Multi-directional scanning devices, systems, scanning methods and their applications

Abstract

The present invention discloses a multi-directional scanning device, system, scanning method and application thereof, which belongs to the technical field of surface detection. It includes: at least one placement area for placing at least one target workpiece; a predetermined path, arranged between the placement areas based on scanning requirements; a first motion mechanism, moving at least one degree of freedom on the predetermined path; a second motion mechanism, arranged on the first motion mechanism; the second motion mechanism is a rotating mechanism with 1 to 3 rotational degrees of freedom; a second execution tool, arranged on the second motion mechanism; based on the coordinated movement of the first motion mechanism and the second motion mechanism, or based on the independent movement of the second motion mechanism, the second scanning mode and obstacle avoidance mode required by the second execution tool relative to the target workpiece are realized. The present invention adopts a mobile and one-stop information acquisition system: comprehensive and efficient workpiece surface processing is achieved through spatial avoidance and time dislocation during movement.

Description

Technical Field

[0001] The present invention belongs to the technical field of surface detection, and in particular relates to a multi-directional scanning device, system, scanning method and application thereof. Background Art

[0002] At present, the appearance inspection of large workpieces mainly involves transferring the large workpieces to a designated location and collecting appearance information of the large workpieces along a predetermined route through an information collection device disposed at the rear end of a robotic arm.

[0003] However, in actual use, after the information collection device has finished shooting at a certain workstation, it is necessary to use a robotic arm to drive the information collection device to another workstation to continue shooting, and the large workpiece or the information collection device needs to change its angle to ensure that the conditions for obtaining appearance information are consistent. Due to the large size and heavy weight of large workpieces, it is not realistic to meet the above requirements by adjusting the angle or position of large workpieces. If the spatial and shooting angle coordinates of the information collection device are changed by a robotic arm to meet the above requirements, the positioning accuracy of the information collection device is required to be very high. Summary of the invention

[0004] In order to solve the technical problems in the above-mentioned background technology, the present invention provides a multi-directional scanning device, system, scanning method and application thereof.

[0005] The present invention adopts the following technical solution: a multi-directional scanning system, comprising:

[0006] at least one placement area for placing at least one target workpiece;

[0007] A predetermined path is arranged between the placement areas based on scanning requirements;

[0008] A first motion mechanism moves in at least one degree of freedom on a predetermined path;

[0009] A second motion mechanism is provided on the first motion mechanism; the second motion mechanism is a rotation mechanism having 1 to 3 rotational degrees of freedom;

[0010] The second execution tool is arranged on the second motion mechanism; based on the coordinated movement of the first motion mechanism and the second motion mechanism, or based on the independent movement of the second motion mechanism, the second execution tool realizes the second scanning mode and obstacle avoidance mode required by the target workpiece.

[0011] In a further embodiment, it also includes: a first execution tool, which is arranged on the first motion mechanism; based on the independent movement of the first motion mechanism, a first scanning mode required by the first execution tool relative to the target workpiece is realized.

[0012] By adopting the above technical solution, the first execution tool is fixedly arranged on the first motion mechanism as required and is in a stationary state relative to the first motion mechanism, so as to realize processing of one or two designated surfaces on the target workpiece.

[0013] In a further embodiment, the second scanning mode includes at least: a stationary scanning mode and a motion scanning mode;

[0014] The static scanning mode is defined as the first motion mechanism being static relative to the current target workpiece when the second execution tooling is in the working state;

[0015] The motion scanning mode is defined as the movement state of the first motion mechanism relative to the current target workpiece when the second execution tooling is in the working state.

[0016] By adopting the above technical scheme, a static or moving scanning mode is selected according to needs. The static scanning mode is selected to be relatively static, providing the second execution tooling with sufficient scanning space and time to act on the current target workpiece; the moving scanning mode is selected to be relative motion, that is, the first motion mechanism is in a moving state. At this time, it is necessary to adjust the rotation angle and direction of the second motion mechanism in real time to achieve completion of the operation on the predetermined surface while avoiding the target workpiece, thereby improving work efficiency and shortening work time.

[0017] In a further embodiment, the obstacle avoidance mode is defined as: based on the current motion state of the first motion mechanism, the motion state of the second motion mechanism is switched in real time to achieve autonomous avoidance between the second execution tooling and the current target workpiece, as well as other target workpieces adjacent to the current target workpiece in space.

[0018] In a further embodiment, the first scanning mode at least includes:

[0019] Static scanning: When the first motion mechanism is in working state, it is stationary relative to the target workpiece;

[0020] Mobile scanning: When the first motion mechanism is in working state, it moves relative to the target workpiece.

