A Laser-Based Full-Area Scanning System and Method for 3D Dimensional Inspection of Pipe Fittings

Abstract

This invention provides a laser scanning-based three-dimensional full-area scanning inspection system and method for pipe fittings, including an array platform assembly, a three-dimensional laser scanner, a six-axis robotic arm, multiple liftable support assemblies, and multiple liftable target assemblies. The six-axis robotic arm is slidably mounted on the array platform assembly; the three-dimensional laser scanner is mounted on the six-axis robotic arm; the liftable target assemblies are mounted on the array platform assembly; and the liftable support assemblies are mounted on the liftable target assemblies, and are used to place the pipe fitting to be tested. This invention provides a high-precision automatic full-area scanning inspection system for three-dimensional pipe fittings based on laser scanning, improving the accuracy and efficiency of three-dimensional curved pipe fitting inspection.

Description

Technical Field

[0001] This invention relates to the technical field of full-area scanning inspection, specifically to a system and method for full-area scanning inspection of the three-dimensional dimensions of pipe fittings based on laser scanning. More particularly, it preferably relates to a high-precision automatic full-area scanning inspection system for the three-dimensional dimensions of pipe fittings based on laser scanning. Background Technology

[0002] With the rapid development of the aerospace field, metal conduits are widely used in spacecraft propulsion systems and fluid loop systems, serving as the blood vessels of spacecraft for the transport and delivery of working fluids. To ensure the reliability of conduits during long-term operation, it is necessary to guarantee forming accuracy and assembly sealing. Therefore, three-dimensional forming accuracy inspection must be carried out after the conduit is formed.

[0003] Generally, the dimensions of pipe fittings can be inspected using tools such as calipers and height gauges, but these methods suffer from low accuracy, low efficiency, and the inability to measure special dimensions such as rotation angles. When using 3D laser scanning for inspection, the product is typically placed on a plane covered with targets. However, the portion of the product on the plane is not scanned by the laser, resulting in incomplete contour detection. Furthermore, because the 3D pipe's height dimension is too large and far from the target plane, it falls outside the depth-of-field measurement range of the 3D laser scanner, making the contour in the height direction undetectable. Additionally, using a method of multiple scans in sections followed by stitching introduces new errors during the stitching and fitting process, further reducing inspection accuracy.

[0004] 3D laser scanning inspection systems come in two forms: with and without targets. Because targetless scanning inspection systems have lower detection accuracy, current methods typically involve placing the product on a plane covered with targets, and then using a laser scanner to scan and calculate the object's contour point cloud. However, this approach has several drawbacks. First, the portion of the product attached to the plane is undetectable by the laser scanner, leading to incomplete contour detection. Second, the 3D pipe's dimensions in the height direction are often too large, placing it far from the target plane and outside the depth-of-field measurement range of the 3D laser scanner. Therefore, contours outside the detection range due to excessive height dimensions may be undetectable. While targets can be attached to the object's surface, this increases workload, reduces efficiency, and adds unnecessary material. Furthermore, using a method of partial, multi-scan detection followed by stitching introduces new errors during stitching, further reducing detection accuracy.

[0005] Most 3D laser scanners are handheld. One invention patent (CN107367242A) discloses a laser 3D scanning and inspection instrument, which includes an automated laser scanning system using a robot. However, the working range of this system is limited by the robot's working range, resulting in a small detection range and size. Another invention (CN204575030U) discloses a fully automated 3D laser scanning and measurement system, which includes a robot system with a guide rail, expanding the measurement range. However, this patent only allows for top-down scanning and inspection, still failing to address the issue of the bottom and sides of the object being inspected.

[0006] Chinese utility model patent document CN217504710U discloses a three-dimensional laser scanning and inspection instrument, including a fixed support base. The upper surface of the fixed support base has a T-shaped structure with multiple U-shaped handles. An inertial navigation system for control and power supply is provided on the front side of the upper surface of the fixed support base. A fixed push rod is provided on the rear side of the upper surface of the fixed support base near the inertial navigation system. A solar panel is installed on the upper side of the fixed push rod. A photovoltaic storage battery is provided in the middle of the upper surface of the fixed support base. A three-dimensional laser scanner body for scanning and inspection is provided on the upper surface of the photovoltaic storage battery. The lower surface of the fixed support base has a triangular structure with three second through-hole support blocks fixedly connected. Three telescopic support blocks are provided at both ends of the fixed support base near the second through-hole support blocks. An electric wheel is rotatably connected between the three telescopic support blocks and the three second through-hole support blocks.

