CN117029675A - Tracking scanning system for adjusting real-time tracking adapter - Google Patents

Tracking scanning system for adjusting real-time tracking adapter Download PDF

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Publication number
CN117029675A
CN117029675A CN202310905078.7A CN202310905078A CN117029675A CN 117029675 A CN117029675 A CN 117029675A CN 202310905078 A CN202310905078 A CN 202310905078A CN 117029675 A CN117029675 A CN 117029675A
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CN
China
Prior art keywords
adapter
information
coordinate system
coordinate
hole site
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Pending
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CN202310905078.7A
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Chinese (zh)
Inventor
成剑华
陈佳骐
刘庆龙
王晓南
任关宝
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Wuhan Zhongguan Automation Technology Co ltd
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Wuhan Zhongguan Automation Technology Co ltd
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Application filed by Wuhan Zhongguan Automation Technology Co ltd filed Critical Wuhan Zhongguan Automation Technology Co ltd
Priority to CN202310905078.7A priority Critical patent/CN117029675A/en
Publication of CN117029675A publication Critical patent/CN117029675A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The application discloses a tracking scanning system for adjusting a real-time tracking adapter, which comprises a tracker and a data processing unit, wherein the tracker is used for adjusting the real-time tracking adapter; the tracker is used for acquiring mark point information and hole site information of the calibration plate, mark point information of the adapter and center point information of a cross section of a bolt of the adapter and comprises a left camera device and a right camera device; the data processing unit is used for generating an adapter configuration file according to the mark point information and the hole site information of the calibration plate, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter, determining hole site measurement information in real time, and judging whether the quality of the workpiece to be detected is qualified or not according to the drawing file and the hole site measurement information. The application can determine the hole site measurement information in real time, rapidly detect the hole sites of different special-shaped workpieces, save detection time, improve detection efficiency, eliminate the need of manual intervention after the measurement is started, have low environmental requirements, and reduce detection cost.

Description

Tracking scanning system for adjusting real-time tracking adapter
Technical Field
The application relates to the technical field of clamp detection systems, in particular to a tracking scanning system for adjusting a real-time tracking adapter.
Background
Along with the rise of China high-end manufacturing, aiming at three-dimensional scanning of a large scene, each manufacturer promotes a tracking three-dimensional scanning system with similar morphology, function and application scene. The automatic addition ensures that the three-dimensional scanning system has wider application field, can realize continuous scanning for a long time on workpiece objects with lengths of several meters or even tens of meters, and can meet the requirements of large workpieces and complex working environments.
In the field of automobile industry, fixture manufacturing and inspection have a great influence on subsequent workpiece assembly, so that there is an industrial need for inspecting fixtures of different forms during automobile production and manufacture. The detection of the clamp involves the detection of different hole sites and curved surfaces, and the traditional mode usually uses a three-coordinate and laser tracker to measure the characteristics of the different hole sites and curved surfaces. However, the use and production efficiency are restricted due to huge workpiece devices such as three coordinates and the like and severe environmental requirements. Compared with workpiece manufacturing, the fixture is not required to be manufactured and detected with such high precision value, and the fixture is not required to adapt to the environment temperature with too large span, so that the cost is not saved by using the existing high-precision equipment such as three coordinates and the like. In addition, the existing clamp detection system cannot detect holes of different special-shaped clamps in real time, and is long in detection time and low in detection efficiency.
Therefore, it is needed to provide a tracking scanning system for adjusting a real-time tracking adapter, which solves the technical problems that the existing three-dimensional scanning system has high detection cost for detecting the clamp and cannot detect the hole position of the special-shaped clamp in real time.
Disclosure of Invention
The application provides a tracking scanning system for adjusting a real-time tracking adapter, which is used for solving the technical problems that the detection cost for detecting a clamp is high and the real-time detection of the hole position of a special-shaped clamp cannot be carried out in real time in the prior art.
