CN110487179A - Truss-like industrial measuring system and measurement method based on optical tracking scanner and PLC control system - Google Patents
Truss-like industrial measuring system and measurement method based on optical tracking scanner and PLC control system Download PDFInfo
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- CN110487179A CN110487179A CN201910719032.XA CN201910719032A CN110487179A CN 110487179 A CN110487179 A CN 110487179A CN 201910719032 A CN201910719032 A CN 201910719032A CN 110487179 A CN110487179 A CN 110487179A
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- truss
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- 230000003287 optical effect Effects 0.000 title claims abstract description 36
- 238000000691 measurement method Methods 0.000 title claims abstract description 9
- 238000005259 measurement Methods 0.000 claims abstract description 45
- 238000012360 testing method Methods 0.000 claims abstract description 26
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 22
- 239000010959 steel Substances 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 239000003550 marker Substances 0.000 claims abstract description 9
- 238000004458 analytical method Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 12
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- 238000004891 communication Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 abstract description 9
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
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- 229920006351 engineering plastic Polymers 0.000 description 3
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Classifications
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- G—PHYSICS
- 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
-
- G—PHYSICS
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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
Technical field
The present invention relates to mechanical automation and technical field of industrial measurement, be related to it is a kind of based on optical tracking scanner and
The truss-like industrial measuring system and measurement method of PLC control system.
Background technique
Traditional industrial size measurement generally uses the methods of steel ruler, slide calliper rule, apparatus measures, high-precision size detection one
As use three-coordinate instrument, these measurement methods not only low precision, but also low efficiency.Recently as three-dimensional laser scanning technique
Fast development, different accuracy, the three-dimensional laser scanner of different performance are more and more on the market, since 3 D laser scanning has
Non-contact, the advantages that precision is high, high-efficient and data are complete, high-precision three-dimensional laser scanner is increasingly used in industry
Fields of measurement, such as dimension of machine parts measurement, art work measurement, positive industrial design, reverse industrial design and three-dimensional production
Product displaying etc..For the measurement of large-scale workpiece, scanner, tracker, positioning punctuate can use to realize, at present on the market
Through having mature product and application case.Large-scale workpiece is measured using 3-D scanning technology, compared with traditional measurement method,
Measurement efficiency is greatly improved, but it is still time-consuming and laborious.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide one kind to be controlled based on optical tracking scanner and PLC
The truss-like industrial measuring system of system processed, the measuring system can be realized the streamlined of large-scale workpiece, automatic detection, simultaneously
With good scalability, by change multiple-axis servo stroke range and debugging detection point and mechanical arm again it is fine
Movement, can be realized the detection of other type workpiece.
It is another object of the present invention to provide a kind of truss-like based on optical tracking scanner and PLC control system
The measurement method of industrial measuring system.
The present invention is achieved by the following technical solutions:
A kind of truss-like industrial measuring system based on optical tracking scanner and PLC control system, including industrial personal computer, machine
Tool system control cabinet, I-steel main frame, tracking measurement device, test desk and tracker witness marker unit；
The test desk is located in the I-steel main frame, for placing workpiece to be measured and fixing its position；
The tracking measurement device includes scanning element and tracking cell, wherein the scanning element includes being slidably connected
Mechanical arm on the I-steel main frame and the scanner with mechanical arm rotation connection, the tracking cell include
The tracker of I-steel main frame side and formed relative movement is set, mechanical arm, scanner and tracking are passed through
The comprehensive measurement to workpiece on the test desk is realized in the cooperation of instrument；
The tracker witness marker unit is arranged by the test desk, positioning and measurement coordinate system for tracker
Foundation；
The mechanical system control cabinet includes power supply, PLC control system, interchanger and touch screen；
Pass through TCP/IP connection between the industrial personal computer and mechanical system control cabinet and tracking measurement device.
In the above-mentioned technical solutions, the scanning element further includes two be arranged in parallel on the I-steel main frame
X-axis servo linear guide between two Y-axis servo linear guide and normal thereto is arranged in Y-axis servo linear guide
Bracket and the X-axis servo linear guide being arranged on the X-axis servo straight line rail brackets, the mechanical arm is projecting to be fixed on
In the X-axis servo linear guide, the X-axis servo linear guide, Y-axis are controlled by the industrial personal computer and PLC control system
The movement of servo linear guide and mechanical arm obtains the three-dimensional data of workpiece for measurement by scanner.