[0007] Regarding the aforementioned technologies, the inventors believe that the detection accuracy and efficiency of the above-mentioned detection systems are relatively low. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide a laser scanning-based three-dimensional full-area scanning detection system and method for pipe fittings.

[0009] The present invention provides a three-dimensional full-domain scanning and inspection system for pipe fittings based on laser scanning, comprising an array platform assembly, a three-dimensional laser scanner, a six-axis robotic arm, multiple liftable support assemblies, and multiple liftable target assemblies;

[0010] The six-axis robotic arm is slidably mounted on the array platform assembly;

[0011] The 3D laser scanner is mounted on a six-axis robotic arm;

[0012] The liftable target assembly is mounted on the array platform assembly;

[0013] The liftable support assembly is mounted on the liftable target assembly and is used to place the tube to be tested.

[0014] Preferably, the array platform component includes a target platform base;

[0015] The target platform base has multiple through holes arranged in an array on its surface;

[0016] The liftable target components are respectively disposed in the through holes.

[0017] Preferably, the array platform assembly further includes a linear guide rail and a guide rail slider;

[0018] The target platform base surface has grooves machined in the length direction;

[0019] The linear guide rail is embedded and fixed in a groove along the length of the target platform base;

[0020] The guide rail slider is placed on a linear guide rail, and the guide rail slider is translated along the length direction of the target platform base.

[0021] The six-axis robotic arm is fixed on the guide rail slider.

[0022] Preferably, the array platform assembly further includes a power supply box;

[0023] The power supply box is located inside the cavity at the bottom of the target platform base and is used to house the controllers and power cords of each electric device.

[0024] Preferably, the liftable target assembly includes a lifting motor, an omnidirectional target shell, and multiple target points;

[0025] The target point array is set on the outer shell of the omnidirectional target shell;

[0026] The lifting motor is installed inside the cavity of the target shell, and the lifting motors are respectively installed in the through holes on the target platform base surface.

[0027] Preferably, the liftable target assembly further includes a threaded adapter;

[0028] The threaded adapter is machined on the top of the omnidirectional target shell, and the threaded adapter is threadedly connected and fixed to the liftable support assembly.

[0029] Preferably, the liftable support assembly includes a support base, a lifting support, a support block, and a support limiting block;

[0030] The bottom end of the bracket base is machined with external threads, which are then connected and fixed to the internal threads of the threaded adapter.

[0031] The bottom end of the lifting bracket is slidably embedded in the inner hole of the bracket base;

[0032] The lifting bracket includes a supporting lifting bracket and a limiting lifting bracket;

[0033] The bracket base includes a supporting bracket base and a limiting bracket base;

[0034] The bottom end of the supporting lifting bracket is slidably embedded in the inner hole of the supporting bracket base;

[0035] The bottom end of the limiting lifting bracket is slidably embedded in the inner hole of the limiting bracket base;

[0036] The support block is fixed to the top of the support lifting bracket;

[0037] The support limiting block is fixed to the top of the limiting lifting bracket;

[0038] The pipe to be tested is placed on a support block and a support limiting block. The support block supports the pipe to be tested, and the support limiting block supports and limits both ends of the pipe to be tested.

[0039] Preferably, the 3D laser scanner is fixedly connected to the six-axis robotic arm buckle.

[0040] Preferably, the full-area scanning detection system further includes a workstation; the workstation is connected to the array platform component.

[0041] The present invention provides a laser scanning-based three-dimensional full-domain scanning detection method for pipe fittings, which utilizes a laser scanning-based three-dimensional full-domain scanning detection system for pipe fittings and includes the following steps:

[0042] Pipe placement steps: Place the pipe to be tested on the liftable support assembly;

[0043] Scanning and inspection steps: A three-dimensional contour measurement target platform is formed by a liftable target assembly and an array platform assembly. A six-axis robotic arm drives a three-dimensional laser scanner to scan and inspect the pipe to be tested.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. This invention is a high-precision automatic full-area scanning detection system for three-dimensional pipe fittings based on laser scanning, which improves the detection accuracy and efficiency of three-dimensional curved pipe fittings;

[0046] 2. The present invention designs a liftable target platform, which can not only be used for support but also as a back-calculation target point when the bottom of the object to be tested is laser scanned. Combined with a robotic arm, it can realize automatic full-area scanning detection of the three-dimensional dimensions of complex pipes.

