Guide rail bracket spacing adjustment device for an elevator and method thereof

Abstract

The application discloses a guide rail support spacing adjusting device for an elevator and a method thereof, and belongs to the technical field of elevator installation and maintenance, and comprises the following steps: a measuring trolley is arranged to climb along a guide rail, a short-range laser sensor array driven by an executor, a forward-looking distance sensor and an inclination sensor are equipped; laser, stroke and posture data are synchronously collected during climbing; the guide rail support is detected by the forward-looking sensor; when the guide rail support is detected, the starting position is recorded and the laser array is withdrawn; after the guide rail support is crossed, the ending position is recorded and the array is restored; the laser data is corrected according to the posture data, and the guide rail profile of the support shielding area is reconstructed by interpolation to generate an adjusting scheme; and the application realizes the coordinated evolution of measurement and avoidance; the existence of the forward-looking distance sensor provides a pre-judgment ability for a control algorithm, so that the avoidance action can be actively and early performed, which is a physical basis for realizing the intelligentization of the algorithm.

Description

Technical Field

[0001] This invention relates to the field of elevator installation and maintenance, specifically to a guide rail bracket spacing adjustment device and method for elevators. Background Technology

[0002] The installation accuracy of elevator guide rails, especially their verticality, is a core indicator determining the smoothness and safety of elevator operation. Traditional guide rail accuracy measurement relies on manual methods such as pulling steel wires and using dial indicators, which are inefficient and easily affected by human factors. In recent years, some automated measurement systems using laser ranging have emerged. These systems typically acquire the three-dimensional coordinates of the guide rail surface from a fixed position, such as the bottom of the shaft, through rotational scanning, and then calculate the verticality deviation of the guide rail.

[0003] The application of this type of technology presupposes that there are no obstructions in the line-of-sight path of the measuring laser. However, in real-world installation environments, elevator guide rails are fixed to the shaft wall by a series of guide rail brackets. These brackets and their connectors, such as guide plates, periodically, but often at non-standard intervals, appear on the working surface of the guide rail, directly obstructing the measurement line of sight. Existing fixed scanning solutions face a dilemma in this scenario: if attempting to measure complete data, brackets will inevitably be misidentified as guide rail surfaces, leading to severely distorted measurement results; if blank areas are reserved to avoid brackets, a large number of data blind spots will be created, making it impossible to form a continuous and effective guide rail profile, thus losing the basis for precise adjustment. Especially when on-site construction results in irregular bracket spacing, the open-loop measurement method based on fixed-step scanning will completely fail, unable to predict and avoid brackets, drastically amplifying the contradiction between the completeness and accuracy of the measurement data, and ultimately rendering the measurement results unusable for guiding on-site construction.

[0004] Therefore, how to intelligently plan measurement paths, maximize the acquisition of effective data, and provide a reliable basis for decision-making on the spacing adjustment of each guide rail bracket in a complex environment full of structural obstructions with uncertain positions is a technical problem that urgently needs to be solved in this field.

[0005] The information disclosed in the background section above is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a guide rail support spacing adjustment device and method for elevators, so as to solve the problems mentioned in the background art. Specifically, the technical solution of this invention includes:

[0007] S1. A measuring trolley is set up, which is arranged along the elevator guide rail. The measuring trolley includes a support frame, a stepper motor connected to the support frame, an encoder connected to the stepper motor, a short-range laser displacement sensor array mounted on the support frame and driven by a miniature linear actuator, a forward-looking distance sensor located at the front end of the measuring trolley in the direction of travel, and a dual-axis MEMS tilt sensor. The detection point of the forward-looking distance sensor is ahead of the short-range laser displacement sensor array in the direction of travel of the measuring trolley.

[0008] S2. Drive the stepper motor to make the measuring trolley climb vertically along the guide rail, and simultaneously collect the raw distance data of the short-range laser displacement sensor array, the stroke data of the encoder, and the attitude data of the dual-axis MEMS tilt sensor.

[0009] S3. The forward-looking distance sensor detects the guide rail bracket on the guide rail. When the guide rail bracket is detected, the current stroke data of the encoder is recorded as the starting position, and the micro linear actuator is driven to retract the short-range laser displacement sensor array.

[0010] S4. After the forward-looking distance sensor passes the guide rail bracket, record the current stroke data of the encoder as the termination position, and drive the miniature linear actuator to restore the short-range laser displacement sensor array to the measurement position.