In order to solve the above problems, the present application provides a tracking scanning system for adjusting a real-time tracking adapter, including a tracker and a data processing unit;
the tracker is used for acquiring the mark point information and the hole site information of the calibration plate, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter; the data processing unit is used for receiving the marking point information and the hole site information of the marking plate, the marking point information of the adapter and the central point information of the cross section of the bolt of the adapter; comprises a left camera device and a right camera device which are symmetrically arranged;
the data processing unit is used for generating an adapter configuration file according to the mark point information and the hole site information of the calibration plate, the mark point information of the adapter and the bolt section center point information of the adapter; and the device is also used for acquiring a drawing file of the workpiece to be detected, determining hole position measurement information in real time according to the adapter configuration file, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter, and judging whether the quality of the workpiece to be detected is qualified or not according to the drawing file and the hole position measurement information.
Further, the data processing unit comprises a data acquisition module, a calibration module, a coordinate system conversion module and a quality detection module;
the data acquisition module is used for acquiring drawing files of the workpiece to be detected, and also used for acquiring mark point information of the adapter and cross section center point information of a bolt of the adapter in real time;
the calibration module is used for generating an adapter configuration file according to the mark point information and the hole site information of the calibration plate, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter;
the coordinate system conversion module is used for determining a first coordinate conversion relation between the adapter coordinate system and the tracker coordinate system according to the adapter configuration file and the mark point information of the adapter; determining hole site measurement information according to the first coordinate conversion relation and the information of the center point of the cross section of the bolt of the adapter;
the quality detection module is used for judging whether the quality of the workpiece to be detected is qualified or not according to the drawing file and the hole site measurement information of the workpiece to be detected.
Further, the calibration module is used for determining coordinates of the mark points and the hole sites of the calibration plate under the coordinate system of the calibration plate;
based on the result of scanning the calibration plate hole site inserted into the adapter again by the tracker, coordinates of the calibration plate mark point and the adapter mark point under a calibration plate coordinate system are obtained;
and generating an adapter configuration file according to the hole position of the calibration plate and the coordinates of the marking points of the adapter under the coordinate system of the calibration plate.
Further, the adapter configuration file includes three-dimensional coordinate information of the adapter mark point and three-dimensional coordinate information of the center point of the cross section of the bolt of the adapter in the adapter coordinate system.
Further, the coordinate system conversion module determines three-dimensional coordinate information of the adapter mark points under a tracker coordinate system according to the adapter mark point information acquired by the tracker;
and obtaining a first coordinate conversion relation between the adapter coordinate system and the tracker coordinate system according to the three-dimensional coordinate information of the adapter mark point in the adapter coordinate system and the three-dimensional coordinate information of the adapter mark point in the tracker coordinate system.
Further, the data processing unit obtains three-dimensional coordinate information of the hole site under the adapter coordinate system according to the information of the central point of the cross section of the bolt of the adapter;
obtaining hole site measurement information of the workpiece to be detected under a tracking coordinate system according to the first coordinate conversion relation and the three-dimensional coordinate information of the hole site under the adapter coordinate;
and comparing the hole site measurement information with the drawing file of the workpiece to be detected, and judging whether the quality of the workpiece to be detected is qualified or not.
Further, the hole sites of the workpiece to be detected comprise reference characteristic hole sites and non-reference characteristic hole sites;
the quality detection module is used for determining the coordinate information of the reference feature hole site under the tracker coordinate system and creating a measurement coordinate system according to the coordinate information of the reference feature hole site;
determining a second coordinate conversion relation between the measurement coordinate system and a theoretical coordinate system according to the measurement coordinate system and the theoretical coordinate system of the drawing file of the workpiece to be measured;
obtaining a measured value conversion coordinate of the measured value of the non-reference hole site under a theoretical coordinate system according to the second coordinate conversion relation;
and converting coordinates according to the measured value of the non-reference hole site and theoretical coordinates of the non-reference hole site under a theoretical coordinate system, determining coordinate deviation, and judging whether the quality of the workpiece to be detected is qualified or not according to the coordinate deviation.
Further, the system also comprises a bracket;
the support is connected with the data processing unit and is used for providing a handheld component for the scanning system.
