upper left corner, and performs perspective transformation on the selected corner points through a transformation rectangle, and obtains the first transformed image information of the first image information after adjustment.

[0055] Further, the transformation rectangle calculation formula is:

[0056]

[0057] x=x ′ / w ′ ;

[0058] y=y ′ / w ′ ;

[0059] wherein, [x ′ ,y ′ ,w ′ ] is a first-order matrix of the coordinate point after transformation, [u, v, w] is a first-order matrix of the coordinate point before transformation, and x and y are coordinate points of the butt joint end face of the upper guide rail after transformation. is a third-order transformation matrix.

[0060] Further, by performing perspective transformation on the first image information, the contour feature of the butt joint end face of the upper guide rail can be intuitively obtained, thereby improving the accuracy and reliability of visual detection of the butt joint end face of the upper guide rail and the lower guide rail.

[0061] Specifically, the main control system superimposes and compares the first transformed image information and the second transformed image information to obtain first comparison information.

[0062] Based on the first transformed image information, the outer contour information of the butt joint end face of the upper guide rail is extracted to obtain first contour information, and based on the second transformed image information, the outer contour information of the butt joint end face of the lower guide rail is extracted to obtain second contour information. The first contour information and the second contour information are superimposed and compared to obtain first comparison information.

[0063] Further, the main control system performs three-dimensional reconstruction on the first image information and the third image information based on the SFM algorithm to obtain first reconstruction information, and compares the first reconstruction information with the preset standard image information to obtain second comparison information.

[0064] The shooting angle of the visual snapshot mechanism is adjusted, and a plurality of upper guide rail butt joint end images are shot at the first snapshot position and the second snapshot position, and an upper guide rail butt joint end image database is arranged.

[0065] An initial point cloud of the upper guide rail butt joint end is established through the first image information and the third image information, a plurality of upper guide rail butt joint end images are extracted from the upper guide rail butt joint end image database, the shooting angle is adjusted to take snapshots at preset positions, so that the feature points of the plurality of upper guide rail butt joint end images are adjacent to the feature points of the first image information and the second image information, and the plurality of upper guide rail butt joint end images are sequentially input into the initial point cloud in the order of shooting time, and the adjacent image matching feature points are calculated based on the plurality of upper guide rail butt joint end images.

[0066] The intrinsic matrix is calculated through the adjacent image matching feature points, the two-dimensional image coordinate points in the upper guide rail butt joint end image database are mapped to a three-dimensional space in combination with the intrinsic matrix, and first reconstruction information of the upper guide rail is obtained.

[0067] Further, the master system constructs a fundamental matrix according to the adjacent image matching feature points, extracts a plurality of feature points in the first image information and the third image information to construct a fundamental matrix, and estimates the fundamental matrix by a RANSAC algorithm to obtain an intrinsic matrix.

[0068] Further, the RANSAC (RAndom SAmple Consensus) algorithm is an iterative algorithm for correctly estimating the parameters of a mathematical model from a set of data containing "outliers", and the intrinsic matrix is obtained by iteratively estimating the fundamental matrix.

[0069] In the embodiment, the upper guide rail and the lower guide rail remain fixed in position during the visual inspection process, and the structure of the upper guide rail and the lower guide rail is simple, and the construction of the basic point cloud in the SFM algorithm can be satisfied by the first image information and the second image information, and the accuracy requirement of three-dimensional reconstruction can be satisfied by the image information of multi-angle shooting, thereby simplifying the calculation amount of the SFM algorithm and improving the operation efficiency.

[0070] Specifically, the combination of the intrinsic matrix maps the two-dimensional image coordinate points in the upper guide rail butt joint end image database to a three-dimensional space to obtain the first reconstruction information of the upper guide rail.

