CN110068286B - Three-dimensional full-outline measurement system and method based on large gantry inverted-hanging cooperative mechanical arm - Google Patents
Three-dimensional full-outline measurement system and method based on large gantry inverted-hanging cooperative mechanical arm Download PDFInfo
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- CN110068286B CN110068286B CN201910286211.9A CN201910286211A CN110068286B CN 110068286 B CN110068286 B CN 110068286B CN 201910286211 A CN201910286211 A CN 201910286211A CN 110068286 B CN110068286 B CN 110068286B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The three-dimensional full-appearance measuring system and method based on the large gantry reverse-hanging cooperative mechanical arm are designed aiming at a large-size heterogenous structure, a large AGV platform conveys a measured object to an appointed position, multi-angle positioning rods are arranged on two sides of the measured object, laser scanning and dynamic tracking of the measured object are achieved through a double-layer three-axis gantry electrical structure, the measured object with a large-size heterogenous structure can be scanned at high precision, the scanning freedom degree is high, and the measurement is accurate.
Description
Technical Field
The invention relates to a three-dimensional full-outline measuring system and method based on a large gantry inverted-hanging cooperative mechanical arm, and belongs to the technical field of measuring mechanical arms.
Background
The measurement robot is an important branch of industrial robot application, and its research has been made through many fields such as optical metrology, mechanics, mechanical mechanics, electronics, materials science, computer science and robotics, and has become a research hotspot in the international robot field. At present, a measuring robot is widely applied to the aspects of reverse engineering, cultural relic scanning, precise matching assembly and the like, so that the development of the measurement is promoted, and the development of a new technology and a new theory in the related field is also driven.
In the research and development process, a first common measurement mode is that a three-coordinate measuring machine structure and a two-degree-of-freedom rotary laser measuring head structure which are widely applied at present need a high-precision guide rail, the high-precision guide rail is quite expensive and difficult to popularize and apply, and especially the appearance measurement of a large-size measured object; meanwhile, the measurement of a complex special-shaped structure cannot be dealt with, the structure of the three-coordinate measuring machine which is widely applied at present is added with a two-freedom-degree rotating laser measuring head structure, and the laser measuring head has only five degrees of freedom and cannot deal with the measurement of a measured object with a complex structure. In a second common measurement mode, the existing six-degree-of-freedom mechanical arm carries a laser scanning head and measures by using a positioning point on a measured object, and the measurement mode is difficult to cope with measurement of large-size measured objects due to limited working space of the mechanical arm; secondly, the positioning points are required to be attached to the measured object, and the measuring efficiency is low.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the problems of high price, difficulty in measuring complex anisotropic structures, poor freedom degree of laser scanning and positioning and the like which are easily caused in the existing measuring robot technology, a three-dimensional full-shape measuring system and a method based on a large gantry hanging-upside-down cooperative mechanical arm are provided.
The technical scheme for solving the technical problems is as follows:
a three-dimensional full-outline measuring system based on a large gantry inverted cooperation mechanical arm comprises a movable truss, upright posts, a telescopic vertical rod, a cooperation mechanical arm, a laser measuring head, a U-shaped rail moving vehicle, a liftable rotary supporting rod, a dynamic tracking head, a U-shaped rail and parallel long guide rails, wherein two parallel long guide rails with the same length and used for enabling two ends of the movable truss to transversely slide are supported by the four upright posts, linear rail sections on two sides of the U-shaped rail used for enabling the U-shaped rail moving vehicle to slide are respectively fixed on the lower layers of the two parallel long guide rails, the two parallel long guide rails are connected through a curve rail section of the U-shaped rail, the telescopic vertical rod is installed on the movable truss and longitudinally extends and retracts under the driving of a motor, the cooperation mechanical arm is installed at the end of the telescopic vertical rod and extends and retracts along with the telescopic vertical rod, and, the U-shaped rail locomotive is installed in U-shaped track and slides along with U-shaped track under motor drive, the dynamic tracking head is installed in liftable rotatory support bar end, and liftable rotatory support bar installation end is connected on U-shaped rail locomotive and is driven the dynamic tracking head and carry out the dynamic tracking along with U-shaped rail locomotive removes.
