CN114113079A - Multidirectional-based scanning device, system, scanning method and application thereof - Google Patents
Multidirectional-based scanning device, system, scanning method and application thereof Download PDFInfo
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- CN114113079A CN114113079A CN202111176525.7A CN202111176525A CN114113079A CN 114113079 A CN114113079 A CN 114113079A CN 202111176525 A CN202111176525 A CN 202111176525A CN 114113079 A CN114113079 A CN 114113079A
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Abstract
The invention discloses a multidirectional-based scanning device, a multidirectional-based scanning system, a multidirectional-based scanning method and application of the multidirectional-based scanning method, and belongs to the technical field of surface detection. The method comprises the following steps: at least one placement area for placing at least one target workpiece; the preset path is arranged between the placing areas based on the scanning requirement; a first movement mechanism which moves in at least one degree of freedom on a predetermined path; the second motion mechanism is arranged on the first motion mechanism; the second motion mechanism is a rotation mechanism having 1 to 3 rotational degrees of freedom; the second executing tool is arranged on the second moving mechanism; and based on the mutual cooperative motion of the first motion mechanism and the second motion mechanism or the independent motion of the second motion mechanism, a second scanning mode and an obstacle avoidance mode required by the second execution tool relative to the target workpiece are realized. The invention adopts a mobile and one-stop information acquisition system: comprehensive and efficient workpiece surface treatment is realized through space avoidance and time dislocation in the moving process.
Description
Technical Field
The invention belongs to the technical field of surface detection, and particularly relates to a scanning device, a scanning system, a scanning method and application thereof based on multiple directions.
Background
At present, the appearance detection of a large workpiece mainly transfers the large workpiece to a designated position, and acquires appearance information of the large workpiece according to a predetermined route by an information acquisition device arranged at the rear end of a mechanical arm.
However, in practical use, after the information acquisition device finishes shooting at a certain station, the information acquisition device needs to be driven to a station by the aid of the mechanical arm to continue shooting, and the angle change of a large workpiece or the information acquisition device needs to be carried out, so that the condition for acquiring the appearance information is ensured to be consistent. Since the large-sized workpiece is large in size and heavy in mass, it is not practical to adjust the angle or position of the large-sized workpiece to meet the above requirements. If the space and the shooting angle coordinate of the information acquisition device are changed through the mechanical arm so as to meet the requirements, the requirement on the positioning precision of the information acquisition device is very high.
Disclosure of Invention
The present invention provides a multi-orientation based scanning device, system, scanning method and application thereof for solving the technical problems in the background art.
The invention adopts the following technical scheme: a multi-aspect based scanning system, comprising:
at least one placement area for placing at least one target workpiece;
the preset path is arranged between the placing areas based on the scanning requirement;
a first movement mechanism which moves in at least one degree of freedom on a predetermined path;
the second motion mechanism is arranged on the first motion mechanism; the second motion mechanism is a rotation mechanism having 1 to 3 rotational degrees of freedom;
the second executing tool is arranged on the second moving mechanism; and based on the mutual cooperative motion of the first motion mechanism and the second motion mechanism or the independent motion of the second motion mechanism, a second scanning mode and an obstacle avoidance mode required by the second execution tool relative to the target workpiece are realized.
In a further embodiment, further comprising: the first executing tool is arranged on the first moving mechanism; and realizing a first scanning mode required by the first executing tool relative to the target workpiece based on the independent movement of the first movement mechanism.
By adopting the technical scheme, the first executing tool is fixedly arranged on the first moving mechanism as required, is in a static state relative to the first moving mechanism and is used for processing one or two designated surfaces on the target workpiece.
In a further embodiment, the second scanning mode comprises at least: a stationary scan mode and a motion scan mode;
the static scanning mode is defined as the static state of the first movement mechanism relative to the current target workpiece when the second execution tool is in a working state;
the motion scanning mode is defined as a state that the first motion mechanism moves relative to the current target workpiece when the second execution tool is in a working state.
By adopting the technical scheme, a static or moving scanning mode is selected according to the requirement, the static scanning mode is relatively static, and enough scanning space and time are provided for the second execution tool to act on the current target workpiece; when the selection of the motion type scanning mode is relative motion, namely the first motion mechanism is in a moving state, the rotation angle and the steering of the second motion mechanism need to be adjusted in real time, the operation of a preset surface is completed while a target workpiece is avoided, the operation efficiency is improved, and the operation time is shortened.
In a further embodiment, the obstacle avoidance mode is defined as: and switching the motion state of the second motion mechanism in real time based on the current motion state of the first motion mechanism, and realizing autonomous avoidance between the second execution tool and the current target workpiece and between other target workpieces adjacent to the current target workpiece in space.
In a further embodiment, the first scanning mode comprises at least:
static scanning: when the first motion mechanism is in a working state, the first motion mechanism is static relative to the target workpiece;
mobile scanning: when the first motion mechanism is in a working state, the first motion mechanism moves relative to the target workpiece.