[0047] 3. This invention embeds the omnidirectional target shell on a lifting motor, thereby enabling the lifting motor to drive the omnidirectional target shell to automatically and steplessly lift and lower precisely in the vertical direction. Attached Figure Description

[0048] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0049] Figure 1 This is a schematic diagram of the overall invention;

[0050] Figure 2 This is a schematic diagram of the array platform components;

[0051] Figure 3 This is a schematic diagram of the height-adjustable support assembly;

[0052] Figure 4 This is a schematic diagram of a liftable target assembly;

[0053] Figure 5 This is a diagram illustrating the usage state of the present invention.

[0054] Figure label:

[0055] Workstation 1, Target platform base 21, Support limit block 34

[0056] Array platform component 2, power supply box 22, lifting motor 71

[0057] Liftable support assembly 3, linear guide rail 23, omnidirectional target housing 72

[0058] 4 pipe fittings to be tested, 24 guide rail sliders, 73 target points

[0059] 3D laser scanner 5, stand base 31, threaded adapter 74

[0060] Six-axis robotic arm 6, lifting support 32

[0061] Liftable target assembly 7 Support block 33 Detailed Implementation

[0062] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0063] This invention discloses a laser scanning-based three-dimensional full-domain scanning detection system for pipe fittings, such as... Figure 1 and Figure 5As shown, the system includes a workstation 1, an array platform assembly 2, a liftable support assembly 3, a pipe under test 4, a 3D laser scanner 5, a six-axis robotic arm 6, a liftable target assembly 7, and a software processing and control system. The six-axis robotic arm 6 and the liftable target assembly 7 are mounted on the array platform assembly 2. The 3D laser scanner 5 is mounted on the six-axis robotic arm 6, and the liftable support assembly 3 is mounted on the liftable target assembly 7. The pipe under test 4 is mounted on the liftable support assembly 3. The workstation 1 is connected to the array platform assembly 2 and is used for sending commands, transmitting data, processing, and analyzing data. The software system is located within the workstation and automatically analyzes the robotic arm's running path based on the pipe's placement posture and position. It also calculates and analyzes the lifting and lowering of the liftable target assemblies 7 around the path based on the robotic arm's movement path and speed, avoiding interference without affecting the support. The six-axis robotic arm 6 and the liftable target assembly 7 are controlled in a linked manner.

[0064] like Figure 2 As shown, the array platform assembly 2 includes a target platform base 21, a power supply box 22, a linear guide rail 23, and a guide rail slider 24. Specifically: the target platform base 21 has 160 square through holes arranged in an array on its surface, and grooves are machined along its length. The power supply box 22 is located within the bottom cavity of the target platform base 21 and is used to house the controllers and power cords of various electric devices. The linear guide rail 23 is embedded in the grooves along the length of the target platform base 21 and is fixed at both ends with bolts. The guide rail slider 24 is placed on the linear guide rail 23 to achieve translation along the length of the target platform base 21.

[0065] like Figure 3 As shown, the liftable support assembly 3 includes a support base 31, a lifting support 32, a support block 33, and a support limiting block 34. The support base 31 has an external thread at its bottom end for easy connection and fixation to the internal thread of the threaded adapter 74. The bottom end of the lifting support 32 is embedded in the inner hole of the support base 31, allowing for free height adjustment with stepless precision. Once the designated height is reached, rotating the lifting support 32 compresses the circumferential spring screws, thereby locking it in place. The support block 33 and the support limiting block 34 are welded and fixed to the top of the lifting support 32, serving as support and limiting fixation during pipe product testing, respectively.

[0066] The pipe to be tested 4 is placed naturally on the support block 33 and the support limiting block 34. The support block 33 only needs to contact the pipe to be tested 4 to provide support, while the two ends of the pipe need to be supported and limited by the support limiting block 34. This not only provides support but also limits the pipe axis, preventing shaking during the testing process.