In the above-mentioned technical solutions, the tracking cell further include be arranged in the same direction with the Y-axis servo linear guide with
Track servo straight line rail brackets are arranged on the tracking servo linear guide bracket and the tracking servo straight line in the same direction with it is led
Rail and the tracker bracket being slidably connected in the tracking servo linear guide, the tracker pass through tracker holder
It is connect with the tracker holder pivots.
In the above-mentioned technical solutions, the scanner is connected to the bottom of the mechanical arm by scanner adapter flange
End.
In the above-mentioned technical solutions, the I-steel main frame include a main body truss horizontal positioned and in rectangle and
Four are vertically arranged in the truss upright-column of four vertex of main body truss bottom.
In the above-mentioned technical solutions, the tracker witness marker unit includes being oppositely arranged on the test desk two sides
Tracker position mark point bracket and the multiple tracker witness markers being arranged on the tracker position mark point bracket
Point, the tracker position mark point of two sides is towards unanimously.
In the above-mentioned technical solutions, the tracker position mark point supporting structure side view on the left of the test desk is F
Shape, two cross bar right ends of the F shape are provided with plane tabular structure, and the tracker position mark point is distributed in the surface plate
The surface of shape structure.
In the above-mentioned technical solutions, the X-axis servo linear guide, Y-axis servo linear guide, mechanical arm and tracking
The communications cable and power cable of servo linear guide are drawn by drag chain.
In the above-mentioned technical solutions, the drag chain is engineering plastics drag chain.
In the above-mentioned technical solutions, the height of the tracker bracket is adjustable.
In the above-mentioned technical solutions, be equipped with track on the ground below the test desk, test desk bottom surface be provided with
The guide rail that the track matches.
In the above-mentioned technical solutions, the scanner is high-precision three-dimensional laser scanner.
In the above-mentioned technical solutions, the tracker is optical tracker.
In the above-mentioned technical solutions, the vertical precision of the I-steel main frame installation is less than 1mm, and horizontal accuracy is less than
3mm；Multiple-axis servo linear guide (including X-axis servo linear guide, Y-axis servo linear guide and tracking servo linear guide) peace
The vertical precision and horizontal accuracy of dress are respectively less than 1mm, and X-axis servo linear guide and the angle precision of Y-axis servo linear guide are small
In 0.05 °.
A kind of measurement of truss-like industrial measuring system based on optical tracking scanner and PLC control system of the invention
Method are as follows: workpiece for measurement is placed on test desk to and is fixed position, after industrial personal computer starts scanner and tracker, mechanical system control
Cabinet control scanner and tracker processed move to scan position, then control mechanical arm and carry out fine scanning movement, to be scanned complete
At rear automatic acquisition workpiece three-dimensional point scan data and carry out Automatic analysis；The above process is primary complete communication control
Process processed, scanning a large-scale workpiece may need multiple control flows that could complete to scan, if having multiple control flows, finally
The data obtained every time are merged into and carry out Automatic analysis after complete data again, automatically generate size detection achievement.
The advantages and benefits of the present invention are:
(1) a kind of truss-like industrial measuring system collection based on optical tracking scanner and PLC control system of the invention
At PLC control system and multiple-axis servo, make system that there is bigger measurement range, while there is good scalability.
(2) a kind of truss-like industrial measuring system collection based on optical tracking scanner and PLC control system of the invention
At small-sized man-machine collaboration mechanical arm, enable the system to complete more flexible more complicated movement, at the same can also antiwind, anticollision, make
System has higher safety.
(3) a kind of truss-like industrial measuring system based on optical tracking scanner and PLC control system of the invention is logical
Industrial personal computer control PLC control system and measuring device are crossed, realize automatic control survey, automatic data acquisition and automatically analyzes place
Reason, makes system reach increasingly automated.
(4) a kind of truss-like industrial measuring system collection based on optical tracking scanner and PLC control system of the invention
At optical tracker and high-precision three-dimensional laser scanner, make the measuring precision better than 0.1mm.
(5) a kind of truss-like industrial measuring system collection based on optical tracking scanner and PLC control system of the invention
At PLC control system and high accurate measurement three-dimensional scanning device, efficiently solve that large-scale workpiece accurate measurement low efficiency, precision are low to ask
Topic realizes a kind of streamlined, automation, easily extends and the high-precision industrial measuring system of lower cost, is commercial measurement, three
The successful case of dimension scanning, mechanical automation technology mixing together may advantageously facilitate automatic industrial measurement, industrial detection technology
Development.