[0021] A multi-directional scanning device comprises: a bearing part, a power source is arranged at the bottom of the bearing part; the bottom surface of the bearing part is concave from bottom to top to form a cavity, and the front and rear end surfaces of the cavity are both hollow structures and communicate with the cavity;

[0022] A first execution tool is disposed in two side walls of the cavity; the first execution tool is configured to operate on at least one side of a target workpiece;

[0023] The second execution tooling is rotatably mounted on the cavity; the second execution tooling is configured to operate on other surfaces of the target workpiece; according to the operation requirements, the required scanning and spatial avoidance of the target workpiece are achieved by real-time switching of the bearing part and / or the movement state of the second execution tooling.

[0024] The above technical solution is used to obtain images of the two side surfaces of the workpiece.

[0025] In a further embodiment, the second execution tooling at least includes: a rotating member, both ends of which are connected to the cavity through a second motion mechanism; the rotating member rotates around the workpiece by a predetermined angle along the moving direction under the drive of the second motion mechanism.

[0026] By adopting the above technical solution, more surface information on the workpiece can be obtained.

[0027] In a further embodiment, the bearing portion comprises at least: a first bearing surface and a second bearing surface arranged opposite to each other;

[0028] The first execution tool operates on at least one surface of the target workpiece that is opposite to the first bearing surface and / or the second bearing surface according to the operation requirements;

[0029] The second execution tool operates on a surface of the target workpiece that intersects with the first bearing surface according to operation requirements.

[0030] In a further embodiment, a plurality of extensions extending along the contour of the rotating member to a predetermined length are provided on both sides of the rotating member.

[0031] In a further embodiment, the target workpiece is placed in a lifted form.

[0032] A scanning method based on the multi-directional scanning system as described above specifically comprises the following steps:

[0033] Step 1: Divide the placement area according to the requirements and lay out the predetermined path in the placement area; place the target workpiece in the corresponding placement area in the form of lifting;

[0034] Step 2: The first motion mechanism performs a reciprocating motion on a fixed path, passes through the target workpiece in a predetermined order, switches the rotation state or position of the second motion mechanism in real time, completes the autonomous avoidance between the second execution tool on the second motion mechanism and the target workpiece, and the first execution tool is in the avoidance state throughout the process; at least one of steps 3 to 4 is executed each time the placement area where the current target workpiece is located is passed;

[0035] Step 3: The first execution tool acts on at least one surface of the target workpiece that is opposite to the first bearing surface and / or the second bearing surface;

[0036] Step 4: The second execution tooling operation is performed on the information of at least one surface of the target workpiece that intersects with the first bearing surface.

[0037] In a further embodiment, the autonomous avoidance in step 2 at least includes:

[0038] When the first execution tooling and the current target workpiece are in relative operation, the second execution tooling is always above the current target workpiece; when the target workpiece is stationary in the first execution tooling, the second execution tooling rotates according to the predetermined direction to complete the operation on the required surface.

[0039] In a further embodiment, the autonomous avoidance in step 2 at least includes:

[0040] When the first execution tool is in mobile or stationary scanning, the motion state of the second motion mechanism is switched in real time to achieve autonomous avoidance between the second execution tool and the current target workpiece and other target workpieces adjacent to the current target workpiece in space.

[0041] The multi-directional surface information acquisition method as described above is applied to the surface processing of large workpieces.

[0042] Beneficial effects of the present invention: The present invention is suitable for 360° full coverage surface treatment of large and heavy workpieces, including image acquisition, surface detection and other processing methods. When acquiring, there is no need to transfer the location of the workpiece or schedule the current placement of the workpiece. The present invention adopts a mobile and one-stop information acquisition system: comprehensive and efficient workpiece surface treatment is achieved through spatial avoidance and time dislocation during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 Schematic diagram of the overall structure of the multi-directional surface information acquisition system.

[0044] Figure 2 Schematic diagram of the structure of the scanning device of Example 2.

[0045] Figure 3 This is a usage status diagram of the scanning device of Example 2.

[0046] Figure 4 This is a front view of the scanning device structure of Example 2.

