CN215810776U - Three-dimensional target tracking and scanning device - Google Patents
Three-dimensional target tracking and scanning device Download PDFInfo
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- CN215810776U CN215810776U CN202121483339.3U CN202121483339U CN215810776U CN 215810776 U CN215810776 U CN 215810776U CN 202121483339 U CN202121483339 U CN 202121483339U CN 215810776 U CN215810776 U CN 215810776U
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Abstract
The utility model relates to a three-dimensional target tracking and scanning device, which comprises a rotating platform, an object stage, a tracking and scanning assembly and a control system, wherein the object stage is arranged on the rotating platform; the rotating platform is a 360-degree rotating platform and comprises a fixed part and a rotating part; the bottom of the objective table is fixedly connected with the rotating part of the rotating table; the tracking and scanning component comprises a tracker, a scanner and a mechanical arm, the tracker is fixedly arranged relative to the fixing part of the rotating platform, the scanner is fixedly connected with the mechanical arm, and the mechanical arm drives the scanner to scan a workpiece to be detected under the control of the control system. In the scheme, the relative position relation between the tracker and the fixed part of the rotating platform is fixed and unchanged. The scanner is driven by the mechanical arm to move in a tracking area of the tracker so as to complete scanning of the workpiece to be detected. The control system controls the rotation part of the rotating platform to rotate, so as to drive the workpiece to be measured on the objective table and enable the workpiece to be measured to turn the unmeasured surface to the scanner and the tracker. Thereby enabling a complete scan of a large workpiece.
Description
Technical Field
The utility model relates to the technical field of three-dimensional scanning measurement, in particular to a three-dimensional target tracking and scanning device.
Background
The optical photogrammetry tracker is used in combination with a scanner, so that a high-precision measurement result can be obtained without labeling points on a measured workpiece. The advantage of not having to mark a mark point on the measured workpiece also determines that the relative position between the measured object and the tracker needs to be stationary. Under such a situation, when a large workpiece needs to be scanned, the back and side surfaces of the workpiece cannot be completely scanned due to the fact that the scanner is shielded by the workpiece.
SUMMERY OF THE UTILITY MODEL
The utility model provides a three-dimensional target tracking device aiming at the technical problems in the prior art, and aims to solve the problem of enlarging workpiece scanning.
The technical scheme for solving the technical problems is as follows: a three-dimensional target tracking and scanning device comprises a rotating platform, an object stage, a tracking and scanning assembly and a control system;
the rotating platform is a 360-degree rotating platform, is electrically connected with the control system and comprises a fixed part and a rotating part;
the bottom of the objective table is fixedly connected with the rotating part of the rotating table and is used for bearing a workpiece to be tested and rotating along with the rotating part of the rotating table;
the tracking and scanning component comprises a tracker, a scanner and a mechanical arm, the fixed part of the relative rotating platform of the tracker is fixedly arranged and electrically connected with the control system, the scanner is fixedly connected with the mechanical arm and electrically connected with the control system, and a driving part of the mechanical arm is electrically connected with the control system and driven under the control of the control system to scan the workpiece to be detected by the scanner.
In this embodiment, the relative positional relationship between the tracker and the fixed portion of the turntable is fixed. The scanner is driven by the mechanical arm to move in a tracking area of the tracker so as to complete scanning of the workpiece to be detected. At the moment, the scanner only scans one surface of the workpiece to be measured, and then the control system controls the rotating part of the rotating platform to rotate so as to drive the workpiece to be measured on the objective table and enable the workpiece to be measured to turn the surface not to be measured to the scanner and the tracker. Thereby enabling a complete scan of a large workpiece.
Furthermore, a plurality of target rods which are longitudinally arranged are circumferentially arranged on the objective table, and a plurality of parts for targets are arranged on the target rods at intervals. Because after each surface of a workpiece to be detected is scanned, the scanned images need to be processed and spliced to form a finished workpiece model, the relative position relation between the images to be combined is needed when the images are processed and spliced, a plurality of target rods are arranged in the circumferential direction of the objective table, and the position of each image when being shot can be marked in real time when the tracking scanning component is used for tracking and scanning, so that the relative position relation of each image is obtained, and the processing and splicing of the images are convenient.