[0071] The master system decomposes the intrinsic matrix to obtain a rotation matrix (R) and a displacement matrix (T) of the intrinsic matrix, projects a plurality of image information of the upper guide rail butt joint end to a three-dimensional space through the rotation matrix (R) and the displacement matrix (T), and forms a three-dimensional reconstruction model of the upper guide rail butt joint end.

[0072] Specifically, the comparison of the first reconstruction information with the preset standard image information obtains second comparison information.

[0073] The master system extracts the butt joint end standard image of the upper guide rail from the preset standard image information, compares the three-dimensional reconstruction model of the upper guide rail butt joint end with the butt joint end standard image of the upper guide rail, detects whether the three-dimensional reconstruction model of the upper guide rail butt joint end has shape defects such as recess, collapse and protrusion, and marks the defect position in the three-dimensional reconstruction model of the upper guide rail butt joint end to form second comparison information.

[0074] Further, the SFM (Structure From Motion) motion structure recovery algorithm is a technology for estimating a three-dimensional structure from a series of multiple two-dimensional image sequences containing visual motion information, and a high-precision sparse three-dimensional point cloud of a target object is finally obtained from a series of target object images, that is, the three-dimensional structure of the target object is reconstructed from a series of two-dimensional images.

[0075] Specifically, the master control system performs three-dimensional reconstruction on the second image information and the fourth image information based on an SFM algorithm to obtain second reconstruction information, and compares the second reconstruction information with preset standard image information to obtain third comparison information.

[0076] The shooting angle of the visual snapshot mechanism is adjusted, and several images of the lower guide rail butt joint end are shot at the first snapshot position and the second snapshot position to obtain a lower guide rail butt joint end image database.

[0077] An initial point cloud of the lower guide rail butt joint end is established through the second image information and the fourth image information, several images of the lower guide rail butt joint end are extracted from the lower guide rail butt joint end image database, and adjacent image matching feature points are calculated based on the several images of the lower guide rail butt joint end.

[0078] An intrinsic matrix is calculated through the adjacent image matching feature points, two-dimensional image coordinate points in the lower guide rail butt joint end image database are mapped to a three-dimensional space in combination with the intrinsic matrix, and second reconstruction information of the upper guide rail is obtained.

[0079] Specifically, the first comparison information, the second comparison information, and the third comparison information are combined to obtain a visual detection result.

[0080] Specifically, the first comparison information, the second comparison information, and the third comparison information are analyzed to obtain a defect position of the upper guide rail or the lower guide rail, the defect position is marked to obtain a visual detection result, the butt joint reliability of the upper guide rail and the lower guide rail is evaluated according to the visual detection result, if the butt joint reliability of the upper guide rail and the lower guide rail is greater than or equal to 95%, the grabbing manipulator adjusts the position of the upper guide rail and drives the upper guide rail to butt joint with the lower guide rail, if the butt joint reliability of the upper guide rail and the lower guide rail is less than 95%, a defect position of the upper guide rail and the lower guide rail is extracted to generate an adjustment instruction, the manipulator is controlled to correct the defect position based on the adjustment instruction, or an operator is notified to repair the defect position of the upper guide rail and the lower guide rail based on the adjustment instruction.

[0081] S11: The position image information set of the upper guide rail and the lower guide rail is obtained by adjusting the manipulator to grab the upper guide rail and by the visual snapshot mechanism.

[0082] Specifically, the upper guide rail and the lower guide rail are shot from multiple angles by the visual snapshot mechanism to obtain multi-angle image data of the upper guide rail and the lower guide rail, and the position image information set of the upper guide rail and the lower guide rail is constructed, the butt joint end of the upper guide rail and the butt joint end of the lower guide rail are shot from different angles to obtain multiple image data of different angles, and thus the position image information set of the upper guide rail and the lower guide rail is constructed.

[0083] Further, the master control system pre-processes image data of the position image information set, obtains gray scale image data by performing gray scale processing on the image data, and performs corner point detection on the gray scale image data by detecting positions with large gray scale difference changes in the gray scale image, thereby marking the positions as corner points.

