CN114740492A - Mobile flexible measurement system and measurement method for large complex component - Google Patents
Mobile flexible measurement system and measurement method for large complex component Download PDFInfo
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- CN114740492A CN114740492A CN202210241905.2A CN202210241905A CN114740492A CN 114740492 A CN114740492 A CN 114740492A CN 202210241905 A CN202210241905 A CN 202210241905A CN 114740492 A CN114740492 A CN 114740492A
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- 238000005259 measurement Methods 0.000 title claims abstract description 58
- 238000000691 measurement method Methods 0.000 title description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 230000000007 visual effect Effects 0.000 claims abstract description 56
- 239000012636 effector Substances 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 9
- 238000004088 simulation Methods 0.000 claims description 6
- 238000004146 energy storage Methods 0.000 claims description 4
- 238000013178 mathematical model Methods 0.000 claims description 3
- 230000009191 jumping Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a movable flexible measuring system for a large-scale complex component, which comprises a high-load AGV trolley, a first multi-stage lifting mechanism, a second multi-stage lifting mechanism, a mechanical arm, a measuring end actuator, a two-axis cloud deck and a visual tracker, wherein the first multi-stage lifting mechanism is arranged on the AGV trolley; the high-load AGV trolley is used for carrying a first multi-stage lifting mechanism and a second lifting mechanism and moving to an appointed measuring area; the mechanical arm is carried on the top end of the first lifting mechanism, a measuring end effector is fixed at the tail end of a mechanical arm flange, and the mechanical arm is controlled to move by a mechanical arm control cabinet and is matched with the first lifting mechanism, so that the measuring end effector reaches a specified position; the two-axis holder is fixed at the top end of the second lifting mechanism, and the horizontal rotation angle and the pitching angle of the visual tracker are adjusted through the two-axis holder, so that the measurement end effector is always in the visual field range of the visual tracker. The invention can realize the automatic measurement of large-scale complex components and effectively improve the measurement efficiency.
Description
Technical Field
The invention belongs to the field of large-scale component measurement, and particularly relates to a movable flexible measurement system and a movable flexible measurement method for a large-scale complex component.
Background
With the rapid development of advanced manufacturing technology in China, the manufacturing technology of high-end equipment also makes leap-forward progress, and the safety performance of the high-end equipment is one of the most concerned problems of people no matter under the condition of military use or civil use. The assembly of large-scale complex components is a very important part in the manufacture of high-end equipment, and directly influences the safety performance of the high-end equipment, so that the measurement of the large-scale complex components is an important task in the manufacturing process of the high-end equipment and is also an important means for improving the safety performance of large-scale components such as airplanes, ships, spacecrafts and the like.
Aiming at the measurement of a large-scale complex component assembly site, the traditional method mainly adopts manual measurement, but the manual measurement has the following defects: on one hand, the human subjectivity is too strong, and the technical workers need to accumulate the experience for a long time; on the other hand, the manual measurement efficiency is low, and the advanced manufacturing development requirements are not met.
With the development of advanced manufacturing, digital measurement technology is gradually applied to an aircraft assembly field, for example, a laser scanner is manually operated to scan an aircraft component to obtain point cloud data, and then a computer aided analysis tool is used to analyze a measurement result. However, the current use of three-dimensional laser scanners is mainly manual handling, which is inefficient and difficult to acquire data for some manually inaccessible locations (e.g., too high in height).
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a mobile flexible measurement system and a measurement method for a large complex component, so as to solve the problem of automatic data acquisition of three-dimensional detection of the large complex component.
