Multifunctional elevator measuring device and measuring method

Abstract

The application discloses a multifunctional elevator measuring device, comprising a measuring trolley, a first structured light scanning module and a data reconstruction module; the application also discloses a measuring method based on the multifunctional elevator measuring device; the device integrates multiple functions such as door leaf gap measurement, guide slider measurement, gap measurement between a door leaf and a threshold, door leaf deformation measurement, foot guard plate measurement, automatic landing door closing device measurement, elevator car and shaft wall distance measurement, landing door threshold and car threshold distance measurement, car door and landing door threshold gap measurement, landing door lock roller and car threshold gap measurement and the like; the car roof measuring trolley and the structured light scanning module are combined, the error of point cloud data relative to the calibration coordinate system is small, the measurement is non-contact, the requirement for the light intensity of the shaft is low, and the measurement of the elevator car door, the car door and the auxiliary device is convenient, efficient and high-precision.

Description

Technical Field

[0001] This invention relates to the field of elevator testing technology, and in particular to a multifunctional elevator measuring device and measuring method. Background Technology

[0002] The Special Equipment Inspection and Research Institute mainly deals with the inspection and testing of boilers, pressure vessels, pressure pipelines, elevators, lifting machinery, passenger ropeways, amusement facilities, in-plant motor vehicles and related products.

[0003] Elevator inspection involves testing the elevator car, elevator car door, landing door, car sill, landing door sill, car door foot guard, landing door foot guard, and other auxiliary devices. Existing technology requires multiple sets of testing equipment for the aforementioned elevators and their auxiliary devices, resulting in a cumbersome testing process with low efficiency and accuracy. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multifunctional elevator measuring device and measuring method.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A multifunctional elevator measuring device includes a measuring trolley, a first structured light scanning module, and a data reconstruction module;

[0007] The measuring trolley is mounted on the top of the elevator car and moves up and down with the elevator.

[0008] The first structured light scanning module is mounted on the measuring trolley and is used to scan the inside of the elevator shaft and send the point cloud data obtained from the scan to the data reconstruction module.

[0009] The data reconstruction module is used to preprocess the point cloud data and reconstruct and calculate the elevator doors, elevator car and auxiliary devices based on the processed point cloud data.

[0010] Furthermore, it also includes an optical target and a second structured light scanning module;

[0011] The optical target is mounted on the measuring carriage to provide a measurement reference.

[0012] The second structured light scanning module is installed outside the elevator car door to scan the elevator car and the light target, and sends the point cloud data obtained from the scan to the data reconstruction module.

[0013] A method for measuring door gaps based on the aforementioned multifunctional elevator measuring device includes measuring the gaps between landing door panels and measuring the gaps between car door panels;

[0014] The measurement of the gap between the door panels includes the following steps: scanning point A on the edge of the door panel using a first structured light scanning module, and obtaining the coordinates of point A. and the edge of another door leaf at the same vertical position. The coordinates are The gap between the door panels The size is determined by the formula Within the same floor door height range, different heights Z can be obtained, corresponding to the gaps between the floor door panels. set In the set In the middle, find the largest This is the maximum value of the gap between the door panels of the floor;

[0015] The gap measurement between the car door panels includes the following steps: scanning point A1 on the edge of the car door panel using a second structured light scanning module and obtaining the coordinates of point A1. And the edge of another car door at the same vertical position. The coordinates are The gap between the car door panels The size can be determined by the formula Within the same car door height range, different heights Z1 can be obtained, corresponding to the gaps between car door panels. set In the set In the middle, find the largest This is the maximum value of the gap between the car door panels.

[0016] A method for measuring guide sliders based on the aforementioned multifunctional elevator measuring device includes measuring landing door guide sliders and measuring car door guide sliders;

[0017] The measurement of the door guide slider includes the following steps: scanning the door guide slider with a first structured light scanning block and obtaining point cloud data of both sides of the door guide slider B, C, D, and E, wherein the coordinates of both sides of the door guide slider B are... The coordinates of both sides of the door guide slider C are: The coordinates of both sides of the door guide slider D are: , The coordinates of the two sides of the door guide slider E are: ;

[0018] The widths of the door guide sliders B, C, D, and E are as follows: , , , When the landing door guide slider is qualified, the widths of landing door guide sliders B, C, D, and E are all within the range of k±k1, where k is a constant and k±k1 is the maximum / minimum allowable error value of the landing door guide slider.

[0019] When the width data measured by the door guide slider is: 1) less than k±k1, the door guide slider is displaced or damaged; 2) 0, the door guide slider is missing.

[0020] The measurement of the car door guide slider includes the following steps: scanning the car door guide slider with a second structured light scanning block and obtaining point cloud data on both sides of the car door guide slider B', C', D', and E', wherein the coordinates of both sides of the car door guide slider B' are... and for , Coordinates of both sides of the car door guide slider C' and for , Coordinates of both sides of the car door guide slider D' and for , Coordinates of both sides of the car door guide slider E' and for; , ;

[0021] The widths of the car door guide sliders B', C', D', and E' are, in order: , , , When the car door guide slider is qualified, the widths of the car door guide sliders B', C', D', and E' are all within the range of k'±k1', where k' is a constant and k'±k1' is the maximum / minimum allowable error value of the car door guide slider.

[0022] When the width data measured by the car door guide slider is: 1) less than k'±k1', the car door guide slider is displaced or damaged; 2) 0, the car door guide slider is missing at that location. A method for measuring the gap between the door leaf and the sill based on the aforementioned multi-functional elevator measuring device includes measuring the gap between the landing door leaf and the landing sill and measuring the gap between the car door leaf and the car sill;

[0023] The measurement of the gap between the landing door leaf and the landing door sill includes the following steps: scanning points F and G on the lower edge of the landing door leaf using a first structured light scanning module, and obtaining the coordinates of points F and G. , Similarly, the edge of the threshold at the same location is obtained. , The coordinates of the point are , The gap between the landing door leaf and the landing door sill. , The size is determined by the formula , :

[0024] when At that time, the gap between the landing door leaf and the landing door sill is ;

[0025] when At that time, the gap between the landing door leaf and the landing door sill is ;

[0026] when At that time, the gap between the landing door leaf and the landing door sill is ;

[0027] The measurement of the gap between the car door leaf and the car sill includes the following steps: scanning points F1 and G1 on the lower edge of the car door leaf using a second structured light scanning module, and obtaining the coordinates of points F1 and G1. , Similarly, the upper edge of the car sill at the same position is obtained. , The coordinates are , The gap between the car door leaf and the car sill. , Size by formula , :

[0028] when At that time, the gap between the car door leaf and the car sill is ;

[0029] when At that time, the gap between the car door leaf and the car sill is ;

[0030] when At that time, the gap between the car door leaf and the car sill is .

