CN115717868B - Real-time online three-dimensional automatic scanning measurement system - Google Patents
Real-time online three-dimensional automatic scanning measurement system Download PDFInfo
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Abstract
The invention relates to the technical field of three-dimensional measurement systems, in particular to a non-contact three-dimensional scanning measurement system. A real-time online three-dimensional automated scanning measurement system comprising: AGV dolly, cooperation robot, high accuracy optical scanning gauge head, fixed optical tracker, data wireless transmission unit, data processing unit and automation control unit based on 5G technique. The invention utilizes the high-precision optical scanning measuring head to collect the image information of the measured workpiece, and transmits the image information to the data processing unit in real time and quickly by a 5G technology, the data processing unit finishes data processing such as point cloud data calculation, point cloud denoising, point cloud meshing, form and position tolerance analysis and the like, and the obtained measurement result is uploaded to the cloud server to realize measurement result cloud sharing. The problem that the detection efficiency is low due to the fact that the existing online measurement system cannot be shared in real time due to the fact that safety is poor, programming is complex, adaptability is poor when the workpiece is measured online in real time is effectively solved.
Description
Technical Field
The invention relates to the technical field of three-dimensional measurement systems, in particular to a non-contact three-dimensional scanning measurement system.
Background
Under the tide of intelligent manufacturing, intelligent factories are already a trend, intelligent measurement is an important link of intelligent manufacturing, and higher requirements are put on wireless automatic control of a measurement system, application ductility of the measurement system and real-time sharing of measurement data.
Most of the measurement schemes in the prior art for measuring the geometric dimension of a workpiece in a factory are to take the workpiece off a machine tool, transport the workpiece to a measurement laboratory or a designated measurement area for offline measurement, and the offline measurement method has the following defects:
(1) The method is generally only suitable for measuring finished products, cannot perform in-situ on-line measurement on the workpiece in the machining process, monitors the machining quality of the workpiece in real time, and can cause the workpiece to be unable to repair if a problem is found during the measurement of the finished product, so that the rejection rate is increased, the production cost is increased, and the machining efficiency is reduced.
(2) In the workpiece transferring process, intervention of operators is needed, so that labor cost is increased, and measurement efficiency is reduced.
Based on some defects of offline measurement of a workpiece, by means of vigorous development of intelligent manufacturing technology, in recent years, online measurement technology of the workpiece is rapidly developed, and the most applicable method is to integrate a flexible contact type measuring head in a machining center and realize in-situ online measurement of the workpiece by means of a motion system of the machining center, however, the method has the following defects:
(1) The contact type measuring head data acquisition mode is single-point acquisition, the point cloud density is low, and the requirement of high-density point cloud data for complex curved surface part number-mode comparison analysis cannot be met.
(2) At present, most of the existing processing centers in factories are not provided with on-line measurement function modules, so that equipment upgrading is difficult and cost is high.
An online three-dimensional scanning measurement system formed by carrying an industrial robot arm and a three-dimensional scanning measuring head by using an automatic navigation trolley appears in the market at present, and although online scanning measurement of workpieces in a factory building is realized to a certain extent, the system has the following problems:
(1) The safety is poor, and the robot that above-mentioned system adopted is ordinary industry six robots, no matter automatic navigation dolly is walked in the mill according to the prescribed route, and in the scanning measurement work piece in-process, ordinary industry robot can all have certain security risk to peripheral personnel and other equipment, probably because robot galloping hurts personnel or other equipment.
(2) The automatic scanning program is complex in programming, and the measurement system is poor in adaptability. In general factories, the types of processing centers are various, the processed parts are also different, the possibility that the processing centers with different types process the same part exists, and in order to meet the automatic scanning measurement of workpieces under each condition, a plurality of robot automatic measurement programs are required to be pre-programmed by a robot demonstrator, or the robot movement is controlled in real time by the demonstrator to finish manual measurement. Whichever measuring mode, all need to control the robot motion through the robot demonstrator, the work load is big, and the operation is complicated, and is strong to personnel's technical requirement dependency, with high costs, measurement efficiency is low.