[0047] Figures 1 to 4 The labels in the figure are: first bearing surface 1, second bearing surface 2, third bearing surface 3, second motion mechanism 4, rotating member 5, camera 6, target workpiece 7, shuttle track 8, and placement area 9. DETAILED DESCRIPTION

[0048] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0049] When the applicant performs surface inspection on the workpiece or obtains the appearance information of the workpiece, it is found that the device in the prior art is more suitable for the surface treatment of small workpieces, that is, by rotating the angle of the small workpiece or changing the position of the small workpiece to achieve all-round surface treatment of the small workpiece. When performing surface treatment on large workpieces, a mechanical arm and a camera located at the rear end of the mechanical arm are generally used for detection: the rear end of the mechanical arm is controlled to adjust the position of the camera according to a predetermined trajectory or according to the detection requirements, and the camera is rotated around the workpiece to achieve all-round detection as much as possible. However, the above method has extremely high requirements on the accuracy of the rear end of the mechanical arm and the shooting angle of the camera, and it is difficult to ensure that the angle, distance and other factors of shooting the same workpiece or the same group of workpieces are consistent. And the length of a large workpiece is generally more than 3 meters, heavy weight, and easy to move. Therefore, when processing the outside of a large workpiece with a length of more than 3 meters, it is difficult to achieve high-precision processing while ensuring time and labor saving.

[0050] Example 1

[0051] In order to solve the above technical problems, this embodiment provides a multi-directional scanning system, including: a plurality of placement areas 9, each of which has a placement table for placing workpieces. Multiple groups of shuttle tracks 8 are arranged between adjacent placement areas 9 according to a predetermined route, and a first motion mechanism is arranged on the shuttle track 8. The first motion mechanism moves back and forth on the shuttle track 8 according to a predetermined route. In other words, the moving route of the first motion mechanism is consistent with the direction of the shuttle track 8. The forward direction of the first motion mechanism is defined as the front end, and the reverse direction is defined as the rear end.

[0052] In a further embodiment, a second motion mechanism 4 is provided on the first motion mechanism, and the second motion mechanism 4 is a rotating mechanism with 1 to 3 rotational degrees of freedom; in other words, the second motion mechanism 4 rotates in a predetermined direction. A second execution tool is provided on the second motion mechanism 4, and based on the motion state of the second motion mechanism 4, the second execution tool also rotates in a predetermined direction to achieve the effect on the specified surface of the target workpiece 7 according to the demand. Specifically, based on the coordinated movement of the first motion mechanism and the second motion mechanism 4, or based on the independent movement of the second motion mechanism 4, the second scanning mode and obstacle avoidance mode required by the second execution tool relative to the target workpiece 7 are achieved. In other words, unlike the six-axis robot and the ordinary moving guide rail in the prior art, the second motion mechanism in this embodiment has 1 to 3 rotational degrees of freedom, that is, the second motion mechanism has less degrees of freedom than the six-axis robot to achieve full-range operation of the target workpiece. The six-axis robot used in the prior art needs to be adjusted or shifted in multiple degrees of freedom to achieve full-range operation of the target workpiece, and the control position of the end of the six-axis robot is more and the precision requirement is high.

[0053] In a further embodiment, the coordinated movement between the first motion mechanism and the second motion mechanism 4 is specifically manifested as follows: when the first motion mechanism and the target workpiece 7 are always in a state of relative motion, it is necessary to adjust the state of the second motion mechanism 4 according to the position of the first motion mechanism to realize the second scanning mode and obstacle avoidance mode required by the second execution tool relative to the target workpiece 7. Because when there is at least a partial overlap between the first motion mechanism and the target workpiece 7, it is necessary to consider the autonomous avoidance between the second execution workpiece and the current target workpiece 7 and other target workpieces 7 adjacent to the current target workpiece 7. When there is no overlap between the first motion mechanism and the target workpiece 7, it is necessary to consider the autonomous avoidance between the second execution workpiece and the adjacent target workpiece 7, and adjust the position and current motion state of the second execution workpiece in real time.

[0054] The independent movement based on the second motion mechanism is specifically manifested as follows: when the first motion mechanism is in a stationary state, no matter what the positional relationship between the first motion mechanism and the current target workpiece is, it is only necessary to adjust the motion state and position of the second motion mechanism to achieve spatial obstacle avoidance between the second execution tooling and the target workpiece.

[0055] Based on the above description, the second scanning mode at least includes: a stationary scanning mode and a motion scanning mode;

[0056] Among them, the stationary scanning mode is defined as when the second execution tooling is in a working state, the first motion mechanism is stationary relative to the current target workpiece 7; in other words, when the second execution tooling is in a working state, the first motion mechanism is stationary, that is, at this time, the operation on the required surface can be achieved by rotating the second execution tooling.

[0057] The motion scanning mode is defined as the state in which the first motion mechanism moves relative to the current target workpiece 7 when the second execution tooling is in the working state. In other words, when the second execution tooling is in the working state and the first motion mechanism is in the moving state, the second execution tooling has at least two directions of movement, one is the rotation of the second execution tooling, and the other is the movement of the second execution tooling relative to the current workpiece (following the movement of the first motion mechanism). At this time, the requirement for avoidance is higher than that of the static scanning mode.

