CN209496410U - Generate the device of the point cloud for the exact shape for indicating people's means of transport in building - Google Patents
Generate the device of the point cloud for the exact shape for indicating people's means of transport in building Download PDFInfo
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- CN209496410U CN209496410U CN201822149440.XU CN201822149440U CN209496410U CN 209496410 U CN209496410 U CN 209496410U CN 201822149440 U CN201822149440 U CN 201822149440U CN 209496410 U CN209496410 U CN 209496410U
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- building
- transport
- people
- working platform
- mobile working
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
- B66F11/046—Working platforms suspended from booms of the telescoping type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/30—Polynomial surface description
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
Abstract
The utility model relates to the anticollision auxiliary systems for mobile working platform, more particularly to the device for the point cloud for generating the exact shape for indicating people's means of transport in building, it is adapted to determine that people's means of transport position between floors and orientation, determine relative position and the orientation of the mobile working platform of interior of building, reference point relative to interior of building carrys out position and the orientation of reference man's means of transport and mobile working platform, device is suitable for preventing the collision between mobile working platform and people's means of transport, it include: the reference point in building, three-dimensional scanner, static calculator device, the reference point of mobile working platform, first processor is suitable for: being compared by the position of a single point for the point cloud that will be generated with the position of threedimensional model and orientation to detect the risk of collision between mobile working platform and people's means of transport, it generates It indicates the threedimensional model of mobile working platform, determine the position for indicating the six-freedom degree of threedimensional model of mobile working platform and orientation.
Description
Technical field
The utility model relates to mobile working platform (MVP, movable work platform) and people's means of transports
The determining field with anticollision in position between (HTV, human transportation vehicle).
Background technique
The immediate prior art is US5359542, is related to a kind of for determining position and use of the aircraft in hangar
In the system for limiting movement of multiple gantries around aircraft, the system is up-front more along aircraft wing including verifying
Multiple removable scanners of the position of a collinear points, including the processor system for determining the intersection point of the line across collinear points
The other parts of system, the friendship Points And lines and aircraft have known positional relationship, and processor system is also according to the known position
Relationship determines the position of the other parts of aircraft, and processor system determines the limitation to crane relative to the movement of aircraft.
DE102012006371 is related to a kind of technique in printed on objects.
WO2007101475 is related to one kind and hangs robot for handling having for surface (the especially surface of aircraft)
Automated system, including bracket P, bracket P is by the mobile balladeur train on bridge crane, bridge crane and moves balladeur train
It is carried by balladeur train and the telescopic door frame extended downwardly forms.Handling machine people is supported by door frame at its lower end.The system
It is provided as with indoor GPS device, which includes being arranged in be fixed on ground in the height direction
On pillar and independently of multiple transmitters of canopy (wherein installation process system), the receiver supported by telescopic door frame and
The receiver being fixed on the significant point of object, to detect the position of reference point of the robot in processing space to be measured
Set the position of the significant point with object in the processing space；And for being stored based on the position detected and based on object
3D shape in a management system, to the reference point and significant point of the system signaling of control bracket and robot notice object
Detect the device of position.
The possible cost of single collisions between mobile working platform and people's means of transport is huge, and to positioned at work
Make to be also dangerous for the people on platform.
The immediate prior art is US5359542, because it is related to identical field and similar problem to be solved.
Difference between US5359542 and the utility model is:
It is a kind of for generate indicate people's means of transport 1 exact shape point cloud (cloud of point) 1A device,
This cloud 1A is used to determine orientation of the people's means of transport 1 in the building and for determining at least one mobile working
The relative orientation of platform 2 refers to the orientation of people's means of transport 1 relative to 4 reference point R1 of building known at least one
With the orientation of the mobile working platform 2, described device includes:
At least one known 4 reference point R1 of building, is the origin of 6 freedom degree coordinate systems, and it is public to be used as center
Reference point, and
At least one three-dimensional scanner 3, for determining the exact shape of people's means of transport 1, and
At least one static calculator device 6, for generating described cloud for indicating the exact shape of people's means of transport 1
1A, and
The setting device 8 according to reference point R2 relative to reference point R1 setting up to 6 of mobile working platform 2 from
By the orientation spent, and
At least one first processor 21, for generate indicate mobile working platform 2 threedimensional model 2A, and
The first processor 21, for determining the threedimensional model 2A of the expression mobile working platform 2 up to
The position of 6 freedom degrees and orientation, and
The three-dimensional scanner 3 that is linked together via communication device, setting device 8, static calculator device 6 and
First processor 21, and
The first processor 21 is used to prevent the collision between mobile working platform 2 and people's means of transport 1.
The difference of technical effect between US5359542 and the utility model is to generate the reality for indicating people's means of transport 1
The point cloud 1A of shape.Submitting day of the technology of point of use cloud in US5359542 is disabled new technology, since it can be as day
The same protrusion (this is impossible in US5359542) for additionally scanning HTV1 of line, so this technology greatly improves.
The objective technique problem to be solved is a kind of for preventing mobile working platform (2) and people's means of transport 1 to provide
Between collision alternative improvement device.Another problem to be solved is to improve the software limit determined to each movement
The accuracy and reliability of system.
Referring to US5359542 (also referred to as " Boeing patent "), the following main distinction of the utility model is:
A) in Boeing patent, aircraft (barrier) surface is limited with two parts, is that " part of scanning " is (logical first
Cross photocell and incude 4 wing edges and by Observe and measure height to determine position of the aircraft in hangar), and followed by
" another part of aircraft " (CATIA drawing is manually converted and is designed to PLC exclusive data block).In the present invention, lead to
It crosses one and limits complete aircraft surfaces based on the scan session of 3D LIDAR.Scan session generates point cloud.Point cloud is automatically
With reference to static fixed calibration reference target and automatically with reference to hangar.
B) in Boeing patent, the PLC certain data block of the CATIA model based on aircraft, " other parts of aircraft " is needed
To be created by engineer, this is a sizable job, the work will for the manual recast of each different type of airplane (depending on
Feel the position of identification " station track " and Slicing Model for Foreign is come with " station track (station line) " X)；On visual identity covering specifically
The position of " waterline (water the line) " Z just located；Manual designs, calculating and each data block of creation data (circle origin,
Initial radium, anchor, taper multiplier, oval origin, oval yield value；For the specific region of covering, manual designs are using soft
Part (being based primarily upon trigonometry) to calculate distance in real time；Engineer is different flap configuration manual creation additional data sets).At this
In utility model, the post-processing of obtained point cloud is the automated procedure executed by software, (automatic fitration point unrelated with type of airplane
Cloud；Automatic addition shape (edge)；It automatically creates preparation and uses completed aircraft data).