[0031] A method for measuring door deformation based on the aforementioned multifunctional elevator measuring device includes measuring landing door deformation and measuring car door deformation.

[0032] The deformation measurement of the door includes the following steps: scanning the door using a first structured light scanning module to obtain point cloud data of the door plane, where the coordinates of any point H on the door are... ;

[0033] When the door is not deformed, the coordinates of all H points in the Y direction Let m be a constant;

[0034] When the door deforms, the coordinates of point I within the damaged deformation area are: Then when At that time, the landing door deforms and bulges outwards from the shaft; when At that time, the door deforms and bulges into the shaft.

[0035] The car door deformation measurement includes the following steps: scanning the car door using a second structured light scanning module to obtain point cloud data of the car door plane, where the coordinates of any point H1 on the car door are... ;

[0036] When the car door is not deformed, the coordinates of all H1 points in the Y direction are a constant m1;

[0037] When the car door deforms, the coordinates of point I1 within the damaged deformation area are: Then when At 1 o'clock, the car door deforms and bulges inward into the car; when At that time, the car door deforms and bulges outwards from the car.

[0038] A method for measuring the foot guards of an elevator based on a multifunctional elevator measuring device includes measuring the foot guards of the landing door and the car door;

[0039] The measurement of the landing door footplate includes the following steps: scanning the area of ​​the shaft wall below the landing door sill using a first structured light scanning module, and obtaining the coordinates of any point L in that area. ,when The value is a constant If the region is vertically smooth, then the region is not in compliance with the requirements; otherwise, the region is not in compliance with the requirements.

[0040] The measurement of the car door foot guard plate includes the following steps: scanning the area of ​​the hoistway wall below the car sill using a second structured light scanning module, and obtaining any point in that area. coordinates ,when The value is a constant If the condition is met, the region is a vertically smooth region; otherwise, the region does not meet the requirements.

[0041] A method for measuring an automatic landing door closing device based on the aforementioned multifunctional elevator measuring device includes the following steps:

[0042] The automatic landing door closing device on the landing door is scanned by the first structured light module, and the point cloud data of the automatic landing door closing device is obtained. The coordinates of any point J on the edge of the automatic landing door closing device are obtained as follows: When the automatic landing door closing device is in normal use and there is no loosening or displacement, the coordinates of all points J in the X and Y directions are constants p and q; when the automatic landing door closing device is damaged or deformed, .

[0043] A method for measuring the distance between an elevator car and the shaft wall based on the aforementioned multifunctional elevator measuring device includes the following steps:

[0044] The first structured light scanning module scans the area of ​​the shaft wall below the sill of the floor gate and obtains the coordinates of any point K in that area. ,when If the minimum distance *s* between the outer edge of the elevator car door or the outer edge of the car sill and the Y-direction of the structured light scanning module coordinate system is less than or equal to 0.15m, the distance between the elevator car and the shaft wall is considered to meet the requirements. If the result is greater than 0.15m, then check if the vertical height of that area is greater than 0.5m. Is the value greater than 0.5m?

[0045] like If so, it is determined that the distance between the elevator car and the shaft wall does not meet the requirements;

[0046] like

[0047] and

[0048] If so, it is determined that the distance between the elevator car and the shaft wall does not meet the requirements;

[0049] like and If the distance between the elevator car and the shaft wall meets the requirements, then it can be determined that the distance between the elevator car and the shaft wall meets the requirements.

[0050] A method for measuring the distance between the landing sill and the car sill based on a multi-functional elevator measuring device includes the following steps:

[0051] The second structured light scanning module scans the car sill area and obtains the coordinates of any point J1 on the edge of the car sill. ;

[0052] The optical target is scanned by the second structured light scanning module, and the coordinates of the target center K1 are obtained. ;

[0053] The first structured light scanning module scans the floor threshold area and obtains the location of any point on the outer edge of the floor threshold. coordinates ;

[0054] Establish a first structured light scanning module, a second structured light scanning module, a light target, and a car sill.

[0055] The projection relationship between the outer edge and the outer edge of the threshold on the horizontal plane;

[0056] In the coordinate system of the second structured light scanning module, the distance in the Y direction between any point J1 on the edge of the car sill and the center K1 of the light target can be obtained as follows: The center of the optical target K1 and the center of the first structured light scanning block coordinate system ,exist Distance in direction 1 is a constant n1;

[0057] The edge of the car sill is calculated in the coordinate system of the first structured light scanning module. The value of direction = The same position opposite the landing sill and the car sill in the coordinate system of the first structured light scanning module The value of direction Furthermore, the horizontal distance between any point on the car sill and the landing sill = When the car sill is parallel to the landing sill, The value is a constant. If its value is less than or equal to 35mm, it is determined that the distance between the car sill and the floor door sill of that floor meets the requirements; otherwise, the distance between the car sill and the floor door sill does not meet the requirements.

[0058] A method for measuring the gap between the car door knife and the landing sill based on a multi-functional elevator measuring device includes the following steps:

[0059] The second structured light scanning module scans the elevator car door knife area and obtains the coordinates of any point M on the outer edge of the elevator car door knife. ;

[0060] The optical target is scanned by the second structured light scanning module, and the coordinates of the target center K1 are obtained. And by scanning the floor threshold area using the first structured light scanning module, any point on the outer edge of the floor threshold can be obtained. coordinates ;

[0061] Establish the projection relationship of the first structured light scanning module, the second structured light scanning module, the light target, the outer edge of the car door knife, and the outer edge of the landing door sill on the horizontal plane;

[0062] In the coordinate system of the second structured light scanning module, the distance in the Y direction between any point M on the edge of the car door knife and the center K1 of the light target on the car top is K1M = The center of the optical target K1 and the center of the first structured light scanning block coordinate system ,exist Distance in direction 1 is a constant n1; the position of the door knife edge in the car roof structured light scanning module coordinate system is calculated. The value of direction = ;

[0063] The edge of the car sill is calculated in the coordinate system of the first structured light scanning module. The value of direction = The same position opposite the landing sill and the car sill in the coordinate system of the first structured light scanning module The value of direction Furthermore, the gap between the car door door knife and the landing door sill... = ;

[0064] when If the clearance is within the specified range, it is determined that the gap between the car door knife and the floor sill of that floor meets the requirements; otherwise, the gap between the car door knife and the floor sill of that floor does not meet the requirements.

