A grating detection device for spraying

Abstract

The present invention relates to the field of spraying detection technology, specifically a grating detection device for spraying, comprising: a detection cabinet, and a conveying rail fixed inside the detection cabinet for conveying objects to be sprayed; a scanning slide rail fixed to the surface of the conveying rail, and its axis is parallel to the direction of the linear conveying rail; a servo platform, the bottom surface of which is provided with a guide slider and slidably mounted on the surface of the scanning slide rail, and can synchronously move laterally along the surface of the scanning slide rail to follow the objects in the conveying motion, and the surface of the servo platform is provided with a gyroscope sensor. In the present invention, the position effect of the grating scanner is sensed in real time by integrating a high-precision laser sensor and a gyroscope sensor, and the relative position between the grating scanner moving in a spiral shape and the material moving in a linear motion during the scanning process can be accurately monitored, thereby effectively reducing error accumulation, improving the accuracy of the scanning data, and realizing the arc trajectory scanning of the material in the conveying motion, which helps to improve the spraying quality and consistency.

Description

Technical Field

[0001] The invention relates to the technical field of spraying detection, in particular to a grating detection device for spraying. Background Art

[0002] Grating detection devices for spraying usually use grating rulers or light curtain nets (composed of multiple beams of infrared light) to detect the position and contour of the sprayed parts. When the sprayed parts pass through the grating or light curtain, they will block part of the light. These blocking information will be captured by the receiver and converted into electrical signals, which will be further processed by algorithms to obtain the precise position and contour information of the sprayed parts. In the field of traditional industrial spraying, accurate detection of the surface contour of the material is a key link to ensure the quality and consistency of the spraying. However, traditional static scanning technology is often limited to scanning stationary or slow-moving objects, and cannot adapt to the high-speed and continuously moving material detection requirements in modern production lines. This static scanning method is not only inefficient, but also prone to inaccurate scanning data due to position changes caused by material movement, which in turn affects the spraying effect.

[0003] In addition, although the traditional arc scanning technology has improved the flexibility of scanning to a certain extent, its scanning path is often fixed and difficult to adjust accurately, and it cannot fully adapt to the complex contours of materials of different shapes and sizes. At the same time, the arc scanning process is prone to scanning blind areas or error accumulation due to mechanical structure limitations and insufficient sensor accuracy, further reducing the accuracy and reliability of the scanning data. In the field of grating detection, traditional methods mostly rely on a single laser sensor or camera to scan a two-dimensional plane, lacking depth information and three-dimensional modeling capabilities. This two-dimensional scanning method is difficult to fully reflect the true contour and surface characteristics of the material, limiting its application in the detection of complex-shaped materials. At the same time, traditional grating detection devices are prone to jitter and positional deviation in high-speed motion environments, resulting in unstable scanning data and increasing the difficulty and cost of subsequent processing.

[0004] In view of this, research and improvement are carried out on the existing problems, and a grating detection device for spraying is provided to solve the current problems. The purpose is to achieve the purpose of solving the problems and improving the practical value through this technology. Summary of the invention

[0005] The present invention aims to solve one of the technical problems existing in the prior art or related technology.

[0006] To this end, the technical solution adopted by the present invention is: a grating detection device for spraying, comprising: a detection cabinet, and a conveying rail fixed inside the detection cabinet for conveying objects to be sprayed; a scanning slide rail, fixed to the surface of the conveying rail, and its axis is parallel to the direction of the linear conveying rail; a servo platform, the bottom surface of which is provided with a guide slider and slidably mounted on the surface of the scanning slide rail, and can move laterally synchronously with the objects in the conveying movement along the surface of the scanning slide rail, and the surface of the servo platform is provided with a gyroscope sensor; a grating scanner, mounted on the surface of the servo platform, for performing a comprehensive contour scan of the objects in the conveying, and the surface of the grating scanner is provided with a laser sensor for monitoring the relative position between the grating scanner and the conveying rail; the surface of the conveying rail is provided with positioning strips, and the positioning strips are arranged in pairs on both sides of the linear slide rail as reference bases for the laser sensor;