[0011] S5. Correct the original distance data according to the attitude data, and use the corrected effective distance data between the starting position and the ending position to reconstruct the guide rail profile of the occluded area of ​​the guide rail bracket through an interpolation algorithm, thereby generating the adjustment scheme of the guide rail bracket.

[0012] Preferably, in step S1, a preset safety distance is set between the forward-looking distance sensor and the short-range laser displacement sensor array. The preset safety distance is set based on the total time required from the detection of the trigger signal by the forward-looking distance sensor to the response of the control system and the driving of the micro linear actuator to completely retract the sensor array when the measuring trolley is climbing at maximum speed.

[0013] Preferably, in step S5, the step of correcting the original distance data based on the attitude data includes: calculating the attitude correction coefficient using trigonometric functions based on the real-time pitch and roll angles synchronously acquired by the dual-axis MEMS tilt sensor, and multiplying each piece of original distance data by the attitude correction coefficient at its corresponding moment.

[0014] Preferably, in step S5, the interpolation algorithm is a polynomial fitting or a B-spline curve interpolation algorithm.

[0015] Preferably, the measuring trolley further includes two sets of drive rollers symmetrically installed on the inner wall of the support frame, and a compression spring is provided between the drive rollers and the inner wall of the support frame to provide preload force to press the side of the guide rail.

[0016] Preferably, the miniature linear actuator is an electromagnetic voice coil motor, and the forward-looking distance sensor is a laser through-beam sensor.

[0017] An elevator guide rail support spacing adjustment device includes:

[0018] The load-bearing frame has an opening design that allows it to partially encircle the elevator guide rails;

[0019] A drive mechanism, mounted on the support frame, is used to drive the device to move along the guide rail and record the movement distance.

[0020] A short-range laser displacement sensor array is used to collect distance data from the working surface of the guide rail;

[0021] A miniature linear actuator, connecting the support frame and the short-range laser displacement sensor array, is used to drive the short-range laser displacement sensor array to extend or retract.

[0022] A forward-looking distance sensor is positioned at the front end of the supporting frame in the direction of travel, with its detection point preceding the short-range laser displacement sensor array, for pre-detecting the guide rail brackets on the guide rail.

[0023] Preferably, the drive mechanism includes:

[0024] A stepper motor is fixedly mounted on the support frame;

[0025] An encoder, connected to the stepper motor, is used to accurately record displacement travel;

[0026] The drive roller assembly is attached to the side of the guide rail and connected to the stepper motor via a transmission belt.

[0027] Preferably, it also includes a dual-axis MEMS tilt sensor fixedly mounted on the support frame for real-time monitoring of the pitch and roll attitude angles of the device.

[0028] This invention provides an improved guide rail support spacing adjustment device and method for elevators, which has the following improvements and advantages compared with the prior art:

[0029] 1. Co-evolution of measurement and avoidance is achieved: The presence of the forward-looking distance sensor provides the control algorithm with predictive capabilities, enabling proactive and advance avoidance actions, which is the physical basis for the algorithm's intelligence. If this sensor is removed, the algorithm will be unable to predict obstacles, and the entire adaptive avoidance logic chain will completely fail.

[0030] 2. Transforming obstacle information into effective adjustment basis: This invention does not simply bypass obstacles, but rather uses avoidance actions to precisely capture the physical position information of each guide rail support. This negative obstacle information is creatively used as a positive adjustment and positioning benchmark in subsequent algorithms, realizing the transformation of technical contradictions;

[0031] 3. Achieved a leap from passive measurement to active adjustment: The final output of this invention is not a bunch of measurement points with data blind spots, but an adjustment scheme based on data reconstruction and precise support positioning that can directly guide operation, solving the pain point that existing technologies cannot provide effective adjustment information in obscured areas;

[0032] 4. High robustness to minor disturbances: By adding an tilt sensor and integrating an attitude correction algorithm, this invention can actively identify and compensate in real time for measurement attitude jitter caused by minor defects such as guide rail surface seams and burrs. It eliminates potential sources of major measurement errors that may lead to incorrect adjustment direction at the initial stage of data processing, ensuring the extreme accuracy and reliability of the final adjustment scheme, and enabling the device to adapt to more complex field conditions. Attached Figure Description

[0033] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0034] Figure 1 This is a schematic diagram of the overall structure of the device;

[0035] Figure 2 This is a partially enlarged schematic diagram of the device;

[0036] Figure 3 This is a schematic diagram of the transmission belt and its connecting structure;

[0037] Figure 4 This is a schematic diagram of the process flow of the method of the present invention.