(3) The measuring data cannot be shared in real time, the workpiece outline data obtained by the measuring system can only be stored locally, an operator is required to manually guide the measured data into a processing center to be compared and analyzed with a real-time theoretical model of the workpiece, the measuring efficiency is low, the measuring result can only be locally checked, and real-time sharing of the data across the space cannot be achieved.
Disclosure of Invention
The purpose of the invention is that: the real-time online three-dimensional automatic scanning measurement system is provided for solving the problems of low detection efficiency caused by the fact that the existing online measurement system is poor in safety, complex in programming, poor in adaptability and incapable of sharing measurement data in real time when carrying out real-time online measurement on a workpiece.
The technical scheme of the invention is as follows: a real-time online three-dimensional automated scanning measurement system comprising: AGV dolly, cooperation robot, high accuracy optical scanning gauge head, fixed optical tracker, data wireless transmission unit, data processing unit and automation control unit based on 5G technique.
The workpiece to be tested is placed on a test table of a machining center.
AGV trolley carrying cooperative robot integrated with automatic control unit; under the control of the automated control unit, the AGV trolley conveys the cooperative robot to the designated measuring station.
The high-precision optical scanning probe is arranged at the execution end of the cooperative robot and is used for scanning the workpiece to be detected.
The fixed optical tracker is fixed relative to the spatial position of the measured workpiece and is used for tracking the spatial pose of the high-precision optical scanning measuring head in real time during working.
The data processing unit is integrated in a computer of the machining center and is used for receiving the conveying data of the high-precision optical scanning measuring head and the fixed optical tracker, evaluating machining errors and realizing on-line measurement.
The AGV dolly, the cooperation robot, high accuracy optical scanning gauge head, fixed optical tracker and machining center's computer are interior all to be equipped with data 5G transmission module, and the mill is equipped with 5G communication base station, is equipped with the 5G server outside the mill, forms the data wireless transmission unit based on the 5G technique from this, realizes the wireless transmission of data based on the 5G communication technique.
In the above scheme, further, the fixed optical tracker tracks the pose of the high-precision optical scanning probe in real time through a fixed target arranged on the high-precision optical scanning probe, scans data of a local coordinate system of each measuring station of the high-precision optical scanning probe to be unified into the same coordinate system, completes data splicing, and obtains complete cloud data of the real-time measuring points of the profile of the measured workpiece. The data splicing method does not need to paste mark points on the measured workpiece or a special measuring tool, and is high in adaptability and measuring efficiency. In the scanning process, the fixed optical tracker is fixed relative to the position of the workpiece to be measured in a world coordinate system, if the workpiece to be measured moves according to the measurement requirement, the fixed optical tracker loses the data splicing function, and at the moment, the scanning data can be spliced by sticking mark points on the workpiece or a special measuring tool.
In the above scheme, further, the data processing unit compares and analyzes the cloud data of the complete workpiece contour actual measurement point with the theoretical model of the measured workpiece, evaluates the machining error, realizes the online measurement of the workpiece, and wirelessly uploads the measurement result to the cloud after the measurement is finished, thereby realizing the real-time sharing of the measurement result.
In the above scheme, further, the navigation mode of the AGV trolley is automatic navigation or navigation through a motion controller.
In the automatic navigation mode, the AGV car is in a visual navigation mode, an electromagnetic navigation mode, a magnetic stripe navigation mode, a laser navigation mode, an inertial navigation mode or a GPS navigation mode, and automatically moves to a specified measuring station according to a preset optimal path by means of an automatic control unit.
In the motion controller navigation mode, the AGV cart is guided by the controller to a designated measurement station.