C) in Boeing patent, each model aircraft limits once airplane data within the data block, and identical data are always
It is recycled and reused for identical physics machine.In the present invention, aircraft is rescaned in each entrance of hangar.
D) in Boeing patent, the principle of anticollision detection is by the base structure turning of mobile working platform and will hit
The gauging surface for hitting position and aircraft a little is compared to work.In the present invention, the principle of anticollision detection is
Table is penetrated by actual external surface/shape any point that is calculating measurement and belonging to people's means of transport (such as aircraft)
Show that the virtual 3D model of mobile working platform carrys out work, which includes all physical boundaries, such as worksheet
Face, handrail, fixing piece and other attachmentes and including its support or suspension door frame (if any).
E) in the patent of Boeing, all additional " other objects " should all be planned in fixed position, example
Potential region as where dustbin needs planned, marked on floor, and is pre-designed inside data block.It is practical at this
In novel, any other object can scan with being attached during 3D scan session, and can be automatically added to a cloud.
It means that being present in the new obstacle of some position can integrate automatically.
F) Boeing patent is not directed to the solution of part very outstanding.In the present invention, if HTV has
The very small protrusion (such as antenna etc.) scanned with higher resolution is needed, then 3D scanner can be switched to high-resolution
Rate, and can additionally scan specific protrusion.Obtained point cloud will be automatically inserted into principal point cloud.
G) in Boeing patent, between platforms by using ultrasonic sensor on bridge sports level face, very wide
In the range of the relative distance surveyed between two adjacent bridges execute anticollision.In the present invention, between workbench
Anticollision auxiliary by on-board controller by mutually survey with the relative position of other operated adjacent platforms and orientation come permanently
Ground executes, which not only passes through mutual bridge distance verifying but also the actual bit based on implicit mobile working platform origin
Set (coordinate) progress.
Utility model content
The utility model relates to the point clouds for generating the exact shape for indicating the people's means of transport being located in building
Device, device be adapted to determine that people's means of transport be still in building it is static in position and orientation, and be adapted to determine that building
At least one mobile working platform of stationary internal static relative position and orientation, at least relative to building stationary internal
One known reference point it is static come the static position of reference man's means of transport and orientation and the static position of mobile working platform
And orientation, device be suitable for preventing mobile working platform static and people's means of transport it is static between collision, device includes :-build
At least one reference point in object is static is static, and reference point is static to be the origin of six degree of freedom coordinate system and be used as the public ginseng in center
Examination point, and-at least one three-dimensional scanner are static, are adapted to determine that the static exact shape of people's means of transport, and-at least
One static calculator device is static, suitable for static, the point static table of cloud according to the static data generation point cloud of three-dimensional scanner
The static exact shape of means of transport of leting others have a look at, and-mobile working platform it is static a known reference point it is static, positioned at building
Build object it is static in mobile working platform it is static on, and-at least one setting device it is static, be suitable for according to mobile working platform
The static reference point static phase position static for the reference point of building is flat the static interior mobile working of building is arranged
The position of the static six-freedom degree of platform and orientation, and-three-dimensional scanner is static, setting device is static, static calculator
Device is static and at least one first processor is static links together via communication device is static, and-at least one first
Processor is static be suitable for by the position for the static a single point of point cloud that will be generated and the static position of threedimensional model and be orientated into
Row relatively with detect that mobile working platform is static and people's means of transport it is static between risk of collision, to prevent building static
Interior mobile working platform is static and people's means of transport it is static between collision, wherein at least one first processor is static suitable
In generate indicate mobile working platform it is static threedimensional model it is static, and first processor it is static be further adapted for determine indicate movement
The position of the static six-freedom degree of the static threedimensional model of workbench and orientation.
Preferably, three-dimensional scanner is static refers at least two building reference targets, themselves refer to
A few known building reference point is static.
Preferably, device respectively includes a mobile working platform on every side of the static longitudinal axis of people's means of transport
It is static.
Preferably, every side of the static longitudinal axis static positioned at people's means of transport of 2,3,4 or 5 mobile working platforms
On.
Preferably, it is that the either ground anchoring type work of the hanging workbench of building top-hung is flat that mobile working platform is static
Platform wheeled work platform or the hanging workbench of building top-hung and ground anchoring type workbench and wheeled
The combination of workbench.
Preferably, mobile working platform is static automatically controls or manually controls.
Preferably, the static carrying of at least one mobile working platform: one or more printing equipments；Or one or more photographs
Camera；Or one or more robots；Or one or more surface processing devices；Or one or more people；Or printing equipment, photograph
Camera, robot, surface processing device and the combination of people.
Preferably, people's means of transport is static may is that aircraft or part of it, rocket or part of it, space gun
Or part of it, train or part of it, automobile or part of it or ship or part of it.People's means of transport is static to be may is that
Helicopter or part of it, space shuttle or part of it, bus or part of it.
Preferably, which includes the reference target of calibration, and it is quiet that these targets are located at building during putting static generation
At irremovable position only.
Preferably, during the generation of cloud, three-dimensional scanner can by mobile working platform it is static carrying or not
It is carried by it.
Preferably, communication device is based on LAN the or WLAN infrastructure based on Ethernet.
Preferably, static calculator device it is static it is static including at least one primary server for all linking together, use
It is static, for anticollision management at least one second processor of the static three-dimensional data processing of each three-dimensional scanner
At least one first processor is static, at least one graphical user interface desktop is static and ethernet topology.
Detailed description of the invention
Fig. 1 show indicate building 4 in people's means of transport 1 point cloud 1A and people's means of transport (HTV) 1 (such as fly
Machine) side longitudinally in each on a mobile working platform (MWP) 2 and carry out the utility model necessary to all devices
Top view.Mobile working platform 2 is moved along HTV 1 without contacting with HTV 1.
Fig. 2 shows each of the point cloud 1A of the HTV 1 (such as aircraft) indicated in building 4, reference point R1, HTV are vertical
Two workbenches 2 and reference target S1, S2, S3, S4, S5, S6, S7, S8, S9, S10 on side at different locations
Front view.
Fig. 3 is shown at the point cloud 1A, reference point R1, different location for indicating the HTV 1 (such as aircraft) in building 4
The side view of two workbenches 2 and reference target S1, S2, S3, S4, S5, S6, S7, S8, S9, S10.
Fig. 4 shows point of intersection of the reference point R2 between mobile working platform table top and the vertical axis of vertical telescopic arm
Position, and it also illustrate freedom degree (6DOF) systems on the hanging mobile working platform 2 of building top-hung.
Fig. 5 shows position of the reference point R2 in mobile working platform 2 and freedom degree (6DOF) system of ground anchoring type
It sets.
Fig. 6 is the schematic diagram of the six-freedom degree coordinate system relative to R2.
Fig. 7 is the schematic diagram of the six-freedom degree coordinate system relative to R1.