[0067] The 3D laser scanner 5 is fixedly connected to the front end buckle of the six-axis robotic arm 6, which not only realizes the clamping function of the robotic arm, but also has the advantage of quick clamping.

[0068] The six-axis robotic arm 6 is fixed to the guide rail slider 24 by bolts. The six-axis robotic arm 6 and the three-dimensional laser scanner 5 can move along the length of the platform component 2 by sliding the guide rail slider 24 on the linear guide rail 23, which greatly expands the scanning and detection area.

[0069] like Figure 4 As shown, the liftable target assembly 7 includes a lifting motor 71, an omnidirectional target shell 72, target points 73, and a threaded adapter 74. 128 arrayed target points 73 are evenly distributed and adhered to the outer shell of the omnidirectional target shell 72. The lifting motor 71 is embedded within the cavity of the omnidirectional target shell 72, thereby driving the omnidirectional target shell 72 to rise and fall in the height direction, providing a target reference point during testing. The threaded adapter 74 is machined at the center of the top of the omnidirectional target shell 72, enabling threaded connection and fixation of the lifting support assembly 3. The liftable target assembly 7 comprises 160 evenly distributed targets, embedded within the square through-hole of the target platform base 21. Through the lifting motor 71 and array single-point control, a universal three-dimensional contour measurement target platform can be formed, enabling contour and accuracy testing of any three-dimensional product. The lifting motor 71 is fixed in the through-hole and can freely rise and fall in the height direction.

[0070] Accordingly, this invention also discloses a laser scanning-based three-dimensional full-area scanning detection method for pipe fittings, which utilizes a laser scanning-based three-dimensional full-area scanning detection system for pipe fittings and includes the following steps:

[0071] Pipe placement steps: Place the pipe to be tested on the liftable support assembly.

[0072] Scanning and inspection steps: A three-dimensional contour measurement target platform is formed by a liftable target assembly and an array platform assembly. A six-axis robotic arm drives a three-dimensional laser scanner to scan and inspect the pipe to be tested.

[0073] When the pipe to be tested 4 is suspended in the air, the lifting motor 71 drives the omnidirectional target shell 72 with target points 73 attached to it to rise and fall in the height direction, thereby providing target points 73 when scanning and detecting from the side or from the bottom up, solving the problem of not being able to detect when suspended and realizing full contour scanning in one go.

[0074] Workstation 1 analyzes and sets the scanning and detection path and actions of the 3D laser scanner 5 based on the placement position and posture of the pipe component 4 to be tested. During the detection process, it controls the six-axis robotic arm 6 and the liftable target component 7 to perform actions and scanning and detection, thereby achieving fully automatic scanning and detection.

[0075] The adjustment functions of the high-precision automatic full-area scanning detection system based on laser scanning provided by this invention are implemented as follows:

[0076] According to the shape of the pipe to be tested 4, it is manually placed on the array platform component 2, and the individual lifting motors 71 and the height of the lifting bracket 32 ​​are adjusted to realize the height adjustment of the support block 33 and the support limit block 34, thereby realizing multi-point support and fixation of pipes of any three-dimensional size and shape.

[0077] Workstation 1 plans the motion path and action of the six-axis robotic arm 6 and the lifting action of the liftable target component 7 based on the shape and placement of the pipe fitting design model.

[0078] The six-axis robotic arm 6 is moved from its origin to the starting point of the test tube 4. Following the programmed sequence, the six-axis robotic arm 6 and the liftable target assembly 7 are linked to perform actions and scanning inspections. During side and bottom surface inspections, the adjacent liftable target assemblies 7 around the tube body need to be raised slightly above the tube body height to provide a reference target for inspection.

[0079] After the scan is completed, the six-axis robotic arm 6 resets, the tube to be tested 4 is removed, and the liftable target assembly 7 resets.

[0080] This invention utilizes a target attached to a liftable target to provide target points 73 for lateral or bottom-up scanning, achieving a full contour scan in a single operation. Through program-controlled linkage between the robotic arm and the liftable target assembly 7, it provides sufficient target points and enables fully automated target detection, significantly improving work efficiency. 1. The scanning area and direction of the 3D laser scanner 5 can be adjusted by the sliding of the six-axis robotic arm 6 on the linear guide rail 23 and the rotation of its various joints.