[0065] A method for measuring the gap between the landing door lock roller and the car sill based on a multi-functional elevator measuring device includes the following steps:

[0066] The first structured light scanning module scans the area of ​​the door lock roller and obtains the coordinates of any point N on the outer edge of the door lock roller. The outer edge N of the door lock roller is in the coordinate system of the first structured light scanning module. The value of direction ;

[0067] The optical target is scanned by the second structured light scanning module, and the coordinates of the target center K1 are obtained. And by scanning the floor threshold area using the first structured light scanning module, any point on the outer edge of the floor threshold can be obtained. coordinates ;

[0068] Establish the projection relationship of the first scanning module, the second scanning module, the light target, the outer edge of the sill, and the outer edge of the door lock roller on the horizontal plane;

[0069] In the coordinate system of the second structured light scanning module, the distance in the Y direction between any point J1 on the edge of the car sill and the center K1 of the light target is obtained as follows: The center of the optical target K1 and the center of the first structured light scanning block coordinate system ,exist Distance in direction 1 is a constant n1;

[0070] The edge of the car sill is calculated in the coordinate system of the first structured light scanning module. The value of direction = Therefore, the gap between the landing door lock roller and the car sill... ;

[0071] If the clearance is within acceptable limits, it is determined that the gap between the car sill and the door lock roller of that floor meets the requirements; otherwise, it is determined that the gap between the car sill and the door lock roller of that floor does not meet the requirements.

[0072] The beneficial effects of this invention are:

[0073] The device of this invention integrates multiple functions, including door gap measurement, guide slider measurement, gap measurement between door and sill, door deformation measurement, foot guard measurement, automatic landing door closing device measurement, distance measurement between elevator car and shaft wall, distance measurement between landing door sill and car sill, gap measurement between car door knife and landing door sill, and gap measurement between landing door lock roller and car sill. By combining the car top measuring trolley and structured light scanning module, the error of point cloud data relative to the calibration coordinate system is small. It is a non-contact measurement and has low requirements for shaft illumination, making the measurement of elevator car doors, car doors and auxiliary devices convenient, efficient and high-precision. Attached Figure Description

[0074] Figure 1 This is a schematic diagram of the structure of the multifunctional elevator measuring device in an embodiment of the present invention;

[0075] Figure 2 This is a schematic diagram of the overall structure of the multifunctional elevator measuring device with a second structured light scanning module in an embodiment of the present invention.

[0076] Figure 3 This is a schematic diagram for measuring the gap between floor doors;

[0077] Figure 4 This is a schematic diagram for measuring the gap between the car door panels;

[0078] Figure 5 This is a schematic diagram of measuring the guide slider of the floor door;

[0079] Figure 6 This is a schematic diagram for measuring the car door guide slider;

[0080] Figure 7 A schematic diagram for measuring the gap between the door leaf and the sill;

[0081] Figure 8 A schematic diagram for measuring the gap between the car door leaf and the sill;

[0082] Figure 9This is a schematic diagram for measuring the deformation of the door leaf of the floor.

[0083] Figure 10 This is a schematic diagram for measuring the deformation of the car door leaf;

[0084] Figure 11 This is a schematic diagram for measuring the landing door foot guard.

[0085] Figure 12 This is a schematic diagram for measuring the car door foot guard.

[0086] Figure 13 This is a schematic diagram of the automatic landing door closing device being measured.

[0087] Figure 14 A schematic diagram for measuring the distance between the elevator car and the shaft wall;

[0088] Figure 15 A schematic diagram showing how to obtain the coordinates of any point J1 on the outer edge of the car sill when measuring the distance between the landing sill and the car sill;

[0089] Figure 16 A schematic diagram showing the coordinates of the optical target center K1 when measuring the distance between the landing sill and the car sill;

[0090] Figure 17 A schematic diagram showing the coordinates of any point J1' on the outer edge of the landing sill when measuring the distance between the landing sill and the car sill.

[0091] Figure 18 To measure the distance between the landing sill and the car sill, a schematic diagram is created showing the projection relationship of the first structured light scanning module, the second structured light scanning module, the light target, the outer edge of the car sill, and the outer edge of the landing sill onto the horizontal plane.

[0092] Figure 19 This is a schematic diagram for measuring the gap between the car door knife and the landing door sill;

[0093] Figure 20 To measure the gap between the car door knife and the landing sill, a schematic diagram is established showing the projection relationship of the first structured light scanning module, the second structured light scanning module, the light target, the outer edge of the car door knife, and the outer edge of the landing sill onto the horizontal plane.

[0094] Figure 21 This is a schematic diagram for measuring the gap between the landing door lock roller and the car sill.

[0095] Figure 22 To measure the gap between the landing door lock roller and the car sill, a schematic diagram is established showing the projection relationship of the first scanning module, the second scanning module, the light target, the outer edge of the sill, and the outer edge of the landing door lock roller on the horizontal plane.

[0096] In the diagram, 1. Measuring trolley; 2. First structured light scanning module; 3. Data reconstruction module; 4. Optical target; 5. Second structured light scanning module; 6. Landing door leaf; 7. Car door leaf; 8. Landing door guide slider; 9. Car door guide slider; 10. Landing door sill; 11. Car sill; 12. Landing door foot guard; 13. Car door foot guard; 14. Automatic landing door closing device; 15. Lower shaft wall; 16. Car door knife; 17. Landing door lock roller; 18. Structured light beam. Detailed Implementation

[0097] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0098] See Figures 1-22 The present invention provides a technical solution: Example

[0099] like Figure 1 and Figure 2 As shown, a multifunctional elevator measuring device includes a measuring trolley 1, a first structured light scanning module 2, and a data reconstruction module 3;

[0100] The measuring trolley 1 is mounted on the top of the elevator car and moves up and down with the elevator.

[0101] The first structured light scanning module 2 is mounted on the measuring trolley 1 and is used to emit a structured light beam 18 to scan the inside of the elevator shaft and send the point cloud data obtained from the scan to the data reconstruction module 3.

