Elevator track straightness detection device and detection method

Abstract

The invention relates to the technical field of elevator guide rail measurement, in particular to an elevator rail straightness detection device and method. Comprising a magnetic rail climbing trolley, a calibration target, a laser calibrator and an industrial area-array camera, the magnetic rail climbing trolley is adsorbed and mounted at one end of the guide rail and can move in the length direction of the guide rail; the calibration target is installed on the magnetic type rail climbing trolley, and a coordinate system is arranged on the calibration target; the laser calibrator is arranged at one end, which is not provided with the magnetic type rail climbing trolley, of the guide rail, faces the calibration target and is used for emitting laser on the calibration target; the industrial area-array camera is installed on the magnetic type rail climbing trolley and used for shooting the calibration target once every set time interval. The guide rail to be installed can be detected and rechecked before the guide rail is installed, and the straightness of the guide rail in the whole hoistway can be detected after the guide rail is installed, so that the straightness detection of a single guide rail can be conveniently and quickly completed on a construction site and in the elevator hoistway.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator guide rail measurement, and in particular to an elevator rail straightness detection device and a detection method. Background Art

[0002] Elevator guide rails are a key component in the elevator system. They are usually designed as a special rigid track installed in the elevator shaft to ensure that the car and the stacked weight move up and down smoothly along themselves, provide guidance for the movement of the elevator car, ensure the transmission of control signals, and provide solid support in the event of an accidental overspeed emergency braking of the elevator car.

[0003] The straightness of the elevator guide rail is a major performance indicator of the elevator track. Whether the straightness of the guide rail meets the technical parameter requirements directly affects the stability and comfort of the elevator operation.

[0004] Before the elevator is installed, due to objective conditions such as poor construction site environment, limited space, no standard calibration platform, and no high-precision testing equipment, there is a lack of means and methods to verify the straightness of the elevator rails after they are delivered to the construction site. For the elevator rails that have been installed in the hoistway, there is currently a lack of effective testing methods to test the straightness of the rails.

[0005] At present, the straightness inspection of elevator guide rails is basically carried out by the guide rail manufacturer with special large-scale inspection equipment before the guide rails leave the factory to ensure that the straightness of the guide rails meets the specified requirements when leaving the factory. However, there is a risk of deformation of elevator guide rails during loading, unloading and transportation. For the guide rails that have been transported to the installation site, there is currently a lack of effective means and methods to verify the straightness of the guide rails.

[0006] Traditional manual inspection and calibration relies on moving the angle ruler and micrometer along the guide rail to judge the straightness of the guide rail by the change of the displayed value. This inspection method is greatly affected by the on-site environment and operating techniques, has large inspection errors, and is not easy to detect slight bending and deformation. In addition, manual inspection requires moving and turning the guide rail. Due to the long length and heavy weight of the guide rail, it requires the cooperation of multiple people to move it, which is time-consuming and laborious, and the measurement effect is not good. Summary of the invention

[0007] Based on this, it is necessary to provide an elevator rail straightness detection device and detection method to address the above-mentioned technical problems, which can be used to inspect and verify the guide rails to be installed before they are installed, and to detect the straightness of the guide rails in the entire hoistway after the guide rails are installed, thereby realizing convenient, fast, efficient and accurate straightness detection of a single guide rail on the construction site and in the elevator hoistway.

[0008] The present invention provides an elevator rail straightness detection device, the device comprising:

[0009] The magnetic climbing trolley is adsorbed and installed on one end of the guide rail and can move along the length of the guide rail;

[0010] A calibration target is installed on the magnetic climbing trolley, and a coordinate system is set on the calibration target;

[0011] A laser calibrator is arranged at the end of the guide rail where the magnetic climbing trolley is not installed, and the laser calibrator faces the calibration target and is used to shoot a laser on the calibration target;

[0012] The industrial area array camera is installed on the magnetic climbing trolley and is used to shoot the calibration target once at a set time interval.

[0013] In one embodiment, the magnetic climbing track trolley includes a vehicle body, side panels, two-way guide wheels and master and slave wheels; two side panels are respectively installed on both sides of the vehicle body, and the side panels can move longitudinally along the side of the vehicle body. Permanent magnetic adsorption modules are provided on the bottom end of the vehicle body and the side panels, the two-way guide wheels are installed on the opposite sides of the two side panels, and the master and slave wheels are installed on the front and rear ends of the vehicle body.