[0038] In the figure: 100, measuring carriage; 110, load-bearing frame; 120, drive roller assembly; 130, stepper motor; 131, encoder; 132, transmission belt; 200, short-range laser displacement sensor array; 210, miniature linear actuator; 300, forward-looking distance sensor; 400, dual-axis MEMS tilt sensor. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments. Example 1

[0040] Please see Figure 1-4 This invention provides a method for adjusting the spacing of guide rail supports in an elevator, comprising:

[0041] S1. Set up a measuring trolley 100, which is arranged along the elevator guide rail. The measuring trolley 100 includes a support frame 110, a stepper motor 130 connected to the support frame 110, an encoder 131 connected to the stepper motor 130, a short-range laser displacement sensor array 200 mounted on the support frame 110 and driven by a miniature linear actuator 210, a forward-looking distance sensor 300 located at the front end of the measuring trolley 100 in the direction of travel, and a dual-axis MEMS tilt sensor 400. The detection point of the forward-looking distance sensor 300 is ahead of the short-range laser displacement sensor array 200 in the direction of travel of the measuring trolley 100.

[0042] S2. Drive the stepper motor 130 to make the measuring carriage 100 climb vertically along the guide rail, and simultaneously collect the raw distance data of the short-range laser displacement sensor array 200, the stroke data of the encoder 131, and the attitude data of the dual-axis MEMS tilt sensor 400.

[0043] S3. The forward-looking distance sensor 300 detects the guide rail bracket on the guide rail. When the guide rail bracket is detected, the current stroke data of the encoder 131 is recorded as the starting position, and the micro linear actuator 210 is driven to retract the short-range laser displacement sensor array 200.

[0044] S4. After the forward-looking distance sensor 300 passes the guide rail bracket, record the current stroke data of the encoder 131 as the termination position, and drive the micro linear actuator 210 to restore the short-range laser displacement sensor array 200 to the measurement position.

[0045] S5. Correct the original distance data based on the attitude data, and use the corrected effective distance data between the starting position and the ending position to reconstruct the guide rail profile of the occluded area of ​​the guide rail bracket through an interpolation algorithm, thereby generating an adjustment scheme for the guide rail bracket.

[0046] In an embodiment of the present invention, an adaptive adjustment method for the spacing of guide rail supports in an elevator is provided to solve the problem of measurement line-of-sight obstruction caused by the non-standard spacing distribution of guide rail supports. The core of this method is to utilize a movable measurement trolley 100, which integrates multiple sensors and moves autonomously along the guide rail. A forward-looking distance sensor 300 detects the guide rail supports on the path ahead in advance, providing decision-making time for subsequent avoidance actions. During the movement, a short-range laser displacement sensor array 200 is responsible for collecting the raw distance data on the guide rail surface, while an encoder 131 accurately records the vertical position of the movement. A dual-axis MEMS tilt sensor 400 synchronously monitors the attitude changes of the trolley itself. The synchronous acquisition here is specifically implemented as follows: the control system uses a unified high-frequency internal clock as a time reference and triggers the reading of data from all sensors in each clock cycle. The system packages the raw distance data, travel data, and attitude data collected at the same time and marks them with the same timestamp. In this way, it is ensured that each data sampling point contains complete information in four dimensions: time, position, distance, and attitude, providing a strictly aligned data source for subsequent data correction and processing.

[0047] When a support is detected, the method does not stop measurement. Instead, a miniature linear actuator 210 temporarily retracts the sensor array to cross the obstacle area, accurately recording the start and end positions of that area. After crossing, the sensor array resumes operation and continues to collect data. All collected data is corrected for attitude data to eliminate errors introduced by vehicle vibration. Then, an interpolation algorithm is used to reconstruct the data in the area obscured by the support, thereby obtaining a continuous and complete guide rail profile and generating a specific adjustment scheme for each support. This method transforms uncertain physical obstructions into precise positioning information, making continuous and accurate guide rail measurement and adjustment possible in complex environments.