And a six-dimensional force sensor is arranged at the joint of the cooperative mechanical arm and the laser measuring head, the stress of the mechanical arm is measured in the measuring process, and the measurement is stopped when the stress of the mechanical arm exceeds a collision limit threshold value, wherein the collision limit threshold value is 2N-15N.
Still include the cooperative control workstation, the cooperative control workstation is through the gesture of the flexible state of the scalable montant of control and cooperation arm according to the user's demand, controls U type rail locomotive sliding position, liftable rotation support pole's lift height simultaneously.
The working modes of the laser measuring head and the dynamic tracking head comprise a teaching mode and an automatic measuring mode, and the working modes of the laser measuring head and the dynamic tracking head are the same in the same measuring process.
The teaching mode is as follows: the cooperative mechanical arm and the movable truss are driven in a manual dragging mode, the telescopic vertical rod is adjusted to scan a measured object, the mechanical arm tail end stress and moment measured by the six-dimensional force sensor in real time and the cooperative mechanical arm attitude data measured by the demonstrator of the cooperative mechanical arm in real time are all sent to the cooperative control workstation, and after the cooperative control workstation generates a measuring path after resolving, the measuring path is converted into an automatic measuring mode to realize automatic measurement.
Still including being surveyed carrying AGV platform, being surveyed carrying AGV platform includes the testee, carrying AGV, locating lever, the testee is installed on carrying AGV for the locating lever that advances line location to the testee centers on the even range of testee and on carrying AGV, when beginning the test to the testee, carries AGV and brings the testee into assigned position and carries out laser surveying and dynamic tracking.
The positioning rod is formed by combining positioning rod triangular bodies, wherein each positioning rod triangular body comprises a 20-degree triangular body, a 40-degree triangular body, a 60-degree triangular body and an 80-degree triangular body, and the triangular bodies are arranged into a triangular body combination from small to large according to the angle.
The number of the triangular bodies of the positioning rod is selected according to the height of the measured object.
The isosceles surfaces of the 20-degree triangular body, the 40-degree triangular body, the 60-degree triangular body and the 80-degree triangular body are all attached with positioning points, the attachment positions of the positioning points on each equal waist surface are randomly distributed, and the positioning points are not attached to a measured object.
The 20-degree triangular body, the 40-degree triangular body, the 60-degree triangular body and the 80-degree triangular body are made of carbon fibers.
The number of the upright columns is 8, and the installation distance of the positioning rods is 1-4 m.
A three-dimensional full-shape measuring method based on a large gantry inverted-hanging cooperative mechanical arm comprises the following steps:
(a) after the measured object reaches the designated position, a cooperative control workstation is used for controlling the movable truss to move to a proper measurement pose by using a start/stop instruction of the movable truss, and the moving position of the movable truss is recorded;
(b) dragging the cooperative mechanical arm in a manual dragging teaching mode, controlling the telescopic vertical rod to stretch to a certain length, and recording the telescopic length of the telescopic vertical rod, the posture and the dragging force of the cooperative mechanical arm and the measuring track of the cooperative mechanical arm in the measuring process through a demonstrator carried by the cooperative mechanical arm;
(c) sending X, Y direction and posture command start/stop instructions to the second omnibearing moving platform by using the cooperative control workstation, controlling the U-shaped rail moving vehicle to move to a measuring position, and simultaneously adjusting the position and the posture of the dynamic tracking head and the height of the liftable rotary supporting rod and starting to measure;
(d) and (c) storing the data obtained in the steps (b) and (c), changing the measurement positions and the scanning visual field ranges of the cooperative mechanical arm and the dynamic tracking head, finishing the teaching mode and entering an automatic measurement mode after a measurement path is obtained, and automatically measuring until all profile scanning data of the measured object are obtained.