Detailed description of the invention
Fig. 1 is a kind of truss-like industrial measuring system based on optical tracking scanner and PLC control system of the invention
Main view.
Fig. 2 is a kind of truss-like industrial measuring system based on optical tracking scanner and PLC control system of the invention
Side view.
Fig. 3 is a kind of truss-like industrial measuring system based on optical tracking scanner and PLC control system of the invention
Top view.
Fig. 4 is mechanical coordinate system and user coordinate system schematic diagram.
Fig. 5 is user coordinate system rotation translation schematic diagram.
Fig. 6 is work flow diagram of the invention.
Wherein:
1: truss upright-column, 2: main body truss, 3:Y axis servo linear guide, 4: tracker position mark point, 5: tracker is fixed
Bit flag point bracket, 6:X axis servo straight line rail brackets, 7: mechanical arm, 8: scanner adapter flange, 9: industrial personal computer, 10: scanning
Instrument, 11: mechanical system control cabinet, 12: tracker holder, 13: tracker bracket, 14: tracker, 15: engineering plastics drag chain,
16: tracking servo linear guide bracket, 17: tracking servo linear guide, 18:X axis servo linear guide, 19: test desk.
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.It should be understood that following
Embodiment be it is illustrative, be not restrictive, cannot be limited the scope of protection of the present invention with following embodiments.
Embodiment one
As shown in Fig. 1-3, a kind of truss-like Industrial Measurement based on optical tracking scanner and PLC control system of the invention
Amount system, including industrial personal computer 9, mechanical system control cabinet 11, I-steel main frame, tracking measurement device, test desk 19 and with
Track instrument witness marker unit；
The mechanical system control cabinet 11 includes power supply, PLC control system, interchanger, touch screen etc.；
The industrial personal computer 9 includes upper computer software, which passes through TCP/IP and the mechanical system control cabinet
PLC control system connection in 11 interacts with PLC control system and communicates and (send instruction, receive feedback signal)；
The I-steel main frame includes that a horizontal positioned and main body truss 2 in rectangle and four are vertically arranged in master
The truss upright-column 1 of 2 bottom of body truss, four vertex, the vertical precision of installation are less than 1mm, and horizontal accuracy is less than 3mm；
The tracking measurement device includes scanning element and tracking cell, wherein the scanning element includes being arranged in parallel
2 two sides of main body truss two Y-axis servo linear guides 3, be arranged between two Y-axis servos linear guide 3
And X-axis servo straight line rail brackets 6 normal thereto, the X-axis servo direct that is arranged on the X-axis servo straight line rail brackets 6
Line guide rail 18, the projecting mechanical arm 7 (the You Ao robot of model UR3) being fixed in the X-axis servo linear guide 18 with
And the scanner 10 on mechanical arm 7 is connected to by scanner adapter flange 8, which is high-precision three-dimensional laser scanning
Instrument, the X-axis servo straight line rail brackets 6 can free to slide, the described mechanical arm 7 can in Y-axis servo linear guide 3
It is free to slide in the X-axis servo linear guide 18, by X-axis servo straight line rail brackets 6 in Y-axis servo linear guide
Sliding in X-axis servo linear guide 18 of sliding, mechanical arm 7 on 3 and passes through mechanical arm 7 and drive the fine of scanner 10
Movement, scanning obtain the three-dimensional data of workpiece to be checked；
The tracking cell include setting I-steel main frame side and with the Y-axis servo linear guide 3 it is same
To setting tracking servo linear guide bracket 16, be arranged on the tracking servo linear guide bracket 16 and with it is in the same direction
Tracking servo linear guide 17, the liftable tracker bracket 13 being slidably connected in the tracking servo linear guide 17,
Be fixed on the tracker holder 12 on 13 top of tracker bracket and be rotatably connected on the tracker holder 12 with
Track instrument 14, the tracker 14 are optical tracker；
Multiple-axis servo linear guide (including X-axis servo linear guide 18, Y-axis servo linear guide 3 and tracking servo straight line
Guide rail 17) installation vertical precision and horizontal accuracy be respectively less than 1mm, X-axis servo linear guide 18 and Y-axis servo linear guide 3
Angle precision less than 0.05 °；
The test desk 19 is arranged in the I-steel main frame, positioned at the lower section of the main body truss 2, for placing
Workpiece to be measured simultaneously fixes its position, and 19 bottom surface of test desk is provided with sliding rail, puts workpiece for measurement outside I-steel main frame
It sets and is pushed it into I-steel main frame again after finishing and fixing, convenient for taking for workpiece；
The tracker witness marker unit includes the tracker witness marker for being oppositely arranged on 19 two sides of test desk
Point bracket 5 and the multiple tracker position mark points 4 being arranged on the tracker position mark point bracket 5, the institute of two sides
Tracker position mark point 4 is stated towards consistent, positioned at 19 left side of test desk 5 structure side of tracker position mark point bracket
It is considered as F shape, two cross bar right ends of the F shape are provided with plane tabular structure, and the tracker position mark point 4 is distributed in described