[0048] In step S1, a preset safety distance is set between the forward-looking distance sensor 300 and the short-range laser displacement sensor array 200. The preset safety distance is set based on the total time required from the detection of the trigger signal by the forward-looking distance sensor 300 to the response of the control system and the driving of the micro linear actuator 210 to completely retract the sensor array when the measuring trolley 100 is climbing at its maximum speed.

[0049] In this embodiment, the purpose of setting a preset safety distance is to ensure the physical safety of the measurement operation. When the measuring trolley 100 is moving at high speed, the entire process—from the forward-looking distance sensor 300 detecting the presence of the guide rail support, to the central controller (e.g., an STM32 series microcontroller receiving the signal, completing the calculation, and issuing the command), to the micro linear actuator 210 receiving the command and driving the sensor array to complete the entire retraction stroke—requires a certain amount of physical time. The value of the preset safety distance is determined based on the maximum operating speed of the measuring trolley 100 and the sum of the time required for the aforementioned signal transmission, calculation, and mechanical execution. By reserving this distance in the physical layout, it is ensured that even under the fastest operating conditions, the sensor array has sufficient time and space to complete the retraction action, thereby avoiding physical collisions with the guide rail support. This design transforms the time variable in the dynamic process into a static, reliable physical constraint, improving the stability and reliability of the entire system under high-speed operation.

[0050] This preset safety distance is a key pre-threshold in the avoidance logic chain. In the control system, when the forward-looking distance sensor 300 detects the guide rail bracket, its trigger signal will be used to determine whether the measuring trolley 100 has reached the preset distance. Once the trigger signal is confirmed and the distance threshold is met, the control system will immediately convert the preset safety distance into a time buffer, thereby ensuring that the micro linear actuator 210 has enough time to start and execute the retraction operation in step S3, achieving complete avoidance of the risk of physical collision.

[0051] In step S5, the step of correcting the original distance data based on the attitude data includes: calculating the attitude correction coefficient based on the real-time pitch and roll angles synchronously collected by the dual-axis MEMS tilt sensor 400 through trigonometric function relationships, and multiplying each original distance data by the attitude correction coefficient at its corresponding moment.

[0052] In this embodiment, the step of correcting the original distance data based on attitude data aims to eliminate measurement errors caused by slight tilting of the measuring carriage 100 due to local unevenness of the guide rail, such as misaligned joints or surface burrs. A dual-axis MEMS tilt sensor 400 is used to acquire the pitch angle of the carriage in the direction perpendicular to the guide rail working surface and the tilt angle around the guide rail axis in real time. When the carriage tilts, the laser beam emitted by the short-range laser displacement sensor array 200 illuminates the guide rail surface at an oblique angle, and the measured distance is the length of the tilted path, not the actual vertical distance. The calculation logic of the correction process is as follows: The control system reads the pitch and tilt angle values ​​at each sampling moment, calculates the spatial angle between the actual laser path and the ideal vertical path determined by these two angles through trigonometric function operations, and takes the cosine value of this angle as the attitude correction coefficient for the current sampling point. Multiplying the originally measured distance data by this coefficient yields the true vertical distance, excluding the influence of attitude tilt. The calculation logic can be expressed by the following formula:

[0053] ;

[0054] in, Represents the corrected true vertical distance;

[0055] This represents the raw distance data directly measured by the short-range laser displacement sensor array 200;

[0056] This represents the real-time pitch angle measured simultaneously by the dual-axis MEMS tilt sensor 400.

[0057] This represents the real-time tilt angle measured simultaneously by the dual-axis MEMS tilt sensor 400. This data preprocessing step ensures the accuracy of the data subsequently used for contour reconstruction, improving the precision of the final adjustment scheme.

[0058] In step S5, the interpolation algorithm is either polynomial fitting or B-spline curve interpolation.

[0059] In this embodiment, the interpolation algorithm is used to mathematically reconstruct the data blind spots caused by avoiding the guide rail support, thereby obtaining a continuous and smooth guide rail profile. After the measuring trolley 100 crosses the guide rail support, the system obtains the precise starting and ending positions of the support, as well as the high-precision effective distance data, after attitude correction, immediately adjacent to these two positions. The polynomial fitting algorithm analyzes the distribution trend of data points at both ends of the avoidance interval to construct a mathematical polynomial function, which is then used to calculate the most likely guide rail profile within the interval. The B-spline curve interpolation algorithm utilizes its local control capability to generate a curve that smoothly connects the effective data points at both ends. This curve represents the ideal shape of the guide rail in the occluded area. By using these two algorithms, based on existing and reliable measurement data, reasonable inferences and restorations can be made for the unknown and occluded parts, thereby transforming discontinuous measurement point cloud data into a complete continuous guide rail profile that can be used to calculate adjustment amounts, providing a data foundation for generating accurate adjustment schemes.