Compared with the prior art, the invention has the advantages that:
(1) the invention provides a three-dimensional full-shape measuring system and a method based on a large gantry hanging-upside-down cooperative mechanical arm.A large gantry carries the cooperative mechanical arm provided with a laser scanning head, and a large U-shaped guide rail carries a dynamic tracking head, so that full-shape automatic measurement of a large measured object is realized, meanwhile, the measurement of the measured object with a complex special-shaped structure can be realized through 9 degrees of freedom of the laser scanning head, 3 degrees of freedom of the dynamic tracking head and a multi-angle positioning rod, and the track scanning of the complex special-shaped structure can also be realized;
(2) the dynamic tracking head is arranged on the movable trolley, moves on a U-shaped track along with the trolley, has lifting and yawing freedom degrees through a lifting motor and a rotating motor, realizes simultaneous observation of enough positioning points and laser measuring heads through matching with a multi-angle positioning rod, realizes full-shape measurement of a measured object with a complex special-shaped structure, and can improve batch measurement efficiency in a mode of arranging the positioning rods on two sides of the measured object, wherein the positioning rods are of a multi-angle triangular body laminated structure, each surface is attached with the positioning points, and the movable tracking head can realize self and laser measuring head positioning from multiple angles;
(3) the invention also realizes collision emergency stop through the six-dimensional force sensor at the tail end of the mechanical arm, and prevents the measuring head, the measured object or the personnel from being injured. In the measuring process, the six-dimensional force sensor arranged at the tail end of the mechanical arm detects the force signal received by the tail end of the mechanical arm, and when the force signal is greater than a set threshold value, the system is suddenly stopped, so that the measuring head, the measured object or personnel are prevented from being injured.
Drawings
FIG. 1 is a general block diagram of a three-dimensional full-outline measurement system provided by the present invention;
FIG. 2 is a schematic diagram of the installation position of a six-dimensional force sensor provided by the invention;
FIG. 3 is a schematic view of a positioning rod structure according to the present invention;
Detailed Description
Three-dimensional full-appearance measurement system and method based on large-scale longmen overhead suspension cooperation arm to double-deck triaxial portal frame is the basis, transports the testee to the assigned position through large-scale AGV, and the AGV both sides set up the multi-angle locating lever and realize the testee location, and cooperation arm 4 drives laser measurement head 5 and locomotive drive detection device and carries out laser scanning and cooperation dynamic tracking measurement on the while through portal frame track, wherein:
the three-axis portal frame comprises two layers, wherein the lower layer is a U-shaped rail 9, a U-shaped rail moving trolley 6 is arranged on the U-shaped rail 9, a lifting rotary supporting rod 7 is arranged on the U-shaped rail moving trolley 6, and a dynamic tracking head 8 is supported and lifted or rotated according to needs; the upper layer of the three-axis gantry is composed of parallel long guide rails 11, a movable truss 1 and a telescopic vertical rod 3, a six-degree-of-freedom cooperative mechanical arm 4 is mounted at the bottom end of the telescopic vertical rod 3, the six-degree-of-freedom cooperative mechanical arm 4 carries a laser measuring head 5, and a mechanical arm control cabinet and a measuring equipment controller are placed on the gantry movable truss 1. A cooperative control workstation 14 is arranged at one corner of the gantry and controls the three-axis gantry framework and the cooperative mechanical arm 4;
the two sides of the measured object are provided with a plurality of positioning rods 13, each section of positioning rod 13 is formed by combining 10 sections of same triangular bodies, each section of triangular body combination comprises a 20-degree triangular body 17, a 40-degree triangular body 18, a 60-degree triangular body 19 and a 80-degree triangular body 20, the triangular bodies are arranged into a triangular body combination from small to large according to angles, positioning points 16 are attached to the outer surface of each triangular body, and the positioning positions are that the vertex angles of the triangular bodies face the measured object. Meanwhile, the number of the triangular bodies of the positioning rod is selected according to the height of the measured object.
The three-axis portal frame comprises six upright posts 2, two I-shaped parallel long guide rails 11 are supported on the upright posts 2, the two parallel long guide rails 11 jointly support a movable truss 1, and a telescopic vertical rod 3 is arranged on the truss; the tail end of the vertical rod is inversely provided with a six-degree-of-freedom cooperative mechanical arm 4, and the tail end of the cooperative mechanical arm 4 is provided with a laser measuring head 5.
