CN110487179A - Truss-like industrial measuring system and measurement method based on optical tracking scanner and PLC control system - Google Patents

Abstract

The invention discloses a kind of truss-like industrial measuring system and measurement method based on optical tracking scanner and PLC control system, including industrial personal computer, mechanical system control cabinet, I-steel main frame, multiple-axis servo linear guide, scanner, tracker, mechanical arm, test desk and tracker witness marker unit, pass through TCP/IP connection between PLC control system and multiple-axis servo and mechanical arm, multiple-axis servo and manipulator motion are controlled, scan data is obtained.Truss-like industrial measuring system based on optical tracking scanner and PLC control system of the invention is after the completion of installation and debugging, it can be realized the full-automatic three-dimensional laser scanning of large-scale workpiece, the automatic three dimensional point cloud for obtaining workpiece, Automatic analysis is carried out to three-dimensional laser point cloud, automatically generates size detection achievement；Meet the automation of large-scale workpiece, the measurement demand of streamlined, and system has good scalability, it is with important application prospects in commercial measurement detection field.

Description

Truss Industrial Measuring System Based on Optical Tracking Scanner and PLC Control System and measurement method

technical field

The invention relates to the technical fields of mechanical automation and industrial measurement, and relates to a truss-type industrial measurement system and a measurement method based on an optical tracking scanner and a PLC control system.

Background technique

Traditional industrial dimension measurement generally uses methods such as steel rulers, calipers, and instrument measurement. High-precision dimension detection generally uses three-coordinate instruments. These measurement methods are not only poor in accuracy, but also low in efficiency. In recent years, with the rapid development of 3D laser scanning technology, there are more and more 3D laser scanners with different precision and performance on the market. Because 3D laser scanning has the advantages of non-contact, high precision, high efficiency and complete data, high-precision 3D laser scanners are increasingly used in the field of industrial measurement, such as dimension measurement of mechanical parts, artwork measurement, forward industrial design, reverse industrial design, and 3D product display. For the measurement of large workpieces, scanners, trackers, and positioning marks can be used. At present, there are mature products and application cases on the market. Using 3D scanning technology to measure large workpieces has greatly improved the measurement efficiency compared with traditional measurement methods, but it is still time-consuming and laborious.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art and provide a truss-type industrial measurement system based on an optical tracking scanner and a PLC control system. The measurement system can realize streamlined and automatic detection of large workpieces and has good expansion The detection of other types of workpieces can be realized by changing the travel range of the multi-axis servo and readjusting the detection points and the fine movements of the robotic arm.

Another object of the present invention is to provide a measurement method for a truss type industrial measurement system based on an optical tracking scanner and a PLC control system.

The present invention is achieved through the following technical solutions:

A truss-type industrial measurement system based on an optical tracking scanner and a PLC control system, including an industrial computer, a mechanical system control cabinet, an I-beam main frame, a tracking measurement device, a measuring platform, and a tracker positioning mark unit;

The measuring table is located in the main frame of the I-beam, and is used to place the workpiece to be measured and fix its position;

The tracking measurement device includes a scanning unit and a tracking unit, wherein the scanning unit includes a mechanical arm slidably connected to the main frame of the I-beam and a scanner connected to the mechanical arm in rotation, and the tracking unit includes A tracker arranged on one side of the main frame of the I-beam and forms a relative movement with it, through the cooperation of the mechanical arm, the scanner and the tracker, the omnidirectional measurement of the workpiece on the measuring platform is realized;

The tracker positioning mark unit is arranged beside the measuring platform, and is used for positioning of the tracker and establishment of a measurement coordinate system;

The mechanical system control cabinet includes a power supply, a PLC control system, a switch and a touch screen;

The industrial computer is connected with the mechanical system control cabinet and the tracking measurement device through TCP/IP.

In the above technical solution, the scanning unit further includes two Y-axis servo linear guide rails arranged in parallel on the I-shaped steel main frame, and a The X-axis servo linear guide rail bracket and the X-axis servo linear guide rail arranged on the X-axis servo linear guide rail bracket, the mechanical arm is fixed upside down on the X-axis servo linear guide rail, through the industrial computer and the PLC control system The movement of the X-axis servo linear guide rail, the Y-axis servo linear guide rail and the mechanical arm is controlled, and the three-dimensional data of the workpiece to be measured is obtained through a scanner.