[0060] The physical relationship represented by these two interpolation algorithms is the preset smoothness and verticality engineering tolerance requirements that the elevator guide rail should follow in the unsupported obstructed section. Through the mathematical characteristics of polynomials or B-spline curves, the model logically simulates the continuous and low-order variation characteristics that the guide rail should have in the ideal installation state, thereby ensuring that the reconstruction of the obstructed area contour is based on the structural inertia of the guide rail body rather than a simple linear connection.

[0061] The generation logic of this adjustment scheme is as follows: the reconstructed ideal contour of the guide rail is used as the adjustment baseline. The algorithm extracts the coordinate values ​​of this baseline in the guide rail bracket installation area, that is, the area between the starting position and the ending position, and calculates the ideal spatial position of the guide rail working surface in this area. This ideal position is compared with the actual installation base position of the guide rail bracket, and the spatial vector difference between the two is the amount that needs to be adjusted. This adjustment amount can be directly converted into on-site construction instructions. For example, it can be clearly indicated how much thickness of shims needs to be added or removed between the bracket and the shaft wall, so that the actual guide rail can accurately fit the ideal contour after it is fixed.

[0062] Therefore, this adjustment scheme starts from the collected raw measurement data, and through two steps, attitude correction, interference elimination and interpolation reconstruction, and blind spot compensation, the physical position of the support is transformed into construction guidance information accurate to the millimeter level, realizing a direct leap from measurement data to on-site adjustment instructions;

[0063] The measuring trolley 100 also includes two sets of drive rollers 120 symmetrically installed on the inner wall of the support frame 110. A compression spring is provided between the drive rollers 120 and the inner wall of the support frame 110 to provide preload force for pressing the side of the guide rail.

[0064] In this embodiment, the combination of the drive roller assembly 120 and the compression spring aims to provide a stable and reliable adhesion force for the movement of the measuring carriage 100. Two sets of drive roller assemblies 120 are respectively mounted on sliding supports. The compression spring continuously pushes the supports outward, causing the rollers to press against the two sides of the guide rail with a constant preload. The high-friction coefficient material covering the roller surface, such as polyurethane, combined with this preload, ensures sufficient static friction between the rollers and the guide rail. This design can handle potential oil stains or slight unevenness on the sides of the guide rail, preventing the carriage from slipping during climbing. Stable adhesion is a prerequisite for the stepper motor 130 to accurately drive the carriage, and it also ensures that the stroke data recorded by the encoder 131 accurately reflects the vertical displacement of the carriage, providing a mechanical basis for the positioning accuracy of the entire measurement system.

[0065] The miniature linear actuator 210 is an electromagnetic voice coil motor, and the forward-looking distance sensor 300 is a laser through-beam sensor.

[0066] In this embodiment, the selection of specific components is to achieve a specific functional purpose. The miniature linear actuator 210 uses an electromagnetic voice coil motor because such motors have millisecond-level response speed and high acceleration characteristics, enabling them to complete reciprocating linear motion of extension and retraction in a very short time. This characteristic is crucial for quickly completing the avoidance and recovery actions of the sensor array without reducing the overall travel speed of the measuring carriage 100. The forward-looking distance sensor 300 uses a laser through-beam sensor, such as the Omron E3Z-T61, which works by having the transmitter and receiver shoot against each other to form a thin laser beam. When the edge of the guide rail bracket cuts this beam, a clear on / off signal is generated. Compared with other types of sensors, this detection method has strong anti-interference ability and clear trigger signal edges, providing the system with a highly reliable trigger event for marking the start and end positions of the bracket, ensuring the accuracy of positioning. Example 2

[0067] Please see Figure 1-3 An elevator guide rail support spacing adjustment device, comprising:

[0068] The load-bearing frame 110 has an opening design that allows it to partially encircle the elevator guide rail;

[0069] A drive mechanism, mounted on the support frame 110, is used to drive the device to move along the guide rail and record the travel distance.