[0102] The data reconstruction module 3 is used to preprocess the point cloud data and reconstruct and calculate the elevator car door, elevator car and auxiliary devices based on the processed point cloud data.

[0103] It also includes a light target 4 and a second structured light scanning module 5;

[0104] The optical target 4 is mounted on the measuring carriage 1 to provide a measurement reference;

[0105] The second structured light scanning module 5 is installed outside the elevator car door and is used to emit a structured light beam 18 to scan the elevator car and the light target 4, and send the point cloud data obtained from the scan to the data reconstruction module 3.

[0106] in:

[0107] I. The "Rules for Supervision and Periodic Inspection of Elevators" stipulate the following requirements for elevator landing doors:

[0108] A1.2.2.3 Distance between the car (carrying device) and the hoistway wall

[0109] Check if it meets the following requirements:

[0110] (1) The distance between the car (carrying device) and the hoistway wall facing the car (carrying device) entrance shall not exceed 0.15m. For freight elevators with vertical sliding doors or where the local height is not greater than 0.50m, this distance may be increased to 0.20m;

[0111] A1.2.2.4 Shaft wall below level sill 10

[0112] Check if it meets the following requirements:

[0113] (1) The shaft wall under each floor sill 10 is a continuous vertical surface made of a smooth and hard material that is directly connected to the floor sill 10;

[0114] (2) For non-inclined elevators, the height of the floor sill 10 and the shaft wall 15 below it shall not be less than 1 / 2 of the unlocking area plus 50mm, and the width shall not be less than the net width of the door entrance plus 25mm on each side.

[0115] Measure whether the horizontal distance between the car sill 11 and the landing door sill 10 is not greater than 35mm.

[0116] A1.2.7.2 Door gaps (one point: gap between door panels, gap between door panel and sill)

[0117] Does the gap after the door is closed meet the following requirements?

[0118] (1) The gaps between door panels and between door panels and the sill shall not exceed 6 mm for passenger elevators and 10 mm for freight elevators;

[0119] There needs to be a procedure to first select whether it is a passenger elevator or a freight elevator.

[0120] Next, select whether it is a center-opening door or a side-opening door.

[0121] A1.2.7.5 Door Operation and Guidance (One point: Check whether the door guide slider 8 is missing)

[0122] Check if it meets the following requirements:

[0123] (1) The landing doors and car doors do not derail, mechanically jam, or misalign during normal operation;

[0124] (2) When the landing door guide device fails, the landing door retaining device can keep the landing door in its original position;

[0125] (3) A mark is provided on or near the bottom retaining device of the landing door to identify the minimum engagement depth of the retaining device, and the engagement depth of the bottom retaining device of the landing door is not less than the minimum engagement depth indicated by the mark.

[0126] II. The "Rules for Supervision and Periodic Inspection of Elevators" stipulate the following requirements for elevator car doors:

[0127] A1.2.6.10 Car foot protection plate

[0128] Check if it meets the following requirements:

[0129] (2) For non-inclined elevators, the vertical height of the car's foot guard plate shall not be less than 0.75m, and the width shall not be less than the width of the landing entrance;

[0130] A1.2.7 Carriage door and carriage door (Note A1-17)

[0131] A1.2.7.1 Threshold Distance

[0132] Measure whether the horizontal distance between the car sill 11 and the car sill 11 is not greater than 35mm.

[0133] A1.2.7.2 Door Clearance

[0134] Does the gap after the door is closed meet the following requirements?

[0135] (1) The gaps between door panels and between door panels and the sill shall not exceed 6mm for passenger elevators and 10mm for freight elevators.

[0136] A1.2.7.5 Door Operation and Guidance

[0137] Check if it meets the following requirements:

[0138] (1) The car door and the car door do not derail, mechanically jam, or misalign during normal operation;

[0139] (2) When the car door guide device fails, the car door retaining device can keep the car door in its original position;

[0140] (3) A mark is provided on or near the bottom retaining device of the car door to identify the minimum engagement depth of the retaining device, and the engagement depth of the bottom retaining device of the car door is not less than the minimum engagement depth indicated by the mark.

[0141] A1.2.7.10 Clearance between door knife / lock rollers and sill

[0142] Check that the gap between the car door knife 16 and the car sill 11, and between the car door lock roller and the car sill 11 is not less than 5mm, and that the elevator does not rub against each other during operation.

[0143] Note A1-17: When inspecting car doors, car doors of base stations, terminal stations, and at least 20% of other floor stations may be sampled for inspection, except for item (2) of section A1.2.7.8.

[0144] The device of this invention integrates multiple functions, including door gap measurement, guide slider measurement, gap measurement between door and sill, door deformation measurement, foot guard measurement, automatic landing door closing device 14 measurement, elevator car and shaft wall distance measurement, landing door sill 10 and car sill 11 distance measurement, car door door knife 16 and landing door sill 10 gap measurement, and landing door lock roller 17 and car sill 11 gap measurement. By combining the car top measuring trolley 1 and the structured light scanning module, the error of the point cloud data relative to the calibration coordinate system is small. It is a non-contact measurement and has low requirements for shaft illumination, making the measurement of elevator car doors, car doors and auxiliary devices convenient, efficient and high-precision. Example

[0145] like Figure 3 and Figure 4 As shown, a door gap measurement method based on the multifunctional elevator measuring device includes measuring the gap between landing door panels 6 and measuring the gap between car door panels 7;

[0146] like Figure 3 As shown, the gap measurement between the door panels 6 includes the following steps: scanning point A on the edge of the door panel 6 using the first structured light scanning module 2, and obtaining the coordinates of point A. and the edge of another door leaf at the same vertical position. The coordinates are The gap between the 6 floor door panels; The size is determined by the formula Within the same floor door height range, different heights Z can be obtained, corresponding to the gaps between the floor door panels 6. set In the set In the middle, find the largest This is the maximum value of the gap between the 6 door panels of the floor;

[0147] like Figure 4 As shown, the gap measurement between the car door panels 7 includes the following steps: scanning point A1 on the edge of the car door panel 7 using the second structured light scanning module 5 and obtaining the coordinates of point A1. And the edge of another car door at the same vertical position. The coordinates are The gap between the car door panels 7 The size can be determined by the formula Within the same car door height range, different heights Z1 can be obtained, corresponding to the gaps between car door panels 7. set In the set In the middle, find the largest This is the maximum value of the gap between the car door panels 7. Example