Further, there are multiple sets of trackers.
Further, the data processing unit is further used for comparing the hole site measurement information under the coordinate system of the main tracker with the drawing file of the workpiece to be detected when the coordinate systems of the plurality of groups of trackers are integrated into the same main tracker coordinate system, and judging whether the quality of the workpiece to be detected is qualified or not.
Compared with the prior art, the application has the beneficial effects that: the method comprises the steps of scanning in real time through a tracker to obtain mark point information and hole site information of a calibration plate, mark point information of an adapter and center point information of a cross section of a bolt of the adapter; the data processing unit is used for determining hole position measurement information in real time according to the adapter configuration file, the mark point information of the adapter and the bolt section center point information of the adapter, and comparing drawing files in real time, so that the holes of different special-shaped workpieces can be detected quickly, the detection time is saved, and the detection efficiency is improved; different adapters can be designed for different fixture workpieces, and the operation and the use are facilitated. Compared with the traditional measurement operation, the system does not need manual intervention after the measurement starts, has low environmental requirements, and reduces the detection cost.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a tracking scanning system for real-time tracking adapter tuning according to the present application;
FIG. 2 is a schematic diagram of another embodiment of a tracking scanning system for real-time tracking adapter tuning provided by the present application;
FIG. 3 is a schematic diagram illustrating an embodiment of a data processing unit according to the present application;
FIG. 4 is a schematic structural diagram of an embodiment of a calibration plate according to the present application;
FIG. 5 is a schematic overall flow chart of an embodiment of a fixture workpiece inspection operation provided by the present application;
fig. 6 is a schematic structural diagram of an embodiment of a multi-tracker case provided in the present application.
Detailed Description
The following detailed description of preferred embodiments of the application is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the application, are used to explain the principles of the application and are not intended to limit the scope of the application.
The embodiment of the application provides a tracking scanning system for adjusting a real-time tracking adapter, as shown in fig. 1, fig. 1 is a schematic structural diagram of an embodiment of the tracking scanning system for adjusting the real-time tracking adapter, which is provided by the application, and comprises a tracker 10 and a data processing unit 20;
the tracker 10 is used for acquiring mark point information and hole site information of the calibration plate, mark point information of the adapter and center point information of a cross section of a bolt of the adapter; the device is also used for transmitting the marking point information and the hole site information of the calibration plate, the marking point information of the adapter and the center point information of the cross section of the bolt of the adapter to the data processing unit; comprising a left camera means 11 and a right camera means 12 arranged symmetrically,
the data processing unit 20 is used for generating an adapter configuration file according to the mark point information and the hole site information of the calibration plate, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter; and the device is also used for acquiring a drawing file of the workpiece to be detected, determining hole position measurement information in real time according to the adapter configuration file, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter, and judging whether the quality of the workpiece to be detected is qualified or not according to the drawing file and the hole position measurement information.
The tracking scanning system for real-time tracking of the adapter for adjustment and installation provided by the embodiment performs real-time scanning through the tracker to obtain the mark point information and the hole site information of the calibration plate, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter; the data processing unit is used for determining hole position measurement information in real time according to the adapter configuration file, the mark point information of the adapter and the bolt section center point information of the adapter, and comparing drawing files in real time, so that the holes of different special-shaped workpieces can be detected quickly, the detection time is saved, and the detection efficiency is improved; different adapters can be designed for different fixture workpieces, and the operation and the use are facilitated. Compared with the traditional measurement operation, the system does not need manual intervention after the measurement starts, has low environmental requirements, and reduces the detection cost.
As a preferred embodiment, as shown in fig. 2, fig. 2 is a schematic structural diagram of another embodiment of a tracking scanning system for assembling a real-time tracking adapter provided by the present application, where the tracking scanning system for assembling a real-time tracking adapter further includes a bracket 30;
a cradle 30 is connected to the data processing unit 20 for providing a hand-held component for the scanning system.