U-shaped rails 9 are installed below the parallel long guide rails 11, U-shaped rail moving vehicles 6 are installed on the U-shaped rails 9, liftable rotating support rods 7 are installed on the U-shaped rail moving vehicles 6, dynamic tracking heads 8 are installed on the liftable rotating support rods 7, lead screws and lead screw driving motors are installed on the vertical rods to achieve lifting freedom degrees, and cloud platforms are installed on the vertical rods to achieve yawing freedom degrees and pitching freedom degrees.
The three-axis portal frame comprises a servo motor (Y-axis direction) for driving the truss to move on the I-shaped parallel long guide rail 11, a servo motor (X-axis direction) for driving the telescopic vertical rod 3 to move on the truss, and a servo motor (Z-axis direction) for driving the vertical rod to stretch.
The movable truss 1 is of a channel steel structure, and the measuring equipment controller and the cooperative mechanical arm 4 control cabinet are placed in the channel steel. Three motors of a three-axis gantry of the system, the six-degree-of-freedom cooperative mechanical arm 4, the moving motor of the U-shaped rail moving vehicle 6, the lifting motor of the U-shaped rail moving vehicle 6 and the rotating motor are cooperatively controlled by the cooperative control workstation 14.
The measurement track of the laser measuring head 5 is realized by teaching a three-axis gantry through a teaching box and dragging a teaching cooperative mechanical arm; the measurement track of the dynamic tracking head is realized by teaching the movement, lifting and rotation of the U-shaped rail trolley through the teaching box.
The six-dimensional force sensor 15 is arranged at the tail end of the cooperative mechanical arm 4, the force value at the tail end of the cooperative mechanical arm 4 is detected in real time and is used for collision detection at the tail end and teaching dragging of the cooperative mechanical arm 4, a collision limiting threshold value is set, and when the stress of the mechanical arm exceeds the collision limiting threshold value, the measurement protection device is stopped, wherein the collision limiting threshold value is 2N-15N.
The measured object carrying AGV12 has an all-directional moving function and a lifting function for supporting the measured object. The support height of the measured object can be adjusted according to the measurement height requirement; the Mecanum wheel structure at the bottom of the AGV12 is used for carrying the measured object to move freely in all directions.
The moving mechanism of the dynamic tracking head 8 moves on the U-shaped track 9 and has two degrees of freedom of yaw and lifting. The bottom of the U-shaped rail moving vehicle 6 moves on the U-shaped rail 9, and the lifting rotary supporting rod 7 adopts two servo motors to realize lifting and yawing freedom degrees. The tail end of the liftable rotary supporting rod 7 is fixedly provided with the dynamic tracking head 8, so that the view field of the dynamic tracking head 8 is ensured to cover enough positioning points and laser measuring heads.
The cooperative control workstation 14 is composed of an industrial personal computer and electronic components, and realizes cooperative control of the three-axis portal frame, the dynamic tracking head 8 moving mechanism and the six-degree-of-freedom cooperative mechanical arm 4. The six servo motors are controlled through EtherCAT communication, the six-degree-of-freedom cooperative mechanical arm 4 is controlled through TCP/IP communication, the telescopic state of the telescopic vertical rod 3 and the posture of the cooperative mechanical arm 4 are controlled according to user requirements, laser scanning of a measured object is achieved through the laser measuring head 5, the sliding position of the U-shaped rail moving vehicle 6 and the lifting height of the lifting rotary supporting rod 7 are controlled simultaneously, dynamic tracking of the measured object is achieved through the dynamic tracking head 8, and data returned by the six-dimensional force sensor 15 are received to conduct posture analysis of the cooperative mechanical arm 4.