Furthermore, the part for the target is a polyhedral part, and each side surface of the polyhedral part is provided with a first target point for being identified by the tracker. The tracker can conveniently track and record the position.
Furthermore, the objective table is upwards installed 4 vertical target rods that set up at least in circumference, and the mounted position line of 4 target rods is the rectangle, just the rectangle center with the objective table axis overlaps.
Further, the objective table include with the rotating part fixed connection's of revolving stage bottom plate and set up a plurality of roller devices on the bottom plate side by side, the drive division of roller device with control system electricity is connected.
Furthermore, the objective table comprises a workpiece inlet and a workpiece outlet, the workpiece to be measured is moved to the center of the objective table from the workpiece inlet through the roller device, and the objective table is moved out from the workpiece outlet through the roller device after shooting and measuring are finished.
Furthermore, a position sensor is further installed on the object stage, and the position sensor is electrically connected with the control system. The workpiece to be measured needs to be placed in the middle of the objective table as much as possible, namely the centers of the relative positions of the target rods, so that operation errors can be reduced during subsequent image splicing. Therefore, the position sensor is arranged, when the roller device drives the workpiece to be detected to move under the control of the control system, the position sensor acquires the moving distance of the workpiece to be detected in real time, and the control system controls the roller device to stop working or continue working according to the moving distance of the workpiece to be detected on the objective table.
Furthermore, a plurality of second targeting points which are to be identified with the tracker are installed on the scanner.
Furthermore, the control system is realized by adopting an industrial personal computer.
The utility model has the beneficial effects that: 1. the three-dimensional position relation among all target points is collected firstly. The tracker is kept still, the surface to be scanned is rotated to face the tracker through the rotating table, and the target rods fixed on the rotating table are used for splicing a plurality of surfaces, so that multi-surface scanning of a large workpiece is realized. The problem that the tracker needs to keep the relative position with the scanned object to be immovable is solved.
2. Simple structure and low cost.
3. The automation degree is high, and no human intervention from measurement to detection result is realized.
Drawings
Fig. 1 is a schematic structural diagram of a three-dimensional target tracking and scanning device according to an embodiment of the present invention;
FIG. 2 is a schematic view of an assembly of a turntable, an object table and a target bar according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a scanner according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the device comprises a rotating platform, 2, an object stage, 3, a tracker, 4, a scanner, 5, a target rod, 6, a roller device, 7, a switch cabinet, 8, a first target point, 9 and a second target point.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the utility model.
As shown in fig. 1-3, an embodiment of the present invention provides a three-dimensional target tracking and scanning apparatus, which includes a rotation stage 1, an object stage 2, a tracking and scanning assembly and a control system (not shown in the figures); the control system is realized by a common industrial personal computer.
The rotating platform 1 is a 360-degree rotating platform and comprises a fixed part and a rotating part. The fixed part can be directly fixed and placed on the ground or other fixed platforms to ensure the stability of the whole device in the scanning and shooting process. The rotating part generally adopts a servo motor, the control of the servo motor is electrically connected with a control system, and the control system controls the servo motor to act.
The objective table 2 comprises a base plate fixedly connected with a rotating part (namely an output rotating shaft of a servo motor) of the rotating table 1 and a plurality of roller devices 6 arranged on the base plate side by side, and a driving part of each roller device is electrically connected with the control system. The stage includes a workpiece inlet and a workpiece outlet. Here, it should be understood by those skilled in the art that the three-dimensional target tracking and scanning device can be used as a station in a production line, a workpiece to be measured is conveyed through the production line, is moved from a workpiece inlet to the center of an object stage through the roller device, and is moved out of the object stage from a workpiece outlet through the roller device 6 after the measurement is finished. The three-dimensional target tracking and scanning device can also be used as an independent station, a workpiece to be detected is manually moved to a workpiece inlet, and then the roller device is used for realizing the movement of the workpiece to be detected on the object stage 2.