Fig. 8 shows such as aircraft of HTV 1 in building 4) generation point cloud 1A and two mobile working platforms 2
Generation threedimensional model 2A.
Fig. 9 shows classical 4 shape of building design.
Figure 10 shows 4 shape of the optimization building design of aircraft.
Figure 11 shows hardware configuration, network and the interconnection network between the equipment for the anti-collision system for constituting the utility model.
Figure 12 shows the data flow diagram between the equipment for the anti-collision system for constituting the utility model.
Figure 13 A shows the master for limiting the simplification virtual three-dimensional model 2A about the hanging workbench of building top-hung
Want the top view of parameter.
Figure 13 B shows the master for limiting the simplification virtual three-dimensional model 2A about the hanging workbench of building top-hung
Want the side view of parameter.
Figure 14 A shows the side view for indicating 71, the 72 and R2 of virtual core 70 and containment of MWP 2.
Figure 14 B shows the virtual core 70 and safety for indicating the hanging mobile working platform 2 of building top-hung and indicating R2
The front view of shell 71,72.
Figure 14 C: the virtual core 70 and safety for indicating the hanging mobile working platform 2 of building top-hung and indicating R2 are shown
The top view of shell 71,72.
Specific embodiment
Referring to FIG. 1, FIG. 2 and FIG. 3, the positioning of the utility model and anti-collision system are commonly used in determining that building (such as sprays
Paint hangar and repair hangar) 4 reserved area in barrier (such as people's means of transport (HTV) 1, especially aircraft) appearance
Face/shape and position are used in combination for determining and being arranged to limit the software of the movement of at least one mobile working platform (MWP) 2
In control MWP 2 with anticollision.
Referring to Fig. 9 and Figure 10, the system is usually in building (the spray painting hangar and/or maintenance hangar of such as aircraft) 4
Operation, wherein typical 4 size of monolithic architecture object for parking a unique airplane is about 80m-90m long, 70m-80m wide and 30m-
35m high.(see Figure 10) that the shape design of building 4 can be classical (see Fig. 9) or optimize for aircraft spraying.
Building 4 is equipped with MWP 2, the wherein 2 hanging workbench of building top-hung of MWP either ground anchor
Mobile working platform or building top-hung hanging workbench, ground of the fixed pattern formula workbench based on table top
The combination of anchoring type workbench and the mobile working platform based on table top.
Fig. 4 and Fig. 5 shows typical MWP or building top-hung hanging (Fig. 4) or ground anchoring type formula (Fig. 5).
MWP 2 usually carries operator close to the difference around HTV 1, for inspection or other work purposes.
It can also be provided as alternatively carrying operator, or in conjunction with the operator with particular device, the particular device packet
Include printing equipment or camera or robot or surface processing device.
MWP 2 is usually manually controlled by operator, but can also be automated completely or partially.
MWP 2 can be mobile to be up to six-freedom degree.
Building 4 be preferably equipped with for there are two tools, four or six MWP 2, the wherein half preferably edge in MWP 2
The left-hand side of HTV 1 advance, and the other half advances on the other side of HTV 1.
At least one HTV 1 is docked in building 4, and wherein HTV 1 can be aircraft, rocket, space shuttle, space flight fortune
Load tool, train, automobile, bus or steamer perhaps a part of other or above-mentioned HTV 1.
In building 4, it can install, is fixed or movable dedicated to building 4 or other application relevant with process
Equipment, usually a part of stair or ladder or scaffold or berth or other workbenches and fabric structure, such as wall
Wall or pillar.
Outer surface/shape meaning: due to being parked in identical position in building 4 every time for HTV 1
It is uncommon, and due to the equipment of the damping of the load of the variation on HTV 1, variation compression and the tire pressure, variation that change
And attachment, different HTV 1 with different posture/orientations and will undergo outer shape to deform --- with theoretical CAD model phase
Than, it is therefore necessary to actual external surface/shape of the HTV 1 is determined as referring to relative to building known at least one
The point cloud 1A of point R1, at least one known building reference point R1 are used as the six-freedom degree system in the space of building 4
The center reference point of absolute origin (MWP 2 is relative to its movement).Under same scene, up to six freedom of HTV 1 are determined
The position of degree and orientation.
Preferably, what the method had HTV 1 includes point cloud 1A resolution ratio between 10 mm and 50 mm, wherein letter
The resolution ratio of simple form shape (airframe) may be lower, and the resolution ratio of more complicated shape (miniature antenna) may be higher.Preferably,
Method for obtaining and handling entire point cloud spends 60 minutes to 80 minutes.
It is usually multiple equipment (such as at least one encoder and at least one Programmable logical controller PLC that device 8, which is arranged,
Unit 12) combination, see Figure 11.
The position of MWP 2 is determined via setting device 8, to determine the 2 reference point R2 of known MWP relative to R1.
The threedimensional model 2A for indicating MWP 2 is generated, with reference institute based on setting device 8 for typical anticollision application
The position for stating up to 6 freedom degrees of reference point R2 is related to orientation.
Threedimensional model 2A is the combination of reduced form, not only include mobile working platform working surface, further include handrail,
Fixing piece, guiding door frame and other attachmentes, and as close possible to being realistically optimized.
Indicate that the obtained envelope of threedimensional model 2A of MWP 2 proportionally extends with desired safety coefficient, with
Virtual secure shell is formed around it.It will indicate the position of a single point of the point cloud 1A of the generation of HTV 1 and the position of threedimensional model 2A
It sets and is compared.So that realizing when detecting potential risk of collision between MWP 2 and HTV 1 until MWP 2 stops completely
Preset deceleration curve only, to force to abide by scheduled minimum range, to avoid between any part and MWP 2 of HTV 1
Physical contact.
Typical setting is in order to ensure the speed drop between MWP 2 and HTV 1 at the distance of about 800mm-1000mm
It is low, and carried out at about 100mm to 200mm by complete stop of the minimum range between MWP 2 and HTV 1.
The direction of potential risk of collision is determined, so that the movement of only MWP 2 towards HTV 1 are restricted.
Fig. 8 shows the three-dimensional of the generation of the point cloud 1A and mobile working platform 2 of the generation of the aircraft 1 in building
Model 2A.
Since cloud 1A may include other points in addition to only HTV 1, and be located at building 4 inside and
Sundry item in the working range of mobile working platform is related, therefore anticollision application can also extend and be applied to this its
His project, has the same effect.
Since different MWP 2 can share identical working region, anticollision application be can extend between MWP 2
Anticollision.
The utility model further relates to the use of the device, with the track based on preprogramming, automates 2 edge MWP
The movement of the current manual control of HTV 1.