[0014] In one embodiment, the vehicle body is built with a drive motor and an encoder for distance measurement, and the drive motor is connected to the master and driven wheels through a gear box.

[0015] In one embodiment, the coordinate system on the calibration target is a plane coordinate system, which is formed by four scales with scales, and each of the scales is perpendicular to two adjacent scales.

[0016] In one embodiment, the industrial area array camera has a built-in power management module, a signal processing module and a wireless communication module. The wireless communication module is communicatively connected to a handheld mobile terminal for exchanging detection data and receiving control commands. The signal processing module is used to process the detection data exchanged and the control commands received by the wireless communication module, and send them to the receiving target of the detection data or control commands after processing; the power management module is used to provide power for the industrial area array camera.

[0017] The present invention further provides an elevator rail straightness detection method, which is applied to the elevator rail straightness detection device described in any one of the above embodiments, and the method comprises:

[0018] A magnetic climbing trolley equipped with an industrial area array camera and a calibration target is installed at one end of the guide rail, and a laser calibrator is fixed at the other end of the guide rail, with the laser calibrator facing the calibration target;

[0019] The magnetic climbing trolley moves toward the other end of the guide rail, and during the movement, the industrial area array camera takes a picture of the calibration target once at a set interval, thereby obtaining an image of the position change of the laser point emitted by the laser calibration instrument on the calibration target;

[0020] The straightness of the guide rail is determined based on the position change image of the laser point on the calibration target.

[0021] In one embodiment, the method further comprises:

[0022] When the straightness of the guide rail is inspected after installation, the original magnetic rail climbing trolley is adsorbed and installed on one end of the guide rail, and the laser calibration instrument is fixed on the other end of the guide rail through a newly added magnetic rail climbing trolley;

[0023] The magnetic track-climbing trolley loaded with the laser calibrator moves toward the original magnetic track-climbing trolley. During the movement, the industrial area array camera takes a picture of the calibration target at a set interval, thereby obtaining an image of the position change of the laser point emitted by the laser calibrator on the calibration target.

[0024] In one embodiment, the method further comprises:

[0025] After the inspection of the current section of the guide rail is completed, the two magnetic climbing trolleys move synchronously to the two ends of the next section of the guide rail and inspect the straightness of the guide rail again.

[0026] In one embodiment, determining the straightness of the guide rail according to the position change image of the laser point on the calibration target includes:

[0027] Determining the coordinates of each laser point on the calibration target;

[0028] If there is a linear change between many coordinates, the straightness of the guide rail is good;

[0029] If there is nonlinear variation among many coordinates, the straightness of the guide rail is poor.

[0030] In one embodiment, if the plurality of coordinates vary nonlinearly, the straightness of the guide rail is poor, including:

[0031] If the X-axis coordinate value of the coordinate moves out of the linear relationship, the lateral curvature of the guide rail will change;

[0032] If the Y-axis coordinate value of the coordinate moves out of the linear relationship, the longitudinal curvature of the guide rail will change;

[0033] If the X-axis and Y-axis of the coordinates are both out of linear relationship, the torsion of the guide rail will change.

[0034] The above-mentioned elevator rail straightness detection device and detection method, a magnetic climbing trolley loaded with an industrial array camera and a calibration target is adsorbed and installed at one end of the elevator guide rail to be detected, and a laser calibrator is set at the other end of the guide rail. The laser calibrator will emit laser to the calibration target to form a laser point on the target. The industrial array camera will shoot the calibration target, so as to obtain the coordinates of the laser point according to the position of the laser point on the calibration target. In this process, the magnetic climbing trolley moves at a constant speed to the other end of the guide rail, and the industrial array camera will also shoot the calibration target once every set time. According to the change state of the laser point position coordinate obtained from multiple images, the straightness of the guide rail can be detected. Through the above-mentioned straightness detection method, the guide rail to be installed can be inspected and verified before the guide rail is installed, and the straightness of the guide rail in the entire shaft can be detected after the guide rail is installed, so as to realize the convenient, fast, efficient and accurate completion of the straightness detection of a single guide rail on the construction site and in the elevator shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A schematic diagram of the detection state of the elevator rail straightness detection device provided by the present invention;