In the above scheme, further, the power supply mode of the AGV trolley is divided into on-line power supply or off-line power supply, and the on-line power supply is that cables are arranged at the top of the factory building along the running path to supply power in real time; off-line power supply is that AGV dolly is from taking rechargeable battery promptly, is equipped with the charging station in the factory building, and during the off-line, AGV dolly automatic operation is charged to the charging station is by oneself.
In the scheme, further, the cooperative robot is a six-degree-of-freedom joint robot, and the high-precision optical scanning measuring head is quickly and accurately positioned relative to any spatial posture of the measured workpiece through the linkage of all joints of the cooperative robot; the working mode of the cooperative robot is as follows: an automatic operation mode or a cooperative operation mode; the cooperative robot and the high-precision optical scanning measuring head realize automatic communication through a wireless network, and command signals can be automatically received and transmitted between the cooperative robot and the high-precision optical scanning measuring head.
In the automatic operation mode: the cooperative robot is linked with the high-precision optical scanning measuring head, the traversing scanning of the measured workpiece is automatically completed according to a preset automatic scanning program, and the teaching of an automatic scanning path can be realized in a mode of dragging the robot by a human hand, so that the operation is simple and the efficiency is high.
In the cooperative mode of operation: the positioning of the high-precision optical scanning measuring head is realized by dragging the cooperative robot, the data acquisition work of the high-precision optical scanning measuring head is completed by operating the wireless Bluetooth remote controller, and the traversing scanning of the measured workpiece is completed under the cooperation of operators.
The cooperative robot has extremely high safety, and in an automatic working mode, if the robot touches a person or the person touches the robot, the robot can automatically stop, so that injury to people is avoided. Under the cooperative working mode, the robot can work cooperatively with a person without the protection of a safety fence. The cooperative robot has extremely high flexibility and adaptability, the robot movement path strength can be preset, and can be moved and positioned in real time according to actual conditions under the guidance of operators, so that the scanning path teaching efficiency is greatly improved.
In the above scheme, further, the high-precision optical scanning probe is a three-dimensional line structure optical scanning probe, a grating projection scanning probe or a facula projection scanning probe; the high-precision optical scanning measuring head consists of an optical camera unit and a structured light projection unit, and three-dimensional point cloud data of the surface of the measured workpiece are obtained through calculation through the change information of structured light projected on the surface of the measured workpiece; and installing a fixed target on the outer contour of the high-precision optical scanning measuring head.
The working process comprises the following steps: the AGV trolley moves to a designated measuring station according to a preset optimal track; then the collaboration robot drives the high-precision optical scanning measuring head to take a picture of the measured workpiece; hundred mega-grade images acquired by the high-precision optical scanning measuring head are wirelessly transmitted to the data processing unit in real time and rapidly; the operations of work piece point cloud data calculation, data post-processing and the like are finished by means of a software platform and a hardware platform in the data processing unit; the method comprises the steps that through a fixed target on a high-precision optical scanning measuring head, a fixed optical tracker tracks the space pose of the high-precision optical scanning measuring head in real time, and each scanning data of the high-precision optical scanning measuring head is converted into the same coordinate system, so that the contour complete point cloud data of a measured workpiece are obtained; after the scanning is finished, the data processing unit compares and analyzes the cloud data of the complete real-time point of the workpiece with the theoretical model of the workpiece to be measured, and evaluates the machining error to realize high-precision and high-efficiency real-time online measurement of the workpiece; and after all the measurement is finished, the data processing unit wirelessly uploads the measurement result to the cloud end, so that real-time sharing of the measurement result is realized.
The beneficial effects are that:
(1) The invention uses the high-precision optical scanning measuring head to collect the image information of the measured workpiece, and transmits the image information to the data processing unit in real time and quickly by a 5G technology, the data processing unit finishes the data processing such as point cloud data calculation, point cloud denoising, point cloud meshing, form and position tolerance analysis and the like, and the obtained measurement result is uploaded to the cloud server to realize the measurement result cloud sharing; the problem that the detection efficiency is low due to the fact that the existing online measurement system cannot be shared in real time due to the fact that safety is poor, programming is complex, adaptability is poor when the workpiece is measured online in real time is effectively solved.