A multi-aspect based scanning apparatus, comprising: a bearing part, the bottom of which is provided with a power source; the bottom surface of the bearing part is recessed from bottom to top to form a cavity, and the front end surface and the rear end surface of the cavity are both hollow structures and are communicated with the cavity;
the first executing tool is arranged in two side walls of the cavity; the first executing tool is set to work on at least one surface of a target workpiece;
the second execution tool is rotatably arranged in the cavity; the second executing tool is set to work on other surfaces of the target workpiece; and according to the operation requirement, the motion states of the bearing part and/or the second execution tool are switched in real time, so that the scanning and space avoidance required by the target workpiece are realized.
By adopting the technical scheme, the method and the device are used for acquiring the images of the two side surfaces of the workpiece.
In a further embodiment, the second performing tool at least comprises: the two ends of the rotating piece are connected to the cavity through a second movement mechanism; the rotating piece rotates around the workpiece by a preset angle along the moving direction under the driving of the second motion mechanism.
By adopting the technical scheme, more information on the workpiece is acquired.
In a further embodiment, the carrier part comprises at least: the first bearing surface and the second bearing surface are oppositely arranged;
the first executing tool works on at least one surface of the target workpiece, which is opposite to the first bearing surface and/or the second bearing surface, according to the operation requirement;
and the second executing tool works on the surface of the target workpiece, which is intersected with the first bearing surface, according to the operation requirement.
In a further embodiment, both sides of the rotating member are provided with a plurality of extensions extending along the profile of the rotating member by a predetermined length.
In a further embodiment, the target workpiece is placed in a form of a lift.
A scanning method based on the multi-azimuth scanning system specifically comprises the following steps:
step one, dividing a placing area according to requirements, and arranging a preset path in the placing area; placing the target workpiece in a corresponding placing area in a lifting mode;
the first motion mechanism moves back and forth on a fixed path, sequentially passes through the target workpiece according to a preset sequence, the rotation state or the position of the second motion mechanism is switched in real time, autonomous avoidance between a second execution tool on the second motion mechanism and the target workpiece is completed, and the first execution tool is in an avoidance state in the whole process; executing at least one of the steps three to four each time when the placing area where the current target workpiece is located is passed;
thirdly, the first executing tool acts on at least one surface of the target workpiece, which is opposite to the first bearing surface and/or the second bearing surface;
and fourthly, performing second tooling operation on the information of at least one surface of the target workpiece, which is intersected with the first bearing surface.
In a further embodiment, the autonomous avoidance in step two comprises at least:
when the first executing tool and the current target workpiece are in relative operation, the second executing tool is always positioned above the current target workpiece; and when the target workpiece is still in the first executing tool, the second executing tool rotates according to the preset steering direction to complete the operation of the required surface.
In a further embodiment, the autonomous avoidance in step two comprises at least:
when the first executing tool is in movable or static scanning, the motion state of the second motion mechanism is switched in real time, and autonomous avoidance between the second executing tool and the current target workpiece and between the second executing tool and other target workpieces adjacent to the current target workpiece is achieved in space.
The surface information acquisition method based on multiple directions is applied to surface treatment of large workpieces.
The invention has the beneficial effects that: the invention is suitable for carrying out 360-degree full-coverage surface treatment on a large-size and heavy-weight workpiece, and comprises the following steps: image acquisition, surface detection and other processing modes. The position of the workpiece is not required to be transferred and the current placement of the workpiece is not required to be scheduled during acquisition. The invention adopts a mobile and one-stop information acquisition system: comprehensive and efficient workpiece surface treatment is realized through space avoidance and time dislocation in the moving process.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a multi-orientation based surface information acquisition system.
Fig. 2 is a schematic structural diagram of a scanning device in embodiment 2.
FIG. 3 is a diagram showing a state of use of the scanning device according to embodiment 2.
FIG. 4 is a front view of a scanning device according to embodiment 2.
Each of fig. 1 to 4 is labeled as: the device comprises a first bearing surface 1, a second bearing surface 2, a third bearing surface 3, a second motion mechanism 4, a rotating piece 5, a camera 6, a target workpiece 7, a shuttle track 8 and a placing area 9.
Detailed Description
The invention is further described with reference to the following description and specific embodiments in conjunction with the accompanying drawings.
When the applicant detects the surface of the workpiece or acquires the appearance information of the workpiece, the following results are found: the prior art devices are more suitable for surface treatment of small workpieces, namely, the small workpieces are rotated or replaced at different angles to realize all-round surface treatment of the small workpieces. When the surface of a large workpiece is treated, the detection is generally performed by a mechanical arm and a camera arranged at the rear end of the mechanical arm: the rear end of the mechanical arm is controlled to adjust the position of the camera according to a preset track or according to detection requirements, and the camera rotates around the workpiece to detect the workpiece in the aspect as much as possible. However, the above method requires extremely high precision of the rear end of the robot arm and high shooting angle of the camera, and it is difficult to ensure that other factors such as angle and distance for shooting the same workpiece or the same group of workpieces are consistent. And the length of the large workpiece is generally more than 3 meters, the large workpiece is heavy and convenient to move. Therefore, when a large workpiece having a length of 3 m or more is subjected to external surface treatment, it is difficult to perform high-precision treatment while ensuring time and labor saving.