[0084] Further, the master control system can perform corner point detection by using a Moravec corner point detection operator, the profile features of the upper guide rail and the lower guide rail are simple, and corner point marking by using the corner point detection operator can reduce the calculation amount of the master control system and improve the image processing efficiency.

[0085] Further, the Moravec corner point detection operator is a corner point detection method based on gray scale variance, which calculates the gray scale difference of a pixel point in an image in the horizontal and vertical directions to determine the position of the corner point.

[0086] S12: In combination with the position image information set, a space coordinate system is constructed based on the lower guide rail to determine the space coordinate offset between the upper guide rail and the lower guide rail.

[0087] Figure 2 A space coordinate offset calculation flowchart in the embodiment of the application is shown, and the combination of the position image information set, the construction of the space coordinate system based on the lower guide rail, and the determination of the space coordinate offset between the upper guide rail and the lower guide rail include:

[0088] S121: The outer profile feature points of the upper guide rail and the lower guide rail are extracted in each position image information, and a three-dimensional model of the upper guide rail and the lower guide rail is constructed based on the profile feature points in the multi-angle position image information.

[0089] Further, in the embodiment, the corner points of the outer profiles of the upper guide rail and the lower guide rail are marked as the outer profile feature points of the upper guide rail and the lower guide rail to improve the operation efficiency.

[0090] Specifically, the master control system extracts the corner point information in each position image information, and performs three-dimensional reconstruction on the docking ends of the upper guide rail and the lower guide rail based on the SFM algorithm, the master control system takes the upper guide rail corner points and the lower guide rail corner points under different angles as the motion change points relative to the visual snapshot mechanism, thereby performing three-dimensional reconstruction on the docking ends of the upper guide rail and the lower guide rail by using the SFM algorithm, thereby obtaining the three-dimensional model of the docking end of the lower guide rail and the three-dimensional model of the docking end of the upper guide rail.

[0091] Specifically, two adjacent position image information are selected from the position image information set to construct an initial point cloud, a plurality of position image information of different angles are sequentially imported into the initial point cloud, and the matching feature points of adjacent images are calculated based on the plurality of position image information of different angles.

[0092] Calculate an intrinsic matrix through the adjacent image matching feature points, map two-dimensional image contour feature points of the position image information set to a three-dimensional space in combination with the intrinsic matrix, and obtain three-dimensional reconstruction information of the upper rail butt joint end and the lower rail butt joint end, i.e., a three-dimensional model of the upper rail butt joint end and a three-dimensional model of the lower rail butt joint end.

[0093] S122: Construct a space coordinate system according to the three-dimensional model of the lower rail butt joint end, mark coordinate points of the three-dimensional model of the upper rail butt joint end in the space coordinate system, and obtain a space coordinate offset between the upper rail butt joint end and the lower rail butt joint end.

[0094] Specifically, the three-dimensional model of the lower rail butt joint end is taken as a reference to construct the space coordinate system, the geometric center of the end face of the lower rail butt joint end is taken as an origin to construct the space coordinate system, coordinate values of each corner point in the three-dimensional model of the lower rail butt joint end are obtained, the corner points of the three-dimensional model of the upper rail butt joint end are marked, coordinate values of the corner points of the three-dimensional model of the upper rail butt joint end are obtained, and the position corresponding relationship between the three-dimensional model of the upper rail butt joint end and the three-dimensional model of the lower rail butt joint end is analyzed in the space coordinate system, so as to obtain the coordinate offset between the upper rail butt joint end and the lower rail butt joint end.

[0095] S13: Generate an adjustment instruction according to the space coordinate offset, and drive the upper rail to move based on the adjustment instruction by the adjustment robot, so that the upper rail and the lower rail are in a butt joint state.

[0096] Obtain a deflection angle and an offset distance of the upper rail according to the space coordinate offset, and generate an adjustment instruction based on the deflection angle and the offset distance.