In order to realize the purpose, the invention adopts the following technical scheme:
a movable flexible measuring system for large-scale complex components comprises a high-load AGV trolley, a first multi-stage lifting mechanism, a second multi-stage lifting mechanism, a mechanical arm, a measuring end actuator, a two-axis cloud deck and a visual tracker;
the high-load AGV trolley is used for carrying a first multi-stage lifting mechanism and a second lifting mechanism and moving to an appointed measuring area; the first multi-stage lifting mechanism and the second multi-stage lifting mechanism are fixedly arranged on the high-load AGV trolley, and the first multi-stage lifting mechanism and the second multi-stage lifting mechanism are lifted and lowered by controlling a first hydraulic pump, a second hydraulic pump and an energy storage valve respectively;
the mechanical arm is carried at the top end of the first lifting mechanism, a measuring end effector is fixed at the tail end of a mechanical arm flange, and the mechanical arm is controlled to move by a mechanical arm control cabinet and is matched with the first lifting mechanism, so that the measuring end effector reaches a specified position;
the measuring end effector comprises a three-dimensional laser scanner and a plurality of ultrasonic sensors, the three-dimensional laser scanner is used for scanning the surface of a component to be measured to obtain three-dimensional measuring point cloud data, the ultrasonic sensors are used for measuring the real-time distance between the ultrasonic sensors and an obstacle, and collision early warning in the scanning process is realized by setting a distance measuring threshold;
the two-axis tripod head is fixed at the top end of the second lifting mechanism, a visual tracker is carried on the two-axis tripod head, and the horizontal rotation angle and the pitching angle of the visual tracker are adjusted through the two-axis tripod head so as to ensure that the measuring end effector is always positioned in the visual field range of the visual tracker; the visual tracker is used for tracking the three-dimensional laser scanner and realizing the positioning function of the three-dimensional laser scanner.
Further, high load AGV dolly includes automobile body, omniwheel and electric lift landing leg, and automobile body front end and rear end all are provided with laser navigation sensor for realize long distance mobile navigation, the bottom of automobile body is equipped with image acquisition device, is used for realizing the vision fine positioning of high load AGV dolly.
Furthermore, the front and rear diagonal positions of the body of the high-load AGV trolley are respectively provided with a laser obstacle avoidance sensor for detecting obstacles around the body.
Furthermore, the heights of the bodies of the first multistage lifting mechanism and the second multistage lifting mechanism are 1100mm, three-stage hinge driving structures are adopted, and the stroke reaches 1900 mm; the pressure parameters of the first hydraulic pump and the second hydraulic pump are not lower than 16.5Mpa, and the load capacity provided by the multi-stage lifting mechanism when the multi-stage lifting mechanism is completely unfolded is not lower than 200 kg.
Further, the effective tracking distance of the visual tracker is larger than 1300mm, the first multi-stage lifting mechanism and the second multi-stage lifting mechanism are fixed on the axis of the AGV trolley body with high load, and the distance between the first multi-stage lifting mechanism and the second multi-stage lifting mechanism is 1820mm, so that the situation that the distance between the end effector and the visual tracker is too close to the visual tracker during operation is avoided.
Furthermore, through the two-axis pan-tilt, the range of the pitch angle stroke of the visual tracking instrument is-60 degrees to 60 degrees, and the range of the horizontal rotation angle stroke is 0 degree to 360 degrees.
A large-scale component measuring method based on the measuring system comprises the following steps:
s1, importing the mechanical arm model and the mathematical model of the component to be measured into offline planning software;
s2, driving the AGV to a measurement area, adjusting the multi-stage lifting mechanism to enable the mechanical arm and the visual tracker to reach proper heights, and adjusting the posture of the two-axis pan-tilt head to ensure that the measurement execution tail end is always within the visual field range of the visual tracker in the measurement process;
s3, acquiring the positioning pose of the mechanical arm, and synchronizing the pose of the mechanical arm in the offline planning software;
s4, performing offline planning of the scanning path of the mechanical arm in offline planning software;
s5, scanning simulation of the mechanical arm is carried out, and if the simulation does not pass, the scanning path is planned again;
s6, exporting a mechanical arm scanning control program and sending the mechanical arm scanning control program to a mechanical arm control cabinet;
s7, driving the mechanical arm and starting the scanner to measure the components;
s8, reading the signal of the ultrasonic sensor in the measuring process to monitor the collision, if the collision happens, manually operating and determining whether to continue measuring;
and S9, judging whether the member to be measured has been scanned completely, if so, turning off the scanner and exporting the measurement data, otherwise, jumping to S2 and continuing to measure the next area.
Further, the acquiring of the positioning pose of the mechanical arm in S3 includes the following steps: firstly, arranging a plurality of photogrammetric targets on the surface of a component to be measured, photographing by using a photogrammetric system to measure the targets so as to obtain point location information, and constructing a measurement field coordinate system; subsequently, the visual tracker positions the target and the three-dimensional laser scanner in the visual field; and finally, based on the measurement field coordinate system and the mechanical arm coordinate system, positioning of the mechanical arm is realized through a hand-eye calibration algorithm.