[0081] 2. By controlling the lifting motor 71 and adjusting the height of the lifting bracket 32, the height of the support block 33 and the support limit block 34 can be adjusted, which can be applied to multi-point support of pipe fittings of any three-dimensional size and shape.

[0082] 3. By planning the working path, actions, and height of each adjustable target component 7 at each moment based on the placement posture of the pipe component 4 under test by workstation 1, automatic full-area scanning detection of the three-dimensional dimensions of the pipe component under test can be realized.

[0083] 4. During the scanning and detection process, the lifting and lowering of one or more lifting motors 71 is controlled to drive the lifting and lowering of the all-round target shell 72, thereby avoiding interference and collision with the three-dimensional laser scanner 5 and providing a side target for the object to be detected.

[0084] This invention is based on a target-equipped scanning and detection system. The invention features an array of 160 adjustable target assemblies 7 within the worktable area. Individual adjustable target assemblies 7 can be raised and lowered individually according to the shape of the pipe to be tested 4, providing precise and flexible support at a single point. This makes it suitable for supporting and fixing pipes of any three-dimensional shape.

[0085] This invention embeds an omnidirectional target shell 72 onto a lifting motor 71, thereby enabling the lifting motor 71 to drive the omnidirectional target shell 72 to automatically and steplessly lift and lower precisely in the vertical direction. During the scanning and inspection process, controlling the lifting and lowering of the adjustable target assembly 7 around the pipe under test 4 provides abundant target references, effectively solving the problem of no target references when the 3D laser scanner 5 scans the side and bottom surfaces of the pipe under test 4 from bottom to top. This significantly improves the detectability of the side and bottom surfaces of the pipe under test, not only realizing the function of full-area scanning of the pipe under test in one go but also improving the detection accuracy.

[0086] This invention pre-installs and fixes the pipe component 4 to be tested, analyzes and sets the scanning and detection path of the three-dimensional laser scanner 5 through the workstation 1, and sets the program to control the movement and rotation of the six-axis robotic arm 6 and the lifting and lowering of multiple lifting target components 7 during the detection process. This not only avoids the problem of interference and collision during the operation of the six-axis robotic arm 6, but also provides target points to realize fully automatic high-precision scanning and detection of the full contour size of the pipe component 4 to be tested.

[0087] In this invention, the lifting bracket 32 ​​is embedded in the bracket base 31. Through extension and retraction, it can achieve stepless lifting and circumferential rotation in the height direction. Not only can the height and orientation of the lifting bracket 32 ​​be adjusted according to the shape of the pipe 4 to be tested and provide effective support, but also, combined with the lifting motor 71, it can greatly expand the range of motion in the height direction, making it convenient for the six-axis robotic arm 6 to carry the three-dimensional laser scanner 5 to scan and detect the bottom contour features from bottom to top or from the side, thereby expanding the applicable range of the detection device.

[0088] This invention places at least two straight sections of the pipe to be tested 4 inside the support limiting block 34. The axis of the pipe needs to be distributed along the stretching direction of the support limiting block 34. Therefore, by fixing the position of the support limiting block 34, the pipe to be tested 4 is limited except in the height direction, thereby ensuring the fixation of the pipe to be tested 4 during the scanning and detection process. This avoids the shaking or deformation of the pipe caused by the lifting bracket assembly 3 during the lifting process, thereby ensuring the detection accuracy.

[0089] This invention enables top-down scanning detection, addressing the common problem of detecting the bottom and sides of the object under test when the object is placed on a table. However, the parts in contact with the table and the suspended parts cannot be detected due to the limited detection range. To address this, this invention provides a liftable target assembly that can provide a target base point on the side, suitable for detecting suspended objects.

[0090] This invention can meet the needs of contour dimension detection for products of different shapes and materials. It is highly applicable, can be mass-produced, and can also meet the usage requirements of different products and working environments by simply modifying the bracket shape.