In the above technical solution, the tracking unit further includes a tracking servo linear guide bracket arranged in the same direction as the Y-axis servo linear guide rail, a tracking servo linear guide rail arranged on the tracking servo linear guide bracket and in the same direction as it, and A tracker support that is slidably connected to the tracking servo linear guide rail, and the tracker is rotationally connected to the tracker support through a tracker platform.

In the above technical solution, the scanner is connected to the bottom end of the mechanical arm through a scanner adapter flange.

In the above technical solution, the I-shaped steel main frame includes a horizontally placed rectangular main body truss and four truss columns vertically arranged at the bottom four corners of the main body truss.

In the above technical solution, the tracker positioning mark unit includes a tracker positioning mark point bracket arranged relatively on both sides of the measuring platform and a plurality of tracker positioning mark point brackets arranged on the tracker positioning mark point bracket , the orientations of the tracker positioning marker points on both sides are consistent.

In the above technical solution, the support structure of the tracker positioning mark point located on the left side of the measuring platform is viewed as an F shape, and the right ends of the two cross bars of the F shape are provided with a planar plate structure, and the tracker positioning mark point uniformly distributed on the surface of the planar plate structure.

In the above technical solution, the X-axis servo linear guide, the Y-axis servo linear guide, the mechanical arm, and the communication cables and power supply cables for tracking the servo linear guide are all pulled by drag chains.

In the above technical solution, the drag chain is an engineering plastic drag chain.

In the above technical solution, the height of the tracker bracket is adjustable.

In the above technical solution, a track is laid on the ground below the measuring platform, and a guide rail matching the track is provided on the bottom surface of the measuring platform.

In the above technical solution, the scanner is a high-precision three-dimensional laser scanner.

In the above technical solution, the tracker is an optical tracker.

In the above technical solution, the vertical accuracy of the I-beam main frame installation is less than 1mm, and the horizontal accuracy is less than 3mm; multi-axis servo linear guides (including X-axis servo linear guides, Y-axis servo linear guides and tracking servo linear guides) The vertical accuracy and horizontal accuracy of the installation are both less than 1mm, and the angle accuracy between the X-axis servo linear guide and the Y-axis servo linear guide is less than 0.05°.

A measurement method of the truss-type industrial measurement system based on the optical tracking scanner and the PLC control system of the present invention is as follows: the workpiece to be measured is placed on the measuring platform and the position is fixed, after the industrial computer starts the scanner and the tracker, the mechanical system The control cabinet controls the scanner and tracker to move to the scanning position, and then controls the mechanical arm to perform fine scanning actions. After the scanning is completed, the three-dimensional point scanning data of the workpiece is automatically obtained and automatically analyzed and processed; the above process is a complete communication control process. Scanning a large workpiece may require multiple control processes to complete the scan. If there are multiple control processes, the data obtained each time will be merged into complete data before automatic analysis and processing, and the size detection results will be automatically generated.

Advantage of the present invention and beneficial effect are:

(1) A truss-type industrial measurement system based on an optical tracking scanner and a PLC control system of the present invention integrates a PLC control system and a multi-axis servo, so that the system has a larger measurement range and has good scalability.

(2) A truss-type industrial measurement system based on an optical tracking scanner and a PLC control system of the present invention integrates a small man-machine collaborative manipulator, enabling the system to complete more flexible and complex actions, and at the same time prevent winding and collision , making the system more secure.

(3) A kind of truss type industrial measurement system based on optical tracking scanner and PLC control system of the present invention controls PLC control system and measurement equipment through industrial computer, realizes automatic control measurement, automatic data collection and automatic analysis and processing, makes the system reach a high degree of automation.

(4) A truss-type industrial measurement system based on an optical tracking scanner and a PLC control system of the present invention integrates an optical tracker and a high-precision three-dimensional laser scanner, so that the measurement accuracy of the system is better than 0.1mm.

(5) A truss-type industrial measurement system based on an optical tracking scanner and a PLC control system of the present invention integrates a PLC control system and a high-precision three-dimensional scanning device, which effectively solves the problems of low efficiency and low precision in precision measurement of large workpieces, A streamlined, automated, easy-to-expand and low-cost high-precision industrial measurement system has been realized. It is a successful case of cross-integration of industrial measurement, three-dimensional scanning, and mechanical automation technology, which is conducive to promoting the development of automated industrial measurement and industrial inspection technology. .

Description of drawings

Fig. 1 is a front view of a truss-type industrial measurement system based on an optical tracking scanner and a PLC control system of the present invention.