[0058] In a further embodiment, the obstacle avoidance mode is defined as: based on the current motion state of the first motion mechanism, the motion state of the second motion mechanism 4 is switched in real time to achieve autonomous avoidance between the second execution tooling and the current target workpiece 7, as well as other target workpieces 7 adjacent to the current target workpiece 7 in space.

[0059] In a further embodiment, the multi-directional scanning system further includes: a first execution tooling disposed on the first motion mechanism, based on the independent motion of the first motion mechanism, realizing the first scanning mode required by the first execution tooling relative to the target workpiece 7. The first scanning mode at least includes: when the first motion mechanism is in a stationary state relative to the target workpiece 7, it is a stationary scanning; when the first motion mechanism is in a moving state relative to the target workpiece 7, it is a moving scanning. And no matter what motion mode the first motion mechanism is in, the first execution tooling always has spatial obstacle avoidance in a predetermined direction with respect to the target workpiece 7.

[0060] Example 2

[0061] Based on the description of Example 1, this embodiment provides a multi-directional scanning device, including: a bearing portion, a power source is arranged at the bottom thereof, and the power source in this embodiment is the first motion mechanism in Example 1. The bottom surface of the bearing portion is recessed from bottom to top to form a cavity, and the front and rear end surfaces of the cavity are both hollow structures and communicate with the cavity; in other words, the avoidance space as a whole is a hollow structure in which the front end surface, the rear end surface and the bottom penetrate each other. It is further understood that when the bearing portion moves forward along the shuttle track 8 under the action of the moving mechanism, the workpieces in the placement area 9 pass through the avoidance space in turn, realizing the space avoidance required when the bearing portion moves. It should be noted that the avoidance space is sufficient to accommodate a target workpiece 7.

[0062] The first execution tool is arranged in the two side walls of the cavity; the first execution tool is configured to operate on at least one side of the target workpiece 7.

[0063] In this embodiment, the second execution tool is rotatably mounted on the cavity. In this embodiment, the second execution tool is connected to the cavity through a rotating assembly. The second execution tool is configured to operate on other surfaces of the target workpiece 7. According to the operation requirements, the scanning and spatial avoidance required for the target workpiece 7 are achieved by switching the bearing part and / or the second execution tool movement state in real time. The first execution tool and the second execution tool can be shooting units, detection units or other operation units.

[0064] During operation, the first execution tooling and the second execution tooling perform surface treatment on the target workpiece 7 located in the cavity: the first execution tooling is configured to act on at least one side of the target workpiece 7; the second execution tooling is configured to act on other sides of the target workpiece 7.

[0065] For example: when the placement areas 9 are arranged in a matrix on the bottom surface or other supporting surfaces, one or two groups of shuttle tracks 8 are set between each column of placement areas 9. When the shuttle tracks 8 between each column of placement areas 9 are a group, the bearing parts located on both sides of the shuttle track 8 share the shuttle track 8 (each shuttle track 8 corresponds to the placement areas 9 located on both sides). Therefore, when the bearing parts are set, the bearing parts that share a shuttle track 8 are staggeredly distributed to detect the target workpiece 7 in the placement areas 9 located on both sides of the shuttle track 8 respectively.

[0066] When there are two groups of shuttle tracks 8 between each column of placement areas 9, each placement area 9 corresponds to the shuttle tracks 8 located on both sides thereof. Therefore, when the carrying portion is arranged, there is no special requirement on space.

[0067] In a further embodiment, the bearing part includes a first bearing surface 1 and a second bearing surface 2 arranged opposite to the first bearing surface 1. In order to realize the reciprocating motion of the bearing part mentioned above, in this embodiment, a plurality of driving wheels and active wheels are arranged at the bottom of the first bearing surface 1 and the second bearing surface 2, wherein one of the active wheels is connected to the driving motor by transmission, and under the action of the driving motor, the driving wheel and the active wheel are moved on the shuttle track 8, thereby meeting the requirement of the bearing part to move back and forth on the shuttle track 8. In another embodiment, other driving mechanisms for driving the bearing part to move are arranged at the bottom of the first bearing surface 1 and the second bearing surface 2, such as: threaded screw drive, gear rack, etc.

[0068] The first execution tooling in this embodiment includes: a plurality of first execution devices, which are respectively installed on the inner surface of the first bearing surface 1 and / or the second bearing surface 2 according to information acquisition requirements; the first execution device is configured to acquire at least one side of the target workpiece 7 that is respectively opposite to the first bearing surface 1 and / or the second bearing surface 2. In this embodiment, the execution device adopts tooling such as a camera 6 and a detection head.