[0091] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of the present invention. In the absence of conflict, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

Claims

1. A laser scanning based pipe three-dimensional dimension global scanning detection system, characterized in that, The array platform assembly (2), the three-dimensional laser scanner (5), the six-axis mechanical arm (6), the plurality of liftable support assemblies (3), and the plurality of liftable target assemblies (7); The six-axis mechanical arm (6) is slidingly arranged on the array platform assembly (2); The three-dimensional laser scanner (5) is arranged on the six-axis mechanical arm (6); The liftable target assembly (7) is arranged on the array platform assembly (2); The liftable support assembly (3) is arranged on the liftable target assembly (7), and the liftable support assembly (3) is used for placing the pipe to be measured (4); The array platform assembly (2) comprises a target platform base (21); The target platform base (21) has a plurality of arrayed through holes on the table top; The liftable target assembly (7) is arranged in the through hole, respectively; The liftable target assembly (7) comprises a lifting motor (71), a omnidirectional target shell (72), and a plurality of target points (73); The target points (73) are arranged in an array on the shell of the omnidirectional target shell (72); The lifting motor (71) is arranged in the cavity of the omnidirectional target shell (72), and the lifting motor (71) is arranged in the through hole on the table top of the target platform base (21), respectively.

2. The laser scanning based pipe three-dimensional dimension global scanning detection system according to claim 1, characterized in that, The array platform assembly (2) further comprises a linear guide rail (23) and a guide rail slider (24); The table top of the target platform base (21) is recessed in the length direction; The linear guide rail (23) is embedded and fixed in the recess in the length direction of the target platform base (21); The guide rail slider (24) is placed on the linear guide rail (23), and the translation of the guide rail slider (24) along the length direction of the target platform base (21) is performed; The six-axis mechanical arm (6) is fixed on the guide rail slider (24).

3. The laser scanning based pipe three-dimensional dimension global scanning detection system according to claim 1, characterized in that, The array platform assembly (2) further comprises a power supply box (22); The power supply box (22) is arranged in the bottom cavity of the target platform base (21), and is used for placing the controllers and power lines of various electric devices.

4. The laser scanning based pipe three-dimensional dimension universe scanning detection system according to claim 1, characterized in that, The liftable target assembly (7) further comprises a threaded adapter (74); The threaded adapter (74) is processed on the top end of the omnidirectional target shell (72), and the threaded adapter (74) is threadedly adapted and fixed with the liftable support assembly (3).

5. The laser scanning based pipe three-dimensional dimension universe scanning detection system according to claim 4, characterized in that, The liftable support assembly (3) comprises a support base (31), a lifting support (32), a support block (33), and a support limiting block (34); The bottom end of the support base (31) is processed with external threads, and the external threads are connected and fixed on the internal threads of the threaded adapter (74); The bottom end of the lifting support (32) is slidingly embedded in the inner hole of the support base (31); The lifting support (32) comprises a supporting lifting support and a limiting lifting support; The support base (31) comprises a supporting support base and a limiting support base; The bottom end of the supporting lifting support is slidingly embedded in the inner hole of the supporting support base; The bottom end of the limiting lifting support is slidingly embedded in the inner hole of the limiting support base; The support block (33) is fixed on the top end of the supporting lifting support; The support limiting block (34) is fixed on the top end of the limiting lifting support; The pipe to be measured (4) is placed on the support block (33) and the support limiting block (34), the support block (33) supports the pipe to be measured (4), and the support limiting block (34) supports and limits the two ends of the pipe to be measured (4).

6. The laser scanning based pipe three-dimensional dimension universe scanning detection system according to claim 1, characterized in that, The three-dimensional laser scanner (5) is fixedly connected to the six-axis mechanical arm (6) buckle.

7. The laser scanning based pipe three-dimensional dimension universe scanning detection system according to claim 1, characterized in that, The global scanning detection system further comprises a workstation (1); the workstation (1) is connected to the array platform assembly (2).

8. A method for detecting the full range of three-dimensional dimensions of a pipe fitting based on laser scanning, characterized in that, The pipe three-dimensional size global scanning detection system based on laser scanning according to any one of claims 1-7 comprises the following steps: Pipe placement step: place the pipe to be measured (4) on the liftable support assembly (3); Scanning detection step: form a three-dimensional contour measurement target platform through the liftable target assembly and the array platform assembly (2), and drive the three-dimensional laser scanner (5) through the six-axis mechanical arm (6) to scan and detect the pipe to be measured (4).

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