[0037] Figure 2 A schematic diagram of the structure of the elevator track straightness detection device provided by the present invention;

[0038] Figure 3 A schematic diagram of the structure of a magnetic track-climbing trolley equipped with an industrial area array camera provided by the present invention;

[0039] Figure 4 A schematic diagram of the structure of a magnetic track-climbing trolley equipped with a laser calibrator provided by the present invention;

[0040] Figure 5 A schematic diagram of the internal structure of the magnetic climbing trolley provided by the present invention;

[0041] Figure 6 A schematic diagram of a calibration target provided by the present invention.

[0042] Reference numerals:

[0043] 100. Magnetic climbing trolley; 110. Car body; 120. Side panel; 130. Dual guide wheels; 140. Master and slave wheels; 200. Industrial area array camera; 300. Calibration target; 400. Laser calibrator. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Combine the following Figures 1 to 6 The present invention describes an elevator rail straightness detection device and a detection method.

[0046] like Figures 1 to 4 As shown, in one embodiment, an elevator track straightness detection device includes a magnetic track climbing trolley 100, a calibration target 300, a laser calibrator 400 and an industrial area array camera 200; the magnetic track climbing trolley 100 is adsorbed and installed at one end of the guide rail, and can move along the length direction of the guide rail; the calibration target 300 is installed on the magnetic track climbing trolley 100, and a coordinate system is set on the calibration target 300; the laser calibrator 400 is set at the end of the guide rail where the magnetic track climbing trolley 100 is not installed, and the laser calibrator 400 faces the calibration target 300, and is used to shoot a laser on the calibration target 300; the industrial area array camera 200 is installed on the magnetic track climbing trolley 100, and is used to shoot the calibration target 300 once at a set interval.

[0047] The above-mentioned elevator rail straightness detection device adsorbs and installs a magnetic track-climbing trolley 100 loaded with an industrial area array camera 200 and a calibration target 300 on one end of the elevator guide rail to be detected, and sets a laser calibrator 400 at the other end of the guide rail. The laser calibrator 400 will emit laser to the calibration target 300 to form a laser point on the target. The industrial area array camera 200 will shoot the calibration target 300, thereby obtaining the coordinates of the laser point according to the position of the laser point on the calibration target 300. During this process, the magnetic track-climbing trolley 100 moves at a constant speed toward the other end of the guide rail, and the industrial area array camera 200 will also shoot the calibration target 300 once every set time. The straightness of the guide rail can be detected according to the change state of the laser point position coordinates obtained from multiple shots. Through the above-mentioned straightness detection method, the guide rail to be installed can be inspected and verified before installation, and the straightness of the guide rail in the entire hoistway can be detected after installation, so as to realize convenient, fast, efficient and accurate straightness detection of a single guide rail on the construction site and in the elevator hoistway.

[0048] The industrial area array camera 200 collects the coordinate change state of the laser point on the calibration target at a frequency of 10 FPS. The change state of the laser point position coordinate is calculated according to the intelligent recognition algorithm.

[0049] It should be noted that the intelligent recognition algorithm can be integrated into the industrial area array camera 200 to calculate and identify the straightness of a single guide rail through changes in coordinate values, and send the recognition result to a handheld mobile terminal.

[0050] like Figure 5 As shown, in one embodiment, the magnetic climbing track trolley 100 includes a vehicle body 110, side panels 120, two-way guide wheels 130 and master and slave wheels 140; two side panels 120 are respectively installed on both sides of the vehicle body 110, and the side panels 120 can move longitudinally along the side of the vehicle body 110, and permanent magnetic adsorption modules are arranged on the bottom end of the vehicle body 110 and the side panels 120, the two-way guide wheels 130 are installed on the opposite sides of the two side panels 120, and the master and slave wheels 140 are installed on the front and rear ends of the vehicle body 110.