Term for describing coordinate system is as described below, and actual external surface/shape of HTV 1 has been determined according to the coordinate system
And position/orientation, and MWP 2 is mobile relative to the coordinate system.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 6, a known building absolute reference point R1 is pre- in building 4
Fixed point, and be the origin of six-freedom degree coordinate system.During first time debugs, specific measuring equipment (such as laser is used
Tracker) exact position is disposably arranged, and the exact position may be slightly different between building and building.It should
Point is defined as the systematic common reference point of institute.In order to determine that X, Y and Z are orientated, it then follows following convention: the HTV in building 4
1 provides the orientation of X-axis into orientation.Descartes's right hand rule is for determining another axis and rotation, and wherein X-axis is main level side
To Y-axis is orthogonal to X-axis, and Z axis is orthogonal to X/Y plane.
Referring to Fig. 4, Fig. 5 and Fig. 7, MWP 2 is the predetermined point for belonging to MWP 2 with respect to reference point R2, and for every type
The MWP 2 of type is identical.R2 can be mass center or any other point, and disposably be limited using CAD.R2 is six-freedom degree
The origin of (6DoF) system, the freedom degree refer to the freedom of motion of MWP 2 in three dimensions.MWP 2 can be freely
Change position in a manner of translation on three vertical axises, such as forward/backward, up/down, left/right, and by surrounding
The positive rotation or negative rotation of three vertical axises, which transfer, changes direction, referred to as rolling, pitching and yaw.Preferably, operator relative to
R2 manipulates MWP 2.
In order to determine the outer surface of HTV 1, at least one three-dimensional scanner 3 is used.Three-dimensional scanner 3 is usually base
In the technology of Li DAR, passes through the irradiation target using all around pulse laser and utilize sensor measurement reflection
Pulse measures range-to-go, and the difference of laser time of return and wavelength is used to the digital 3D table of target
Show and is made as a cloud.This High-performance lasers scanner is preferably transportable embedded calibration inclinator, and preferably has
Wireless LAN communication facility, autonomous battery system and real-time registration technique, such as commercial Faro Focus (Fa Luofuke
This) S70 scanner
Three-dimensional scanner 3 refers at least two building reference target S1, S2, themselves refers at least one
Known building reference point R1.Preferably, these specific building reference target S1, S2 etc. are calibrated, and first
It is disposably placed on to non-moving structure division or table top using specific measuring equipment (such as laser tracker) when secondary debugging
On.
Three-dimensional scanner 3 will be programmed to position these buildings first before starting each scanning process with reference to mesh
S1, S2, S3 etc. are marked, and generates a cloud 1A.
The positioning of the utility model and anti-collision system can integrate multiple MWP 2 and scanning means 3.The quantity and class of MWP 2
Type depends on the configuration of building 4.The quantity of scanning means 3 is determined by the maximum duration that scan operation allows.It is scanned
Journey can be completed in a parallel fashion while using several scanning means 3.In general, scanning will be made to grasp using two scanning means 3
Make twice of time reduction.
Hardware configuration:
Referring now to fig. 11, it illustrates the positions constituted based on the system of two MWP 2 and two scanning means 3 to determine
Hardware configuration, network and interconnection network between the different equipment parts of anti-collision system.In order to more convenient, MWP1 2 and 3D are scanned
Device 13 is associated, and will operate in the left-hand side of the center line of building 4, and MWP2 2 and 3D scanning means 23
It is associated, and will be operated in the right-hand side of the center line of building (4).
The system is made of three major subsystems.Three-dimensional scanner 3, static computing device 6 and mobile working platform
Control equipment 7.
Term communication device corresponds to the pass LAN 30 or WLAN31,32 interface communications and exchange data based on Ethernet
Equipment.
LAN/WLAN 30,31,32:
In order to ensure the Ethernet Wireless LAN facility 32 between three-dimensional scanner 3 and other equipments, building 4 is equipped with
For be fixed in 4 structure of building (preferably --- in terms of the center line of building 4 --- in every side of building 4
Sentence obtain optimization performance) Ethernet Wireless LAN access point 31.According to the configuration of building 4, the quantity of access point 31
It can change with position.All Ethernet Wireless LAN access points are all connected on ethernet lan network 30.It is all with positioning and
Anti-collision system is related and is connected to the equipment of ethernet lan network and shares identical IP range and subnet, and should preferably with
External network or IP affiliate isolation, to avoid interference.
Three-dimensional scanner 3:
Three-dimensional scanner 3 preferably has wireless LAN traffic facility, and is configured in the domain LAN for weight automatically
Newly it is connected to wireless lan network.
Static calculator device 6:
Static calculator device 6 includes that one of the 3D data processing 20 for each three-dimensional scanner 3 is first dedicated
Processor 21.Static calculator device 6 further includes a primary server 10, which is used as the primary database of point cloud, and
And also act as the interface gateway of mobile working platform control equipment 7.Graphical user interface desktop 11 is usually exclusively for being used as
Man-machine interface and the interactive screen developed.
Mobile working platform control equipment 2:
Each MWP 2 is equipped including airborne control, which includes programmable logic controller (PLC) PLC unit
12, preferably fault-secure type, such as Siemens SimaticS7-3xx-F.Each actuator shaft 13 of MWP 2 is by being based on PLC
14 independent control of multiaxis driver and control unit.For actuator shaft 13, all types of actuators are all compatible, and
And in order to more stably control, inverter driver or proportion-controllable valve are preferred, but if axis is directly in electric motor starting
It is driven on device, system can also work.The current location for constituting each axis of MWP 2 passes through industrial bus (such as using one group
Profibus or Profinet 15) the absolute setting device 8 of PLC unit 12 is directly linked to determine, and according to being described below
Method referred to.When MWP 2 is manually controlled, airborne PLC unit 12 is linked to airborne hand held console 16, and wherein people grasps
Work person, which usually passes through, generates movement set-point on control stick or button.The orientation of hand held console 16 is according to R2, towards R2
X+, and in a fixed manner building so that its orientation cannot be changed.Airborne control equipment further includes the first dedicated place
Manage device 21.
Method for reference setting device 8:
Need description for the method with reference to setting device 8 now, which is used to determine that MWP's 2 to be directed to origin
The position of R2 and orientation.Be arranged device 8 in initial debugging all disposably with reference to pre-position pre-qualified value (have or
There is no deviant), and it is according to R1.This method is used and is carefully placed and secured on operating structure or in MWP 2
A group mark (usually arrow is to obtain higher precision) with this, and according to the CAD model generated with the design of MWP 2.