[0148] like Figure 5 and Figure 6 As shown, a method for measuring guide sliders based on the multifunctional elevator measuring device includes measuring the landing door guide slider 8 and measuring the car door guide slider 9;

[0149] like Figure 5 As shown, the measurement of the door guide slider 8 includes the following steps: scanning the door guide slider 8 with a first structured light scanning block and obtaining point cloud data of both sides of the door guide slider B, C, D, and E, wherein the coordinates of both sides of the door guide slider B are... The coordinates of both sides of the door guide slider C are: The coordinates of both sides of the door guide slider D are: , The coordinates of the two sides of the door guide slider E are: ;

[0150] The widths of the door guide sliders B, C, D, and E are as follows: , , , When the landing door guide slider is qualified, the widths of landing door guide sliders B, C, D, and E are all within the range of k±k1, where k is a constant and k±k1 is the maximum / minimum allowable error value of the landing door guide slider.

[0151] When the width data measured by the floor door guide slider 8 is: 1) less than k±k1, then the floor door guide slider 8 has displacement or is missing; 2) is 0, then the floor door guide slider 8 is missing at that location.

[0152] like Figure 6 As shown, the measurement of the car door guide slider 9 includes the following steps: scanning the car door guide slider 9 with a second structured light scanning block and obtaining point cloud data on both sides of the car door guide slider B', C', D', and E', wherein the coordinates of both sides of the car door guide slider B' are... and for , Coordinates of both sides of the car door guide slider C' and for , Coordinates of both sides of the car door guide slider D' and for , Coordinates of both sides of the car door guide slider E' and for; , ;

[0153] The widths of the car door guide sliders B', C', D', and E' are, in order: , , , When the car door guide slider 9 is qualified, the widths of the car door guide sliders B', C', D', and E' are all within the range of k'±k1', where k' is a constant and k'±k1' is the maximum / minimum allowable error value of the car door guide slider 9.

[0154] When the width data measured by the car door guide slider 9 is: 1) less than k'±k1', then the car door guide slider 9 has displacement or is missing; 2) is 0, then the car door guide slider 9 is missing at that location. Example

[0155] like Figure 7 and Figure 8 As shown, a method for measuring the gap between the door leaf and the sill based on the multi-functional elevator measuring device includes measuring the gap between the landing door leaf 6 and the landing door sill 10 and measuring the gap between the car door leaf 7 and the car sill 11.

[0156] like Figure 7 As shown, the gap measurement between the landing door leaf 6 and the landing door sill 10 includes the following steps: scanning points F and G on the lower edge of the landing door leaf 6 using the first structured light scanning module 2, and obtaining the coordinates of points F and G. , Similarly, the edge of the threshold 10 at the same location is obtained. , The coordinates of the point are , The gap between the landing door leaf 6 and the landing door sill 10. , The size is determined by the formula , :

[0157] when At that time, the gap between the landing door leaf 6 and the landing door sill 10 is ;

[0158] when At that time, the gap between the landing door leaf 6 and the landing door sill 10 is ;

[0159] when At that time, the gap between the landing door leaf 6 and the landing door sill 10 is ;

[0160] like Figure 8 As shown, the gap measurement between the car door leaf 7 and the car sill 11 includes the following steps: scanning points F1 and G1 on the lower edge of the car door leaf 7 using the second structured light scanning module 5, and obtaining the coordinates of points F1 and G1. , Similarly, the upper edge of the car sill 11 at the same position is obtained. , The coordinates are , The gap between the car door leaf 7 and the car sill 11 is then... , Size by formula , :

[0161] when At that time, the gap between the car door leaf 7 and the car sill 11 is ;

[0162] when At that time, the gap between the car door leaf 7 and the car sill 11 is ;

[0163] when At that time, the gap between the car door leaf 7 and the car sill 11 is . Example

[0164] like Figure 9 and Figure 10 As shown, a door deformation measurement method based on the multifunctional elevator measuring device includes landing door deformation measurement and car door deformation measurement;

[0165] like Figure 9 As shown, the deformation measurement of the floor door includes the following steps: scanning the floor door using the first structured light scanning module 2 and obtaining point cloud data of the floor door plane, wherein the coordinates of any point H on the floor door are... ;

[0166] When the door is not deformed, the coordinates of all H points in the Y direction Let m be a constant;

[0167] When the door deforms, the coordinates of point I within the damaged deformation area are: Then when At that time, the landing door deforms and bulges outwards from the shaft; when At that time, the landing door deforms and bulges into the shaft.

[0168] like Figure 10 As shown, the car door deformation measurement includes the following steps: scanning the car door using the second structured light scanning module 5 and obtaining point cloud data of the car door plane, where the coordinates of any point H1 on the car door are... ;

[0169] When the car door is not deformed, the coordinates of all H1 points in the Y direction are a constant m1;

[0170] When the car door deforms, the coordinates of point I1 within the damaged deformation area are: Then when At 1 o'clock, the car door deforms and bulges inward into the car; when At that time, the car door deforms and bulges outwards from the car. Example

[0171] like Figure 11 and Figure 12 As shown, a method for measuring the foot guard plate based on a multi-functional elevator measuring device includes measuring the landing door foot guard plate 12 and the car door foot guard plate 13.

[0172] like Figure 11 As shown, the measurement of the landing door foot guard 12 includes the following steps: scanning the area of ​​the shaft wall 15 below the landing door sill 10 using the first structured light scanning module 2, and obtaining the coordinates of any point L in this area. ,when The value is a constant If the region is vertically smooth, then the region is not in compliance with the requirements; otherwise, the region is not in compliance with the requirements.