[0070] A short-range laser displacement sensor array 200 is used to collect distance data from the working surface of the guide rail;

[0071] A miniature linear actuator 210 connects the support frame 110 and the short-range laser displacement sensor array 200, and is used to drive the short-range laser displacement sensor array 200 to extend or retract.

[0072] A forward-looking distance sensor 300 is positioned at the front end of the support frame 110 in the direction of travel, with its detection point preceding the short-range laser displacement sensor array 200, and is used to pre-detect the guide rail bracket on the guide rail.

[0073] In this embodiment, an adaptive adjustment device for the spacing of elevator guide rail supports is provided, in which the components work together to achieve automated measurement; the support frame 110, as a C-shaped structure, is the mounting base of the entire device, and its opening shape allows it to be stably fitted onto the elevator guide rail from the side; the drive mechanism is responsible for providing power so that the entire device can move vertically along the guide rail and simultaneously record the precise distance of movement.

[0074] The core function of the drive mechanism here is to achieve precise and controllable linear displacement and synchronously record the stroke. Its specific structure is not limited to one type. For example, in addition to the above-mentioned scheme consisting of a stepper motor 130, an encoder 131 and a drive roller assembly 120, a combination of a high-precision servo motor directly driving a ball screw can also be used, or other technical solutions that can achieve the same precise displacement control and recording functions, such as gear and rack meshing transmission, can be used.

[0075] The short-range laser displacement sensor array 200 is the core measurement unit. Multiple vertically arranged sensors can acquire contour data of a section of the guide rail working surface at once. The forward-looking distance sensor 300 is positioned at the forefront of the device's travel direction, serving as a pathfinding unit to detect the guide rail support ahead. The miniature linear actuator 210 acts as a dynamic component connecting the support frame 110 and the sensor array. Based on the signal from the forward-looking distance sensor 300, it performs actions to retract or extend the sensor array. This structural layout establishes a logical spatial sequence for the three functional units of detection, measurement, and execution, providing a physical basis for achieving active avoidance measurement.

[0076] The drive mechanism includes:

[0077] Stepper motor 130 is fixedly mounted on support frame 110;

[0078] Encoder 131, connected to stepper motor 130, is used to accurately record displacement travel;

[0079] The drive roller assembly 120 is attached to the side of the guide rail and connected to the stepper motor 130 via the transmission belt 132.

[0080] In this embodiment, the drive mechanism is specifically implemented to achieve precise displacement control and measurement. A stepper motor 130, such as a NEMA17 series motor, serves as the power source. Its characteristic is that it can accurately convert electrical pulse signals into fixed angular displacements, thereby achieving precise control over the device's speed and position. A transmission belt 132 transmits the rotational motion of the stepper motor 130 to a drive roller assembly 120 that is tightly fitted to the side of the guide rail. The drive roller assembly 120 then converts the rotational motion into linear motion of the entire device. An encoder 131, coaxially connected to the stepper motor 130, monitors the actual rotation angle of the motor in real time and converts it into a precise linear stroke for the device to move along the guide rail. This combination integrates the execution of control commands with the measurement of actual displacement, ensuring that every minute distance the device moves is accurately recorded, providing a reliable position label for all collected distance data in the vertical axis.

[0081] It also includes a dual-axis MEMS tilt sensor 400 fixedly mounted on the support frame 110 for real-time monitoring of the device’s pitch and roll attitude angles.

[0082] In this embodiment, the added dual-axis MEMS tilt sensor 400 aims to improve the device's adaptability to complex field conditions and the accuracy of measurement data. This sensor is fixedly mounted on the support frame 110. As the device moves, it can detect in real-time, high-frequency minute angular changes in the device body in two orthogonal directions caused by seams, twists, or contaminants on the guide rail surface. These angular data streams are transmitted to the controller as input to the data correction algorithm. This provides the system with an additional sensing dimension, enabling the device to not only measure the distance to the guide rail but also sense its own attitude. By fusing distance and attitude data, measurement errors introduced by attitude changes can be compensated, resulting in final guide rail contour data that more closely approximates the actual situation and improving the reliability of the adjustment scheme.