The surface of plane tabular structure；5 height of tracker position mark point bracket positioned at 19 right side of test desk is approximately equal to described
The height of tracker bracket 13 is provided with plane tabular structure, and it is fixed that multiple trackers are evenly equipped in the plane tabular structure
Bit flag point 4, which is arranged towards the tracker 14, by adjusting the angle of tracker 14, make with
Sufficient amount of tracker position mark point 4 is all distributed in the front and back within sweep of the eye of track instrument 14, convenient for positioning to tracker 14；
X-axis servo straight line rail brackets 6, mechanical arm 7 and the tracker bracket 13 passes through engineering plastics drag chain 15
Traction；
X-axis servo linear guide 18, Y-axis servo linear guide 3, mechanical arm 7 and the tracking servo linear guide
17 communications cable and power cable is drawn by drag chain；
By TCP/IP connection between the PLC control system and multiple-axis servo and mechanical arm 7, multiple-axis servo and machine are controlled
Tool arm 7 moves.
A kind of truss-like industrial measuring system based on optical tracking scanner and PLC control system of the invention is integrated
PLC control system and multiple-axis servo make system have bigger measurement range, while having good scalability；Integration of compact
Man-machine collaboration mechanical arm, enables the system to complete more flexible more complicated movement, at the same can also antiwind, anticollision, have system
There is higher safety.
Embodiment two
A kind of truss-like industrial measuring system based on optical tracking scanner and PLC control system described in embodiment one
Software composition are as follows:
Upper computer software, including control module and data analysis module, wherein data analysis module can be according to different
Applied customization exploitation, can also buy business software；
PLC control program establishes mechanical coordinate system, saves system running position (debugging), with multiple-axis servo and mechanical arm
Communication control；
Mechanical arm controls program, interactively communicates with PLC control program, saves fine scanning movement (debugging).
Multiple-axis servo includes X-axis servo, Y-axis servo and tracking servo, and in system operation, multiple-axis servo is according to tune
The coordinate motion (X, Y, L) of examination moves, and wherein X indicates the coordinate value of X-direction, and Y indicates the coordinate value of Y direction, L indicate with
The coordinate value of track servo linear guide 17, after each axis operation in place, PLC control system controls mechanical arm 7 according to the road of debugging again
Diameter does fine movement, data required for scanning obtains.
As shown in fig. 6, a kind of control of the truss-like industrial measuring system based on optical tracking scanner and PLC control system
Process (measurement method) processed are as follows: the control module starting scanner 10 and tracker 14 --- the control module of host computer of host computer
Being sent to PLC control program and start scanning signal --- PLC control program control multiple-axis servo moves to scan position and (adjusts
Examination) --- PLC control program sends signal operation fine scanning movement (debugging) to mechanical arm 7 --- PLC control program is upward
The control module of position machine is sent completely scanning signal --- control module of host computer waits and finishes receiving scanning signal ---
The control module of host computer stops scanner 10 and tracker 14 --- and the control module of host computer obtains scanning number automatically
According to --- the data analysis module of host computer carries out Automatic analysis.
Embodiment three
A kind of truss-like industrial measuring system based on optical tracking scanner and PLC control system described in embodiment two
The specific implementation process of control flow are as follows:
1, hardware installation, system mounting location are implemented in strict accordance with design drawing, the vertical precision of I-steel main frame installation
Better than 1mm, horizontal accuracy is better than 3mm；The vertical precision and horizontal accuracy of multiple-axis servo linear guide installation are superior to 1mm, X-axis
It is better than 0.05 ° with Y-axis angle precision；
2, user coordinate system is demarcated, and first demarcates the parameter, including servo parameter, linear guide parameter etc. of mechanical coordinate system,
Then user coordinate system is demarcated using workpiece for measurement, tri- points of rectangular coordinate system O-XY is marked on workpiece to be checked, make volunteer by oneself
3 coordinate values (x1, y1), (x2, y2), (x3, y3) on part coordinate system, then control X-axis and Y-axis moves to 3 points of O-XY, note
Recording corresponding servo coordinate is (X1, Y1), (X2, Y2), (X3, Y3), due to X-axis servo linear guide 18 and Y-axis servo straight line
There are certain angular errors for the installation of guide rail 3, as shown in figure 4, therefore the conversion of two sets of coordinate systems cannot be flat using Two Dimensional Rotating
Formula is moved, the present invention uses affine Transform Model, as follows:
After calculating conversion parameter, that is, the transformational relation of user coordinate system Yu mechanical coordinate system is determined.