Example 1
In order to solve the above technical problem, the present embodiment provides a scanning system based on multiple directions, including: a plurality of placing areas 9, wherein each placing area 9 is correspondingly provided with a placing table for placing a workpiece. A plurality of sets of shuttle rails 8 are arranged between adjacent placing areas 9 according to a predetermined route, a first moving mechanism is arranged on the shuttle rails 8, and the first moving mechanism makes reciprocating motion on the shuttle rails 8 according to the predetermined route, in other words, the moving route of the first moving mechanism is consistent with the moving direction of the shuttle rails 8. And the advancing direction of the first motion mechanism is defined as the front end, and the reverse direction is defined as the rear end.
In a further embodiment, the first movement mechanism is provided with a second movement mechanism 4, and the second movement mechanism 4 is a rotation mechanism having 1 to 3 rotational degrees of freedom; in other words, the second movement mechanism 4 rotates in a predetermined direction. And a second executing tool is arranged on the second moving mechanism 4, and based on the moving state of the second moving mechanism 4, the second executing tool also rotates in a preset direction so as to act on a designated surface of the target workpiece 7 according to requirements. The concrete expression is as follows: based on the mutual cooperative motion of the first motion mechanism and the second motion mechanism 4, or based on the independent motion of the second motion mechanism 4, a second scanning mode and an obstacle avoidance mode required by the second execution tool relative to the target workpiece 7 are realized. In other words, unlike the prior art six-axis robot and the common moving guide, the second motion mechanism in the present embodiment has 1 to 3 rotational degrees of freedom, i.e., the second motion mechanism has fewer degrees of freedom than the six-axis robot, and thus, the all-directional operation of the target workpiece can be achieved. The six-axis robot used in the prior art can realize all-dimensional operation on a target workpiece only by adjusting or shifting on multiple degrees of freedom, and has multiple regulation and control directions on the tail end of the six-axis robot and high precision requirement.
In a further embodiment, based on the mutual coordinated movement of the first movement mechanism and the second movement mechanism 4, it is embodied as: when the first motion mechanism and the target workpiece 7 are always in a relative motion state, the state of the second motion mechanism 4 needs to be adjusted according to the position of the first motion mechanism to realize a second scanning mode and an obstacle avoidance mode required by the second execution tool relative to the target workpiece 7. Since when there is at least a partial overlap between the first movement means and the target workpiece 7, then an autonomous avoidance between the second performing workpiece and the current target workpiece 7 as well as other target workpieces 7 adjacent to the current target workpiece 7 needs to be considered. When the first movement mechanism is not overlapped with the target workpiece 7, the autonomous avoidance between the second execution workpiece and the adjacent target workpiece 7 needs to be considered, and the position and the current movement state of the second execution workpiece are adjusted in real time.
The independent movement based on the second movement mechanism is embodied as follows: when the first motion mechanism is in a static state, no matter how the position relation between the first motion mechanism and the current target workpiece is, the obstacle avoidance of the space between the second execution tool and the target workpiece can be realized only by regulating and controlling the motion state and the position of the second motion mechanism.
Based on the above description, the second scanning mode includes at least: a stationary scan mode and a motion scan mode;
the static scanning mode is defined as a static state of the first movement mechanism relative to the current target workpiece 7 when the second execution tool is in a working state; in other words, when the second executing tool is in a working state, the first moving mechanism is static, namely, the operation on the required surface can be realized by rotating the second executing tool at the moment.
The motion scanning mode is defined as a state in which the first motion mechanism moves relative to the current target workpiece 7 when the second execution tool is in a working state. In other words, when the second executing tool is in the working state and the first moving mechanism is in the moving state, the second executing tool moves in at least two directions, one is the rotation of the second executing tool, and the other is the movement of the second executing tool relative to the current workpiece (following the movement of the first moving mechanism), and at this time, the requirement for avoiding is higher relative to the static scanning mode.
In a further embodiment, the obstacle avoidance mode is defined as: and switching the motion state of the second motion mechanism 4 in real time based on the current motion state of the first motion mechanism, and realizing the autonomous avoidance between the second execution tool and the current target workpiece 7 and between other target workpieces 7 adjacent to the current target workpiece 7 in space.
In a further embodiment, the multi-aspect based scanning system further comprises: and the first executing tool arranged on the first motion mechanism realizes a first scanning mode required by the first executing tool relative to the target workpiece 7 based on the independent motion of the first motion mechanism. The first scanning mode at least comprises: when the first motion mechanism is in a static state relative to the target workpiece 7, static scanning is performed; when the first motion mechanism is in a moving state relative to the target workpiece 7, it is a moving scan. And no matter what motion mode the first motion mechanism is in, the first execution tool always has a space obstacle avoidance in the preset direction for the target workpiece 7.