Fig. 2 is a side view of a truss-type industrial measurement system based on an optical tracking scanner and a PLC control system according to the present invention.

Fig. 3 is a top view of a truss-type industrial measurement system based on an optical tracking scanner and a PLC control system according to the present invention.

Fig. 4 is a schematic diagram of the machine coordinate system and the user coordinate system.

Fig. 5 is a schematic diagram of rotation and translation of the user coordinate system.

Fig. 6 is a working flow diagram of the present invention.

in:

1: Truss column, 2: Main truss, 3: Y-axis servo linear guide, 4: Tracker positioning mark point, 5: Tracker positioning mark point bracket, 6: X-axis servo linear guide rail bracket, 7: Mechanical arm, 8 : Scanner adapter flange, 9: Industrial computer, 10: Scanner, 11: Mechanical system control cabinet, 12: Tracker pan/tilt, 13: Tracker bracket, 14: Tracker, 15: Engineering plastic drag chain, 16: Tracking servo linear guide rail bracket, 17: Tracking servo linear guide rail, 18: X-axis servo linear guide rail, 19: Measuring table.

For those skilled in the art, other related drawings can be obtained according to the above drawings without any creative effort.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that: the following examples are illustrative, not restrictive, and the protection scope of the present invention cannot be limited by the following examples.

Embodiment one

As shown in Figures 1-3, a truss-type industrial measurement system based on an optical tracking scanner and a PLC control system of the present invention includes an industrial computer 9, a mechanical system control cabinet 11, an I-shaped steel main frame, a tracking measurement device, Measuring platform 19 and tracker positioning mark unit;

The mechanical system control cabinet 11 includes a power supply, a PLC control system, a switch, a touch screen, etc.;

Described industrial computer 9 comprises upper computer software, and this upper computer software is connected with the PLC control system in described mechanical system control cabinet 11 by TCP/IP, carries out interactive communication (sends instruction, receives feedback signal) with PLC control system;

The I-beam main frame includes a horizontally placed and rectangular main body truss 2 and four truss columns 1 vertically arranged at the four corners of the bottom of the main body truss 2, the vertical accuracy of which is installed is less than 1 mm, and the horizontal accuracy is less than 3mm;

The tracking measurement device includes a scanning unit and a tracking unit, wherein the scanning unit includes two Y-axis servo linear guides 3 arranged in parallel on both sides of the main body truss 2, and two Y-axis servo linear guides 3 arranged on the two sides of the Y-axis servo linear guide 3 between and perpendicular to the X-axis servo linear guide rail bracket 6, the X-axis servo linear guide rail 18 arranged on the X-axis servo linear guide rail bracket 6, the mechanical mechanism fixed upside down on the X-axis servo linear guide rail 18 Arm 7 (Universal Robot Model UR3) and a scanner 10 connected to the robotic arm 7 through a scanner adapter flange 8. The scanner 10 is a high-precision three-dimensional laser scanner. The X-axis servo linear The rail bracket 6 can slide freely on the Y-axis servo linear guide 3, and the mechanical arm 7 can slide freely on the X-axis servo linear guide 18. The sliding on the robot arm 7 on the X-axis servo linear guide rail 18 and the fine movements of the scanner 10 driven by the robot arm 7 scan to obtain the three-dimensional data of the workpiece to be inspected;

The tracking unit includes a tracking servo linear guide rail bracket 16 arranged on one side of the I-beam main frame and arranged in the same direction as the Y-axis servo linear guide rail 3, and is arranged on the tracking servo linear guide rail bracket 16 and connected with it. The tracking servo linear guide rail 17 in the same direction, the liftable tracker support 13 that is slidably connected on the tracking servo linear guide rail 17, the tracker pan platform 12 that is fixed on the top of the tracker support 13 and is rotatably connected to the The tracker 14 on the tracker platform 12, the tracker 14 is an optical tracker;

The vertical accuracy and horizontal accuracy of the multi-axis servo linear guide (including X-axis servo linear guide 18, Y-axis servo linear guide 3 and tracking servo linear guide 17) are less than 1mm, and the X-axis servo linear guide 18 and Y-axis servo linear guide The angle accuracy of the guide rail 3 is less than 0.05°;

The measuring table 19 is arranged in the main frame of the I-beam, and is located below the main body truss 2, and is used to place the workpiece to be measured and fix its position. The bottom surface of the measuring table 19 is provided with a slide rail. After the workpiece to be tested is placed and fixed outside the main frame, it is pushed into the I-beam main frame to facilitate the taking of the workpiece;