Then, then by tracker 14 obtain the three-dimensional coordinate (x ' of tracking and positioning index point 4i, y 'i, z 'i), which is
The coordinate of free coordinate system positions punctuate using these, and manual scanning workpiece for measurement obtains workpiece for measurement in the free coordinate system
Under three dimensional point cloud, and by fitting algorithm obtain 3 points of user coordinate system O-XY free coordinate system coordinate (x ', y ',
Z '), then user coordinate system O-XY plane is converted it to, Z=0 is as follows using three-dimensional rotation translation model:
After transition matrix is calculated, then by position mark point by transition matrix, it is transformed into user coordinate system, realizes and surveys
The unification of coordinate system and user coordinate system is measured, conversion process is as follows:
3, mechanical system path is debugged, after the completion of user coordinate system calibration, the use of workpiece any position in O-XY plane
Family coordinate (x, y) can be converted to mechanical coordinate (X, Y), due to the influence of installation error and coordinate system calibrated error, (X, Y)
There may be certain deviations for coordinate and physical location, therefore system increases correction (dX, dY), needs in debugging process
The departure (dX, dY) of point and the fine scanning movement of mechanical arm 7 are debugged, by (x, y) coordinate and deviation after the completion of debugging
Measure (dX, dY) write-in PLC storage.
4, workpiece for measurement positions, and system needs workpiece for measurement transporting detection station in streamlined detection process,
Then position deviation obtains the frame data of workpiece for measurement no more than desired threshold value using scanner, calculate workpiece for measurement
Relative to the rotation shift value of debugging workpiece, as shown in figure 5, Two Dimensional Rotating translation model is then recycled to calculate debugging point (x
+ Dx, y+Dy) by rotation translation after position, it is as follows:
Positional accuracy after conversion is related to the rotation precision of shift value, therefore there may be certain mistakes for positional accuracy
Difference, but the general very little of error, and the scanner 10 used is multi-thread laser scanner, therefore will not influence data acquisition
Integrality.
A kind of truss-like industrial measuring system based on optical tracking scanner and PLC control system of the invention is being installed
After the completion of debugging, the full-automatic three-dimensional laser scanning of large-scale workpiece can be realized, the automatic three dimensional point cloud for obtaining workpiece is right
Three-dimensional laser point cloud carries out Automatic analysis, automatically generates size detection achievement；Meet automation, the streamlined of large-scale workpiece
Measurement demand, and system have good scalability, it is with important application prospects in commercial measurement detection field.
For ease of explanation, the spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment, have been used for
Relationship of the elements or features relative to another elements or features shown in explanatory diagram.It should be understood that, in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.Such as if in figure
Device be squeezed, the element that is stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position
In other orientation), can be interpreted accordingly used herein of the opposite explanation in space.
And the relational terms of such as " first " and " second " or the like are used merely to one with another with identical
The component of title distinguishes, without necessarily requiring or implying between these components there are any this actual relationship or
Sequentially.
Illustrative description has been done to the present invention above, it should explanation, the case where not departing from core of the invention
Under, any simple deformation, modification or other skilled in the art can not spend the equivalent replacement of creative work equal
Fall into protection scope of the present invention.
Claims (10)
1. a kind of truss-like industrial measuring system based on optical tracking scanner and PLC control system, it is characterised in that: including
Industrial personal computer (9), mechanical system control cabinet (11), I-steel main frame, tracking measurement device, test desk (19) and tracker are fixed
Bit flag unit；
The test desk (19) is located in the I-steel main frame, for placing workpiece to be measured and fixing its position；
The tracking measurement device includes scanning element and tracking cell, wherein the scanning element includes being slidably connected at institute
The mechanical arm (7) on I-steel main frame and the scanner (10) with the mechanical arm (7) rotation connection are stated, the tracking is single
Member includes that the tracker (14) of I-steel main frame side and formed relative movement is arranged in, by mechanical arm (7),
The comprehensive measurement to workpiece on the test desk (19) is realized in the cooperation of scanner (10) and tracker (14)；
The tracker witness marker unit setting is other in the test desk (19), and the positioning and measurement for tracker (14) are sat
Mark the foundation of system；
The mechanical system control cabinet (11) includes power supply, PLC control system, interchanger and touch screen；
The industrial personal computer (9) is connect between mechanical system control cabinet (11) and tracking measurement device by TCP/IP.