[0051] Specifically, when the magnetic climbing rail trolley 100 is placed on the guide rail, the guide rail is clamped under the action of the magnetic adsorption force to ensure the balance of the vehicle body 110 during movement. The two-way guide wheels 130 are used to provide rolling and support for the trolley on both sides. The side panels 120 can be adjusted up and down to adapt to guide rails of different specifications. The master and slave wheels 140 are composed of concave wheels that match the shape of the elevator guide rails. The concave wheel set is set so that when the magnetic climbing rail trolley 100 crawls along the elevator guide rails, the master and slave wheels 140 can always clamp the measured guide rails. On the one hand, it ensures that the magnetic climbing rail trolley 100 crawls in a straight line on the elevator guide rails. On the other hand, the permanent magnetic adsorption module of the magnetic climbing rail trolley 100 always maintains a constant adsorption surface area with the guide rails, ensuring that the adsorption force is constant to increase the friction force.

[0052] In one embodiment, the vehicle body 110 is built with a driving motor and an encoder for distance measurement, and the driving motor is connected to the driving and driven wheels 140 through a gear box to increase the driving force.

[0053] like Figure 6 As shown, in one embodiment, the coordinate system on the calibration target 300 is a plane coordinate system, which is composed of four scales with scales, and each scale is perpendicular to two adjacent scales.

[0054] Specifically, the horizontal coordinates (X-axis) and vertical coordinates (Y-axis) of the plane coordinate system are marked according to the scale positions on the ruler, and the one perpendicular to the plane coordinate system is defined as the R axis.

[0055] In one embodiment, the industrial area array camera 200 has a built-in power management module, a signal processing module and a wireless communication module. The wireless communication module is connected to the handheld mobile terminal for communicating detection data and receiving control commands. The signal processing module is used to process the detection data and control commands exchanged by the wireless communication module and send them to the receiving target of the detection data or control commands after processing; the power management module is used to provide power for the industrial area array camera 200.

[0056] Specifically, the handheld wireless terminal is used to interact with the wireless communication module for detection data and control command transmission, thereby controlling the operation of the magnetic climbing vehicle 100, including starting, stopping, and forward and reverse switching. The handheld wireless terminal is also used to display the operation information of the magnetic climbing vehicle 100, including speed, power, and alarm fault lights, and track the position of the magnetic climbing vehicle 100 in real time.

[0057] In one embodiment, a method for detecting straightness of an elevator track is applied to the elevator track straightness detection device of any of the above embodiments, comprising the following steps:

[0058] A magnetic track-climbing trolley 100 provided with an industrial area array camera 200 and a calibration target 300 is installed at one end of the guide rail, and a laser calibrator 400 is fixed at the other end of the guide rail, with the laser calibrator 400 facing the calibration target 300.

[0059] The magnetic climbing trolley 100 moves toward the other end of the guide rail. During the movement, the industrial area array camera 200 takes a picture of the calibration target 300 at a set interval, thereby obtaining an image of the position change of the laser point emitted by the laser calibrator 400 on the calibration target 300.

[0060] The straightness of the guide rail is determined based on the position change image of the laser point on the calibration target 300.

[0061] In the above-mentioned elevator track straightness detection method, a magnetic track-climbing trolley 100 loaded with an industrial area array camera 200 and a calibration target 300 is adsorbed and installed on one end of the elevator guide rail to be detected, and a laser calibrator 400 is set at the other end of the guide rail. The laser calibrator 400 will emit laser to the calibration target 300 to form a laser point on the target. The industrial area array camera 200 will shoot the calibration target 300, thereby obtaining the coordinates of the laser point according to the position of the laser point on the calibration target 300. During this process, the magnetic track-climbing trolley 100 moves at a constant speed toward the other end of the guide rail, and the industrial area array camera 200 will also shoot the calibration target 300 once every set time. The straightness of the guide rail can be detected according to the change state of the laser point position coordinates obtained from multiple shots. Through the above-mentioned straightness detection method, the guide rail to be installed can be inspected and verified before installation, and the straightness of the guide rail in the entire hoistway can be detected after installation, so as to realize convenient, fast, efficient and accurate straightness detection of a single guide rail on the construction site and in the elevator hoistway.

[0062] In one embodiment, the elevator track straightness detection method further comprises the following steps:

[0063] When the straightness of the guide rail is inspected after installation, the original magnetic rail-climbing trolley 100 is adsorbed and installed on one end of the guide rail, and the laser calibrator 400 is fixed on the other end of the guide rail through a newly added magnetic rail-climbing trolley 100.