The tracking and scanning assembly comprises a tracker 3, a scanner 4, and a robotic arm (not shown). The fixed part of the relatively revolving stage 1 of tracker 3 sets up fixedly and with the control system electricity is connected, and revolving stage 1, objective table 2 all are located the tracking of tracker 3 is shot in the region.
The scanner 4 is fixedly connected with the mechanical arm and electrically connected with the control system, and the driving part of the mechanical arm is electrically connected with the control system and drives the scanner to scan the workpiece to be detected under the control of the control system.
In this embodiment, the relative positional relationship between the tracker and the fixed portion of the turntable is fixed. The scanner is driven by the mechanical arm to move in a tracking area of the tracker so as to complete scanning of the workpiece to be detected. At the moment, the scanner only scans one surface of the workpiece to be measured, and then the control system controls the rotating part of the rotating platform to rotate so as to drive the workpiece to be measured on the objective table and enable the workpiece to be measured to turn the surface not to be measured to the scanner and the tracker. In the tracking and scanning process, the tracker uploads the shot position of the scanner 4 and the relative position of the scanner 4 and the object stage 2 to the control system in real time, and then the image processing and splicing are carried out by a computer program prestored in the control system, so that the complete scanning of the large-sized workpiece is realized.
Preferably, a plurality of target rods 5 arranged longitudinally are circumferentially installed on the stage, and a plurality of target parts are installed on the target rods 5 at intervals. In this embodiment, 3 target parts are mounted on one target rod 5 at intervals and are locked to the target rod through screws.
Because after each surface of a workpiece to be detected is scanned, the scanned images need to be processed and spliced to form a finished workpiece model, the relative position relation between the images to be combined is needed when the images are processed and spliced, a plurality of target rods are arranged in the circumferential direction of the objective table, and the position of each image when being shot can be marked in real time when the tracking scanning component is used for tracking and scanning, so that the relative position relation of each image is obtained, and the processing and splicing of the images are convenient.
The part for the target is a polyhedral part, preferably a hexahedral part, and each side surface of the hexahedral part is provided with a first target point 8 for the tracker to identify. The tracker can conveniently track and record the position.
In the implementation process, the bottom plate of the object stage 2 is generally rectangular, and four corners of the object stage 2 are respectively provided with a target rod 5 which is longitudinally arranged. The base plate of the object stage 2 can be hexagonal or octagonal according to requirements, and is used for adapting to a workpiece to be measured with a plurality of side surfaces, and the number of the target rods 5 is adjusted according to the shape of the base plate.
Preferably, a position sensor (not shown) is further mounted on the object stage 2, and the position sensor is electrically connected with the control system. The workpiece to be measured needs to be placed in the middle of the objective table as much as possible, namely the centers of the relative positions of the target rods, so that operation errors can be reduced during subsequent image splicing. Therefore, the position sensor is arranged, when the roller device drives the workpiece to be detected to move under the control of the control system, the position sensor acquires the moving distance of the workpiece to be detected in real time, and the control system controls the roller device to stop working or continue working according to the moving distance of the workpiece to be detected on the objective table.
Further, a plurality of polyhedral parts are mounted on the scanner 4, and second targeting points 9 for the tracker 3 to identify are mounted on the side faces of the polyhedral parts.