[0097] Further, the geometric center coordinate of the end face of the upper rail butt joint end is extracted, the three-dimensional model of the upper rail butt joint end is projected at the origin position of the space coordinate system according to the geometric center coordinate of the end face of the upper rail butt joint end, i.e., the geometric center coordinate of the end face of the upper rail butt joint end is overlapped with the geometric center coordinate of the end face of the lower rail butt joint end, and an offset distance between the upper rail butt joint end and the lower rail butt joint end is obtained.

[0098] Further, the projection coordinate value of the upper rail butt joint end is obtained, and the projection coordinate of the upper rail butt joint end is compared with the corresponding corner point coordinate value of the lower rail butt joint end, and a deflection angle between the upper rail butt joint end and the lower rail butt joint end is calculated.

[0099] Specifically, the adjusting manipulator drives the upper guide rail to rotate and move based on the adjustment instruction, so that the butt joint end of the upper guide rail is connected with the butt joint end of the lower guide rail. The adjusting manipulator obtains the adjustment instruction, drives the upper guide rail to rotate by the deflection angle, and drives the upper guide rail to move to the butt joint end position of the lower guide rail, so as to realize the butt joint of the butt joint ends of the upper guide rail and the lower guide rail.

[0100] Further, the visual snapshot mechanism obtains image information of the upper guide rail and the lower guide rail in the butt joint state, the host system adjusts the pose of the upper guide rail based on the image information of the upper guide rail and the lower guide rail in the butt joint state, so that the end face of the butt joint end of the upper guide rail is attached to the end face of the butt joint end of the lower guide rail, and drives the mounting manipulator to connect the upper guide rail and the lower guide rail through the connecting plate, thereby completing the butt joint operation of the upper guide rail and the lower guide rail.

[0101] Specifically, the adjustment instruction is generated based on the spatial coordinate offset, and the adjusting manipulator drives the upper guide rail to move based on the adjustment instruction, so that the upper guide rail and the lower guide rail are in a butt joint state, and the adjusting manipulator further comprises: a sensing component is arranged on the upper guide rail in the butt joint pose state to detect pressure data of the adjusting manipulator, so as to obtain the deflection pressure of the upper guide rail, and the vertical state of the upper guide rail is adjusted based on the deflection pressure of the upper guide rail.

[0102] Specifically, the sensing component is arranged on the left gripper and the right gripper of the adjusting manipulator, the pressure data of the adjusting manipulator is detected by the sensing component, the deflection pressure of the upper guide rail is calculated in combination with the deflection angle. The left gripper and the right gripper of the adjusting manipulator are both provided with the sensing component. When the adjusting manipulator clamps the upper guide rail, the sensing component on the left gripper of the adjusting manipulator can detect the first pressure data of the upper guide rail on the left gripper, and the sensing component on the right gripper of the adjusting manipulator can detect the second pressure data of the upper guide rail on the right gripper.

[0103] Specifically, the host system compares and analyzes the first pressure data and the second pressure data, calculates the difference between the first pressure data and the second pressure data, obtains the pressure data difference, and decomposes the pressure data difference based on the direction of the pressure data difference and the deflection angle of the upper guide rail, so as to obtain the force condition of the adjusting manipulator in different directions, thereby determining the deflection pressure of the upper guide rail.

[0104] Further, the deflection movement direction of the upper guide rail can be determined by the deflection pressure of the upper guide rail, so as to determine the direction of the vertical state adjustment of the upper guide rail.

[0105] Specifically, the deflection pressure of the upper guide rail is compared with a preset pressure threshold value. If the deflection pressure is greater than the pressure threshold value, the vertical state of the upper guide rail is adjusted by driving the lifting machine, so that the deflection pressure of the upper guide rail is less than the pressure threshold value, and the upper guide rail and the lower guide rail can maintain a stable state after butt joint.