(2) According to the invention, the fixed optical tracker is utilized to track the pose of the high-precision optical scanning measuring head in real time through a fixed target arranged on the high-precision optical scanning measuring head, the scanning data of the local coordinate system of each measuring station of the high-precision optical scanning measuring head are unified to the same coordinate system, the data are spliced, and the complete real-point cloud data of the profile of the measured workpiece are obtained. The data splicing method does not need to paste mark points on the measured workpiece or a special measuring tool, and is high in adaptability and measuring efficiency.
(3) The AGV trolley adopted by the invention has good flexibility and high application ductility, and one set of measuring system can finish 'inspection' measuring work in a factory building, so that the cost is greatly saved, and the measuring efficiency is improved.
(4) The invention can realize high-speed, high-reliability, low-delay transmission of scanning data and real-time sharing of measurement results by utilizing the 5G data wireless transmission technology. Any terminal equipment in the factory can be directly connected to the cloud server and is communicated with the cloud server in an ultra-low-delay efficient manner, massive workpiece measurement information is uploaded to the cloud server network, the measurement result of each workpiece can be quickly checked through any terminal equipment, the limitation of time and space is broken, and the workpiece production efficiency, the processing quality and the factory intelligent level are greatly improved; in addition, signal wireless transmission and wireless control can be realized among unit modules of the measuring system, the measuring system does not need complex cables for data transmission, after the cables disappear, the purchase and maintenance costs are saved, and the potential safety hazard caused by the cables is greatly reduced.
(5) The cooperative robot adopted in the invention is a six-degree-of-freedom joint robot, and the high-precision optical scanning measuring head can be rapidly and accurately positioned relative to any spatial posture of the measured workpiece through the linkage of all joints of the cooperative robot.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
wherein: the automatic detection device comprises a 1-AGV trolley, a 2-fixed optical tracker, a 3-cooperative robot, a 4-high-precision optical scanning probe, a 5-workpiece to be detected, a 6-5G communication base station, a 7-data processing unit, an 8-machining center and a 9-automation control unit.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The embodiment provides a real-time online three-dimensional automatic scanning measurement system, which can solve the problems of low detection efficiency caused by the fact that the existing online measurement system has poor safety, complex programming, poor adaptability and measurement data cannot be shared in real time when measuring a workpiece.
Referring to fig. 1, the scanning measurement system includes: the automatic guided vehicle comprises an AGV trolley 1, a fixed optical tracker 2, a cooperative robot 3, a high-precision optical scanning probe 4, a 5G communication base station 6, a data processing unit 7 and an automatic control unit 9.
The automatic control unit 9 is internally integrated with a control module of the AGV trolley 1, a control module of the cooperative robot 3, a control module of the high-precision optical scanning probe 4 and an industrial personal computer; for realizing cooperative control of the AGV trolley 1, the cooperative robot 3 and the high-precision optical scanning probe 4.
The workpiece 5 to be measured is placed on a test table of the machining center 8. The AGV carriage 1 loaded with the automation control unit 9 carries the cooperative robot 3 (i.e., the automation control unit 9 is built in the AGV carriage 1); under the control of the automation control unit 9, the AGV trolley 1 transports the cooperative robot 3 to the designated measuring station.
The high-precision optical scanning probe 4 is arranged at the execution end of the cooperative robot 3 and is used for photographing the tested workpiece 5, and hundred megalevel images acquired by the high-precision optical scanning probe 4 are wirelessly transmitted to the data processing unit 7 in real time and quickly; and the data processing unit 7 completes operations such as work piece point cloud data calculation, data post-processing and the like. In this example, the high-precision optical scanning probe 4 is a three-dimensional line structure optical scanning probe, a grating projection scanning probe or a light spot projection scanning probe; the high-precision optical scanning measuring head 4 consists of an optical camera unit and a structured light projection unit, and three-dimensional point cloud data of the surface of the measured workpiece are obtained through calculation through the change information of structured light projected on the surface of the measured workpiece; a fixed target is mounted on the surface of the high-precision optical scanning probe 4.