In the case of necessary, it also can be used and such as fix this for fixing the identical specific measuring equipment of the specific measuring equipment of R1
The accurate location of mark.Device 8 is arranged for these, it is integrated by airborne PLC unit 12 and cyclically verify following reasonability with
Integrity checking.These inspections are: relative to the correct rotation/direction of displacement of the direction of motion；Rotation/displaced position value is not having
Change in the case where active movement；Rotation/displaced position value does not change while active movement；Move set-point and encoder speed
Speed reasonability between degree；By checking the reasonability control for checking encoder values at position with predetermined value, by through over-discharge
Set the activation trigger of the reasonability sensor of the mark of the path sections statistically often passed.
This method allows to determine position for origin R1 and the orientation of R2 relevant to coordinate system.
Function and database and data exchange and input/processing/output:
Figure 12 shows the data flow diagram of the disparate modules used during link different operating stages.
From the perspective of operation, this method is based on two main operational phases, and wherein the first stage corresponds to point
Collect the anticollision during corresponding to the utilization of MWP 2 with a unique generation for putting cloud 1A and second stage.
The first stage of operation with the use of lower module by being formed.First module for being named as 3D scan module 40 is negative
Duty collects the partial points cloud 41 for respectively correspond toing the Part portions of HTV 1.The quantity of 3D scan module 40 corresponds to and is made by system
The quantity of 3D scanning means 3.Each partial points cloud 41 is sent to another module for being named as 3D module 42.3D module 42
It is responsible for collecting, filter and mapping partial points cloud 41, and a unique entire cloud for creating the outer surface for indicating complete HTV 1 together
1A.The entire cloud 1A generated is sent to the next module for being named as management module 43.
The second stage of operation with the use of lower module by being formed.Management module 43 is used as center management system, with storage
The obtained entire cloud 1A generated during the stage 1, and entire cloud 1A is dispatched to other anticollision module 44.Management module
43 also serve as the main user interface of operator.The management module 43 go back 4 characteristic of area definition building all static parameters,
The setting of MWP 2 and meets every other characteristic needed for system overall constraint at 1 characteristic of HTV.The group first of anticollision module 44
Close the setting from the received MWP 2 of management module 43 and the present bit from the received MWP 2 of mobile working platform PLC module 45
It sets, to construct the threedimensional model 2A for indicating MWP 2 and its current location and orientation.Pass through the three-dimensional mould that will be properly positioned and orient
Type 2A is compared with from each point of the received entire cloud 1A of management module 43, and anticollision module 44 is generated to mobile working
The kinematical admissibility of platform PLC module 45.The quantity of anticollision module 44 corresponds to the quantity of MWP 2.Mobile working platform PLC
Module 45 determines current location and the orientation of MWP 2 based on aforementioned setting device 8 and method, and will send information to anticollision mould
Block 44, and based on the movement from the received kinematical admissibility of anticollision module 44 limitation MWP 2.
More specifically, each module is by specific software sharing.
3D scanning means embedded software:
3D scan module 40 is made of the embedded software 46 for belonging to 3D scanning means 3.By the embedded software 46 real
It now scans every time and generates partial points cloud 41.Scan request is passed through dedicated based on the 3D application software 47 by belonging to 3D module 42
The trigger and parameter that data-interface 48 is sent.Each the partial points cloud 41 for respectively correspond toing the Part portions of HTV 1 includes
By at least two building reference target S1, S2 of 41 automatic identification of embedded software.It is connect by 3D application software 47 by data
The canonical parameters that mouth 48 is sent are required resolution ratio setting and required quality settings, because of most of 3 energy of 3D scanning means
Enough the multiresolution with different quality level is horizontal.Resolution ratio setting determines the point in point cloud and between the details of respective horizontal
Relative distance.By increasing resolution ratio setting, the points of capture increase, and corresponding point distance reduces.Pass through smaller resolution
The points of rate setting, capture reduce, and corresponding point distance increases.Resolution ratio is arranged based on required level of detail, arrives HTV
1 distance and distance to building reference target S1, S2.Quality settings determine that measurement rate and noise decline are horizontal.It is logical
Increase quality settings are crossed, measurement rate drop reduces.Scanner captures time quantum (the statistics survey of same each point of each scanning element
Accuracy of measurement) by repeatedly measuring come confirmation message, by averagely increasing result.Noise decline is by for determining
The difference of scanning element is the internal algorithm of the Precise Representation of details or noise to complete.The algorithm comparison it is mutual it is specific away from
From interior scanning element, and determine difference whether in the tolerance specified by quality settings.If it is not, then scanning element is removed.
Substantially, quality settings are selected according to environmental condition, to be kept in mind that, best quality spends more sweep times,
And lower quality will increase error margin.
Interface 3D scan module/3D module:
By same data-interface 48,3D scanning means 3 sends the current operation of its own to 3D application software 47 immediately
State.Once partial points cloud 41 has been fully processed, each scan data is compiled into specific file by 3D scanning means 3, and
3D application software 47 is sent it to by exclusive data interface 48.
3D application software:
3D application software 47 perhaps runs or runs on primary server 10 virtual on dedicated physical computer
It is run on machine.3D application software 47 collects all specific files relevant to partial points cloud 41 and stores it in local data base
In 49.It is register control and post-processing in next step.3D application software 47 is independent research, it manages existing from the market
3D special-purpose software (Faroschene such as from Faro or the Poly from Innovmometric Software company
Works the additional functionality) called in 50, and pass through dedicated SDK (Software Development Kit, Software Development Tools
Wrap) interface is carried out with it.
During being mapped to all local clouds together, main aspect is used and is followed in each partial points cloud 41
Building reference target S1, S2 etc., be initially used for point-device mapping and secondly for according to building reference target
The translations such as S1, S2 constitute all the points of entire point cloud 1A, and therefore move to R1.
According to the configuration and its content of building 4, additional additional features are applied in 3D application software 47.
First additional features of 3D application software 47 eliminate data not available for anti-collision system, to locate to limit
The size of the file of reason, and therefore limit finishing time.In fact, even if 3D scanning means 3 can be in its maximum scan
Whole building 4 and its any details are scanned in range, such as wall, top, floor and other static-obstacle things, also will only consider by
The data in limited range that the maximum operating range of MWP 2 limits in building 4.One group of parameter defines scan operation model
It encloses.This means that HTV 1 is scanned, and if suitably being parameterized, the other elements of building 4 and its
What details (other static-obstacle things in such as maximum magnitude of wall, top, floor and MWP 2) can all scan with being attached.
Another supplementary features limit finishing time.This method is formed by obtaining these points two stages, wherein
During first stage, all static points, (such as wall or other fixed obstacles) is all disposably scanned, post-processed and is deposited
Storage.Second stage corresponds to the system scanning in the frame of scanning for the first time, corresponds to non-static point (such as HTV 1 to obtain
Point) point.Therefore, system post-processing is only limitted to second stage.The obtained point in the first and second stages is finally incorporated in one
It rises.