[0069] In other words, when only the information of the surface of the target workpiece 7 opposite to the first bearing surface 1 needs to be obtained, the first execution device is installed on the first bearing surface 1 according to the needs, and when the target workpiece 7 is located in the avoidance space of the bearing part, the first execution device operates on the surface of the target workpiece 7 opposite to the first bearing surface 1. Similarly, when only the information of the surface of the target workpiece 7 opposite to the second bearing surface 2 needs to be obtained, the first execution device is installed on the second bearing surface 2 according to the needs, and when the target workpiece 7 is located in the avoidance space of the bearing part, the second execution device operates on the surface of the target workpiece 7 opposite to the first bearing surface 1.

[0070] In another embodiment, when only the information of the surface opposite to the first bearing surface 1 and the second bearing surface 2 on the target workpiece 7 needs to be obtained at the same time, the first execution device is installed on the first bearing surface 1 and the second bearing surface 2 according to the needs, and when the target workpiece 7 is located in the cavity of the bearing part, the first execution device operates on the surface opposite to the first bearing surface 1 and the second bearing surface 2 on the target workpiece 7 to obtain the information of the two surfaces on the target workpiece 7. Taking the moving direction of the moving mechanism as the forward and backward directions, the information of the two side surfaces on the target workpiece 7 is obtained at this time.

[0071] In the above embodiment, the first execution device uses a camera 6, and the number and position of the camera 6 are determined according to specific needs. For example, the number of cameras 6 is an even number such as 2 groups or 4 groups, and is distributed in a matrix on the first carrying surface 1 and / or the second carrying surface 2. Alternatively, the number of cameras 6 is an odd number such as 3 groups or 5 groups, and is asymmetrically distributed on the first carrying surface 1 and / or the second carrying surface 2.

[0072] In order to obtain information of more surfaces of the target workpiece 7, in a further embodiment, the bearing portion further includes: a third bearing surface 3, which is fixedly connected between the first bearing surface 1 and the second bearing surface 2 and is located on the top of the first bearing surface 1. The first bearing surface 1, the second bearing surface 2 and the third bearing surface 3 form an inverted U-shaped bearing portion. The first shooting unit also includes a plurality of sets of third execution devices custom-installed on the lower surface of the third bearing surface 3, and the third execution device is configured to obtain a side of the target workpiece 7 opposite to the third bearing surface 3. In this embodiment, the third execution device adopts a camera 6, and is used to shoot the upper surface of the target workpiece 7.

[0073] Based on the above description, the upper surface and two side surfaces of the target workpiece 7 are respectively processed by the third execution device and the first execution device to realize the operation of the corresponding surface. However, the lower surface and the front and rear side surfaces of the target workpiece 7 cannot be obtained. Therefore, in view of the above technical problems, in a further embodiment, the bearing part also includes two groups of second motion mechanisms 4, which are respectively arranged on the inner surfaces of the first bearing surface 1 and the second bearing surface 2; and the two ends are respectively connected to the rotating member 5 of the second motion mechanism 4. Driven by the second motion mechanism 4, the rotating member 5 rotates around the target workpiece 7 by a predetermined angle along the moving direction. And the second execution tooling also includes: a plurality of second execution devices installed on the lower surface of the rotating member 5 according to the information acquisition requirements; wherein the second execution device is configured to obtain the surface of the target workpiece 7 that intersects with the first bearing surface 1 (that is, the upper and lower surfaces and the front and rear side surfaces of the target workpiece 7 mentioned above).

[0074] In a further embodiment, the second motion mechanism 4 comprises: a rotating shaft respectively mounted on the first bearing surface 1 and the second bearing surface 2, wherein a first gear is sleeved on the rotating shaft, the first gear and the second gear are meshed with each other, and the second gear is transmission-connected to the output shaft of the forward and reverse motor. Correspondingly, the rotating member 5 comprises: a connecting portion connected to the rotating shaft, and a mounting portion fixed between the two connecting portions, the mounting portion is used to install the second execution device, wherein the second execution device can be a camera 6. In a further implementation, the connecting portion extends a predetermined length in the vertical direction, and the length is greater than half the height of the target workpiece 7.

[0075] Based on the above structure, when the rotating member 5 rotates around the target workpiece 7 under the action of the second motion mechanism 4, the camera 6 on the connection part collects the surface of the target workpiece 7 in real time or intermittently according to the demand. In the process of adoption, with the target workpiece 7 as a reference, the distance between the camera 6 on the connection part and the same surface or the same section of the target workpiece 7 is the same, and the shooting angle is consistent.

[0076] However, in the actual processing process, the target workpiece 7 needs to be supported when placed. If the target workpiece 7 is suspended, the safety factor is low on the one hand, and the movement of the bearing part is troubled on the other hand. If the target workpiece 7 is directly placed on the placement table, a large area of ​​contact is formed between the placement table, which will make it impossible to fully obtain the information of the lower surface of the target workpiece 7.