The invention has the beneficial effects that:
the measurement system enables the measurement actuator and the visual tracker to reach the designated measurement position through the high-load AGV trolley and the multi-stage lifting mechanism, has the advantages of good space accessibility, simple control strategy and high automation degree, can realize the automatic measurement of large-scale complex components, effectively improves the measurement efficiency, and is convenient and flexible to use and good in maintainability due to the integrated design of the measurement actuator and the visual tracker.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic view of a measurement end effector;
FIG. 3 is a flow chart of a measurement method of the present invention;
the device comprises a 1-high-load AGV trolley, 2-a first multi-stage lifting mechanism, 3-a second multi-stage lifting mechanism, 4-a first hydraulic pump, 5-a second hydraulic pump, 6-an energy storage valve, 7-a mechanical arm, 8-a mechanical arm control cabinet, 9-a measuring end actuator, 901-a three-dimensional laser tracker, 902-an ultrasonic sensor, 903-an ultrasonic fixing tool, 904-a clamping handle, 905-an L-shaped flange connecting tool, 10-a two-axis cloud deck and 11-a visual tracker.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the measurement system of the present invention includes a high-load AGV cart 1, a multi-stage lifting system (including a first multi-stage lifting mechanism 2 and a first multi-stage lifting mechanism 3), a mechanical arm system (including a mechanical arm 7 and a control cabinet 8 thereof), a measurement end effector 9, a two-axis pan-tilt 10, and a visual tracker 11.
High load AGV dolly 1 includes automobile body, omniwheel, electric lift landing leg etc. and various electrical components in the car for carry on measuring equipment and remove, wherein the automobile body front and back tip respectively sets up a laser navigation sensor, is used for realizing long distance mobile navigation, and bottom of the car body is equipped with the camera, is used for the accurate location of vision, and the opposite angle respectively sets up a laser around the automobile body and keeps away barrier sensor, and two lasers keep away barrier sensor and carry out the obstacle around to the automobile body 360 scopes and survey.
The multi-level lifting system is installed on a high-load AGV trolley 1 and used for carrying a mechanical arm 7, a two-axis cloud platform 10 and a visual tracking instrument 11, and the function of measuring different heights is achieved. The height of the multi-stage lifting mechanism body is 1100mm, a three-stage hinge driving structure design is adopted, and the stroke reaches 1900 mm; the multi-stage lifting mechanism provides power through the hydraulic pump and the energy storage valve 6, the pressure parameter of the hydraulic pump is not lower than 16.5Mpa, and the load capacity is not lower than 200KG when the multi-stage lifting mechanism is completely unfolded. Because the effective tracking distance of the visual tracker 11 is greater than 1300mm, two sets of multi-stage lifting mechanisms are placed on the red axis of the AGV trolley 1, the arrangement distance is 1820mm, and the problem that the distance between the visual tracker and the visual tracker exceeds the tracking visual field range when the end effector is measured is effectively relieved.
As shown in fig. 2, the measurement end effector 9 is mounted on a robot flange, and is composed of a three-dimensional laser scanner 901, four ultrasonic sensors 902, an ultrasonic fixing tool 903, a grip handle 904, and an L-shaped flange connecting tool 905. The three-dimensional laser scanner 901 can scan the surface of a component to be measured to obtain three-dimensional measurement point cloud data, the ultrasonic sensor 902 can measure the distance of an obstacle between 30mm and 400mm, the effective measurement distance of the three-dimensional scanner is 300mm, and the collision early warning of the mechanical arm in the scanning execution process is realized by setting the distance measurement threshold value to be 80mm, so that the measurement safety is ensured. The mechanical arm in the embodiment is selected from KukaKR10R1420, the weight of the body does not exceed 160kg, and the measuring radius is 1420 mm.