[0173] like Figure 12 As shown, the measurement of the car door foot guard 13 includes the following steps: scanning the area of ​​the shaft wall 15 below the car sill 11 using the second structured light scanning module 5, and obtaining any point in that area. coordinates ,when The value is a constant If the region is vertically smooth, then the region is not considered a suitable candidate; otherwise, the region does not meet the requirements. Example

[0174] like Figure 13 As shown, a measurement method for an automatic landing door closing device 14 based on the multifunctional elevator measuring device includes the following steps:

[0175] The automatic landing door closing device 14 on the landing door is scanned by the first structured light module, and the point cloud data of the automatic landing door closing device 14 is obtained. The coordinates of any point J on the edge of the automatic landing door closing device 14 are obtained as follows: When the automatic landing door closing device 14 is in normal use and there is no loosening or displacement, the coordinate values ​​of all points J in the X and Y directions are constants p and q; when the automatic landing door closing device 14 is damaged or deformed, . Example

[0176] like Figure 14 As shown, a method for measuring the distance between an elevator car and the shaft wall based on the aforementioned multifunctional elevator measuring device includes the following steps:

[0177] The first structured light scanning module 2 scans the area of ​​the well wall 15 below the sill 10 of the floor gate and obtains the coordinates of any point K in this area. ,when If the minimum distance s between the outer edge of the elevator car door or the outer edge of the car sill 11 and the Y-direction of the structured light scanning module coordinate system is less than or equal to 0.15m, it can be directly determined that the distance between the elevator car and the shaft wall meets the requirements. If the result is greater than 0.15m, then check whether the vertical height of this area is greater than 0.5m. Is the value greater than 0.5m?

[0178] like If so, it is determined that the distance between the elevator car and the shaft wall does not meet the requirements;

[0179] like and If so, it is determined that the distance between the elevator car and the shaft wall does not meet the requirements;

[0180] like and If the distance between the elevator car and the shaft wall meets the requirements, then it can be determined that the distance between the elevator car and the shaft wall meets the requirements. Example

[0181] like Figure 15 As shown, a method for measuring the distance between the landing sill 10 and the car sill 11 based on a multi-functional elevator measuring device includes the following steps:

[0182] The second structured light scanning module 5 scans the area of ​​the car sill 11 and obtains the coordinates of any point J1 on the edge of the car sill 11. ;

[0183] like Figure 16 As shown, the second structured light scanning module 5 scans the optical target 4 and obtains the coordinates of the center K1 of the optical target 4. ;

[0184] like Figure 17As shown, the first structured light scanning module scans the area of ​​the landing threshold 10 and obtains any point on the outer edge of the landing threshold 10. coordinates ;

[0185] like Figure 18 As shown, a first structured light scanning module 2, a second structured light scanning module 5, a light target 4, and a car sill 11 are constructed.

[0186] The projection relationship of the outer edge and the outer edge of the threshold 10 onto the horizontal plane;

[0187] In the coordinate system of the second structured light scanning module 5, the distance in the Y direction between any point J1 on the edge of the car sill 11 and the center K1 of the light target 4 can be obtained as follows: The coordinates of the center K1 of the optical target 4 and the center of the first structured light scanning block ,exist Distance in direction 1 is a constant n1;

[0188] The edge of the car sill 11 was calculated in the coordinate system of the first structured light scanning module. The value of the direction = The same position of the landing sill 10 and the car sill 11 in the coordinate system of the first structured light scanning module 2 The value of direction Furthermore, the horizontal distance between any point on the car sill 11 and the landing sill 10 is... = When the car sill 11 is parallel to the landing sill 10, The value is a constant. If its value is less than or equal to 35mm, it is determined that the distance between the car sill 11 and the landing door sill 10 of that floor meets the requirements; otherwise, the distance between the car sill 11 and the landing door sill 10 of that floor does not meet the requirements.

[0189] Example 10:

[0190] like Figure 19 As shown, a method for measuring the gap between the car door knife 16 and the landing sill 10 based on a multi-functional elevator measuring device includes the following steps:

[0191] The second structured light scanning module 5 scans the area of ​​the elevator car door knife 16 and obtains the coordinates of any point M on the outer edge of the elevator car door knife 16. ;

[0192] The second structured light scanning module 5 scans the optical target 4 and obtains the coordinates of the center K1 of the optical target 4. And by scanning the area of ​​the floor threshold 10 using the first structured light scanning module, any point on the outer edge of the floor threshold 10 can be obtained. coordinates ;

[0193] like Figure 20 As shown, the projection relationship of the first structured light scanning module 2, the second structured light scanning module, the light target 4, the outer edge of the car door knife 16, and the outer edge of the landing door sill 10 on the horizontal plane is established.

[0194] In the coordinate system of the second structured light scanning module 5, the distance in the Y direction between any point M on the edge of the car door knife 16 and the center K1 of the car top light target 4 is K1M = The coordinates of the center K1 of the optical target 4 and the center of the first structured light scanning block ,exist Distance in direction 1 is a constant n1; the edge of the car door knife 16 in the coordinate system of the car top structured light scanning module is calculated. The value of direction = ;

[0195] The edge of the car sill 11 was calculated in the coordinate system of the first structured light scanning module. The value of direction = The same position of the landing sill 10 and the car sill 11 in the coordinate system of the first structured light scanning module 2 The value of direction Furthermore, the gap between the car door knife 16 and the landing door sill 10... = ;

[0196] when If the gap between the car door knife 16 and the floor sill 10 of the floor is within the required range, then it is determined that the gap between the car door knife 16 and the floor sill 10 of the floor is within the required range; otherwise, the gap between the car door knife 16 and the floor sill 10 of the floor is not within the required range.

[0197] Example 11:

[0198] like Figure 21 As shown, a method for measuring the gap between the landing door lock roller 17 and the car sill 11 based on a multi-functional elevator measuring device includes the following steps:

[0199] The first structured light scanning module 2 scans the area of ​​the door lock roller 17 and obtains the coordinates of any point N on the outer edge of the door lock roller 17. The outer edge N of the door lock roller 17 is in the coordinate system of the first structured light scanning module 2. The value of direction ;

[0200] The second structured light scanning module 5 scans the optical target 4 and obtains the coordinates of the center K1 of the optical target 4. And by scanning the area of ​​the floor threshold 10 using the first structured light scanning module, any point on the outer edge of the floor threshold 10 can be obtained. coordinates ;

[0201] like Figure 22 As shown, the projection relationship of the first scanning module, the second scanning module, the light target 4, the outer edge of the sill, and the outer edge of the door lock roller 17 on the horizontal plane is established.

[0202] In the coordinate system of the second structured light scanning module 5, the distance in the Y direction between any point J1 on the edge of the car sill 11 and the center K1 of the light target 4 is obtained as follows: The coordinates of the center K1 of the optical target 4 and the center of the first structured light scanning block ,exist Distance in direction 1 is a constant n1;

[0203] The edge of the car sill 11 was calculated in the coordinate system of the first structured light scanning module. The value of direction = Therefore, the gap between the landing door lock roller 17 and the car sill 11 is... ;

[0204] If the clearance is within acceptable limits, it is determined that the gap between the car sill 11 and the door lock roller 17 of the landing door meets the requirements; otherwise, it is determined that the gap between the car sill 11 and the door lock roller 17 of the landing door does not meet the requirements.