The tracker positioning mark unit includes a tracker positioning mark support 5 relatively arranged on both sides of the measuring platform 19 and a plurality of tracker positioning mark points 4 arranged on the tracker positioning mark support 5, two The tracker positioning mark point 4 on the side is in the same direction, and the structure side of the tracker positioning mark point support 5 located on the left side of the measuring platform 19 is viewed as F-shaped, and the right ends of the two cross bars of the F-shaped are provided with flat plate-shaped structure, the tracker positioning marker points 4 are evenly distributed on the surface of the planar plate structure; the height of the tracker positioning marker point bracket 5 located on the right side of the measuring platform 19 is approximately equal to the height of the tracker bracket 13, It is provided with a planar plate-shaped structure, which is evenly distributed with a plurality of tracker positioning mark points 4, and the tracker position mark points 4 are set towards the tracker 14. By adjusting the angle of the tracker 14, A sufficient number of tracker positioning mark points 4 are distributed before and after the tracker 14's field of view, so as to facilitate positioning of the tracker 14;

The X-axis servo linear guide rail bracket 6, the mechanical arm 7 and the tracker bracket 13 are all pulled by engineering plastic drag chains 15;

The communication cables and power supply cables of the X-axis servo linear guide 18, the Y-axis servo linear guide 3, the mechanical arm 7, and the tracking servo linear guide 17 are all pulled by drag chains;

The PLC control system is connected with the multi-axis servo and the mechanical arm 7 through TCP/IP to control the movement of the multi-axis servo and the mechanical arm 7 .

A truss-type industrial measurement system based on optical tracking scanner and PLC control system of the present invention integrates PLC control system and multi-axis servo, so that the system has a larger measurement range and good scalability; integrated small man-machine cooperation The mechanical arm enables the system to complete more flexible and complex actions, and at the same time, it is also anti-winding and anti-collision, making the system more secure.

Embodiment two

The software composition of a kind of truss type industrial measurement system based on optical tracking scanner and PLC control system described in Embodiment 1 is as follows:

Host computer software, including control module and data analysis module, in which the data analysis module can be customized and developed according to different applications, and commercial software can also be purchased;

PLC control program, establish mechanical coordinate system, save system running position (debugging), communicate with multi-axis servo and mechanical arm;

The control program of the robotic arm communicates interactively with the PLC control program and saves fine scanning actions (debugging).

Multi-axis servo includes X-axis servo, Y-axis servo and tracking servo. During system operation, multi-axis servo moves according to the coordinate movement (X, Y, L) of debugging, where X represents the coordinate value of the X-axis direction, and Y represents Y The coordinate value in the axial direction, L represents the coordinate value of the tracking servo linear guide 17. After each axis is in place, the PLC control system controls the mechanical arm 7 to perform fine movements according to the debugging path, and scan to obtain the required data.

As shown in Figure 6, a kind of control process (measurement method) of the truss type industrial measuring system based on optical tracking scanner and PLC control system is: the control module of host computer starts scanner 10 and tracker 14—— The control module sends the start scanning signal to the PLC control program—the PLC control program controls the multi-axis servo movement to the scanning position (debugging)—the PLC control program sends a signal to the mechanical arm 7 to run the fine scanning action (debugging)—the PLC control program goes up The control module of the host computer sends the scan completion signal—the control module of the host computer waits for and receives the scan completion signal—the control module of the host computer stops the scanner 10 and the tracker 14—the control module of the host computer automatically obtains the scan data— The data analysis module of the host computer performs automatic analysis and processing.

Embodiment three

The specific implementation process of the control flow of a truss-type industrial measurement system based on an optical tracking scanner and a PLC control system described in Embodiment 2 is as follows:

1. Hardware installation, the installation position of the system is implemented in strict accordance with the design drawing. The vertical accuracy of the I-beam main frame installation is better than 1mm, and the horizontal accuracy is better than 3mm; the vertical accuracy and horizontal accuracy of the multi-axis servo linear guide rail installation are better than 1mm, the accuracy of the angle between X-axis and Y-axis is better than 0.05°;

2. Calibration of the user coordinate system, first calibrate the parameters of the mechanical coordinate system, including servo parameters, linear guide parameters, etc., and then use the workpiece to be tested to calibrate the user coordinate system, and mark the three points of the rectangular coordinate system O-XY on the workpiece to be inspected , customize the three-point coordinate values (x1, y1), (x2, y2), (x3, y3) on the workpiece coordinate system, and then control the X-axis and Y-axis to move to the O-XY three points, and record the corresponding servo coordinates are (X1, Y1), (X2, Y2), (X3, Y3), because there is a certain angle error in the installation of the X-axis servo linear guide 18 and the Y-axis servo linear guide 3, as shown in Figure 4, so the two sets of coordinates The conversion of the system cannot adopt the two-dimensional rotation and translation formula, and the present invention adopts an affine transformation model, as follows:

After the conversion parameters are calculated, the conversion relationship between the user coordinate system and the machine coordinate system is determined.