The two-axis cloud platform 10 is installed at the top end of the second multi-stage lifting mechanism 3 and used for carrying the visual tracker 11 to realize the adjustment of the horizontal and pitching angles of the visual tracker, the pitch angle stroke of the visual tracker reaches-60 degrees to 60 degrees, the horizontal rotation angle stroke reaches 0 degree to 360 degrees, and the measurement end effector 9 is ensured to be positioned in the visual field range of the visual tracker 11. The visual tracker 11 is used for tracking the laser scanner, and realizes a positioning function of the laser scanner.
As shown in fig. 3, the measurement of the large-scale component by using the measurement system of the present invention mainly comprises the following steps:
(1) importing the mechanical arm model and the mathematical model of the component to be measured into offline planning software;
(2) driving the AGV to a measurement area, adjusting the lifting mechanism to enable the mechanical arm and the visual tracking instrument to reach a proper height, and adjusting the posture of the holder to ensure that the measurement execution tail end is always within the visual field range of the visual tracking instrument in the measurement process;
(3) acquiring the positioning pose of the mechanical arm, and synchronizing the pose of the mechanical arm in offline planning software;
(4) performing off-line planning on a scanning path of the mechanical arm;
(5) scanning simulation of the mechanical arm is carried out, and if the simulation does not pass, a scanning path is planned again;
(6) exporting a mechanical arm scanning control program and sending the mechanical arm scanning control program to a mechanical arm control cabinet;
(7) driving the mechanical arm and starting a scanner to measure the component;
(8) reading signals of the ultrasonic sensor in the measuring process to carry out collision monitoring, and if collision occurs, manually operating and determining whether to continue measuring;
(9) and (3) judging whether the component to be measured is completely scanned, if so, closing the scanner and exporting measurement data, otherwise, skipping to the step (2) and measuring the next area.
The specific steps of acquiring the positioning posture of the mechanical arm in the step (3) are as follows:
firstly, arranging a plurality of photogrammetric targets on the surface of a component to be measured, photographing by using a photogrammetric system to measure the targets to obtain point location information, and constructing a measurement field coordinate system; subsequently, the visual tracker can position the target in the visual field and the laser scanner, so that the laser scanner can measure a field coordinate system; and finally, based on the measurement field coordinate system and the mechanical arm coordinate system, positioning of the mechanical arm is realized through the existing robot hand-eye calibration algorithm.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
It should be noted that the terms "upper", "lower", "left", "right", "front", "back", etc. used in the present invention are for clarity of description only, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not limited by the technical contents of the essential changes.
Claims (8)
1. A movable flexible measurement system for large-scale complex components is characterized by comprising a high-load AGV trolley, a first multi-stage lifting mechanism, a second multi-stage lifting mechanism, a mechanical arm, a measurement end effector, a two-axis cloud deck and a visual tracker;
the high-load AGV trolley is used for carrying a first multi-stage lifting mechanism and a second lifting mechanism and moving to an appointed measuring area; the first multi-stage lifting mechanism and the second multi-stage lifting mechanism are fixedly arranged on the high-load AGV trolley, and the first multi-stage lifting mechanism and the second multi-stage lifting mechanism are lifted and lowered by controlling the first hydraulic pump, the second hydraulic pump and the energy storage valve respectively;
the mechanical arm is carried on the top end of the first lifting mechanism, a measuring end effector is fixed at the tail end of a mechanical arm flange, and the mechanical arm is controlled to move by a mechanical arm control cabinet and is matched with the first lifting mechanism, so that the measuring end effector reaches a specified position;
the measuring end effector comprises a three-dimensional laser scanner and a plurality of ultrasonic sensors, the three-dimensional laser scanner is used for scanning the surface of a component to be measured to obtain three-dimensional measuring point cloud data, the ultrasonic sensors are used for measuring the real-time distance between the ultrasonic sensors and an obstacle, and collision early warning in the scanning process is realized by setting a distance measuring threshold;
the two-axis tripod head is fixed at the top end of the second lifting mechanism, a visual tracker is carried on the two-axis tripod head, and the horizontal rotation angle and the pitching angle of the visual tracker are adjusted through the two-axis tripod head so as to ensure that the measuring end effector is always positioned in the visual field range of the visual tracker; the visual tracker is used for tracking the three-dimensional laser scanner and realizing the positioning function of the three-dimensional laser scanner.