As a preferred embodiment, as shown in fig. 3, the data processing unit 20 includes a data acquisition module 201, a calibration module 202, a coordinate system conversion module 203, and a quality detection module 204;
the data acquisition module 201 is used for acquiring drawing files of the workpiece to be detected, and also used for acquiring mark point information of the adapter and cross section center point information of a bolt of the adapter in real time;
the calibration module 202 is configured to generate an adapter configuration file according to the mark point information and the hole site information of the calibration plate, the mark point information of the adapter, and the center point information of the cross section of the bolt of the adapter;
a coordinate system conversion module 203, configured to determine a first coordinate conversion relationship between the adapter coordinate system and the tracker coordinate system according to the adapter configuration file and the tag point information of the adapter; determining hole site measurement information according to the first coordinate conversion relation and the information of the center point of the cross section of the bolt of the adapter;
the quality detection module 204 is configured to determine whether the quality of the workpiece to be detected is qualified according to the drawing file and the hole site measurement information of the workpiece to be detected.
For more detailed description of the above detection process, fig. 4 is shown below, and fig. 4 is a schematic structural diagram of an embodiment of the calibration plate according to the present application.
As shown in fig. 4, there are a plurality of different mark points and hole sites on the calibration plate. Because the characteristic information of different hole sites on the workpiece is required to be acquired later, different adapters are required to be designed aiming at the hole sites of the workpiece to be detected with different forms. Because the distribution range and the position of the hole sites on the tool are different, the adapters with different bolts can be designed aiming at the hole sites with the vision shielded so as to meet the use requirement. After the adapter is inserted into the hole, the center point of the cross section of the adapter plug is regarded as the hole, and an adapter configuration file is formed according to the relationship between the center point of the cross section of the adapter plug and the calibration point of the adapter, and the configuration file can be regarded as the coordinate system of the adapter.
As a specific embodiment, the hole site information includes hole site information: hole diameter, position coordinate points, and normal vector information.
As a preferred embodiment, the calibration module 202 generates an adapter configuration file according to the mark point information and the hole site information of the calibration plate, the mark point information of the adapter, and the center point information of the cross section of the bolt of the adapter, including:
determining coordinates of mark points and hole positions of the calibration plate under a coordinate system of the calibration plate;
based on the result of scanning the calibration plate hole site inserted into the adapter again by the tracker, coordinates of the calibration plate mark point and the adapter mark point under a calibration plate coordinate system are obtained;
and generating an adapter configuration file according to the hole position of the calibration plate and the coordinates of the marking points of the adapter under the coordinate system of the calibration plate.
As a specific example, the specific generation steps of the adapter profile are as follows:
the first step: and scanning the calibration points and the hole sites of the calibration plate to obtain coordinate values of the hole sites and the mark points under the coordinate system of the calibration plate.
And a second step of: and inserting a proper adapter into the hole site, and scanning the whole calibration plate again to obtain coordinate information of the calibration plate mark point and the adapter mark point, wherein the coordinate information of the two parts is also in the coordinate system of the calibration plate. If the adapter is inserted first, the hole site is blocked, and the information of the hole site is not scanned, so that the hole site and the mark point which are not inserted into the adapter are scanned first, and then the adapter is inserted and scanned again.
And a third step of: because the marking points of the first step and the second step are under the coordinate system of the calibration plate, the marking points, the hole sites and the adapter marking points of the calibration plate are obtained by combining the repeated data of the first step and the second step, and the coordinates of the three parts in the same coordinate system are reserved only by the hole site and the adapter marking point coordinates, so that the configuration file is generated.
As a preferred embodiment, the adapter profile includes three-dimensional coordinate information of the adapter marker points in the adapter coordinate system, and three-dimensional coordinate information of the center points of the cross-sections of the pins of the adapter.
The three-dimensional coordinate information of the cross section center of the bolt under the adapter coordinate system is regarded as the three-dimensional coordinate information of the hole site under the adapter coordinate system, and in the process of calibrating the adapter through the calibration plate, the marking point of the adapter and the cross section center of the bolt are unified under the same coordinate system.