The fixed optical tracker 2 is arranged near a designated measuring station and is used for tracking the space pose of the high-precision optical scanning measuring head 4 when in operation; the fixed optical tracker 2 is required to ensure that the spatial position of the high-precision optical scanning probe 4 relative to the workpiece 5 to be measured is unchanged in the scanning measurement process, and the fixed optical tracker 2 can track the high-precision optical scanning probe 4 in real time.
The data processing unit 7 is integrated in a computer of the machining center and is used for receiving the conveying data of the high-precision optical scanning measuring head 4 and the fixed optical tracker 2, evaluating machining errors and realizing online measurement; the method comprises the following steps: the fixed optical tracker 2 tracks the pose of the high-precision optical scanning probe 4 in real time through a fixed target arranged on the high-precision optical scanning probe 4, and unifies the scanning data of the local coordinate system of each measuring station of the high-precision optical scanning probe 4 to the same coordinate system to finish data splicing and obtain complete real-measuring point cloud data of the profile of the workpiece to be measured. The data splicing method does not need to paste mark points on the measured workpiece or a special measuring tool, and is high in adaptability and measuring efficiency. In the scanning process, the fixed optical tracker 2 is fixed relative to the position of the workpiece to be measured in the world coordinate system, if the workpiece to be measured moves according to the measurement requirement, the fixed optical tracker 2 loses the data splicing function, and at the moment, the scanning data can be spliced by sticking mark points on the workpiece or a special measuring tool. After the scanning is completed, the data processing unit 7 compares and analyzes the complete workpiece actual measurement point cloud data with a theoretical model of the workpiece to be measured, and evaluates the machining error to realize high-precision and high-efficiency real-time online measurement of the workpiece; and finally, after all the measurement is finished, the data processing unit 7 wirelessly uploads the measurement result to the cloud end, so that real-time sharing of the measurement result is realized.
The AGV dolly 1, fixed optical tracker 2, cooperation robot 3, high accuracy optical scanning gauge head 4 and machining center's computer are interior all to be equipped with data 5G transmission module, and the mill is equipped with 5G communication base station 6, and the mill is equipped with 5G server outward, forms the data wireless transmission unit based on the 5G technique from this, realizes the wireless transmission of data based on the 5G communication technique.
Further, the AGV 1 is navigated automatically or by a motion controller. In the automatic navigation mode, the AGV trolley 1 is in a visual navigation mode, an electromagnetic navigation mode, a magnetic stripe navigation mode, a laser navigation mode, an inertial navigation mode or a GPS navigation mode, and automatically moves to a designated measuring station according to a preset optimal path by means of the automatic control unit 9. In the motion controller navigation mode, an operator manually guides the AGV cart 1 to a designated measurement station through a controller. The power supply mode of the AGV trolley 1 is divided into on-line power supply or off-line power supply, wherein the on-line power supply is to arrange cables at the top of a factory building along a running path and supply power in real time; off-line power supply is that AGV dolly 1 is from taking rechargeable battery promptly, is equipped with the charging station in the factory building, and during the off-line, AGV dolly 1 moves to the charging station voluntarily and charges. In addition, the AGV trolley has good flexibility and large application ductility, so that a set of measuring system can finish 'inspection' measuring work in a factory building, the cost is greatly saved, and the measuring efficiency is improved.