Another feature is used for if necessary and the configuration according to building 4 and the requirement according to anti-collision system create virtually
Point wall.The creation of virtual point wall is by 3D application software based on the standard for including in the one group of parameter limited during debugging come complete
At.
All filter algorithms and by partial points cloud mapping together the result is that one merging unique entire cloud 1A, be
System ground is associated with the parameter for meeting HTV 1, and as specific file storage to the local data base for belonging to 3D application software 47
In 49.By 3D application software 47 using associated file with by comparing the HTV 1 that newly scans with it is previously stored mutually similar
Point cloud between 1 data of HTV of type checks, and the percentage of similitude between the two is provided as statistical information.
Additionally, each entire point cloud 1A is converted into single face triangle gridding by 3D special-purpose software 50, and claims " STL "
Formatted file simultaneously stores it in identical local data base.
Dedicated local graphic user interface 51 allows operator to be stored in local data base by the access of dedicated 3D software 50
Data in 49, especially partial points cloud and entire point cloud 41,1A.This user interface is mainly used for necessary situation to check spy
Determine details, but there is no operating function.
Management application software:
Management application software 52 is independent research, and is considered as the major software of whole system.It is described in front
A primary server 10 on run.The purpose of management application software 52 is the first stage by management operation and will be from the
The result in one stage was assigned to for the second operational phase to coordinate two operational phases.
Management application soft 52 will meet the institute of 4 characteristic of building, the setting of MWP 2,1 characteristic of HTV and every other characteristic
There is static parameter storage into its private database 53, with the overall limitation for limiting system.The positioning of scan position is for limitation
The quantity of shade and surface be it is conclusive, the surfaces of these shades corresponds to invisible or is difficult to visible surface, especially
On complicated or large size HTV 1.Therefore, the characteristic based on each type HTV 1, the best orientation of scan position are divided with best
Resolution will be different, and would be stored separately in database.
For the stage of completing 1, such as whole group parameter determined above by exclusive data interface 54 together with scan request from
Management application software 52 is systematically transferred to 3D application software 47.As return, and by identical data-interface, obtain
Unique entire point cloud 1A is exported to management application software database 53 from 3D application of software data library 49 automatically.
One main graphical user interface is just run in graphical user interface desktop 11 using 55.Main graphical user interface is answered
It is made of with 55 several menus with different access rank, and by cryptoguard.From this central point, can check or
Any setting is modified, the state and performance indicator of whole system can be inquired.
Can visualize in user interface 55 associated static of building 4 and complete movement content is specifically designed
Real-time 3D animated graphical overview, the real time position and orientation of 4 component of building, HTV 1 and MWP 2 during display operation.
Interface management application software/anticollision application software:
By exclusive data interface 56, management application software 52 and the shared entire obtained cloud of anticollision application software 57
1A is arranged and at the same time also sharing MWP 2.The data of transmitting are stored in the local data base 64 for belonging to anticollision application software 57
In.
Anticollision application software/mobile working platform PLC process software:
Anticollision application software 57 is to manage anticollision and independent development.Anticollision application software 57 is in each MWP
It is run on each of 2 airborne first processors 21.
The preliminary task of anticollision application software 57 is the simplified virtual three-dimensional model 2A of building as the void for indicating MWP 2
Quasi- core shell, and it is based on restriction and one group including 2 physical boundary MWP (such as working surface, handrail, fixing piece and other attachmentes)
Parameter, and including its support or suspension door frame (if any), and there is all origin R2.Figure 13 A and Figure 13 B show
The principle suitable for any type MWP 2 is gone out.The volume for constituting core shell depends on the complexity of MWP 2, but must keep
It is reasonable low, because it influences the main performance calculated.
4A, 14B, 14C referring now to fig. 1, another group of parameter create virtual for extending core shell 70 in all directions
Containment.In general, the first biggish containment 71 of creation, and it corresponds to the region for only allowing low speed.Creation second is smaller
Containment 72, and its correspond to movement stop region.
Figure 12 is returned to, mobile working platform PLC processing software 58 is independent development, manual based on being activated by operator
Fixed set-point controls the movement for the axis for constituting MWP 2 on console 60, and is immediately determined that using above-mentioned setting device 8
The six-freedom degree position of MWP 2 and orientation, the position and orientation refer to method for origin R2 and by previously described
It is related to for the coordinate system of origin R1.
The current six-freedom degree position of MWP 2 and orientation are determined, and pass through exclusive data very rapidly and reliably
Interface 59 and 57 Instantaneous sharing of anticollision application software.
Current six-freedom degree position and orientation, anticollision based on the MWP 2 received by the data-interface 59 are answered
Translated with software 57 and orient virtual three-dimensional model 2A relevant to the coordinate system of origin R1 is directed to --- core shell 70 and safety
Shell 71,72.
The tailor-made algorithm of anticollision application software 57 will indicate each single-point of the entire cloud 1A generated of HTV 1
Position (be directed to origin R1) with around one group of MWP 2 survey area (for origin R1) be compared, adjust around this
Region is looked into be limited by the virtual three-dimensional model 2A for translating and orienting.As the comparison result, 57 basis of anticollision application software
R2 determines (multiple) direction of potential risk of collision.
Therefore, when detecting potential risk of collision between MWP 2 and HTV 1,57 basis of anticollision application software
R2 is respectively set one group of high speed and permits.Starting movement, correspondingly containment is arranged and combines with the information about the direction of motion.
Pass through exclusive data interface 59 very rapidly and reliably and 58 Instantaneous sharing information of mobile working platform PLC process.
The setting motor point that mobile working platform PLC process 58 will be fixed on hand held console 60, be activated by operator
It is combined with what is received from anticollision application software 57 for enabled/disabled high speed, movement and the license in direction, with correspondingly
The movement of each axis is limited, and according to R2, realizes the collision prevention function between MWP 2 and HTV 1.
As defined above, entirely point cloud 1A also can integrate part and its any details from building 4, as wall,
Other static-obstacle things in top, 2 maximum magnitude of floor and MWP.By extension, collision prevention function will not only extend to people's transport
Tool, also will expand to building 4 components and its any details.
Anti-collision system is locally displayed to operator by simple indicator light on MWP 2 in local user interface panel 61
It is no to be activated, run and whether detect potential collision.
By exclusive data interface 56, it is soft that calculated result is shared to management application by anticollision application software 57 immediately simultaneously
Part 52, for tracking and tracking purpose.All conditions that output and input of second stage operation are stored in primary database 53.
Since mobile working platform PLC processing software 58 and all anticollision application software 57 pass through previously described data
Interface 59,56 links together, and shares the current of expression MWP 2, correlation study region and each mobile working platform
The data of six-freedom degree position and orientation, therefore by being compared each survey area of each MWP 2 and making to own
All carried out for origin R1, collision prevention function extends to the anti-collision system between different MWP 2, has and be previously described phase
Same effect.For better performance, it is anticipated that straight between PLC processing software 58 and between anticollision application software 57
Connect data-interface 62,63.