After different adapters are calibrated, the adapters can be tracked in a tracking and identifying mode in the using process, hole site information is output in real time, and then the coordinate system creation and the detection work of the clamp workpiece are carried out.
As a preferred embodiment, the coordinate system conversion module 203 is configured to:
according to the adapter mark point information acquired by the tracker, determining three-dimensional coordinate information of the adapter mark point under a tracker coordinate system;
and obtaining a first coordinate conversion relation between the adapter coordinate system and the tracker coordinate system according to the three-dimensional coordinate information of the adapter mark point in the adapter coordinate system and the three-dimensional coordinate information of the adapter mark point in the tracker coordinate system.
As a specific embodiment, three-dimensional coordinates of marking points in different adapters in a tracker coordinate system are obtained through collecting adapter marking points by the tracker, and RT (reverse transcription) from the coordinate system of the adapter to the tracker coordinate system is obtained through splicing the existing algorithm and the adapter marking points in the adapter file adaptor-＞tracker Since the adapters are rigid objects, the coordinate set of the center point of the section of each adapter under the tracker is obtained through the conversion relation
As a preferred embodiment, the data processing unit is configured to:
according to the information of the central point of the cross section of the bolt of the adapter, three-dimensional coordinate information of the hole site under the coordinate system of the adapter is obtained;
obtaining hole site measurement information of the workpiece to be detected under a tracking coordinate system according to the first coordinate conversion relation and the three-dimensional coordinate information of the hole site under the adapter coordinate;
and comparing the hole site measurement information with the drawing file of the workpiece to be detected, and judging whether the quality of the workpiece to be detected is qualified or not.
As a preferred embodiment, the hole sites of the workpiece to be inspected include reference feature hole sites and non-reference feature hole sites;
the quality detection module 204 judges whether the quality of the workpiece to be detected is qualified according to the drawing file and the hole site measurement information of the workpiece to be detected, and comprises the following steps:
determining coordinate information of a reference feature hole site under a tracker coordinate system, and creating a measurement coordinate system according to the coordinate information of the reference feature hole site;
determining a second coordinate conversion relation between the measurement coordinate system and a theoretical coordinate system according to the measurement coordinate system and the theoretical coordinate system of the drawing file of the workpiece to be measured;
obtaining a measured value conversion coordinate of the measured value of the non-reference hole site under a theoretical coordinate system according to the second coordinate conversion relation;
and converting the coordinate according to the measured value of the non-reference hole site and the theoretical coordinate of the non-reference hole site under the theoretical coordinate system, determining coordinate deviation, and judging whether the quality of the workpiece to be detected is qualified or not according to the coordinate deviation.
As a specific embodiment, the drawing file of the workpiece to be detected is generally a CAD file of the workpiece to be detected.
As a specific example, there are two identities for the hole sites on the fixture to be detected: reference hole site and non-reference hole site, in CAD file, coordinate system O 1 Is established by the reference hole site. We can thus also build the coordinate system O by identifying the measured reference feature holes 2 Thereby aligning with the CAD coordinate system to obtain an object coordinate system O 2 To CAD coordinate system O 1 Is a conversion relation RT of (1) o2o1 All the hole site information can be converted into a CAD coordinate system
And the deviation of the deviation non-reference hole is displayed in real time through the comparison of the CAD theoretical value and the measured value, and all hole site information can be derived to third-party software for use. And outputting the whole data and single hole site information in real time by setting a hole site detection deviation threshold value or setting the number of unqualified hole sites, and guiding whether the whole workpiece is qualified or not.
As shown in FIG. 5, FIG. 5 is an overall flow chart of an embodiment of the fixture workpiece inspection operation provided by the present applicationIntent. After CAD files and different adapter configuration files of a workpiece are loaded, adapter mark points are acquired in real time through a tracker, so that conversion relation RTi of an adapter coordinate system and the tracker coordinate system is acquired in real time, and an adapter section center point (hole site center point) p is acquired i Converting the coordinates in the adapter coordinate system into a tracker coordinate system, acquiring all hole site information on the workpiece tracked in real time, and passing through the characteristic hole site information p i And RTi establishes a measurement coordinate system, displays the deviation of the deviation non-reference hole in real time through the comparison of the CAD theoretical value and the measured value, and outputs the whole deviation data and single hole position information in real time according to a preset hole position detection deviation threshold value or a preset unqualified hole position number threshold value.