Then, obtain the three-dimensional coordinates (x′ _i , y′ _i , z′ _i ) of the tracking and positioning mark points 4 through the tracker 14, which are the coordinates of the free coordinate system, and use these positioning punctuation points to manually scan the workpiece to be measured, Obtain the three-dimensional point cloud data of the workpiece to be measured in the free coordinate system, and obtain the free coordinate system coordinates (x', y', z') of the three points in the user coordinate system O-XY through a fitting algorithm, and then convert them to Go to the O-XY plane of the user coordinate system, Z=0, adopt the three-dimensional rotation and translation model, as follows:

After the conversion matrix is calculated, the positioning marker points are converted to the user coordinate system through the conversion matrix to realize the unification of the measurement coordinate system and the user coordinate system. The conversion process is as follows:

3. Mechanical system path debugging, after the calibration of the user coordinate system is completed, the user coordinates (x, y) of any position of the workpiece on the O-XY plane can be converted into mechanical coordinates (X, Y), due to installation errors and coordinate system calibration The influence of the error, there may be a certain deviation between the (X, Y) coordinates and the actual position, so the system increases the correction number (dX, dY), and the deviation of the point position (dX, dY) and the mechanical arm need to be debugged 7 fine scanning action, write (x, y) coordinates and deviation (dX, dY) into PLC storage after debugging.

4. Positioning of the workpiece to be tested. During the streamlined detection process, the system needs to transport the workpiece to be tested to the detection station, and its position deviation cannot exceed the required threshold. Then use the scanner to obtain the frame data of the workpiece to be tested, and calculate the The rotation and translation value of the workpiece relative to the debugging workpiece is shown in Figure 5, and then the two-dimensional rotation and translation model is used to calculate the position of the debugging point (x+Dx, y+Dy) after rotation and translation, as follows:

The converted point accuracy is related to the accuracy of the rotation and translation values, so there may be some errors in the point accuracy, but the error is generally small, and the scanner 10 used is a multi-line laser scanner, so it will not affect data acquisition integrity.

A truss-type industrial measurement system based on an optical tracking scanner and a PLC control system of the present invention can realize fully automatic three-dimensional laser scanning of large workpieces after installation and commissioning, automatically obtain three-dimensional point cloud data of the workpiece, and measure three-dimensional laser points The cloud performs automatic analysis and processing, and automatically generates dimensional inspection results; it meets the needs of automated and streamlined measurement of large workpieces, and the system has good scalability, which has important application prospects in the field of industrial measurement and inspection.

For ease of description, spatially relative terms such as "upper", "lower", "left", "right" and the like are used in the embodiments to describe the relationship between one element or feature shown in the drawings relative to another element or feature. relation. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative specifications used herein interpreted accordingly.

Moreover, relative terms such as "first" and "second", etc. are only used to distinguish one from another element with the same name and do not necessarily require or imply any such actual existence between these elements. relationship or sequence.

The present invention has been described as an example above, and it should be noted that, without departing from the core of the present invention, any simple deformation, modification or other equivalent replacements that can be made by those skilled in the art without creative labor all fall within the scope of this invention. protection scope of the invention.

Claims (10)