Furthermore, the cooperative robot 3 is a six-degree-of-freedom joint robot, and the high-precision optical scanning measuring head 4 can be quickly and accurately positioned relative to any spatial posture of the measured workpiece 5 through the linkage of all joints of the cooperative robot 3; the working mode of the cooperative robot 3 is as follows: an automatic operation mode or a cooperative operation mode; the cooperative robot 3 and the high-precision optical scanning measuring head 4 realize automatic communication through a wireless network, and command signals can be automatically received and transmitted between the cooperative robot and the high-precision optical scanning measuring head. In the automatic operation mode: the cooperative robot 3 is linked with the high-precision optical scanning measuring head 4, traversal scanning of the measured workpiece is automatically completed according to a preset automatic scanning program, teaching of an automatic scanning path can be achieved in a mode that a human hand drags the robot, operation is simple, and efficiency is high. In the cooperative mode of operation: the high-precision optical scanning measuring head 4 is positioned by dragging the cooperative robot 3 by hands, the data acquisition work of the high-precision optical scanning measuring head 4 is finished by operating the wireless Bluetooth remote controller, and the traversal scanning of the measured workpiece is finished by means of personnel cooperation. The cooperative robot 3 has extremely high safety, and in an automatic working mode, if the robot touches a person or the person touches the robot, the robot can automatically stop, so that injury to people is avoided. Under the cooperative working mode, the robot can work cooperatively with a person without the protection of a safety fence. The cooperative robot 3 has extremely high flexibility and adaptability, the robot movement path strength can be preset, and can be moved and positioned in real time according to actual conditions under the guidance of operators, so that the scanning path teaching efficiency is greatly improved.
The working process comprises the following steps: the AGV dolly 1 moves on factory building ground, and the installation base of cooperation robot 3 is connected with the upper surface of AGV dolly 1, and high accuracy optical scanning gauge head 4 is fixed at the execution end of cooperation robot 3, and fixed optical tracker 2 is placed in the front right side of machining center 8, guarantees in the scanning measurement process, and fixed optical tracker 2 is unchangeable for the spatial position of being surveyed work piece 5, and fixed optical tracker 2 can track high accuracy optical scanning gauge head 4 in real time.
During automatic measurement, an operator can remotely control and monitor a scanning measurement process, and during manual measurement, the operator drags the cooperative robot 3 to cooperate with manual remote control to operate the high-precision optical scanning measuring head 4, so that the scanning measurement process is completed. The data wireless transmission unit based on the 5G technology comprises a data wireless transmission module arranged inside the high-precision optical scanning measuring head 4, a data wireless transmission module arranged inside the data processing unit 7, a 5G data transmission base station 6 arranged inside a factory building and a 5G core network arranged outside the factory. The data processing unit 7 is placed at the left front of the machining center, the image information of the measured workpiece 5 acquired by the high-precision optical scanning measuring head 4 is transmitted to the data processing unit 7 in real time and quickly through the data wireless transmission unit based on the 5G technology, the data processing unit 7 completes data processing such as point cloud data calculation, point cloud denoising, point cloud meshing and form and position tolerance analysis, and the obtained measurement result is uploaded to the cloud server through the data wireless transmission unit based on the 5G technology, so that measurement result cloud sharing is realized. The automatic control unit 9 is built in the AGV trolley 1 and consists of a control module of the AGV trolley 1, a control module of the cooperative robot 3, a control module of the high-precision optical scanning measuring head 4, an industrial personal computer and electronic components, so that cooperative control of the AGV trolley 1, the cooperative robot 3 and the high-precision optical scanning measuring head 4 is realized.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (5)
1. A real-time online three-dimensional automatic scanning measurement system is characterized in that:
the workpiece to be detected (5) is placed on a detection table of the machining center (8);
an AGV trolley (1) integrated with an automatic control unit (9) is provided with a cooperative robot (3); under the control of the automatic control unit (9), the AGV trolley (1) conveys the cooperative robot (3) to a set measuring station;
the high-precision optical scanning probe (4) is arranged at the execution end of the cooperative robot (3) and is used for scanning the workpiece (5) to be detected;