Example 2
Based on the description of embodiment 1, the present embodiment provides a multi-azimuth based scanning apparatus, including: and a bearing part, the bottom of which is provided with a power source, in this embodiment, the power source is the first motion mechanism in embodiment 1. The bottom surface of the bearing part is recessed from bottom to top to form a cavity, and the front end surface and the rear end surface of the cavity are both hollow structures and are communicated with the cavity; in other words, the whole avoidance space is a hollow structure with a front end face, a rear end face and a bottom penetrating through each other. It is further understood that when the carrying part moves forward along the shuttle track 8 under the action of the moving mechanism, the workpieces in the placing area 9 sequentially pass through the avoiding space, so that the space required by the movement of the carrying part is avoided. It should be noted that the evacuation space is sufficient to accommodate one target workpiece 7.
The first executing tool is arranged in two side walls of the cavity; the first performing tool is arranged to work on at least one side of the target workpiece 7.
In this embodiment, the second performing tool is rotatably mounted in the cavity, and in this embodiment, the second performing tool is in transmission connection with the cavity through the rotating component; the second executing tool is set to work on other surfaces of the target workpiece 7; and according to the operation requirement, the scanning and space avoidance required by the target workpiece 7 are realized by switching the motion state of the bearing part and/or the second execution tool in real time. The first executing tool and the second executing tool can be a shooting unit, a detection unit or other operation units.
During operation, the first executing tool and the second executing tool perform surface treatment on the target workpiece 7 in the cavity: the first performing tool is arranged to act on at least one side of the target workpiece 7; the second performing tooling is arranged to act on the other face of the target workpiece 7.
For example, the following steps are carried out: when the placing regions 9 are arranged in a matrix on a bottom surface or other supporting surfaces, one to two sets of shuttle rails 8 are disposed between each row of placing regions 9. When the shuttle rails 8 between each column of the placement areas 9 are grouped, the carriers on both sides of the shuttle rails 8 share the shuttle rails 8 (each shuttle rail 8 corresponds to a placement area 9 on both sides). Therefore, when the carrying portions are arranged, the carrying portions sharing one shuttle rail 8 are distributed in a staggered manner, and the target workpieces 7 in the placing areas 9 on both sides of the shuttle rail 8 are respectively detected.
When the shuttle rails 8 between each column of the placement areas 9 are two sets, each placement area 9 corresponds to the shuttle rails 8 located on both sides thereof. Therefore, no special space is required for the arrangement of the support.
In a further embodiment, the bearing part comprises a first bearing surface 1 and a second bearing surface 2 arranged opposite to the first bearing surface 1. In order to realize the reciprocating motion of the bearing part, in this embodiment, the bottom of each of the first bearing surface 1 and the second bearing surface 2 is provided with a plurality of driving wheels and driving wheels, one of the driving wheels is in transmission connection with a driving motor, and the driving wheels move on the shuttle track 8 under the action of the driving motor, so as to meet the requirement of the reciprocating motion of the bearing part on the shuttle track 8. In another embodiment, the bottom of the first bearing surface 1 and the second bearing surface 2 are provided with other driving mechanisms for driving the bearing parts to move, such as: threaded screw drive, rack and pinion, etc.
Wherein the first frock of carrying out includes in this embodiment: the first execution devices are respectively arranged on the inner surfaces of the first bearing surface 1 and/or the second bearing surface 2 according to information acquisition requirements; the first executing device is configured to acquire at least one surface of the target workpiece 7, which is opposite to the first bearing surface 1 and/or the second bearing surface 2, in this embodiment, the executing device employs a tool such as a camera 6 and an inspection head.
In other words, when only the information of the surface of the target workpiece 7 opposite to the first carrying surface 1 needs to be obtained, the first execution device is installed on the first carrying surface 1 according to the requirement, and when the target workpiece 7 is located in the avoiding space of the carrying part, the first execution device performs the operation on the surface of the target workpiece 7 opposite to the first carrying surface 1. Similarly, when only the information of the surface of the target workpiece 7 opposite to the second carrying surface 2 needs to be acquired, the first execution device is installed on the second carrying surface 2 according to the requirement, and when the target workpiece 7 is located in the avoiding space of the carrying part, the second execution device performs the operation on the surface of the target workpiece 7 opposite to the first carrying surface 1.
In another embodiment, when information of the surfaces of the target workpiece 7 opposite to the first bearing surface 1 and the second bearing surface 2 only needs to be acquired simultaneously, the first execution device is installed on the first bearing surface 1 and the second bearing surface 2 as required, and when the target workpiece 7 is located in the cavity of the bearing part, the first execution device performs operation on the surfaces of the target workpiece 7 opposite to the first bearing surface 1 and the second bearing surface 2 to acquire information of two surfaces on the target workpiece 7. Taking the moving direction of the moving mechanism as the front and rear directions, information on both sides on the target workpiece 7 is acquired at this time.