[0106] Further, according to the direction of the deflection pressure of the upper guide rail, the upper guide rail is swung around the butt joint end of the upper guide rail by driving the lifting machine, and the swinging direction of the upper guide rail is the same as the direction of the deflection pressure of the upper guide rail, so that the upper guide rail can maintain a vertical state after butt joint.

[0107] Further, the direction of the deflection pressure of the upper guide rail is the deflection direction of the upper guide rail after the adjusting mechanical hand is released from the clamping state, and after the adjusting mechanical hand is released, the upper guide rail tends to deflect around the connection position of the lifting machine.

[0108] Specifically, the deflection pressure of the upper guide rail is detected by setting a pressure threshold value, so as to avoid the case that the deflection amplitude of the upper guide rail after butt joint is too large, resulting in unstable connection of the upper guide rail and the lower guide rail.

[0109] S14: The distance between the butt joint position of the upper guide rail and the lower guide rail and the reference line of the elevator is detected by a measuring device to obtain detection data.

[0110] Specifically, the detection of the distance between the butt joint position of the upper guide rail and the lower guide rail and the reference line of the elevator by the measuring device to obtain detection data comprises:

[0111] The first distance from the butt joint position of the upper guide rail and the lower guide rail to the first reference line of the elevator and the second distance from the butt joint position of the upper guide rail and the lower guide rail to the second reference line of the elevator are detected by the infrared detection device arranged on the adjusting mechanical hand, and the first distance and the second distance are calculated by difference to obtain the center line deviation value of the upper guide rail and the lower guide rail.

[0112] Further, the first reference line and the second reference line of the elevator are symmetrically arranged on both sides of the elevator shaft, and the first reference line and the second reference line of the elevator are used to detect the accuracy of the installation position of the elevator guide rail and the perpendicularity of the elevator guide rail.

[0113] Further, the infrared detection device is arranged at the middle position of the adjusting mechanical hand, and when the adjusting mechanical hand clamps the upper guide rail, the infrared detection device is located on the plane where the center line of the upper guide rail is located, so as to measure the distance between the butt joint position of the upper guide rail and the lower guide rail and the reference line of the elevator.

[0114] S15: The butt joint position image of the upper guide rail and the lower guide rail is acquired by a visual snapshot mechanism, and an adjustment instruction is generated in combination with the detection data.

[0115] Figure 3 The flowchart for generating the adjustment instruction in the embodiment of the application is shown, and the generation of the adjustment instruction by the visual snapshot mechanism acquiring the butt joint position image of the upper guide rail and the lower guide rail in combination with the detection data comprises:

[0116] S151: The visual snapshot mechanism is used to acquire the butt joint position image of the upper guide rail and the lower guide rail, and the overall inclination of the upper guide rail and the lower guide rail is analyzed according to the butt joint position image.

[0117] Specifically, the visual snapshot mechanism adjusts its own pose so that the snapshot angle is horizontally directed to the butt joint position of the upper guide rail and the lower guide rail. The main control system acquires the butt joint position image, and extracts the contour edges of the upper guide rail and the lower guide rail of the butt joint position image through gray processing and binary processing. The contour edges of the upper guide rail and the lower guide rail are compared with the image edges of the butt joint position image, and the included angle between the contour edges and the image edges is extracted, so as to obtain the overall inclination of the upper guide rail and the lower guide rail.

[0118] S152: The horizontal movement distance of the upper guide rail and the lower guide rail is determined according to the detection data, and the offset angle of the upper guide rail and the lower guide rail is determined according to the overall inclination of the upper guide rail and the lower guide rail.

[0119] Specifically, the main control system acquires the centerline deviation value of the butt joint position of the upper guide rail and the lower guide rail according to the detection data, so as to determine the horizontal movement distance of the overall upper guide rail and lower guide rail.

[0120] Specifically, the main control system performs difference analysis on the included angles between the two side contour edges of the overall upper guide rail and lower guide rail and the image edges according to the overall inclination of the upper guide rail and the lower guide rail, so as to determine the offset angle of the upper guide rail and the lower guide rail.