[0064] The magnetic track-climbing trolley 100 loaded with the laser calibrator 400 moves toward the original magnetic track-climbing trolley 100. During the excitation process, the industrial area array camera 200 takes a picture of the calibration target 300 at a set interval, thereby obtaining an image of the position change of the laser point emitted by the laser calibrator 400 on the calibration target 300.

[0065] After the inspection of the current section of the guide rail is completed, the two magnetic climbing trolleys 100 move synchronously to the two ends of the next section of the guide rail and inspect the straightness of the guide rail again.

[0066] Specifically, for the straightness detection of the guide rail in the elevator shaft after the guide rail is installed, the segmented detection and result splicing method shown above is adopted. This method requires the use of two magnetic adsorption climbing trolleys, such as placing the magnetic adsorption climbing trolley equipped with the laser calibrator 400 at the A end of a section of the guide rail, and the laser calibrator 400 emits a laser to the calibration target (100mm×100mm) placed on the magnetic adsorption climbing trolley at the B end of the guide rail, and moves along the guide rail to the B end for detection.

[0067] After the inspection of this section of rail is completed, the two magnetic adsorption climbing trolleys move synchronously to the A and B ends of the next section of rail and use the same steps to inspect until all rails are inspected. Then the inspection results are spliced ​​through the host computer software to generate the inspection results of the complete rail in the elevator shaft.

[0068] In one embodiment, determining the straightness of the guide rail according to the position change image of the laser point on the calibration target 300 includes the following steps:

[0069] The coordinates of each laser point on the calibration target 300 are determined.

[0070] If the coordinates vary linearly, the straightness of the guide rail is good.

[0071] If there is nonlinear variation among many coordinates, the straightness of the guide rail is poor.

[0072] Prior to this, it is necessary to provide additional explanation on the principle of guide rail straightness detection. The laser calibrator 400 is magnetically fixed to the A end of the guide rail. The laser calibrator 400 emits a laser to the calibration target 300 placed on the magnetic adsorption climbing trolley at the B end of the guide rail, forming a laser point coordinate (Xa, Ya) on the calibration target 300. At this time, the industrial area array camera 200 installed on the magnetic adsorption climbing trolley at the B end will collect optoelectronic high-definition pictures on the calibration target 300, and record the coordinates (Xa, Ya) through an intelligent recognition algorithm. The magnetic adsorption climbing trolley at the B end will move from the B end of the guide rail to the A end in a manner close to the guide rail. At the same time, the industrial area array camera 200 will collect the coordinate change status of the laser point on the calibration target 300 at a frequency of 10FPS. Thereby continuously recording and acquiring the coordinate information (Xa 1 , Ya 1 ), (Xa 2 , Ya 2 ), (Xa 3 , Ya 3 ), (Xa 4 , Ya 4 ) and so on, until the magnetic adsorption climbing trolley reaches the B end of the guide rail to obtain the coordinates (Xb, Yb).

[0073] Theoretically, if the straightness of the guide rail is good, the coordinates between (Xa, Ya) and (Xb, Yb) should change linearly, that is, all coordinate points between the two (Xa 1 , Ya 1 ), (Xa 2 , Ya 2 ), (Xa 3 , Ya 3 ), (Xa 4 , Ya 4 ) should appear on the line connecting the two.

[0074] In one embodiment, if the coordinates vary nonlinearly, the straightness of the guide rail is poor, including the following steps:

[0075] If the X-axis coordinate value of the coordinate moves out of the linear relationship, the lateral curvature of the guide rail will change.

[0076] If the Y-axis coordinate value of the coordinate system deviates from the linear relationship, the longitudinal curvature of the guide rail will change.

[0077] If the X-axis and Y-axis of the coordinates are both out of linear relationship, the torsion of the guide rail will change.

[0078] Specifically, changes in the lateral curvature of the guide rail will cause the X-axis coordinate value to drift out of the linear relationship. Changes in the longitudinal curvature of the guide rail will cause the Y-axis coordinate value to drift out of the linear relationship. Changes in the torsion of the guide rail will cause the magnetic climbing vehicle 100 to deflect along the R axis as a whole, causing both the X-axis and the Y-axis to drift out of the linear relationship at the same time.