In the above embodiment, the first executing device employs the cameras 6, and the number and the positions of the cameras 6 are determined according to specific requirements. For example, the number of the cameras 6 is even 2, 4, and the like, and the cameras are distributed on the first bearing surface 1 and/or the second bearing surface 2 in a matrix manner. The number of the cameras 6 is selected from odd numbers such as 3 groups, 5 groups and the like, and the cameras are asymmetrically distributed on the first bearing surface 1 and/or the second bearing surface 2.
In order to obtain more information about the target workpiece 7, in a further embodiment, the carrier further comprises: and the third bearing surface 3 is fixedly connected between the first bearing surface 1 and the second bearing surface 2 and is positioned at the top of the first bearing surface 1. The first bearing surface 1, the second bearing surface 2 and the third bearing surface 3 form an inverted U-shaped bearing part. And the first shooting unit further comprises a plurality of groups of third executing devices which are installed at the lower surface of the third bearing surface 3 in a self-defined mode, and the third executing devices are set to acquire the surface, opposite to the third bearing surface 3, of the target workpiece 7. In the present embodiment, the third actuator employs a camera 6 and is used to photograph the upper surface of the target workpiece 7.
Based on the above description, the upper surface and both side surfaces of the target workpiece 7 are subjected to the work processing of the corresponding surfaces by the third actuator and the first actuator, respectively. But the lower surface and both the front and rear side surfaces of the target workpiece 7 cannot be accessed. Therefore, in order to solve the above technical problem, in a further embodiment, the carrying part further includes two sets of second moving mechanisms 4 respectively disposed on the inner surfaces of the first carrying surface 1 and the second carrying surface 2; the two ends of the second moving mechanism are respectively connected with a rotating piece 5 of the second moving mechanism 4 in a transmission way. The rotary member 5 is rotated by a predetermined angle about the target workpiece 7 in the moving direction by the drive of the second motion mechanism 4. And the second carries out frock and still includes: the second execution devices are arranged on the lower surface of the rotating piece 5 according to information acquisition requirements; wherein the second actuator is configured to acquire the surfaces of the target workpiece 7 that intersect the first carrying surface 1 (i.e., the upper and lower surfaces and the front and rear side surfaces of the target workpiece 7 mentioned above).
In a further embodiment, the second movement mechanism 4 comprises: and the rotating shafts are respectively arranged on the first bearing surface 1 and the second bearing surface 2, wherein the rotating shafts are sleeved with first gears, the first gears are mutually meshed with the second gears, and the second gears are in transmission connection with output shafts of the positive and negative motors. Adapted thereto, the rotary member 5 comprises: the connecting part is connected to the rotating shaft, and the mounting part is fixed between the two connecting parts and used for mounting a second execution device, wherein the second execution device only needs to adopt the camera 6. In a further implementation, the connecting portion is extended by a predetermined length in the vertical direction, and the length is greater than half the height of the target workpiece 7.
Based on the structure, when the rotating member 5 rotates around the target workpiece 7 under the action of the second motion mechanism 4, the camera 6 on the connecting part acquires the surface of the target workpiece 7 passing by in real time or discontinuously according to requirements. In the process of adoption, the target workpiece 7 is taken as a reference object, the distances from the cameras 6 on the connecting parts to the same surface or the same tangent plane of the target workpiece 7 are the same, and the shooting angles are consistent.
However, in the actual processing process, the target workpiece 7 needs to be supported to a certain extent when being placed, and if the target workpiece 7 is suspended, on one hand, the safety coefficient is low, and on the other hand, trouble is caused to the movement of the bearing part. However, if the target workpiece 7 is directly placed on the placing table, a large area of contact is formed between the target workpiece 7 and the placing table, which may result in that the information of the lower surface of the target workpiece 7 cannot be comprehensively acquired.
In order to solve the above technical problem, in a further embodiment, the placing table is configured to place the target workpiece 7 in a lifting manner, which is embodied as: supporting columns extending upwards to a preset height are arranged on two sides of the placing table, and two ends of the target workpiece 7 are in contact with the supporting columns to complete lifting of the target workpiece 7. At this time, a predetermined gap is left between the lower surface of the target workpiece 7 and the placing table to form a working space.
However, due to the arrangement of the supporting columns, the second moving mechanism 4 cannot drive the rotating member 5 to perform a complete closed-loop movement, and the reason is analyzed as follows: when the target workpiece 7 is placed on the placing table, the two ends of the target workpiece 7 actually form a tight connection structure with the supporting columns, and when the rotating member 5 moves to the tight connection structure under the driving of the second movement mechanism 4, the tight connection structure acts as a barrier to the rotating member 5 in space, which directly causes that the rotating member 5 cannot continue to rotate according to the original rotation direction, and then the surface of the target workpiece 7 between the two supporting columns cannot acquire related images through the camera 6 on the rotating member 5.