[0121] S153: The adjustment instruction is generated in combination with the horizontal movement distance and the offset angle.

[0122] S16: The adjustment mechanical hand is driven to adjust the guide rail based on the adjustment instruction.

[0123] Specifically, the adjustment mechanical hand acquires the adjustment instruction, the adjustment instruction comprises horizontal movement distance data and offset angle data, and the adjustment mechanical hand drives the upper guide rail and the lower guide rail to move to the center position of the two side elevator reference lines based on the adjustment instruction.

[0124] The elevator guide rail butt joint adjusting method provided by the embodiment of the application acquires the positional relationship between the upper guide rail and the lower guide rail through a visual snapshot mechanism, cooperates with an adjusting mechanical hand to butt joint the upper guide rail and the lower guide rail, and adjusts the guide rail in the vertical direction through the distance between the butt joint position of the upper guide rail and the lower guide rail and the reference line of the elevator and the image information, thereby improving the convenience and reliability of the butt joint installation of the elevator guide rail.

[0125] Embodiment two:

[0126] Figure 4 The adjusting device in the embodiment of the application is shown in a schematic diagram, and the adjusting device comprises:

[0127] The image acquisition module 10: the upper guide rail is grabbed by the adjusting mechanical hand, and the positional image information set of the upper guide rail and the lower guide rail is acquired through the visual snapshot mechanism.

[0128] Specifically, the upper guide rail and the lower guide rail are photographed at multiple angles through the visual snapshot mechanism, the multi-angle image data of the upper guide rail and the lower guide rail is acquired, the positional image information set of the upper guide rail and the lower guide rail is constructed, the butt joint end of the upper guide rail and the butt joint end of the lower guide rail are photographed at different angles, and multiple images at different angles are obtained, so that the positional image information set of the upper guide rail and the lower guide rail is constructed.

[0129] Further, the main control system pre-processes the image data of the positional image information set, the gray image data is obtained through the gray processing of the image data, the main control system detects the corner points of the gray image data, and the positions with large gray difference changes in the gray image are marked as corner points.

[0130] Further, the main control system can detect the corner points through the Moravec corner point detection operator, the contour features of the upper guide rail and the lower guide rail are simple, the corner points are marked through the corner point detection operator, the calculation amount of the main control system can be reduced, and the image processing efficiency is improved.

[0131] Further, the Moravec corner point detection operator is an angle point detection method based on gray variance, the gray difference of a certain pixel point in an image along the horizontal and vertical directions is calculated to determine the position of the corner point.

[0132] The space construction module 20: the space coordinate system is constructed with the lower guide rail as the reference according to the positional image information set, and the space coordinate offset between the upper guide rail and the lower guide rail is determined.

[0133] The space coordinate system is constructed with the lower guide rail as the reference according to the positional image information set, and the space coordinate offset between the upper guide rail and the lower guide rail is determined, and the space coordinate offset between the upper guide rail and the lower guide rail is determined.

[0134] Extract the outer contour feature points of the upper guide rail and the lower guide rail in each position image information, and combine the contour feature points in the multi-angle position image information to construct a three-dimensional model of the upper guide rail and the lower guide rail.

[0135] A spatial coordinate system is constructed according to the three-dimensional model of the docking end of the lower guide rail, and a coordinate point of the three-dimensional model of the docking end of the upper guide rail is marked in the spatial coordinate system to obtain a spatial coordinate offset between the docking end of the upper guide rail and the docking end of the lower guide rail.

[0136] The adjustment module 30 generates an adjustment instruction according to the spatial coordinate offset, and the adjustment robot drives the upper guide rail to move based on the adjustment instruction, so that the upper guide rail and the lower guide rail are in a docking state.

[0137] The deflection angle and the offset distance of the upper guide rail are obtained according to the spatial coordinate offset, and an adjustment instruction is generated based on the deflection angle and the offset distance.