[0077] In order to solve the above technical problems, in a further embodiment, the placement table is configured to place the target workpiece 7 in a lifted form, specifically: support columns extending upward to a predetermined height are provided on both sides of the placement table, and both ends of the target workpiece 7 are in contact with the support columns to lift the target workpiece 7. At this time, a predetermined gap is left between the lower surface of the target workpiece 7 and the placement table to form a working space.

[0078] However, due to the setting of the support column, the second motion mechanism 4 cannot drive the rotating part 5 to perform a complete closed-loop motion. The reason is analyzed as follows: when the target workpiece 7 is placed on the placement table, the two ends of the target workpiece 7 actually form a tight connection structure with the support column. When the rotating part 5 moves to the tight connection structure under the drive of the second motion mechanism 4, the tight connection structure hinders the rotating part 5 in space, which directly causes the rotating part 5 to be unable to continue to rotate in the original direction of rotation. Then, the surface of the target workpiece 7 located between the two support columns cannot obtain relevant images through the camera 6 on the rotating part 5.

[0079] Therefore, in order to solve the above technical problems, the following improvements are made in this embodiment: a plurality of extensions extending along the outline of the rotating member 5 for a predetermined length are arranged on both the front and rear sides of the mounting portion of the rotating member 5, and a second actuator is custom-installed on the extension. The extension length of the extension meets the following requirements: when the mounting portion is stopped at the front / rear side of the support column, the extension and the camera 6 on the extension pass through the shooting space, and the camera 6 is aligned with the lower surface of the target workpiece 7 to complete the shooting of the lower surface.

[0080] Based on the above description, the image acquisition of the two sides of the target workpiece 7 is completed by setting the camera 6 on the first bearing surface 1 and the second bearing surface 2, and the second motion mechanism 4 with at least one degree of freedom drives the rotating member 5, and the rotating member 5 rotates around the target workpiece 7 to realize the detection of other surfaces on the target workpiece 7, thereby completing the 360° full-scale surface image acquisition of the target workpiece 7. When acquiring information, the acquisition angles and acquisition parameters of the target workpieces 7 in the same group and multiple surfaces on the same target workpiece 7 are the same, which is convenient for later data processing and analysis.

[0081] Based on the above description, the avoidance space is further defined: it is assumed that there are currently N target workpieces 7 arranged in parallel in the designated placement area 9, where N is an integer greater than or equal to 2. And the workpiece currently to be inspected is defined as the Mth target workpiece 7, where 1≤M≤N. Under the action of the first motion mechanism, the bearing part is located between the M-1th target workpiece 7 and the Mth target workpiece 7. At this time, the second shooting unit on the rotating part 5 has completed the detection of the front end surface and the corresponding bottom surface of the M-1th target workpiece 7. The current rotating part 5 has been stationary at the top of the avoidance space or rotated toward the rear end in the form of rotation. When the bearing part just passes the Mth target workpiece 7 (that is, the Mth target workpiece 7 begins to enter the avoidance space of the bearing part), the rotating part 5 is at the top of the avoidance space or the rear end of the avoidance space. When it is at the rear end of the avoidance space, it is necessary to meet the requirement that there is no contact between the rotating part 5 and the M-1th target workpiece 7. The bearing part continues to move forward, that is, the Mth target workpiece 7 gradually changes from being partially (the part at the front end) located in the avoidance space to being completely located in the avoidance space. During this process, if the rotating part 5 is at the top of the avoidance space, its own movement will not be affected; if the rotating part 5 is at the rear end of the avoidance space, when the bearing part continues to move forward, if the position of the rotating part 5 is always at the rear end, the rotating part 5 will hinder the bearing part from continuing to move forward, that is, the rotating part 5 contacts the workpiece at the rear end to form a spatial obstacle. Therefore, during this process, the rotation needs to be rotated from the rear end to the top or front end according to a predetermined rotation speed. When the Mth target workpiece 7 gradually changes from being completely located in the avoidance space to being partially (the part located at the rear end) located in the avoidance space, or even completely out of the avoidance space, it should be noted that when the rotating part 5 rotates to the top and needs to continue to rotate forward, the following two conditions should be met: First, the front end surface of the Mth target workpiece 7 will not hinder the rotation of the rotating part 5, that is, the rotating part 5 cannot rotate to the front end in advance and contact the front end surface of the Mth target workpiece 7; Second, the M+1th target workpiece 7 cannot be in contact with the rotating part 5, that is, the time point or position point when the rotating part 5 rotates to the front end cannot be delayed.