Therefore, in order to solve the above technical problem, the following improvements are made in the present embodiment: the front side and the rear side of the mounting part of the rotating piece 5 are respectively provided with a plurality of extending parts with preset lengths extending along the outline of the rotating piece 5, and the extending parts are self-defined and provided with second executing devices. Wherein the extension length of the extension satisfies the requirement that when the mount is stopped at the front/rear side of the support column, the extension and the camera 6 on the extension pass through the shooting space and the camera 6 is right at the lower surface of the target workpiece 7 to complete the shooting of the lower surface.
Based on the above description, the cameras 6 arranged on the first bearing surface 1 and the second bearing surface 2 complete image acquisition of two side surfaces of the target workpiece 7, and the second motion mechanism 4 with at least one degree of freedom is combined to drive the rotating member 5, so that the rotating member 5 rotates around the target workpiece 7, detection of other surfaces on the target workpiece 7 is realized, and further 360-degree all-directional surface image acquisition of the target workpiece 7 is completed. And when the information is acquired, the acquisition angles and the acquisition parameters of the target workpieces 7 in the same group and the plurality of surfaces on the same target workpiece 7 are the same, so that the data processing and analysis in the later period are facilitated.
Based on the above description, the avoidance space is further defined: n target workpieces 7 are arranged in a specified placing area 9 in parallel, wherein N is an integer greater than or equal to 2. And defining the workpiece needing to be detected as the Mth target workpiece 7, wherein M is more than or equal to 1 and less than or equal to N. Under the action of the first motion mechanism, the bearing part is positioned between the M-1 th target workpiece 7 and the Mth target workpiece 7, at this time, the second shooting unit on the rotating piece 5 finishes detecting the front end surface and the corresponding bottom surface of the M-1 th target workpiece 7, and the rotating piece 5 is still at the top of the avoidance space or rotates to the rear end in a rotating mode. When the bearing part just passes through the mth target workpiece 7 (i.e. the mth target workpiece 7 starts to enter the avoidance space of the bearing part), the rotating member 5 is located at the top of the avoidance space or at the rear end of the avoidance space, and when the rotating member 5 is located at the rear end of the avoidance space, it is required to satisfy that there is no contact between the rotating member 5 and the M-1 th target workpiece 7. The bearing part continues to move forwards, namely the Mth target workpiece 7 is gradually changed from being partially (positioned at the front end) in the avoidance space to being completely positioned in the avoidance space, and in the process, if the rotating member 5 is positioned at the top of the avoidance space, the movement of the rotating member 5 cannot be influenced; if the rotating member 5 is located at the rear end of the avoiding space, when the carrying part continues to move forward, if the position of the rotating member 5 is always located at the rear end, the rotating member 5 will prevent the carrying part from continuing to move forward, i.e. the rotating member 5 contacts with the workpiece at the rear end to form a space obstacle, so that in the process, the rotation needs to rotate from the rear end to the top or the front end according to a preset rotating speed. When the mth target workpiece 7 gradually changes from being entirely located in the evacuation space to being partially (the portion located at the rear end) located in the evacuation space, or even completely exits from the evacuation space, it should be noted that when the rotary member 5 rotates to the top and needs to continue to rotate forward, the following two conditions should be satisfied: the front end surface of the Mth target workpiece 7 cannot hinder the rotation of the rotating member 5, namely, the rotating member 5 cannot rotate to the front end in advance and is in contact with the front end surface of the Mth target workpiece 7; the second and (M + 1) th target workpieces 7 cannot come into contact with the rotary 5, i.e., the time point or position point at which the rotary 5 rotates to the front end cannot be delayed.
In summary, the cavity is set to at least realize space avoidance between the workpiece and the bearing part and space avoidance between the second shooting unit and the current workpiece and the adjacent workpiece.
Example 3
Based on the description of embodiment 1, this embodiment discloses a scanning method based on a multi-azimuth scanning system, which specifically includes the following steps:
step one, dividing a placing area 9 according to requirements, and arranging a preset path in the placing area 9; placing the target workpiece 7 in a corresponding placing area 9 in a lifting mode; attention needs to be paid to the sharing of the shuttle rail 8 when setting the shuttle rail 8. If the same shuttle rail 8 is shared by the placing areas 9 on both sides of the shuttle rail 8, the carrying parts sharing one shuttle rail 8 are distributed in a staggered manner, and the target workpieces 7 in the placing areas 9 on both sides of the shuttle rail 8 are respectively detected; if two shuttle rails 8 correspond to the intermediate placement area 9, no special requirements are placed on the space when the carrier is provided.
