电梯导轨加工误差和安装误差是影响电梯安全性和舒适性的重要因素，因此定时检测电梯导轨是确保电梯安全和稳定运行的关键。由于传统的电梯导轨检测方法效率低，部分研究人员基于机器人和嵌入式技术研发了一些自动检测电梯导轨的设备。上述自动化检测设备大致可以分为两类，分别是轿厢搭载测量仪器和自爬升机器人搭载测量仪器，前者必须依赖于电梯运行才能工作，而后者则受到负载能力限制，因此本文提出一种基于重力驱动的电梯导轨智能检测装置，它改善了自爬升机器人负载能力小的缺点，同时保留自爬机器人能独立于电梯轿厢工作的优点。 首先，设计了一种匀速拖曳式动力系统，该系统能牵引重物沿竖直方向匀速移动。由于摩擦力与弹簧弹力呈正比关系，本文提出使用重力和摩擦力共同对智能检测装置进行运动控制。此外，分析了智能检测装置运动控制原理及电梯导轨检测方法并根据功能需求设计了智能检测装置机械结构。 其次，对智能检测装置运动控制算法进行仿真分析，并基于DSP开发了智能检测装置控制系统，实现了运行速度控制、数据采集、急停控制、数据存储等功能。运动控制系统以速度偏差为输入量，以电机角位移为输出量，并基于PID算法实现智能检测装置匀速移动。数据采集系统以与门芯片为核心，可以实现多个倾角传感器数据循环采集。此外，本文提出使用定时器中断精确控制电机角位移。 再次，基于Matlab图形用户界面GUI开发了上位机软件，该软件集成了通信测试、动态设置参数、实时绘图及数据存储等功能，具有良好的可操作性和人机交互性。此外，基于上位机和下位机通信要求，设计了相应的通信协议。 最后，制造了工程样机，并对智能检测装置运动控制模块、多传感器数据采集模块及上位机软件进行功能测试。测试结果表明，该装置能实现基本功能要求。
The machining error and installation error of the elevator guide rail are important factors affecting the safety and comfort of the elevator. Therefore, regular detection of the elevator guide rail is the key to ensure that the elevator can operate safely and stably. Based on the robot and embedded technology, some researchers have developed some devices to detect elevator guide rail automatically, for the traditional methods to detect elevator guide rail have low efficiency. This automatic equipment can be divided into two categories, one of which is the measurement instrument carried by the elevator car, and the other is the measurement instrument carried by the self-climbing robot. The former could work only when the elevator is operating, and the latter is limited by its load capacity. Therefore, this paper proposes an intelligent detection device driven by Gravity for the elevator guide rail, which improves the load capacity of the self-climbing robot and reserves the advantages of the self-climbing robot that can be independent of the elevator. Firstly, a towed power system is designed, which can pull heavy objects to move at a uniform velocity along the vertical direction. Because there is a good linear relationship between friction and spring force, the motion of the intelligent device for the elevator guide rail can be controlled by Gravity and friction. Then, the principle of motion control about the intelligent device and the detection method of the elevator guide rail are analyzed. In addition, according to the functional requirements, the mechanical structure of the intelligent detection device is designed. Secondly, the motion controlling algorithm of the intelligent detection device is simulated and analyzed. Based on DSP, the controlling system of the intelligent detection device is developed, which realizes the functions of controlling the speed of the device, data acquisition, emergency stop, data storage, and so on. The system of motion control takes the speed deviation of the intelligent device as the input，and takes the displacement of the motor as the output, which realizes that the intelligent device can move at a uniform velocity with the help of the PID algorithm. In addition, the data acquisition system take AND gate as the core of the system, which can realize the data acquisition of multiple tilt sensors. The displacement of the motor can be controlled by the timer interrupt of DSP precisely. Thirdly, the upper-computer software is developed based on Matlab GUI, which integrates the functions of communication test, setting parameter dynamically, real-time drawing, and data storage. The software is easy to operate and has a friendly interface. In addition, based on the contents of communication between the upper computer and lower computer, the corresponding communication protocol is designed. Finally, an engineering prototype is manufactured. The functions of motion control, multi-sensor data acquisition, and upper-computer software on the intelligent detection device are tested. The results of the test show that the device can meet the basic function.