[0083] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for adjusting the spacing of guide rail supports in an elevator, characterized in that, include: S1. A measuring trolley (100) is set up, which is arranged along the elevator guide rail. The measuring trolley (100) includes a support frame (110), a stepper motor (130) connected to the support frame (110), an encoder (131) connected to the stepper motor (130), a short-range laser displacement sensor array (200) mounted on the support frame (110) and driven by a miniature linear actuator (210), a forward-looking distance sensor (300) located at the front end of the measuring trolley (100) in the direction of travel, and a dual-axis MEMS tilt sensor (400). The detection point of the forward-looking distance sensor (300) is ahead of the short-range laser displacement sensor array (200) in the direction of travel of the measuring trolley (100). S2. Drive the stepper motor (130) to make the measuring trolley (100) climb vertically along the guide rail, and simultaneously collect the raw distance data of the short-range laser displacement sensor array (200), the stroke data of the encoder (131) and the attitude data of the dual-axis MEMS tilt sensor (400). S3. The forward-looking distance sensor (300) detects the guide rail bracket on the guide rail. When the guide rail bracket is detected, the current stroke data of the encoder (131) is recorded as the starting position, and the micro linear actuator (210) is driven to retract the short-range laser displacement sensor array (200). S4. After the forward-looking distance sensor (300) passes the guide rail bracket, record the current stroke data of the encoder (131) as the termination position, and drive the micro linear actuator (210) to restore the short-range laser displacement sensor array (200) to the measurement position. S5. Correct the original distance data according to the attitude data, and use the corrected effective distance data between the starting position and the ending position to reconstruct the guide rail profile of the guide rail bracket's occluded area through an interpolation algorithm, thereby generating an adjustment scheme for the guide rail bracket. In step S1, a preset safety distance is set between the forward-looking distance sensor (300) and the short-range laser displacement sensor array (200). The preset safety distance is set based on the total time required from the detection of the trigger signal by the forward-looking distance sensor (300) to the response of the control system and the driving of the micro linear actuator (210) to completely retract the sensor array when the measuring trolley (100) is climbing at its maximum speed. In step S5, the step of correcting the original distance data based on the attitude data includes: calculating the attitude correction coefficient based on the real-time pitch and roll angles synchronously collected by the dual-axis MEMS tilt sensor (400) through trigonometric function relationships, and multiplying each original distance data by the attitude correction coefficient at its corresponding time.

2. The method for adjusting the spacing of guide rail supports for elevators according to claim 1, characterized in that, In step S5, the interpolation algorithm is a polynomial fitting or a B-spline curve interpolation algorithm.

3. The method for adjusting the spacing of guide rail supports for elevators according to claim 2, characterized in that, The measuring trolley (100) also includes two sets of drive rollers (120) symmetrically installed on the inner wall of the bearing frame (110). A compression spring is provided between the drive rollers (120) and the inner wall of the bearing frame (110) to provide preload force to press the side of the guide rail.

4. The method for adjusting the spacing of guide rail supports for elevators according to claim 2, characterized in that, The miniature linear actuator (210) is an electromagnetic voice coil motor, and the forward-looking distance sensor (300) is a laser beam sensor.

5. A guide rail support spacing adjustment device for an elevator, applied to the guide rail support spacing adjustment method for an elevator as described in any one of claims 1 to 4, characterized in that, include: The load-bearing frame (110) has an opening design that allows it to partially encircle the elevator guide rail; A drive mechanism, mounted on the support frame (110), is used to drive the device to move along the guide rail and record the travel distance. A short-range laser displacement sensor array (200) is used to collect distance data from the working surface of the guide rail; A miniature linear actuator (210) is connected to the support frame (110) and the short-range laser displacement sensor array (200) for driving the short-range laser displacement sensor array (200) to extend or retract. A forward-looking distance sensor (300) is located at the front end of the traveling direction of the support frame (110), and its detection point is ahead of the short-range laser displacement sensor array (200) for pre-detecting the guide rail bracket on the guide rail.

6. The guide rail support spacing adjustment device for elevators according to claim 5, characterized in that, The drive mechanism includes: A stepper motor (130) is fixedly installed on the support frame (110). An encoder (131) is connected to the stepper motor (130) for accurately recording displacement travel; The drive roller assembly (120) is attached to the side of the guide rail and connected to the stepper motor (130) via a transmission belt (132).

7. The guide rail support spacing adjustment device for elevators according to claim 6, characterized in that, It also includes a dual-axis MEMS tilt sensor (400) fixedly mounted on the support frame (110) for real-time monitoring of the pitch and roll attitude angles of the device.

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