The first movement mechanism moves back and forth on a fixed path, sequentially passes through the target workpiece 7 according to a preset sequence, the rotation state or the position of the second movement mechanism 4 is switched in real time, autonomous avoidance between a second execution tool on the second movement mechanism 4 and the target workpiece 7 is completed, and the first execution tool is in an avoidance state in the whole process; performing at least one of the steps three to four each time the placement area 9 where the current target workpiece 7 is located is passed; taking N placing areas 9 arranged side by side as an example, the target workpieces 7 are placed inside each placing area 9, at this time, there are N target workpieces 7, where N is an integer greater than 1. Defining the position of the moving mechanism before starting as the initial position, the moving mechanism starts from the initial position and passes through each region in turn, that is, passes through the first target workpiece 7, the second target workpiece 7, …, and the nth target workpiece 7 in turn. Taking the bearing part as a reference object, the first target workpiece 7 firstly enters the cavity and then comes out of the cavity, and then the second target workpiece 7 firstly enters the cavity and then comes out of the cavity, and the process is repeated until the Nth target workpiece 7 firstly enters the cavity and then comes out of the cavity. And any one target workpiece 7 performs at least one of the steps three to four in the time period from the entrance to the exit from the cavity.
Thirdly, the first execution tool acts on at least one surface of the target workpiece 7, which is opposite to the first bearing surface 1 and/or the second bearing surface 2;
and step four, performing second tooling operation on information of at least one surface of the target workpiece 7, which is intersected with the first bearing surface 1. The concrete acquisition mode of the step four is as follows: the first moving mechanism drives the rotating piece 5 to rotate around the target workpiece 7, and information of the upper surface, the front side and the rear side is acquired while the rotating piece rotates; after the support column of the rotating part 5 is limited, the lower surface of the workpiece is operated through the camera 6 positioned on the extension part in the operation room, and the upper, lower, front and rear processing of the target workpiece 7 is realized.
In order to ensure the normal movement of the moving mechanism and the bearing part, the target workpiece 7 is not limited at all, and in a further embodiment, when the target workpiece 7 enters the cavity or comes out of the cavity, the rotating part 5 is driven by the second moving mechanism 4 to be positioned above the target workpiece 7; until the target workpiece 7 is still in the cavity, the rotating part 5 rotates according to the information acquisition requirement, namely the rotating part 5 is controlled by the second motion mechanism 4 to rotate forwards or backwards, and the rotating is carried out according to other preset rotating directions.
Meanwhile, in order to improve the work efficiency, the following adjustments are made in time and space when step two is executed: when the target workpiece 7 enters the cavity, the rotating part 5 is positioned at the rear end of the moving direction in a static or rotating state under the action of the second motion mechanism 4; when the target workpiece 7 comes out of the cavity, the rotating member 5 is positioned at the front end in the moving direction in a stationary or rotating state by the second moving mechanism 4. Through the technical scheme, the first execution tool is in a working state while the bearing part moves, and two sides of the target workpiece 7 are shot; meanwhile, the rotating piece 5 effectively shoots in another direction on the premise of not interfering the movement of the bearing part, and at least two operations are carried out on the same time axis, so that the effect of getting twice the result with half the effort is achieved.
Based on the above description, the surface information acquisition method based on multiple directions in this embodiment is suitable for acquiring a 360 ° full-coverage surface image of a large-size heavy target workpiece 7, and the acquisition is achieved without transferring the position of the target workpiece 7 and scheduling the target workpiece 7 to be currently placed.
Claims (14)
1. Multidirectional-based scanning system, comprising:
at least one placement area for placing at least one target workpiece;
the preset path is arranged between the placing areas based on the scanning requirement;
a first movement mechanism which moves in at least one degree of freedom on a predetermined path;
the second motion mechanism is arranged on the first motion mechanism; the second motion mechanism is a rotation mechanism with one to three rotational degrees of freedom;
the second executing tool is arranged on the second moving mechanism; and based on the mutual cooperative motion of the first motion mechanism and the second motion mechanism or the independent motion of the second motion mechanism, a second scanning mode and an obstacle avoidance mode required by the second execution tool relative to the target workpiece are realized.
2. The multi-aspect based scanning system of claim 1, further comprising:
the first executing tool is arranged on the first moving mechanism; and realizing a first scanning mode required by the first executing tool relative to the target workpiece based on the independent movement of the first movement mechanism.
3. The multi-aspect based scanning system of claim 1, wherein the second scanning mode comprises at least: a stationary scan mode and a motion scan mode;
the static scanning mode is defined as the static state of the first movement mechanism relative to the current target workpiece when the second execution tool is in a working state;
the motion scanning mode is defined as a state that the first motion mechanism moves relative to the current target workpiece when the second execution tool is in a working state.
4. The multi-aspect based scanning system of claim 1, wherein the obstacle avoidance mode is defined as: and switching the motion state of the second motion mechanism in real time based on the current motion state of the first motion mechanism, and realizing autonomous avoidance between the second execution tool and the current target workpiece and between other target workpieces adjacent to the current target workpiece in space.
5. The multi-aspect based scanning system of claim 2, wherein said first scanning mode comprises at least:
static scanning: when the first motion mechanism is in a working state, the first motion mechanism is static relative to the target workpiece;
mobile scanning: when the first motion mechanism is in a working state, the first motion mechanism moves relative to the target workpiece.