[0138] Further, the geometric center coordinates of the end face of the docking end of the upper guide rail are extracted, and the three-dimensional model of the docking end of the upper guide rail is projected at the origin position of the spatial coordinate system according to the geometric center coordinates of the end face of the docking end of the upper guide rail, that is, the geometric center coordinates of the end face of the docking end of the upper guide rail are overlapped with the geometric center coordinates of the end face of the docking end of the lower guide rail, to obtain the offset distance between the docking end of the upper guide rail and the docking end of the lower guide rail.

[0139] Further, the projection coordinate value of the docking end of the upper guide rail is obtained, and the projection coordinate of the docking end of the upper guide rail is compared with the corresponding corner coordinate value of the docking end of the lower guide rail to calculate the deflection angle between the docking end of the upper guide rail and the docking end of the lower guide rail.

[0140] Specifically, the adjustment robot drives the upper guide rail to rotate and move based on the adjustment instruction, so that the docking end of the upper guide rail is connected with the docking end of the lower guide rail. The adjustment robot obtains the adjustment instruction, drives the upper guide rail to rotate by the deflection angle, and drives the upper guide rail to move to the position of the docking end of the lower guide rail, to realize the docking of the docking end of the upper guide rail and the docking end of the lower guide rail.

[0141] Further, the visual snapshot mechanism obtains image information of the upper guide rail and the lower guide rail in the docking state, the host system finely adjusts the pose of the upper guide rail according to the image information of the upper guide rail and the lower guide rail in the docking state, so that the end face of the docking end of the upper guide rail is attached to the end face of the docking end of the lower guide rail, and drives the mounting robot to connect the upper guide rail and the lower guide rail through the connecting plate, thereby completing the docking operation of the upper guide rail and the lower guide rail.

[0142] The detection module 40 detects the distance between the docking position of the upper guide rail and the lower guide rail and the reference line of the elevator through the measuring device to obtain detection data.

[0143] Specifically, the detection data is obtained by measuring the distance between the upper and lower guide rail butt joint positions and the elevator reference line, comprising:

[0144] The first distance from the upper and lower guide rail butt joint positions to the first elevator reference line and the second distance from the upper and lower guide rail butt joint positions to the second elevator reference line are detected by the infrared detection device arranged on the adjusting mechanical hand, and the first distance and the second distance are calculated by difference to obtain the center line deviation value of the upper and lower guide rails.

[0145] Further, the first elevator reference line and the second elevator reference line are symmetrically arranged on both sides of the elevator shaft, and are used to detect the accuracy of the elevator guide rail installation position and the perpendicularity of the elevator guide rail.

[0146] Further, the infrared detection device is arranged at the middle position of the adjusting mechanical hand, and when the adjusting mechanical hand clamps the upper guide rail, the infrared detection device is located on the plane of the center line of the upper guide rail, so as to measure the distance between the upper and lower guide rail butt joint positions and the elevator reference line.

[0147] The analysis module 50: obtains the butt joint position image of the upper and lower guide rails by the visual snapshot mechanism, and generates an adjustment instruction in combination with the detection data.

[0148] The butt joint position image of the upper and lower guide rails is obtained by the visual snapshot mechanism, and the overall inclination of the upper and lower guide rails is analyzed according to the butt joint position image.

[0149] The horizontal movement distance of the upper and lower guide rails is determined according to the detection data, and the offset angle of the upper and lower guide rails is determined according to the overall inclination of the upper and lower guide rails.

[0150] The adjustment instruction is generated in combination with the horizontal movement distance and the offset angle.

[0151] The adjustment module 60: drives the adjusting mechanical hand to adjust the guide rail based on the adjustment instruction.

[0152] The adjusting mechanical hand obtains the adjustment instruction, and the adjustment instruction includes horizontal movement distance data and offset angle data. The adjusting mechanical hand drives the upper and lower guide rails to move to the center position of the two-side elevator reference line based on the adjustment instruction.