In the embodiment, the three-dimensional target tracking and scanning device is used for scanning and modeling the switch cabinet. The tracker 3 is first mounted in a fixed position. A rotating platform 1 with the diameter of 1.38 meters is fixed 4.2 meters in front of the tracker, and a roller production line with the size of 2.3 meters by 1.6 meters is arranged on the rotating platform 1 to be used as an object stage 2. Four target rods 5 are fixed to four corners of the stage 2, respectively. The switch cabinet 7 is conveyed to the object stage 2 through a production line, and the rotating stage rotates to enable the part of the switch cabinet needing to be scanned to face the tracker. The mechanical arm drives the scanner 4 to scan. After one surface is scanned, the rotary table is rotated to the next surface. Software splices each face through the target rod, thereby obtains an integral model.
In the embodiment, the three-dimensional position relationship among the target points is acquired firstly. The tracker is kept still, the surface to be scanned is rotated to face the tracker through the rotating table, and the target rods fixed on the rotating table are used for splicing a plurality of surfaces, so that multi-surface scanning of a large workpiece is realized. The problem that the tracker needs to keep the relative position with the scanned object to be immovable is solved. Simple structure and low cost. The automation degree is high, and no human intervention from measurement to detection result is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A three-dimensional target tracking and scanning device is characterized by comprising a rotating platform, an object stage, a tracking and scanning assembly and a control system;
the rotating platform is a 360-degree rotating platform, is electrically connected with the control system and comprises a fixed part and a rotating part;
the bottom of the objective table is fixedly connected with the rotating part of the rotating table and is used for bearing a workpiece to be tested and rotating along with the rotating part of the rotating table;
the tracking and scanning component comprises a tracker, a scanner and a mechanical arm, the fixed part of the relative rotating platform of the tracker is fixedly arranged and electrically connected with the control system, the scanner is fixedly connected with the mechanical arm and electrically connected with the control system, and a driving part of the mechanical arm is electrically connected with the control system and driven under the control of the control system to scan the workpiece to be detected by the scanner.
2. The three-dimensional target tracking and scanning device according to claim 1, wherein a plurality of target rods are longitudinally arranged on the stage in the circumferential direction, and a plurality of target parts are arranged on the target rods at intervals.
3. The device of claim 2, wherein the target part is a polyhedral part, and a first target point for tracker recognition is mounted on each side of the polyhedral part.
4. The three-dimensional target tracking and scanning device according to claim 2, wherein at least 4 target rods are longitudinally arranged on the stage in the circumferential direction, the connecting line of the installation positions of the 4 target rods is rectangular, and the center of the rectangle is overlapped with the central axis of the stage.
5. The apparatus of claim 1, wherein the stage comprises a base plate fixedly connected to the rotating portion of the rotating stage and a plurality of roller devices disposed side by side on the base plate, wherein the driving portion of the roller devices is electrically connected to the control system.
6. The device of claim 5, wherein the stage comprises a workpiece inlet and a workpiece outlet, the workpiece to be measured is moved from the workpiece inlet to the center of the stage by the roller device, and the stage is moved out of the workpiece outlet by the roller device after the measurement is completed.
7. The three dimensional target tracking scanning device of claim 5, further comprising a position sensor mounted on the stage, the position sensor being electrically connected to the control system.
8. The three-dimensional target tracking scanner of claim 1 wherein a plurality of second target points are mounted on the scanner to be identified by the tracker.
9. The three-dimensional target tracking scanning device of claim 1, wherein the control system is implemented using an industrial personal computer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121483339.3U CN215810776U (en) | 2021-06-30 | 2021-06-30 | Three-dimensional target tracking and scanning device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121483339.3U CN215810776U (en) | 2021-06-30 | 2021-06-30 | Three-dimensional target tracking and scanning device |
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| CN215810776U true CN215810776U (en) | 2022-02-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115325959A (en) * | 2022-10-13 | 2022-11-11 | 思看科技(杭州)股份有限公司 | Three-dimensional scanning system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115325959A (en) * | 2022-10-13 | 2022-11-11 | 思看科技(杭州)股份有限公司 | Three-dimensional scanning system and method |
| CN115325959B (en) * | 2022-10-13 | 2023-03-07 | 思看科技(杭州)股份有限公司 | Three-dimensional scanning system and method |
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