6. A multi-aspect based scanning device, comprising:
a bearing part, the bottom of which is provided with a power source; the bottom surface of the bearing part is recessed from bottom to top to form a cavity, and the front end surface and the rear end surface of the cavity are both hollow structures and are communicated with the cavity;
the first executing tool is arranged in two side walls of the cavity; the first executing tool is set to work on at least one surface of a target workpiece;
the second execution tool is rotatably arranged in the cavity; the second executing tool is set to work on other surfaces of the target workpiece; and according to the operation requirement, the motion states of the bearing part and/or the second execution tool are switched in real time, so that the scanning and space avoidance required by the target workpiece are realized.
7. The multi-azimuth based scanning device according to claim 6, wherein the second performing tool comprises at least: the two ends of the rotating piece are connected to the cavity through a second movement mechanism; the rotating piece rotates around the workpiece by a preset angle along the moving direction under the driving of the second motion mechanism.
8. The multi-azimuth based scanning device according to claim 6, wherein the carrier comprises at least: the first bearing surface and the second bearing surface are oppositely arranged;
the first executing tool works on at least one surface of the target workpiece, which is opposite to the first bearing surface and/or the second bearing surface, according to the operation requirement;
and the second executing tool works on the surface of the target workpiece, which is intersected with the first bearing surface, according to the operation requirement.
9. A multi-azimuth based scanning device according to claim 7, wherein both sides of the rotary member are provided with a plurality of extensions extending along the contour of the rotary member by a predetermined length.
10. The multi-orientation based scanning device of claim 6, wherein the target workpiece is placed in a form of a lift.
11. A scanning method of the multi-azimuth based scanning system as claimed in any one of claims 1 to 5, comprising the following steps:
step one, dividing a placing area according to requirements, and arranging a preset path in the placing area; placing the target workpiece in a corresponding placing area in a lifting mode;
the first motion mechanism moves back and forth on a fixed path, sequentially passes through the target workpiece according to a preset sequence, the rotation state or the position of the second motion mechanism is switched in real time, autonomous avoidance between a second execution tool on the second motion mechanism and the target workpiece is completed, and the first execution tool is in an avoidance state in the whole process; executing at least one of the steps three to four each time when the placing area where the current target workpiece is located is passed;
thirdly, the first executing tool acts on at least one surface of the target workpiece, which is opposite to the first bearing surface and/or the second bearing surface;
and fourthly, performing second tooling operation on the information of at least one surface of the target workpiece, which is intersected with the first bearing surface.
12. The multi-azimuth based scanning method as claimed in claim 11, wherein the autonomous avoidance in the second step at least comprises:
when the first executing tool and the current target workpiece are in relative operation, the second executing tool is always positioned above the current target workpiece; and when the target workpiece is still in the first executing tool, the second executing tool rotates according to the preset steering direction to complete the operation of the required surface.
13. The multi-azimuth based scanning method as claimed in claim 11, wherein the autonomous avoidance in the second step at least comprises:
when the first executing tool is in movable or static scanning, the motion state of the second motion mechanism is switched in real time, and autonomous avoidance between the second executing tool and the current target workpiece and between the second executing tool and other target workpieces adjacent to the current target workpiece is achieved in space.
14. The multi-aspect based scanning method of claim 11 is applied to surface treatment of large workpieces.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111176525.7A CN114113079A (en) | 2021-10-09 | 2021-10-09 | Multidirectional-based scanning device, system, scanning method and application thereof |
| PCT/CN2021/124054 WO2023056661A1 (en) | 2021-10-09 | 2021-10-15 | Multi-direction-based scanning apparatus, system and scanning method and use thereof |
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| CN202111176525.7A CN114113079A (en) | 2021-10-09 | 2021-10-09 | Multidirectional-based scanning device, system, scanning method and application thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20020014533A1 (en) * | 1995-12-18 | 2002-02-07 | Xiaxun Zhu | Automated object dimensioning system employing contour tracing, vertice detection, and forner point detection and reduction methods on 2-d range data maps |
| CN107843209A (en) * | 2017-10-30 | 2018-03-27 | 北京颐和海纳科技有限公司 | Profile scan system and method |
| CN107991324A (en) * | 2017-12-25 | 2018-05-04 | 北京华力兴科技发展有限责任公司 | Double-visual angle passenger car scanography equipment |
| CN108871234A (en) * | 2018-07-10 | 2018-11-23 | 苏州艾弗伦智能技术有限公司 | Non-contact 3-D automatic scanning test macro |
| CN209623612U (en) * | 2019-03-15 | 2019-11-12 | 定襄县格美莱智能科技有限公司 | Part blank scanning device and detection system |
| CN211262139U (en) * | 2019-12-26 | 2020-08-14 | 苏州登城智能科技有限公司 | High-precision 3D scanning device |
| CN214323378U (en) * | 2020-12-28 | 2021-10-01 | 天津新松机器人自动化有限公司 | Three-dimensional scanning workstation of robot |
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