[0153] The application provides an elevator guide rail butt joint adjusting device, which acquires the position relationship of upper guide rails and lower guide rails through a visual snapshot mechanism, cooperates with an adjusting mechanical hand to butt joint the upper guide rails and the lower guide rails, and adjusts the guide rails in the vertical direction through the distance between the butt joint position of the upper guide rails and the lower guide rails and the reference line of the elevator, so that the convenience and reliability of the butt joint installation of the elevator guide rails are improved.

[0154] Those skilled in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by programs instructing the relevant hardware, and the programs can be stored in a computer readable storage medium, which can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0155] In addition, the above describes in detail the elevator guide rail butt joint adjusting method and device provided by the embodiments of the application, and the principles and implementation manners of the application are described by using specific examples in this paper, and the above-mentioned embodiment is only used to help understand the method of the application and its core idea; meanwhile, for those skilled in the art, according to the idea of the application, the specific implementation manners and application ranges will be changed, and the above-mentioned description should not be understood as the limitation of the application.

Claims

1. An elevator guide rail butt joint adjustment method characterized by, The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises:

2. The elevator guide rail butt adjustment method of claim 1, wherein, The adjustment method comprises: The adjustment method comprises: The adjustment method comprises:

3. The elevator guide rail butt adjustment method of claim 1, wherein, The adjustment method comprises: The adjustment method comprises:

4. The elevator guide rail butt adjustment method of claim 1, wherein, The adjustment method comprises: The adjustment method comprises: The adjustment method comprises:

5. The elevator guide rail butt adjustment method of claim 1, wherein, The adjustment method comprises: The adjustment method comprises: The adjustment method comprises:

6. The elevator guide rail butt adjustment method of claim 1, wherein, The adjustment method comprises: The adjustment method comprises:

7. The elevator guide rail butt adjustment method of claim 6, wherein, The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method comprises: The adjustment method The first distance and the second distance are subtracted to obtain a middle line deviation value of the upper and lower guide rails.

8. The elevator guide rail butt adjustment method of claim 1, wherein, The adjustment instruction is generated by combining the detection data with the butt joint position image of the upper and lower guide rails obtained by the visual snapshot mechanism. The visual snapshot mechanism is used to obtain the butt joint position image of the upper and lower guide rails, and the overall inclination of the upper and lower guide rails is analyzed according to the butt joint position image.

9. The elevator guide rail butt adjustment method of claim 8, wherein, The adjustment instruction is generated by combining the detection data with the butt joint position image of the upper and lower guide rails obtained by the visual snapshot mechanism. The horizontal movement distance of the upper and lower guide rails is determined according to the detection data, and the deflection angle of the upper and lower guide rails is determined according to the overall inclination of the upper and lower guide rails. The adjustment instruction is generated by combining the horizontal movement distance and the deflection angle.

10. An elevator guide rail butt adjustment device characterized by, The adjustment device comprises: An image acquisition module: the upper guide rail is grabbed by the adjusting robot, and the position image information set of the upper and lower guide rails is obtained by the visual snapshot mechanism; A space construction module: the space coordinate system is constructed based on the lower guide rail as the reference, and the space coordinate offset between the upper and lower guide rails is determined; An adjusting module: the adjusting instruction is generated according to the space coordinate offset, and the adjusting robot is driven to move the upper guide rail based on the adjusting instruction, so that the upper and lower guide rails are in the butt joint state; A detection module: the distance between the butt joint position of the upper and lower guide rails and the reference line of the elevator is detected by the measuring device to obtain the detection data; An analysis module: the adjustment instruction is generated by combining the detection data with the butt joint position image of the upper and lower guide rails obtained by the visual snapshot mechanism; An adjusting module: the adjusting robot is driven to adjust the guide rail based on the adjusting instruction.

Images