As a preferred embodiment, there are multiple sets of trackers.
As a preferred embodiment, the data processing unit is further configured to compare hole site measurement information under the coordinate system of the main tracker with a drawing file of the workpiece to be detected when the coordinate systems of the plurality of groups of trackers are unified to the same main tracker coordinate system, and determine whether the quality of the workpiece to be detected is qualified.
As a specific embodiment, fig. 6 is a schematic structural diagram of an embodiment of a multi-tracker case provided in the present application, and as shown in fig. 6, a system of this embodiment includes multiple sets of trackers arranged in different directions, where the distance between left and right camera devices in each set of trackers is also different. For the situation that a plurality of groups of trackers exist, the position information (three-dimensional coordinates) of the marker points collected by each tracker is unified into one coordinate system under the coordinate system of each tracker, so that different trackers can be calibrated in advance to obtain the position conversion relation RT among different trackers Slave tracker- > master tracker . And finally, all the identified point information can be completely converted to the lower surface of a main tracker coordinate system, and finally, the identified point information is unified into the coordinate system after CAD alignment:
the multi-tracker use scene is mainly aimed at a large workpiece, and the single tracker has limited visual field and cannot see each position of the workpiece. The single tracker needs to be moved at different positions, a user needs to operate a workpiece and simultaneously move the trackers, and the defect of visual field can be made up by using the multiple trackers, so that one-stop scanning is used for covering the panorama.
The tracking scanning system for real-time tracking of the adapter for adjustment and installation provided by the application carries out real-time scanning through the tracker to obtain the mark point information and hole site information of the calibration plate, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter; the data processing unit is used for determining hole position measurement information in real time according to the adapter configuration file, the mark point information of the adapter and the bolt section center point information of the adapter, and comparing drawing files in real time, so that the holes of different special-shaped workpieces can be detected quickly, the detection time is saved, and the detection efficiency is improved; different adapters can be designed for different fixture workpieces, and the operation and the use are facilitated. Compared with the traditional measurement operation, the system does not need manual intervention after the measurement starts, has low environmental requirements, and reduces the detection cost.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application.

Claims (10)

1. A tracking scanning system for real-time tracking adapter debugging, which is characterized by comprising a tracker and a data processing unit;
the tracker is used for acquiring the mark point information and the hole site information of the calibration plate, the mark point information of the adapter and the cross section center point information of the bolt of the adapter; the data processing unit is used for receiving the marking point information and the hole site information of the marking plate, the marking point information of the adapter and the central point information of the cross section of the bolt of the adapter; comprises a left camera device and a right camera device which are symmetrically arranged;
the data processing unit is used for generating an adapter configuration file according to the mark point information and the hole site information of the calibration plate, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter; and the device is also used for acquiring a drawing file of the workpiece to be detected, determining hole position measurement information in real time according to the adapter configuration file, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter, and judging whether the quality of the workpiece to be detected is qualified or not according to the drawing file and the hole position measurement information.
2. The tracking scanning system for real-time tracking adapter tuning of claim 1, wherein said data processing unit comprises a data acquisition module, a calibration module, a coordinate system conversion module, and a quality detection module;
the data acquisition module is used for acquiring drawing files of the workpieces to be detected, and acquiring mark point information of the adapter and cross section center point information of a bolt of the adapter in real time;
the calibration module is used for generating an adapter configuration file according to the mark point information and the hole site information of the calibration plate, the mark point information of the adapter and the center point information of the cross section of the bolt of the adapter;
the coordinate system conversion module is used for determining a first coordinate conversion relation between an adapter coordinate system and a tracker coordinate system according to the adapter configuration file and the mark point information of the adapter; determining hole site measurement information according to the first coordinate conversion relation and the information of the central point of the cross section of the bolt of the adapter;
the quality detection module is used for judging whether the quality of the workpiece to be detected is qualified or not according to the drawing file of the workpiece to be detected and the hole site measurement information.