2. The mobile flexible measurement system of large-scale complicated component according to claim 1, characterized in that the high-load AGV comprises a vehicle body, omnidirectional wheels and electric lifting legs, wherein laser navigation sensors are arranged at the front end and the rear end of the vehicle body for realizing long-distance mobile navigation, and an image acquisition device is arranged at the bottom of the vehicle body for realizing visual fine positioning of the high-load AGV.
3. The mobile flexible measurement system of large complex components according to claim 1, wherein laser obstacle avoidance sensors are respectively arranged at front and rear opposite corners of the body of the high-load AGV, and are used for detecting obstacles around the body.
4. The mobile flexible measuring system of a large-scale complex component as claimed in claim 1, wherein the height of the body of the first multi-stage lifting mechanism and the second multi-stage lifting mechanism is 1100mm, and both adopt a three-stage hinge driving structure, and the stroke reaches 1900 mm; the pressure parameters of the first hydraulic pump and the second hydraulic pump are not lower than 16.5Mpa, and the load capacity provided by the multi-stage lifting mechanism when the multi-stage lifting mechanism is completely unfolded is not lower than 200 kg.
5. The mobile flexible measurement system of large complex components according to claim 1, wherein the effective tracking distance of the visual tracker is greater than 1300mm, and the first multi-stage lifting mechanism and the second multi-stage lifting mechanism are fixed on the axis of the AGV body with a distance of 1820mm, so as to avoid that the measurement end effector is too close to the visual tracker to exceed the visual field of the visual tracker during the operation of the measurement end effector.
6. The mobile flexible measurement system of a large complex component as claimed in claim 1, wherein the visual tracker has a pitch angle range of travel of-60 degrees to 60 degrees and a horizontal rotation angle range of travel of 0 degrees to 360 degrees by means of a two-axis pan-tilt.
7. A method for measuring a large component based on the measuring system of any one of the preceding claims, comprising the steps of:
s1, importing the mechanical arm model and the mathematical model of the component to be measured into offline planning software;
s2, driving the AGV to a measurement area, adjusting the multi-stage lifting mechanism to enable the mechanical arm and the visual tracker to reach proper heights, and adjusting the posture of the two-axis pan-tilt head to ensure that the measurement execution tail end is always within the visual field range of the visual tracker in the measurement process;
s3, acquiring the positioning pose of the mechanical arm, and synchronizing the pose of the mechanical arm in the offline planning software;
s4, performing offline planning of the scanning path of the mechanical arm in offline planning software;
s5, scanning simulation of the mechanical arm is carried out, and if the simulation does not pass, the scanning path is planned again;
s6, exporting a mechanical arm scanning control program and sending the mechanical arm scanning control program to a mechanical arm control cabinet;
s7, driving the mechanical arm and starting the scanner to measure the components;
s8, reading the signal of the ultrasonic sensor in the measuring process to monitor the collision, if the collision happens, manually operating and determining whether to continue measuring;
and S9, judging whether the component to be measured is completely scanned, if so, turning off the scanner and deriving measurement data, otherwise, jumping to S2 and continuing to measure the next area.
8. The large-scale component measuring method according to claim 7, wherein the acquiring of the positioning pose of the mechanical arm in S3 includes the steps of: firstly, arranging a plurality of photogrammetric targets on the surface of a component to be measured, photographing by using a photogrammetric system to measure the targets so as to obtain point location information, and constructing a measurement field coordinate system; subsequently, the visual tracker positions the target and the three-dimensional laser scanner in the visual field; and finally, based on the measurement field coordinate system and the mechanical arm coordinate system, positioning of the mechanical arm is realized through a hand-eye calibration algorithm.
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| CN202210241905.2A CN114740492A (en) | 2022-03-11 | 2022-03-11 | Mobile flexible measurement system and measurement method for large complex component |
| JP2022152134A JP2023133088A (en) | 2022-03-11 | 2022-09-26 | Mobile flexible measurement system and measurement method for large complex component |
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| CN116136396A (en) * | 2023-04-17 | 2023-05-19 | 思看科技(杭州)股份有限公司 | Three-dimensional scanning method based on tracking scanning system and tracking scanning system |
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| CN117549352B (en) * | 2023-12-05 | 2024-04-09 | 广东亚数智能科技股份有限公司 | Three-dimensional scanning manipulator for large part identification and control method thereof |
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