The system is expansible to be fully automated movement during operation.Utilize the system, management application software 52
Determine that limitation, specified and dynamic control the automatic motion profile of MWP 2, and optionally control be mounted on it is multiple on MWP 2
Numerical control robot end effector can spray and distribute water, remover, paint, and it can execute other to HTV 1
Operation.Other enhancings (referred to as active path planning) of the system include improved enterprise employee health and safety, and reduce production
Time.Exclusive data interface 65 is used to the movement instruction generated by management application software 52 being transferred to mobile working platform PLC
Processing software 58, and in turn for status signal to be transferred back into management application from mobile working platform PLC processing software 58
Software 52.
Operational phase:
From the perspective of operation, this method is based on two main operational phases, and wherein the first stage corresponds to point
Collect the anticollision during corresponding to the utilization of MWP 2 with a unique generation for putting cloud 1A and second stage.
Stage 1:
When each HTV 1 is brought into building 4, the first operational phase was realized by the 3-D scanning of system.
As noted previously, as the large scale and complexity of the outer surface of HTV 1, and in order to avoid cannot be with enough matter
The shade for measuring to take measures, needs to take multiple scan program from several pre-qualified scan positions.Management application software 52
Optimum scanning position and correspondingly optimum resolution are stored in its private database 53 for each type of HTV 1.It sweeps
Retouch position be defined for combination HTV 1 from side, from top and from the scanning of bottom.It is noted that for not
With scan position, operator be considered as with HTV 1 should place keep reasonable safe distance, because of acquisition process
It remains unfulfilled and anti-collision system not enabled.Due to the large scale of HTV 1, it is necessary to reach upper bit using man-engine
It sets.If MWP 2 provides enhanced feature, they can be used for reaching upper position.Using 2 MWP, Ke Yiyou
Operator manually controls MWP 2 to reach each scan position, or alternatively by its preprogramming with advanced automatic auxiliary
Mode is helped to reach each scan position.In both modes, collection sequence keeps identical.
As previously mentioned, building (4) be preferably equipped with for tool there are two, four or six MWP 2, wherein in MWP 2
Half is advanced preferably along the left-hand side of HTV 1, and the other half advances on the other side of HTV 1.The utility model
Embodiment is based on two MWP 2 and two scanning means 3.In order to more convenient, MWP 2 is associated with scanning means 3, and will be
The left-hand side of the center line of building 4 operates, and MWP 2 is associated with scanning means 3, and will be at the center of building 4
The right-hand side of line operates.Scanning process can be completed in a parallel fashion, in general, when will make scan operation using two scanning means 3
Between reduce twice.
It collects sequence to complete in an automatic fashion, as described above, being coordinated by management application software 52.
HTV 1 is positioned with its exact position and state.Other application special mobile equips (usually stair, ladder, foot
Hand cradle, berth or other workbenches) their exact positions are also disposed in under the conditions of.Operator is by the driving of MWP 2 in advance
Fixed initial position, preferably on table top, and the predetermined position being carefully placed on scanning means 3 on MWP 2.Together
When, the second operator carries out identical operation to MWP 2 with scanning means 3.Two scanning means are all opened.In boot sequence
Later, the mode of operation of each scanning means 3 is sent to management module 43 by 3D module 42 and associated data interface.
55 are applied by main graphical user interface, Authorized operation person is capable of the program of incipient stage 1 now.Each MWP 2
It is manually controlled driving or with advanced automatic supplementary mode driving to the first scan position.Once the first scan position is reached,
Collect first partial cloud 41.Once reaching, each MWP 2 is driven to the second scan position, and so on, until arrived
The last one scan position, and obtain the last one local cloud 41.
55 are applied by main graphical user interface, can be passed through first and be detected the data of loss automatically and also pass through inspection
The 3D data received visually check the completion of operation.When necessary, additional scanning can be completed, or re-starts and sweeps
It retouches.
Once the unique point cloud 1A of entire one is correctly completed, the driving of MWP 2 is arrived initial position by operator, and carefully
Remove scanning means 3.Meanwhile second operator with scanning means 3 identical operation is carried out to MWP 2.
Since --- three-dimensional scanner 3 --- is used to determine a point cloud 1A based on optical hardware for positioning and anti-collision system, and
And building 4 can be used for purpose of painting, so optical hardware will the preferably installation when HTV 1 is just parked, and true
Outer surface/the shape for determining HTV 1 removes later and before spray painting or maintenance process start.This avoids sensing hardware first
Optical lens on overspray risk, and avoid when the paint used is solvent-based, using being suitable for danger
The specific hardware of dangerous position, it is also referred to as explosion-proof.It should be understood that this method be based under conditions of restriction, restriction when
Carve the position/orientation and outer surface/shape for determining HTV 1.System does not consider the modification of scanner program postcondition.Note that this is
System can be enhanced to be also suitable during spray painting or attended operation, and therefore can be during spray painting or attended operation
Immediately/real time data is provided.
Stage 2:
Second operational phase, which corresponds to, is utilizing the anticollision during MWP 2 for production task.
As described above, a unique entire point cloud 1A is shared automatically to mobile working platform control equipment 7.
In order to prove function, before starting productivity operational movement under anti-collision system control, operator needs to appropriate
Function compactly tested.This is executed on virtual test object, the virtual test object marked on table top for
Square, with one meter of Virtual Height.When anti-collision system enables, operator uses MWP 2 close to virtual from different directions
Test object, and check slow down and completely stopping whether correctly occurring and the opposite direction of potential collision on spare fortune
It is dynamic whether correctly to work.Virtual test object is the fixed part of entire point cloud.During system debug, several virtual tests
Object can virtually be placed on the position that facilitates in building 4, and correspondingly mark on table top.
The reaction of 2 period of stage system: during MWP 2 is mobile in the stage 2, closed loop platform courses equip 7 real-time surveys
The collision that may occur between MWP 2 and HTV 1.When detecting the crosspoint between entire point 2 containment 71 of cloud 1A and MWP
When, MWP 2 is only permitted to continue to move to low speed, and lamp indicates such case.The peace of cloud 1A and MWP 2 is entirely put when detecting
When crosspoint between full shell 72, MWP 2 stops completely, and lamp indicates such case.In this case, operator
It is allowed to move in the opposite direction of collision.
From the perspective of operation, as mentioned, MWP 2 is usually controlled by hand held console 16, in the dental pulp
In scorching device, people operator usually passes through control stick or button generates movement set-point.The effect of anti-collision system is corresponding
Axis movement velocity is limited in safety value on direction.
Anti-collision system is disabled it is noted that can be applied on 55 by main graphical user interface.In this case, MWP
2 move freely in its 6DoF, are limited solely by its own physics free movement.