3. The tracking scanning system for real-time tracking adapter retrofitting according to claim 2 and wherein said calibration module is configured to:
determining coordinates of mark points and hole positions of the calibration plate under a coordinate system of the calibration plate;
based on the result of scanning the calibration plate hole site inserted into the adapter again by the tracker, coordinates of the calibration plate mark point and the adapter mark point under a calibration plate coordinate system are obtained;
and generating an adapter configuration file according to the hole position of the calibration plate and the coordinates of the marking points of the adapter under the coordinate system of the calibration plate.
4. The tracking scanning system for real-time tracking of an adapter for retrofitting according to claim 2 and wherein said adapter profile comprises three-dimensional coordinate information of said adapter marker point and three-dimensional coordinate information of a center point of a cross-section of a pin of said adapter in an adapter coordinate system.
5. The tracking scanning system for real-time tracking adapter retrofitting according to claim 4 and wherein said coordinate system conversion module is configured to:
according to the adapter mark point information acquired by the tracker, determining three-dimensional coordinate information of the adapter mark point under a tracker coordinate system;
and obtaining a first coordinate conversion relation between the adapter coordinate system and the tracker coordinate system according to the three-dimensional coordinate information of the adapter mark point in the adapter coordinate system and the three-dimensional coordinate information of the adapter mark point in the tracker coordinate system.
6. The tracking scanning system for real-time tracking adapter retrofitting according to claim 5 and wherein said data processing unit is configured to:
according to the information of the central point of the cross section of the bolt of the adapter, three-dimensional coordinate information of the hole site under the coordinate system of the adapter is obtained;
obtaining hole site measurement information of the workpiece to be detected under a tracking coordinate system according to the first coordinate conversion relation and the three-dimensional coordinate information of the hole site under the adapter coordinate;
and comparing the hole site measurement information with the drawing file of the workpiece to be detected, and judging whether the quality of the workpiece to be detected is qualified or not.
7. The tracking scanning system for real-time tracking adapter retrofitting according to claim 5 and wherein said hole sites of said workpiece to be inspected comprise reference feature hole sites and non-reference feature hole sites;
the quality detection module is used for:
determining the coordinate information of the reference feature hole site under a tracker coordinate system, and creating a measurement coordinate system according to the coordinate information of the reference feature hole site;
determining a second coordinate conversion relation between the measurement coordinate system and a theoretical coordinate system according to the measurement coordinate system and the theoretical coordinate system of the drawing file of the workpiece to be measured;
obtaining a measured value conversion coordinate of the measured value of the non-reference hole site under a theoretical coordinate system according to the second coordinate conversion relation;
and converting coordinates according to the measured value of the non-reference hole site and theoretical coordinates of the non-reference hole site under a theoretical coordinate system, determining coordinate deviation, and judging whether the quality of the workpiece to be detected is qualified or not according to the coordinate deviation.
8. The tracking scanning system for real-time tracking adapter retrofitting of claim 1 and further comprising a cradle;
the support is connected with the data processing unit and is used for providing a handheld component for the scanning system.
9. The tracking scanning system for real-time tracking adapter tuning of claim 1, wherein said trackers have multiple sets.
10. The tracking scanning system for assembling real-time tracking adapters according to claim 9, wherein the data processing unit is further configured to compare hole site measurement information under a coordinate system of a plurality of groups of trackers under the same main tracker coordinate system with a drawing file of a workpiece to be detected, and determine whether the quality of the workpiece to be detected is qualified.
CN202310905078.7A 2023-07-21 2023-07-21 Tracking scanning system for adjusting real-time tracking adapter Pending CN117029675A (en)

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CN202310905078.7A CN117029675A (en) 2023-07-21 2023-07-21 Tracking scanning system for adjusting real-time tracking adapter

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