A dual-movement measuring robot system and method for extra-large workpieces
A measuring robot and double-moving technology, applied in the field of measurement, can solve problems such as the inability to meet the measurement requirements, and achieve the effect of automatic measurement and error avoidance
Active Publication Date: 2020-10-16
FUDAN UNIV
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Problems solved by technology
With the development of large-scale equipment manufacturing industry, users' requirements for product quality control are also constantly improving, and industrial product design and manufacturing technology are constantly innovating. Due to the integrated characteristics of measurement functions, the traditional extra-large size measurement system has been unable to meet the growing requirements of large-scale spatial coordinate measurement on industrial sites
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[0029] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
[0030] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood ...
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The invention relates to a double-mobile robot measuring method for an ultra-large workpiece. On the basis of a target tracking system, a global control way is established by relying on a visual measuring system and a stereo target carried by a mobile device and a robot, so that the target tracking system is combined with the visual measuring system and the stereo target, so that a problem of tedious steps of target pasting by the traditional visual measuring system is solved, error occurrence caused by target matching is avoided, and the influence on the measuring error by the robot is eliminated; and the automation of high-precision measurement is realized. With the coordinate system of the target tracking system as a world coordinate system, point cloud data obtained by the visual measurement system are unified to be under the world coordinate system; and the calibration precision level plays an important role in obtaining a final measuring result. Before measurement, motion planning of the mobile measuring system for the ultra-large workpiece and measurement system calibration need to be completed, so that the automatic measurement of the ultra-large workpiece is realized.
Description
technical field [0001] The invention belongs to the technical field of measurement, and in particular relates to a double-moving measuring robot system and method for an extra-large workpiece. Background technique [0002] In recent decades, long-distance, high-precision and large-scale coordinate measurement systems have been widely demanded in industrial fields such as aerospace, automobile and shipbuilding, hydroelectric power, steel, and transportation. With the development of large-scale equipment manufacturing industry, users' requirements for product quality control are also constantly improving, and industrial product design and manufacturing technology are constantly innovating. Due to the integrated characteristics of measurement functions, the traditional extra-large size measurement system has been unable to meet the growing requirements of large-scale spatial coordinate measurement on industrial sites. Contents of the invention [0003] In view of this, the p...
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IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 齐立哲
Owner FUDAN UNIV