[0079] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An elevator track straightness detection device, characterized in that: The device comprises: The magnetic climbing trolley is adsorbed and installed on one end of the guide rail and can move along the length of the guide rail; A calibration target is installed on the magnetic climbing trolley, and a coordinate system is set on the calibration target; A laser calibrator is arranged at the end of the guide rail where the magnetic climbing trolley is not installed, and the laser calibrator faces the calibration target and is used to shoot a laser on the calibration target; The industrial area array camera is installed on the magnetic climbing trolley and is used to shoot the calibration target once at a set time interval.

2. The elevator rail straightness detection device according to claim 1, characterized in that: The magnetic climbing track trolley includes a vehicle body, side panels, two-way guide wheels and master and slave wheels; two side panels are respectively installed on both sides of the vehicle body, and the side panels can move longitudinally along the side of the vehicle body. Permanent magnetic adsorption modules are arranged on the bottom end of the vehicle body and the side panels, the two-way guide wheels are installed on the opposite sides of the two side panels, and the master and slave wheels are installed on the front and rear ends of the vehicle body.

3. The elevator rail straightness detection device according to claim 2, characterized in that: The vehicle body is internally provided with a driving motor and an encoder for distance measurement, and the driving motor is transmission-connected to the driving and driven wheels through a gear box.

4. The elevator rail straightness detection device according to claim 3, characterized in that: The coordinate system on the calibration target is a plane coordinate system, which is formed by four scales with scales, and each of the scales is perpendicular to two adjacent scales.

5. The elevator rail straightness detection device according to claim 4, characterized in that: The industrial area array camera is equipped with a power management module, a signal processing module and a wireless communication module. The wireless communication module is connected to the handheld mobile terminal for exchanging detection data and receiving control commands. The signal processing module is used to process the detection data exchanged by the wireless communication module and the control commands received, and send them to the receiving target of the detection data or control commands after processing; the power management module is used to provide power for the industrial area array camera.

6. A method for detecting straightness of an elevator track, applied to the device for detecting straightness of an elevator track according to any one of claims 1 to 5, characterized in that: The method comprises: A magnetic climbing trolley equipped with an industrial area array camera and a calibration target is installed at one end of the guide rail, and a laser calibrator is fixed at the other end of the guide rail, with the laser calibrator facing the calibration target; The magnetic climbing trolley moves toward the other end of the guide rail, and during the movement, the industrial area array camera takes a picture of the calibration target once at a set interval, thereby obtaining an image of the position change of the laser point emitted by the laser calibration instrument on the calibration target; The straightness of the guide rail is determined based on the position change image of the laser point on the calibration target.

7. The elevator rail straightness detection method according to claim 6, characterized in that: The method further comprises: When the straightness of the guide rail is inspected after installation, the original magnetic rail climbing trolley is adsorbed and installed on one end of the guide rail, and the laser calibration instrument is fixed on the other end of the guide rail through a newly added magnetic rail climbing trolley; The magnetic track-climbing trolley loaded with the laser calibrator moves toward the original magnetic track-climbing trolley. During the movement, the industrial area array camera takes a picture of the calibration target at a set interval, thereby obtaining an image of the position change of the laser point emitted by the laser calibrator on the calibration target.

8. The elevator rail straightness detection method according to claim 7, characterized in that: The method further comprises: After the inspection of the current section of the guide rail is completed, the two magnetic climbing trolleys move synchronously to the two ends of the next section of the guide rail and inspect the straightness of the guide rail again.

9. The elevator rail straightness detection method according to claim 8, characterized in that: The method of determining the straightness of the guide rail according to the position change image of the laser point on the calibration target includes: Determining the coordinates of each laser point on the calibration target; If there is a linear change between many coordinates, the straightness of the guide rail is good; If there is nonlinear variation among many coordinates, the straightness of the guide rail is poor.

10. The elevator rail straightness detection method according to claim 9, characterized in that: If there is nonlinear change between many coordinates, the straightness of the guide rail is poor, including: If the X-axis coordinate value of the coordinate moves out of the linear relationship, the lateral curvature of the guide rail will change; If the Y-axis coordinate value of the coordinate moves out of the linear relationship, the longitudinal curvature of the guide rail will change; If the X-axis and Y-axis of the coordinates are both out of linear relationship, the torsion of the guide rail will change.

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