[0205] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A multifunctional elevator measuring device, characterized in that: It includes a measuring trolley, a first structured light scanning module, and a data reconstruction module; The measuring trolley is mounted on the top of the elevator car and moves up and down with the elevator. The first structured light scanning module is mounted on the measuring trolley and is used to scan the inside of the elevator shaft and send the point cloud data obtained from the scan to the data reconstruction module. The data reconstruction module is used to preprocess the point cloud data and reconstruct and calculate the elevator doors, elevator car and auxiliary devices based on the processed point cloud data. It also includes an optical target and a second structured light scanning module; The optical target is mounted on the measuring carriage to provide a measurement reference. The second structured light scanning module is installed outside the elevator car door to scan the elevator car and the light target, and sends the point cloud data obtained from the scan to the data reconstruction module.

2. A method for measuring door gap based on the multifunctional elevator measuring device of claim 1, characterized in that: This includes measuring the gaps between landing door panels and between car door panels; The measurement of the gap between the door panels includes the following steps: scanning point A on the edge of the door panel using a first structured light scanning module, and obtaining the coordinates of point A. And the edge of another door panel at the same vertical position. The coordinates are The gap between the door panels The size is determined by the formula Within the same floor door height range, different heights Z can be obtained, corresponding to the gaps between the floor door panels. set In the set In the middle, find the largest This is the maximum value of the gap between the door panels of the floor; The gap measurement between the car door panels includes the following steps: scanning point A1 on the edge of the car door panel using a second structured light scanning module and obtaining the coordinates of point A1. and the edge of another car door at the same vertical position. The coordinates are The gap between the car door panels The size can be determined by the formula Within the same car door height range, different heights Z1 can be obtained, corresponding to the gaps between car door panels. set In the set In the middle, find the largest This is the maximum value of the gap between the car door panels.

3. A method for measuring a guide slider based on the multifunctional elevator measuring device of claim 1, characterized in that: This includes measurements of landing door guide sliders and car door guide sliders; The measurement of the door guide slider includes the following steps: scanning the door guide slider with a first structured light scanning block and obtaining point cloud data of both sides of the door guide slider B, C, D, and E, wherein the coordinates of both sides of the door guide slider B are... The coordinates of both sides of the door guide slider C are: The coordinates of the two sides of the door guide slider D are: , The coordinates of the two sides of the door guide slider E are: ; The widths of the door guide sliders B, C, D, and E are as follows: , , , When the landing door guide slider is qualified, the widths of landing door guide sliders B, C, D, and E are all within the range of k±k1, where k is a constant and k±k1 is the maximum / minimum allowable error value of the landing door guide slider. When the width data measured by the landing door guide slider is: 1) less than k±k1, the landing door guide slider has displacement or is missing; 2) is 0, the landing door guide slider is missing. The measurement of the car door guide slider includes the following steps: scanning the car door guide slider with a second structured light scanning block and obtaining point cloud data on both sides of the car door guide slider B', C', D', and E', wherein the coordinates of both sides of the car door guide slider B' are... and for , Coordinates of both sides of the car door guide slider C' and for , Coordinates of both sides of the car door guide slider D' and for , Coordinates of both sides of the car door guide slider E' and for; , ; The widths of the car door guide sliders B', C', D', and E' are, in order: , , , When the car door guide slider is qualified, the widths of the car door guide sliders B', C', D', and E' are all within the range of k'±k1', where k' is a constant and k'±k1' is the maximum / minimum allowable error value of the car door guide slider. When the width data measured by the car door guide slider is: 1) less than k'±k1', the car door guide slider is displaced or damaged; 2) 0, the car door guide slider is missing.

4. A method for measuring the gap between a door leaf and a sill based on the multifunctional elevator measuring device of claim 1, characterized in that: This includes measuring the gap between the landing door leaf and the landing door sill, and measuring the gap between the car door leaf and the car sill; The measurement of the gap between the landing door leaf and the landing door sill includes the following steps: scanning points F and G on the lower edge of the landing door leaf using a first structured light scanning module, and obtaining the coordinates of points F and G. , Similarly, the edge of the threshold at the same location is obtained. , The coordinates of the point are , The gap between the landing door leaf and the landing door sill. , The size is determined by the formula , : when At that time, the gap between the landing door leaf and the landing door sill is ; when At that time, the gap between the landing door leaf and the landing door sill is ; when At that time, the gap between the landing door leaf and the landing door sill is ; The measurement of the gap between the car door leaf and the car sill includes the following steps: scanning points F1 and G1 on the lower edge of the car door leaf using a second structured light scanning module, and obtaining the coordinates of points F1 and G1. , ; Similarly, the upper edge of the car sill at the same position is obtained. , The coordinates are , The gap between the car door leaf and the car sill. , Size by formula , : when At that time, the gap between the car door leaf and the car sill is ; when At that time, the gap between the car door leaf and the car sill is ; when At that time, the gap between the car door leaf and the car sill is .

5. A method for measuring door deformation based on the multifunctional elevator measuring device of claim 1, characterized in that: Includes landing door deformation measurement and car door deformation measurement; The deformation measurement of the door includes the following steps: scanning the door using a first structured light scanning module to obtain point cloud data of the door plane, where the coordinates of any point H on the door are... ; When the door is not deformed, the coordinates of all H points in the Y direction Let m be a constant; When the door deforms, the coordinates of point I within the damaged deformation area are: Then when At that time, the landing door deforms and bulges outwards from the shaft; when At that time, the landing door deforms and bulges into the shaft. The car door deformation measurement includes the following steps: scanning the car door using a second structured light scanning module to obtain point cloud data of the car door plane, where the coordinates of any point H1 on the car door are... ; When the car door is not deformed, the coordinates of all H1 points in the Y direction are a constant m1; When the car door deforms, the coordinates of point I1 within the damaged deformation area are: Then when At 1 o'clock, the car door deforms and bulges inward into the car; when At that time, the car door deforms and bulges outwards from the car.