The following is further illustrated with reference to specific examples:
as shown in fig. 1, the three-axis portal frame comprises a movable truss 1, upright posts 2, a telescopic vertical rod 3, a cooperative mechanical arm 4, a laser measuring head 5, a U-shaped rail moving vehicle 6, a liftable rotary support rod 7, a dynamic tracking head 8, a U-shaped rail 9, parallel long guide rails 11 and a six-dimensional force sensor 15, wherein two parallel long guide rails 11 with the same length for enabling two ends of the movable truss 1 to transversely slide are supported by the four upright posts 2, linear rail sections on two sides of the U-shaped rail 9 for enabling the U-shaped rail moving vehicle 6 to slide are respectively fixed on the lower layers of the parallel long guide rails 11, the two parallel long guide rails 11 are connected through a curved rail section of the U-shaped rail 9, the telescopic vertical rod 3 is installed on the movable truss 1 and longitudinally slides along with the movable truss 1 under the driving of a motor, the cooperative mechanical arm 4 is installed at the end of the telescopic vertical rod 3 and stretches, utilize simultaneously to set up in the laser measuring head 5 of 4 ends of cooperation arm to carry out laser survey, measure and install in cooperation arm 4 and laser measuring head 5 junction with six-dimensional force sensor 15, U type rail locomotive 6 is installed in U type track 9 and slides along with U type track 9 under motor drive, dynamic tracking head 8 is installed in 7 ends of rotatory bracing piece that goes up and down, and 7 installation ends of rotatory bracing piece that goes up and down are connected on U type rail locomotive 6 and move along with U type rail locomotive 6 and drive dynamic tracking head 8 and carry out the dynamic tracking.
Wherein, still including being surveyed carrying AGV platform, being surveyed carrying AGV platform includes the testee, carrying AGV12, locating lever 13, the testee is installed on carrying AGV12 for locating lever 13 that advances line location to the testee centers on the even range of testee and carries AGV12, when beginning the test to the testee, carries AGV12 to bring the testee into assigned position and carry out laser surveying and dynamic tracking.
As shown in fig. 3, the positioning rod 13 includes a 20 ° triangle 17, a 40 ° triangle 18, a 60 ° triangle 19, and an 80 ° triangle 20, which are arranged from small to large to form a triangle assembly, and 10 sections of the triangle assembly form the positioning rod 13, all the triangles are made of carbon fiber, wherein no positioning point is attached to the object to be measured.
The number of the upright posts 2 is 8, and the installation distance of the positioning rods is 1-4 m.
In the measuring system provided by the invention, the three-dimensional full-shape measuring system comprises two working modes, namely a teaching mode and an automatic measuring mode. Aiming at a measured object, firstly, a teaching mode is adopted to determine the measuring track of the measured object, and then batch measurement of the same measured object is realized through an automatic measuring mode. Under the teaching mode, drive cooperation arm (4) and remove truss (1) through manual drive mode to adjust scalable montant (3) and scan the measured object, all send six-dimensional force sensor (15) real-time measurement's terminal atress of arm and moment, cooperation arm (4) from the cooperation arm (4) of demonstrator real-time measurement of taking to cooperative control workstation (14), after cooperative control workstation (14) are resolved and are generated the measuring path, control the concerted movement of triaxial gantry motor, U type track motor, elevator motor and yaw motor and cooperation arm through cooperative control workstation (14), realize the automatic measure to the measured object.
According to the dragging teaching of the cooperative mechanical arm 4, a six-dimensional force sensor 15 is arranged at the joint of the tail end of the mechanical arm of the six-degree-of-freedom cooperative mechanical arm 4 and a laser measuring head 5, so that the force/moment applied to the tail end of the mechanical arm is measured in real time, a force/moment signal is transmitted to a cooperative control workstation (14) and is resolved into an expected pose of the tail end of the mechanical arm, a mechanical arm control cabinet reversely resolves the expected pose of the tail end into six axis pulse signals of the mechanical arm, and the six axis pulse signals are transmitted to six motors of the.
As shown in fig. 2, the six-dimensional force sensor 15 is installed at a connection position between the tail end of the mechanical arm of the six-degree-of-freedom cooperative mechanical arm 4 and the laser measuring head 5, when the tail end of the mechanical arm collides with the outside, the six-dimensional force sensor 15 detects the force/torque applied to the tail end in real time, and when the detected force/torque is greater than a set threshold value, the system is suddenly stopped, so that accidental damage is avoided.