[0082] In summary, the cavity is configured to at least achieve spatial avoidance between the workpiece and the carrying portion, and spatial avoidance between the second photographing unit and the current workpiece and the adjacent workpiece.

[0083] Example 3

[0084] Based on the description of Embodiment 1, this embodiment discloses a scanning method based on a multi-directional scanning system, which specifically includes the following steps:

[0085] Step 1: Divide the placement area 9 according to the requirements, and lay out the predetermined path in the placement area 9; place the target workpiece 7 in the corresponding placement area 9 in the form of lifting; when setting the shuttle track 8, it is necessary to pay attention to the sharing of the shuttle track 8. If the same shuttle track 8 is shared by the placement areas 9 on both sides, the bearing parts of the shared shuttle track 8 are staggered, and the target workpiece 7 in the placement areas 9 on both sides of the shuttle track 8 is detected respectively; if the two shuttle tracks 8 correspond to the placement area 9 in the middle, there is no special requirement in space when setting the bearing part.

[0086] Step 2: The first motion mechanism performs a reciprocating motion on a fixed path, passes through the target workpiece 7 in sequence according to a predetermined order, switches the rotation state or position of the second motion mechanism 4 in real time, completes the autonomous avoidance between the second execution tool on the second motion mechanism 4 and the target workpiece 7, and the first execution tool is in the avoidance state throughout the process; at least one of steps 3 to 4 is performed whenever the placement area 9 where the current target workpiece 7 is located is passed; taking the N placement areas 9 arranged side by side as an example, each placement area 9 is placed with a target workpiece 7, and there are N target workpieces 7 at this time, where N is an integer greater than 1. The position where the moving mechanism is located before starting is defined as the initial position, and the moving mechanism starts from the initial position and passes through each area in sequence, that is, passes through the first target workpiece 7, the second target workpiece 7, ..., and the Nth target workpiece 7 in sequence. Taking the bearing part as a reference, the first target workpiece 7 first enters the cavity and then comes out of the cavity, and then the second target workpiece 7 first enters the cavity and then comes out of the cavity, and so on and so forth until the Nth target workpiece 7 first enters the cavity and then comes out of the cavity. And any target workpiece 7 performs at least one of steps three to four during the time period from entering the cavity to coming out of the cavity.

[0087] Step 3: The first execution tool acts on at least one surface of the target workpiece 7 that is opposite to the first bearing surface 1 and / or the second bearing surface 2;

[0088] Step 4: The second execution tooling operates on at least one side of the target workpiece 7 that intersects with the first bearing surface 1. The specific acquisition method of step 4 is as follows: the first moving mechanism drives the rotating member 5 to rotate around the target workpiece 7, and obtains information on the upper surface and the front and rear sides while rotating; when the support column of the rotating member 5 is limited, the camera 6 located on the extension part in the workroom operates on the lower surface of the workpiece to achieve processing of the upper, lower, front and rear sides of the target workpiece 7.

[0089] In order to ensure the normal movement of the moving mechanism and the carrying part, the target workpiece 7 is not subject to any restrictions. In a further embodiment, when the target workpiece 7 enters the cavity or comes out of the cavity, the rotating part 5 is always located above the target workpiece 7 under the drive of the second motion mechanism 4; until the target workpiece 7 is stationary in the cavity, the rotating part 5 rotates according to the information acquisition requirements, that is, the rotating part 5 is controlled by the second motion mechanism 4 to rotate forward or backward, and rotates according to other predetermined rotation directions.

[0090] At the same time, in order to improve the working efficiency, this embodiment makes the following adjustments in time and space when executing step 2: when the target workpiece 7 enters the cavity, the rotating member 5 is located at the rear end of the moving direction in a stationary or rotating state under the action of the second motion mechanism 4; when the target workpiece 7 comes out of the cavity, the rotating member 5 is located at the front end of the moving direction in a stationary or rotating state under the action of the second motion mechanism 4. Through the above technical solution, while the bearing part is moving, the first execution tool is in a working state, and both sides of the target workpiece 7 are photographed; at the same time, the rotating member 5 performs effective photography in another direction without interfering with the movement of the bearing part, and performs at least two operations on the same time axis, achieving twice the result with half the effort.

[0091] Based on the above description, the multi-directional surface information acquisition method in this embodiment is suitable for 360° full coverage surface image acquisition of a target workpiece 7 with large volume and heavy mass. During the acquisition, there is no need to transfer the position of the target workpiece 7 or the current placement of the target workpiece 7.