1. A truss type industrial measurement system based on optical tracking scanner and PLC control system, characterized in that: comprising industrial computer (9), mechanical system control cabinet (11), I-shaped steel main frame, tracking measurement device, measurement Platform (19) and tracker positioning mark unit; The measuring table (19) is located in the main frame of the I-beam, and is used to place the workpiece to be measured and fix its position; The tracking measurement device includes a scanning unit and a tracking unit, wherein the scanning unit includes a mechanical arm (7) slidably connected to the main frame of the I-beam and a scanner rotationally connected to the mechanical arm (7) (10), the tracking unit includes a tracker (14) that is arranged on one side of the main frame of the I-beam and forms a relative movement with it, through the mechanical arm (7), the scanner (10) and the tracker (14) The cooperation realizes the all-round measurement of the workpiece on the measuring table (19); The tracker positioning mark unit is arranged beside the measuring platform (19), and is used for positioning of the tracker (14) and establishment of a measurement coordinate system; The mechanical system control cabinet (11) includes a power supply, a PLC control system, a switch and a touch screen; The industrial computer (9) is connected with the mechanical system control cabinet (11) and the tracking measurement device through TCP/IP. 2. The truss-type industrial measurement system based on optical tracking scanner and PLC control system according to claim 1, characterized in that: the scanning unit also includes two Y-shaped beams arranged in parallel on the main frame of the I-beam axis servo linear guide rail (3), the X-axis servo linear guide rail bracket (6) arranged between the two Y-axis servo linear guide rails (3) and perpendicular to it, and the X-axis servo linear guide rail bracket (6) arranged on the X-axis servo linear guide rail bracket ( 6) on the X-axis servo linear guide (18), the mechanical arm (7) is fixed upside down on the X-axis servo linear guide (18), and the industrial computer (9) and the PLC control system are used to control the The movement of the X-axis servo linear guide rail (18), the Y-axis servo linear guide rail (3) and the mechanical arm (7) obtains the three-dimensional data of the workpiece to be measured through the scanner (10). 3. The truss-type industrial measuring system based on optical tracking scanner and PLC control system according to claim 1 or 2, characterized in that: the tracking unit also includes the same direction as the Y-axis servo linear guide (3) The provided tracking servo linear guide rail support (16), the tracking servo linear guide rail (17) that is arranged on the tracking servo linear guide rail support (16) and in the same direction as it, and the tracking servo linear guide rail (17) that is slidably connected to the tracking servo linear guide rail (17) Tracker support (13), described tracker (14) is connected with described tracker support (13) by tracker platform (12) rotation. 4. The truss type industrial measurement system based on optical tracking scanner and PLC control system according to claim 3, characterized in that: the scanner (10) is connected to the the bottom end of the robotic arm (7). 5. The truss type industrial measurement system based on optical tracking scanner and PLC control system according to claim 1, characterized in that: said I-beam main frame comprises a horizontally placed and rectangular main body truss (2) and Four truss columns (1) are vertically arranged at four corners of the bottom of the main body truss (2). 6. The truss-type industrial measurement system based on optical tracking scanner and PLC control system according to claim 1, characterized in that: the tracker positioning mark unit includes relatively arranged on both sides of the measuring platform (19) Tracker positioning marker point support (5) and a plurality of tracker positioning marker points (4) arranged on the tracker positioning marker point support (5), the tracker positioning marker points (4) on both sides face unanimous. 7. The truss-type industrial measurement system based on optical tracking scanner and PLC control system according to claim 6, characterized in that: the tracker positioning mark point bracket (5) structure located on the left side of the measurement platform (19) Viewed as an F shape from the side, the right ends of the two cross bars of the F shape are provided with a planar plate-like structure, and the tracker positioning mark points (4) are evenly distributed on the surface of the planar plate-like structure. 8. The truss type industrial measurement system based on optical tracking scanner and PLC control system according to claim 3, characterized in that: the X-axis servo linear guide (18), the Y-axis servo linear guide (3), The communication cables and power supply cables of the mechanical arm (7) and the tracking servo linear guideway (17) are all pulled by drag chains. 9. the truss type industrial measuring system based on optical tracking scanner and PLC control system according to claim 1, is characterized in that: on the ground below described measuring platform (19) is laid with track, measuring platform (19) bottom surface A guide rail matching the track is provided. 10. the measuring method of the truss type industrial measuring system based on optical tracking scanner and PLC control system as any one of claim 1-9, it is characterized in that: the workpiece to be measured is placed on the measuring platform (19) and Fixed position, after the industrial computer (9) starts the scanner (10) and tracker (14), the mechanical system control cabinet (11) controls the scanner (10) and tracker (14) to move to the scanning position, and then controls the mechanical arm (7) Carry out a fine scanning action. After the scanning is completed, the three-dimensional point scanning data of the workpiece is automatically obtained and automatically analyzed and processed; the above process is a complete communication control process. Scanning a large workpiece may require multiple control processes to complete the scan. If there are multiple control processes, the data obtained each time will be merged into complete data at the end before automatic analysis and processing, and the size detection results will be automatically generated.