A three-dimensional full-shape measuring method based on a large gantry inverted-hanging cooperative mechanical arm comprises the following steps:
(a) after the measured object reaches the designated position, a cooperative control workstation (14) is used for controlling the moving truss (1) to move to a proper measuring pose by starting/stopping instructions to the moving truss (1), and the moving position of the moving truss (1) is recorded;
(b) dragging the cooperative mechanical arm (2) in a manual dragging teaching mode, controlling the telescopic vertical rod (3) to stretch to a certain length, and recording the stretching length of the telescopic vertical rod (3), the posture of the cooperative mechanical arm (2), the dragging force and the measuring track of the cooperative mechanical arm (2) in the measuring process through a demonstrator of the cooperative mechanical arm (2);
(c) sending X, Y direction and posture command start/stop instructions to the second omnibearing moving platform (6) by using the cooperative control workstation (14), controlling the U-shaped rail moving vehicle (6) to move to a measuring position, and simultaneously adjusting the posture of the dynamic tracking head (8) and the height of the lifting rotary supporting rod (7) and starting to measure;
(d) and (c) storing the data obtained in the steps (b) and (c), changing the measurement positions and the scanning visual field ranges of the cooperative mechanical arm (2) and the dynamic tracking head (8), ending the teaching mode and entering the automatic measurement mode after a measurement path is obtained, and automatically measuring until all profile scanning data of the measured object are obtained.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (8)
1. Three-dimensional full appearance measurement system based on large-scale longmen overhead cooperation arm, its characterized in that: comprises a movable truss (1), upright posts (2), a telescopic vertical rod (3), a cooperative mechanical arm (4), a laser measuring head (5), a U-shaped rail moving vehicle (6), a liftable rotary supporting rod (7), a dynamic tracking head (8), a U-shaped rail (9) and parallel long guide rails (11), wherein two parallel long guide rails (11) with the same length and used for enabling two ends of the movable truss (1) to transversely slide are supported by the four upright posts (2), linear rail sections on two sides of the U-shaped rail (9) used for enabling the U-shaped rail moving vehicle (6) to slide are respectively fixed on the lower layers of the two parallel long guide rails (11), the two parallel long guide rails (11) are connected through a curved rail section of the U-shaped rail (9), the telescopic vertical rod (3) is arranged on the movable truss (1) and longitudinally stretches under the driving of a motor, the cooperative mechanical arm (4) is arranged on the telescopic vertical rod (3) and stretches along with the end of the telescopic vertical, meanwhile, laser measurement is carried out by utilizing a laser measuring head (5) arranged at the end of the cooperative mechanical arm (4), the U-shaped rail moving vehicle (6) is arranged in the U-shaped rail (9) and slides along with the U-shaped rail (9) under the drive of a motor, the dynamic tracking head (8) is arranged at the end of a liftable rotating support rod (7), and the mounting end of the liftable rotating support rod (7) is connected to the U-shaped rail moving vehicle (6) and moves along with the U-shaped rail moving vehicle (6) to drive the dynamic tracking head (8) to carry out dynamic tracking;
the working modes of the laser measuring head (5) and the dynamic tracking head (8) comprise a teaching mode and an automatic measuring mode, and in the same measuring process, the working modes of the laser measuring head (5) and the dynamic tracking head (8) are the same;
a six-dimensional force sensor (15) is mounted at the joint of the cooperative mechanical arm (4) and the laser measuring head (5), the mechanical arm stress is measured in the measuring process, and the measurement is stopped when the mechanical arm stress exceeds a collision limit threshold value, wherein the collision limit threshold value is 2N-15N;
the number of the upright posts (2) is 8, and the installation distance of the positioning rods is 1-4 m;
still include cooperative control workstation (14), cooperative control workstation (14) are according to the gesture of the scalable montant of user's demand through control (3) flexible state and cooperation arm (4), control U type rail locomotive (6) slide position, liftable rotatory bracing piece (7) the lift height simultaneously.