the fixed optical tracker (2) is fixed relative to the space position of the tested workpiece (5), and the space pose of the high-precision optical scanning measuring head (4) during working is tracked in real time;
the data processing unit (7) is integrated in a computer of the machining center and is used for receiving the data of the high-precision optical scanning measuring head (4) and the fixed optical tracker (2), evaluating machining errors and realizing online measurement;
the AGV trolley (1), the fixed optical tracker (2), the cooperative robot (3), the high-precision optical scanning measuring head (4) and the computer of the machining center are respectively provided with a data 5G transmission module, a 5G communication base station (6) is arranged in a factory, a 5G server is arranged outside the factory, and wireless data transmission is realized based on 5G communication; the data processing unit (7) wirelessly uploads the measurement result to the cloud to realize real-time sharing of the measurement result;
the fixed optical tracker (2) tracks the pose of the high-precision optical scanning measuring head (4) in real time through a fixed target arranged on the high-precision optical scanning measuring head (4); then unifying the local coordinate system scanning data of each measuring station of the high-precision optical scanning measuring head (4) to the same coordinate system, and completing data splicing to obtain complete real-time point cloud data of the profile of the measured workpiece (5);
the cooperative robot (3) is a six-degree-of-freedom joint robot, and the working mode is as follows: an automatic operation mode or a cooperative operation mode; the cooperative robot (3) and the high-precision optical scanning probe (4) can automatically send and receive command signals;
in the automatic operation mode: the cooperative robot (3) is linked with the high-precision optical scanning measuring head (4) and automatically completes traversing scanning of the measured workpiece according to a preset automatic scanning program;
in the cooperative mode of operation: the positioning of the high-precision optical scanning measuring head (4) is realized by dragging the cooperative robot (3), the data acquisition work of the high-precision optical scanning measuring head (4) is completed by operating a remote controller, and the traversal scanning of the measured workpiece is completed by the cooperation of operators.
2. The real-time online three-dimensional automated scanning measurement system of claim 1, wherein: and the data processing unit (7) compares the complete real-point cloud data of the profile of the tested workpiece (5) with the theoretical model of the tested workpiece for analysis, and evaluates the machining error.
3. The real-time on-line three-dimensional automated scanning measurement system of claim 1 or 2, wherein: the AGV trolley (1) is automatically navigated or navigated by a motion controller;
in an automatic navigation mode, the AGV trolley (1) is in a visual navigation mode, an electromagnetic navigation mode, a magnetic stripe navigation mode, a laser navigation mode, an inertial navigation mode or a GPS navigation mode, and automatically moves to a specified measuring station according to a preset optimal path by means of the automatic control unit (9);
in a motion controller navigation mode, the AGV trolley (1) is guided to a set measuring station by a controller.
4. The real-time on-line three-dimensional automated scanning measurement system of claim 1 or 2, wherein: the power supply mode of the AGV trolley (1) is divided into on-line power supply or off-line power supply, wherein the on-line power supply is to arrange cables at the top of a factory building along a running path and supply power in real time; off-line power supply is that AGV dolly (1) is from taking rechargeable battery, is equipped with the charging station in the factory building, and when not working, AGV dolly (1) automatic operation is charged to the charging station is by oneself.
5. The real-time on-line three-dimensional automated scanning measurement system of claim 1 or 2, wherein: the high-precision optical scanning probe (4) is a three-dimensional line structure optical scanning probe, a grating projection type scanning probe or a light spot projection type scanning probe; the high-precision optical scanning measuring head (4) consists of an optical camera unit and a structured light projection unit, and three-dimensional point cloud data of the surface of the measured workpiece are obtained through calculation through the change information of structured light projected on the surface of the measured workpiece; and installing a fixed target on the outer contour of the high-precision optical scanning measuring head (4).
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| CN202211221112.0A CN115717868B (en) | 2022-10-08 | 2022-10-08 | Real-time online three-dimensional automatic scanning measurement system |
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| CN115717868B true CN115717868B (en) | 2023-11-07 |
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