It should be understood that for the sake of clarity, the utility model described in the context of separated embodiment
Certain features also can be provided in single embodiment in combination.On the contrary, for simplicity, in the context of single embodiment
Described in the utility model various features can also be separately provided or with any suitable sub-portfolio offer.
Claims (10)
1. generating the device of the point cloud for the exact shape for indicating people's means of transport in building, described device is adapted to determine that described
Position and orientation of the people's means of transport (1) in the building (4), and it is adapted to determine that the building (4) is internal extremely
The relative position of a few mobile working platform (2) and orientation, the known ginseng of at least one internal relative to the building (4)
Examination point (R1) come refer to people's means of transport (1) position and orientation and the mobile working platform (2) position and take
To described device is suitable for preventing the collision between the mobile working platform (2) and people's means of transport (1), described device
Include:
At least one reference point (R1) in the building (4), the reference point (R1) are the origins of six degree of freedom coordinate system
And it is used as center common reference point, and
At least one three-dimensional scanner (3) is adapted to determine that the exact shape of people's means of transport (1), and
At least one static calculator device (6) is suitable for generating described cloud according to the data of the three-dimensional scanner (3)
(1A), described cloud (1A) indicate the exact shape of people's means of transport (1), and
The known reference point (R2) of one of the mobile working platform (2), the movement being located in the building (4)
On workbench (2), and
At least one setting device (8) is suitable for being built according to the reference point (R2) of the mobile working platform (2) relative to described
The position of the reference point (R1) of object is built come the six-freedom degree for the mobile working platform (2) being arranged in the building (4)
Position and orientation, and
The three-dimensional scanner (3), the setting device (8), the static calculator device (6) and at least one first
Processor (21) is linked together via communication device (30,31,32), and
At least one described first processor (21) is suitable for the position and three of a single point of the described cloud (1A) by that will generate
The position of dimension module (2A) and orientation be compared with detect the mobile working platform (2) and people's means of transport (1) it
Between risk of collision, to prevent the mobile working platform (2) and people's means of transport (1) in the building (4)
Between collision,
It is characterized in that, at least one described first processor (21) is suitable for generating the institute for indicating the mobile working platform (2)
It states threedimensional model (2A), and
The first processor (21) is further adapted for determine the threedimensional model (2A) for indicating the mobile working platform (2) six
The position of a freedom degree and orientation.
2. the device of the point cloud according to claim 1 for generating the exact shape for indicating people's means of transport in building,
It is characterized in that, described device respectively includes a movement on every side of the longitudinal axis of people's means of transport (1)
Workbench (2).
3. the device of the point cloud according to claim 1 for generating the exact shape for indicating people's means of transport in building,
It is characterized in that, the mobile working platform (2) is that the either ground anchoring type work of the hanging workbench of building top-hung is flat
Platform wheeled work platform or the hanging workbench of building top-hung and ground anchoring type workbench and wheeled
The combination of workbench.
4. the device of the point cloud according to claim 3 for generating the exact shape for indicating people's means of transport in building,
It is characterized in that, the mobile working platform (2) automatically controls or manually controls.
5. the device of the point cloud according to claim 1 for generating the exact shape for indicating people's means of transport in building,
It is characterized in that, at least one described mobile working platform (2) carrying: one or more printing equipments；Or one or more photographs
Camera；Or one or more robots；Or one or more surface processing devices；Or one or more people；Or printing equipment, photograph
Camera, robot, surface processing device and the combination of people.
6. the device of the point cloud according to claim 1 for generating the exact shape for indicating people's means of transport in building,
It is characterized in that, people's means of transport (1) may is that aircraft or part of it, rocket or part of it, space gun or
Part of it, train or part of it, automobile or part of it or ship or part of it.
7. the device of the point cloud according to claim 1 for generating the exact shape for indicating people's means of transport in building,
It is characterized in that, people's means of transport (1) may is that helicopter or part of it, space shuttle or part of it, public vapour
Vehicle or part of it.
8. the device of the point cloud according to claim 1 for generating the exact shape for indicating people's means of transport in building,
It is characterized in that, the three-dimensional scanner (3) can be by the mobile working platform during the generation of described cloud (1A)
(2) it carries or is not carried by the mobile working platform.
9. the device of the point cloud according to claim 1 for generating the exact shape for indicating people's means of transport in building,
It is characterized in that, the communication device be by based on Ethernet LAN (30) or WLAN (31,32) infrastructure based on.
10. the device of the point cloud according to claim 1 for generating the exact shape for indicating people's means of transport in building,
It is characterized in that, the static calculator device (6) includes at least one primary server (10) all linked together, is used for
At least one second processor (20) of the three-dimensional data processing of each three-dimensional scanner (3) is used for anticollision management
At least one first processor (21), at least one graphical user interface desktop (11) and ethernet topology.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LULU100588 | 2017-12-20 | ||
| LU100588 | 2017-12-20 | ||
| LU100766A LU100766B1 (en) | 2018-04-16 | 2018-04-16 | Collision avoidance assistance system for movable work platforms |
| LULU100766 | 2018-04-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209496410U true CN209496410U (en) | 2019-10-15 |
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ID=66179067
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822149440.XU Active CN209496410U (en) | 2017-12-20 | 2018-12-20 | Generate the device of the point cloud for the exact shape for indicating people's means of transport in building |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP3224107U (en) |
| CN (1) | CN209496410U (en) |
| BR (1) | BR202018076808U2 (en) |
| DE (1) | DE202018005865U1 (en) |
| FR (1) | FR3077914B1 (en) |
| RU (1) | RU2716035C1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110953991A (en) * | 2019-12-19 | 2020-04-03 | 陕西长岭电子科技有限责任公司 | Display method for monitoring hanging swing of helicopter |
| CN112623187A (en) * | 2020-12-30 | 2021-04-09 | 吉林大学 | Detachable and replaceable wing-shaped trailing edge device and manufacturing method thereof |
Families Citing this family (3)
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| RU2526144C2 (en) * | 2012-06-25 | 2014-08-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный индустриальный университет" | Method for prevention of vehicle collision with dynamic obstacle |
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| CN110953991A (en) * | 2019-12-19 | 2020-04-03 | 陕西长岭电子科技有限责任公司 | Display method for monitoring hanging swing of helicopter |
| CN112623187A (en) * | 2020-12-30 | 2021-04-09 | 吉林大学 | Detachable and replaceable wing-shaped trailing edge device and manufacturing method thereof |
| CN112623187B (en) * | 2020-12-30 | 2022-11-29 | 吉林大学 | Detachable and replaceable wing-shaped trailing edge device and manufacturing method thereof |
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| FR3077914A1 (en) | 2019-08-16 |
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