6. A method for measuring the foot guard plate based on the multifunctional elevator measuring device of claim 1, characterized in that: This includes measurements of landing door foot guards and car door foot guards; The measurement of the landing door footplate includes the following steps: scanning the area of ​​the shaft wall below the landing door sill using a first structured light scanning module, and obtaining the coordinates of any point L in that area. ,when The value is a constant If the region is vertically smooth, then the region is not in compliance with the requirements; otherwise, the region is not in compliance with the requirements. The measurement of the car door foot guard plate includes the following steps: scanning the area of ​​the hoistway wall below the car sill using a second structured light scanning module, and obtaining any point in that area. coordinates ,when The value is a constant If the condition is met, the region is a vertically smooth region; otherwise, the region does not meet the requirements.

7. A method for measuring an automatic landing door closing device based on the multifunctional elevator measuring device of claim 1, characterized in that: Includes the following steps: The automatic landing door closing device on the landing door is scanned by the first structured light module, and the point cloud data of the automatic landing door closing device is obtained. The coordinates of any point J on the edge of the automatic landing door closing device are obtained as follows: When the automatic landing door closing device is in normal use and there is no loosening or displacement, the coordinates of all points J in the X and Y directions are constants p and q; when the automatic landing door closing device is damaged or deformed, .

8. A method for measuring the distance between an elevator car and the shaft wall based on the multifunctional elevator measuring device of claim 1, characterized in that: Includes the following steps: The first structured light scanning module scans the area of ​​the shaft wall below the sill of the floor gate and obtains the coordinates of any point K in that area. ,when If the minimum distance *s* between the outer edge of the elevator car door or the outer edge of the car sill and the Y-direction of the structured light scanning module coordinate system is less than or equal to 0.15m, the distance between the elevator car and the shaft wall is considered to meet the requirements. If the result is greater than 0.15m, then check if the vertical height of that area is greater than 0.5m. Is the value greater than 0.5m? like If so, it is determined that the distance between the elevator car and the shaft wall does not meet the requirements; like and If so, it is determined that the distance between the elevator car and the shaft wall does not meet the requirements; like and If the distance between the elevator car and the shaft wall meets the requirements, then it can be determined that the distance between the elevator car and the shaft wall meets the requirements.

9. A method for measuring the distance between the landing sill and the car sill based on the multifunctional elevator measuring device of claim 1, characterized in that: Includes the following steps: The second structured light scanning module scans the car sill area and obtains the coordinates of any point J1 on the edge of the car sill. ; The optical target is scanned by the second structured light scanning module, and the coordinates of the target center K1 are obtained. ; The first structured light scanning module scans the floor threshold area and obtains the location of any point on the outer edge of the floor threshold. coordinates ; Establish a first structured light scanning module, a second structured light scanning module, a light target, and a car sill. The projection relationship between the outer edge and the outer edge of the threshold on the horizontal plane; In the coordinate system of the second structured light scanning module, the distance in the Y direction between any point J1 on the edge of the car sill and the center K1 of the light target can be obtained as follows: The center of the optical target K1 and the center of the first structured light scanning block coordinate system ,exist Distance in direction 1 is a constant n1; The edge of the car sill is calculated in the coordinate system of the first structured light scanning module. The value of direction = The same position opposite the landing sill and the car sill in the coordinate system of the first structured light scanning module The value of direction Furthermore, the horizontal distance between any point on the car sill and the landing sill = When the car sill is parallel to the landing sill, The value is a constant. If its value is less than or equal to 35mm, it is determined that the distance between the car sill and the floor door sill of that floor meets the requirements; otherwise, the distance between the car sill and the floor door sill does not meet the requirements.

10. A method for measuring the gap between the car door knife and the landing sill of a multifunctional elevator measuring device based on claim 1, characterized in that: Includes the following steps: The second structured light scanning module scans the elevator car door knife area and obtains the coordinates of any point M on the outer edge of the elevator car door knife. ; The optical target is scanned by the second structured light scanning module, and the coordinates of the target center K1 are obtained. And by scanning the floor sill area using the first structured light scanning module, any point on the outer edge of the floor sill can be obtained. coordinates ; Establish the projection relationship of the first structured light scanning module, the second structured light scanning module, the light target, the outer edge of the car door knife, and the outer edge of the landing door sill on the horizontal plane; In the coordinate system of the second structured light scanning module, the distance in the Y direction between any point M on the edge of the car door knife and the center K1 of the light target on the car top is K1M = ; The center of the optical target K1 and the center of the first structured light scanning block coordinate system ,exist Distance in direction 1 is a constant n1; the position of the door knife edge in the car roof structured light scanning module coordinate system is calculated. The value of direction = ; The edge of the car sill is calculated in the coordinate system of the first structured light scanning module. The value of direction = The same position opposite the landing sill and the car sill in the coordinate system of the first structured light scanning module The value of direction Furthermore, the gap between the car door door knife and the landing door sill... = ; when If the clearance is within the specified range, it is determined that the gap between the car door knife and the floor sill of that floor meets the requirements; otherwise, the gap between the car door knife and the floor sill of that floor does not meet the requirements.

11. A method for measuring the gap between the landing door lock roller and the car sill based on the multifunctional elevator measuring device of claim 1, characterized in that: Includes the following steps: The first structured light scanning module scans the area of ​​the door lock roller and obtains the coordinates of any point N on the outer edge of the door lock roller. The outer edge N of the door lock roller is in the coordinate system of the first structured light scanning module. The value of direction ; The optical target is scanned by the second structured light scanning module, and the coordinates of the target center K1 are obtained. And by scanning the floor threshold area using the first structured light scanning module, any point on the outer edge of the floor threshold can be obtained. coordinates ; Establish the projection relationship of the first scanning module, the second scanning module, the light target, the outer edge of the sill, and the outer edge of the door lock roller on the horizontal plane; In the coordinate system of the second structured light scanning module, the distance in the Y direction between any point J1 on the edge of the car sill and the center K1 of the light target is obtained as follows: The center of the optical target K1 and the center of the first structured light scanning block coordinate system ,exist Distance in direction 1 is a constant n1; The edge of the car sill is calculated in the coordinate system of the first structured light scanning module. The value of direction = Therefore, the gap between the landing door lock roller and the car sill... ; If the clearance is within acceptable limits, it is determined that the gap between the car sill and the door lock roller of that floor meets the requirements; otherwise, it is determined that the gap between the car sill and the door lock roller of that floor does not meet the requirements.

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