2. The three-dimensional full-outline measurement system based on the large gantry hanging upside down cooperative mechanical arm as claimed in claim 1, wherein: the teaching mode is as follows: drive cooperation arm (4) and remove truss (1) through manual mode of dragging to adjust scalable montant (3) and scan the measured object, all send six-dimensional force sensor (15) real-time measurement's the terminal atress of arm and moment, cooperation arm (4) from the demonstrator real-time measurement's of taking cooperation arm (4) gesture data to cooperative control workstation (14), after cooperative control workstation (14) are resolved and are generated the measurement route, convert the automatic measurement mode into and realize automatic measure.
3. The three-dimensional full-outline measurement system based on the large gantry hanging upside down cooperative mechanical arm as claimed in claim 1, wherein: still including being surveyed carrying AGV platform, being surveyed carrying AGV platform includes the testee, carrying AGV (12), locating lever (13), the testee is installed on carrying AGV (12) for locating lever (13) that go on fixing a position the testee are around the even range of testee on carrying AGV (12), when beginning the test to the testee, carry AGV (12) bring the testee into assigned position and carry out laser surveying and dynamic tracking.
4. The three-dimensional full-outline measurement system based on the large gantry hanging upside down cooperative mechanical arm as claimed in claim 3, wherein: the positioning rod (13) is composed of positioning rod triangle bodies, the positioning rod triangle bodies comprise 20-degree triangle bodies (17), 40-degree triangle bodies (18), 60-degree triangle bodies (19) and 80-degree triangle bodies (20), and the triangle bodies are arranged into a triangle body combination from small to large according to angles.
5. The three-dimensional full-outline measurement system based on the large gantry hanging upside down cooperative mechanical arm as claimed in claim 4, wherein: the number of the triangular bodies of the positioning rod is selected according to the height of the measured object.
6. The three-dimensional full-outline measurement system based on the large gantry hanging upside down cooperative mechanical arm as claimed in claim 5, wherein: the positioning points are attached to the isosceles surfaces of the 20-degree triangular body (17), the 40-degree triangular body (18), the 60-degree triangular body (19) and the 80-degree triangular body (20), the attachment positions of the positioning points on each equal waist surface are randomly distributed, and the positioning points are not attached to a measured object.
7. The three-dimensional full-outline measurement system based on the large gantry hanging upside down cooperative mechanical arm as claimed in claim 1, wherein: the 20-degree triangular bodies (17), the 40-degree triangular bodies (18), the 60-degree triangular bodies (19) and the 80-degree triangular bodies (20) are made of carbon fibers.
8. The three-dimensional full-shape measuring method based on the large gantry inverted-hanging cooperative mechanical arm is characterized by comprising the following steps of:
(a) after the measured object reaches the designated position, a cooperative control workstation (14) is used for controlling the moving truss (1) to move to a proper measuring pose by starting/stopping instructions to the moving truss (1), and the moving position of the moving truss (1) is recorded;
(b) dragging the cooperative mechanical arm (2) in a manual dragging teaching mode, controlling the telescopic vertical rod (3) to stretch to a certain length, and recording the stretching length of the telescopic vertical rod (3), the posture of the cooperative mechanical arm (2), the dragging force and the measuring track of the cooperative mechanical arm (2) in the measuring process through a demonstrator of the cooperative mechanical arm (2);
(c) sending X, Y direction and posture command start/stop instructions to the second omnibearing moving platform (6) by using the cooperative control workstation (14), controlling the U-shaped rail moving vehicle (6) to move to a measuring position, and simultaneously adjusting the posture of the dynamic tracking head (8) and the height of the lifting rotary supporting rod (7) and starting to measure;
(d) and (c) storing the data obtained in the steps (b) and (c), changing the measurement positions and the scanning visual field ranges of the cooperative mechanical arm (2) and the dynamic tracking head (8), ending the teaching mode and entering the automatic measurement mode after a measurement path is obtained, and automatically measuring until all profile scanning data of the measured object are obtained.
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