2. the truss-like industrial measuring system according to claim 1 based on optical tracking scanner and PLC control system,
It is characterized by: the scanning element further includes that two Y-axis servo straight lines being arranged in parallel on the I-steel main frame are led
Rail (3) is arranged between two Y-axis servos linear guide (3) and X-axis servo straight line rail brackets (6) normal thereto
And the X-axis servo linear guide (18) being arranged on the X-axis servo straight line rail brackets (6), the mechanical arm (7) are projecting
It is fixed on the X-axis servo linear guide (18), the X-axis servo is controlled by the industrial personal computer (9) and PLC control system
The movement of linear guide (18), Y-axis servo linear guide (3) and mechanical arm (7) obtains workpiece for measurement by scanner (10)
Three-dimensional data.
3. the truss-like commercial measurement system according to claim 1 or 2 based on optical tracking scanner and PLC control system
System, it is characterised in that: the tracking cell further includes that the tracking servo that is arranged in the same direction with the Y-axis servo linear guide (3) is straight
Line rail brackets (16), setting are on the tracking servo linear guide bracket (16) and the tracking servo straight line in the same direction with it is led
Rail (17) and the tracker bracket (13) being slidably connected on the tracking servo linear guide (17), the tracker
(14) it is rotatablely connected by tracker holder (12) and the tracker bracket (13).
4. the truss-like industrial measuring system according to claim 3 based on optical tracking scanner and PLC control system,
It is characterized by: the scanner (10) is connected to the bottom end of the mechanical arm (7) by scanner adapter flange (8).
5. the truss-like industrial measuring system according to claim 1 based on optical tracking scanner and PLC control system,
It is characterized by: the I-steel main frame includes that a horizontal positioned and main body truss (2) in rectangle and four set vertically
Set the truss upright-column (1) in four vertex of main body truss (2) bottom.
6. the truss-like industrial measuring system according to claim 1 based on optical tracking scanner and PLC control system,
It is characterized by: the tracker witness marker unit includes the tracker positioning for being oppositely arranged on the test desk (19) two sides
Index point bracket (5) and the multiple tracker position mark points being arranged on the tracker position mark point bracket (5)
(4), the tracker position mark point (4) of two sides is towards unanimously.
7. the truss-like industrial measuring system according to claim 6 based on optical tracking scanner and PLC control system,
It is characterized by: tracker position mark point bracket (5) structure side being located on the left of the test desk (19) is considered as F shape, the F shape
Two cross bar right ends be provided with plane tabular structure, the tracker position mark point (4) is distributed in the plane tabular knot
The surface of structure.
8. the truss-like industrial measuring system according to claim 3 based on optical tracking scanner and PLC control system,
It is characterized by: the X-axis servo linear guide (18), Y-axis servo linear guide (3), mechanical arm (7) and tracking servo
The communications cable and power cable of linear guide (17) are drawn by drag chain.
9. the truss-like industrial measuring system according to claim 1 based on optical tracking scanner and PLC control system,
It is characterized by: being equipped with track on ground below the test desk (19), test desk (19) bottom surface is provided with and the rail
The guide rail that road matches.
10. such as the described in any item truss-like Industrial Measurements based on optical tracking scanner and PLC control system of claim 1-9
The measurement method of amount system, it is characterised in that: workpiece for measurement is placed on test desk (19) and fixed position, industrial personal computer (9) open
Behind dynamic scanner (10) and tracker (14), mechanical system control cabinet (11) control scanner (10) is moved to tracker (14)
Then scan position controls mechanical arm (7) and carries out fine scanning movement, the automatic three-dimensional point for obtaining workpiece is swept after the completion of to be scanned
It retouches data and carries out Automatic analysis；The above process is primary complete communication control process, and scanning a large-scale workpiece can
It can need multiple control flows that could complete to scan, if there is multiple control flows, finally merge into the data obtained every time
Automatic analysis is carried out after whole data again, automatically generates size detection achievement.
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