Claims

1. Based on a multi-directional scanning system, characterized in that: include: at least one placement area for placing at least one target workpiece; A predetermined path is arranged between the placement areas based on scanning requirements; A first motion mechanism moves in at least one degree of freedom on a predetermined path; A second motion mechanism, provided on the first motion mechanism; The second motion mechanism is a rotation mechanism having one to three rotational degrees of freedom; The scanning device further comprises: a bearing part, the bottom of which is transmission-connected to the first motion mechanism; the bottom surface of the bearing part is concave from bottom to top to form a cavity, and the front and rear end surfaces of the cavity are both hollow structures and communicate with the cavity; the bearing part moves along a predetermined path under the action of the moving mechanism, and the workpiece in the placement area passes through the hollow structure; A first execution tool is disposed in two side walls of the cavity; the first execution tool is configured to operate on at least one side of a target workpiece; based on the independent movement of the first motion mechanism, a first scanning mode required by the first execution tool relative to the target workpiece is realized; The second execution tool is rotatably mounted on the cavity; the second execution tool is configured to operate on other surfaces of the target workpiece; according to the operation requirements, the required scanning and spatial avoidance of the target workpiece are achieved by switching the bearing portion and / or the second execution tool movement state in real time; The second execution tooling at least comprises: a rotating member, both ends of which are connected to the cavity through a second motion mechanism; the rotating member rotates around the workpiece at a predetermined angle along the moving direction under the drive of the second motion mechanism; Based on the coordinated movement of the first motion mechanism and the second motion mechanism, or based on the independent movement of the second motion mechanism, the second scanning mode and obstacle avoidance mode required by the second execution tool relative to the target workpiece are realized; the obstacle avoidance mode is defined as: based on the current motion state of the first motion mechanism, the motion state of the second motion mechanism is switched in real time, so as to realize the autonomous avoidance between the second execution tool and the current target workpiece and other target workpieces adjacent to the current target workpiece in space; The second scanning mode at least includes: a stationary scanning mode and a motion scanning mode; The stationary scanning mode is defined as the first motion mechanism being stationary relative to the current target workpiece when the second execution tooling is in the working state; The motion scanning mode is defined as the movement state of the first motion mechanism relative to the current target workpiece when the second execution tooling is in the working state; The first scanning mode includes at least: stationary scanning and mobile scanning; stationary scanning: when the first motion mechanism is in a working state, it is stationary relative to the target workpiece; Mobile scanning: When the first motion mechanism is in working state, it moves relative to the target workpiece.

2. The multi-directional scanning system according to claim 1, characterized in that: The target workpiece is placed in a lifted form.

3. The multi-directional scanning system according to claim 1, characterized in that: The bearing portion at least comprises: a first bearing surface and a second bearing surface arranged opposite to each other; The first execution tool operates on at least one surface of the target workpiece that is opposite to the first bearing surface and / or the second bearing surface according to the operation requirements; The second execution tool operates on a surface of the target workpiece that intersects with the first bearing surface according to operation requirements.

4. The multi-directional scanning system according to claim 1, characterized in that: A plurality of extensions extending along the contour of the rotating member by a predetermined length are arranged on both sides of the rotating member.

5. A scanning method using the multi-directional scanning system according to any one of claims 1 to 4, characterized in that: The specific steps include: Step 1: Divide the placement area according to the requirements and lay out the predetermined path in the placement area; place the target workpiece in the corresponding placement area in the form of lifting; Step 2: The first motion mechanism performs a reciprocating motion on a fixed path, passes through the target workpiece in a predetermined order, switches the rotation state or position of the second motion mechanism in real time, completes the autonomous avoidance between the second execution tool on the second motion mechanism and the target workpiece, and the first execution tool is in the avoidance state throughout the process; at least one of steps 3 to 4 is executed each time the placement area where the current target workpiece is located is passed; Step 3: The first execution tool acts on at least one surface of the target workpiece that is opposite to the first bearing surface and / or the second bearing surface; Step 4: The second execution tooling operation is performed on the information of at least one surface of the target workpiece that intersects with the first bearing surface.

6. The scanning method based on a multi-directional scanning system according to claim 5, characterized in that: The autonomous avoidance in step 2 includes at least: When the first execution tooling and the current target workpiece are in relative operation, the second execution tooling is always above the current target workpiece; when the target workpiece is stationary in the first execution tooling, the second execution tooling rotates according to the predetermined direction to complete the operation on the required surface.

7. The scanning method based on a multi-directional scanning system according to claim 5, characterized in that: The autonomous avoidance in step 2 includes at least: When the first execution tool is in mobile or stationary scanning, the motion state of the second motion mechanism is switched in real time to achieve autonomous avoidance between the second execution tool and the current target workpiece and other target workpieces adjacent to the current target workpiece in space.

8. The scanning method based on a multi-directional scanning system according to claim 5, characterized in that: Applied to surface treatment of large workpieces.

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