[0007] The control system includes a data processing unit and a feedback control module, which is used to receive the monitoring signal of the laser sensor and adjust the posture or driving mechanism of the servo gimbal according to the monitoring result, so that the grating scanner always keeps parallel with the transmission rail when moving on the scanning slide rail, and when moving on the scanning slide rail, the positioning strip provided on the surface of the transmission rail ensures that the end face of the grating scanner always faces the axis of the scanning slide rail;

[0008] The control system realizes precise control of the servo gimbal by comprehensively processing the data of the gyro sensor and the laser sensor, ensuring that the grating scanner performs arc motion in the Z-axis plane of the object with a motion angle greater than or equal to 270 degrees, thereby realizing a comprehensive contour scan of the object.

[0009] In a preferred example, the present invention can be further configured as follows: the servo gimbal includes a fixed seat, a first shaft core, a second shaft sleeve, a third shaft sleeve and a moving seat, the first shaft core, the second shaft sleeve and the third shaft sleeve are rotatably sleeved in sequence, and the top ends of the first shaft core, the second shaft sleeve and the third shaft sleeve are provided with connecting rods that are movably connected to the bottom end of the moving seat, the surface of the fixed seat is provided with three servo motors that are respectively used to drive the first shaft core, the second shaft sleeve and the third shaft sleeve to rotate, the gyro sensor is fixed to the surface of the moving seat, and the rotation of the first shaft core, the second shaft sleeve and the third shaft sleeve is driven by each servo motor, and the deflection movement of the moving seat is linked by the connecting rod at the top end, thereby realizing multi-axis motion drive and adjusting the subtending angle of the grating scanner.

[0010] In a preferred example, the present invention can be further configured as follows: the laser sensor is a high-precision, low-noise laser displacement sensor, which can accurately measure the distance change between the grating scanner and the positioning bar. The laser displacement sensor has high-speed data acquisition and processing capabilities, and can reflect the distance change between the grating scanner and the positioning bar in real time.

[0011] In a preferred example, the present invention can be further configured as follows: the positioning bar is made of a high-reflectivity material, has a flat surface and has a certain width to ensure that the laser sensor can stably detect its position.

[0012] In a preferred example, the present invention can be further configured as follows: the gyro sensor and laser sensor used in the opposite control system are both connected to a data processing unit, and the data processing unit adopts a control algorithm such as a Kalman filter algorithm or a fuzzy control algorithm to improve the robustness and stability of the system.

[0013] In a preferred example, the present invention can be further configured as follows: a permanent magnetic guide block and a guide slider which are sleeved and slidably mounted on the surface of a scanning slide rail are fixedly mounted on the bottom surface of the servo pan-tilt platform; the scanning slide rail includes a main slide bar and a plurality of electromagnetic coils evenly distributed on the surface of the main slide bar; sliding covers which are slidably abutted against the inner side of the permanent magnetic guide block are fixedly mounted on both sides of the main slide bar; under the intermittent energization of the plurality of electromagnetic coils, electromagnetic effects are generated one by one to guide and pull the guide slider, thereby realizing the sliding movement of the servo pan-tilt platform on the surface of the scanning slide rail.

[0014] In a preferred example, the present invention can be further configured as follows: the grating scanner comprises:

[0015] The scanner body is arranged parallel to the linear slide rail and fixed on the surface of the moving seat;

[0016] 3D structured light projector, installed inside the scanner body, used to project light with specific structural features onto the object to be scanned;

[0017] The infrared camera is installed inside the scanner body and cooperates with the 3D structured light projector to collect the reflected light of the object after being illuminated by the projected light to obtain the depth information and three-dimensional structure of the object;

[0018] A data processing unit is connected to the infrared camera, and is used to receive data collected by the camera and convert changes in structured light into depth information through calculation and processing, thereby constructing a three-dimensional model of the object;

[0019] In a preferred example, the present invention can be further configured as follows: the 3D structured light projector projects a coded dot matrix or pattern through a near-infrared laser, the infrared camera captures the deformed image formed by these dot matrix or pattern on the surface of the object, and the data processing unit calculates the depth information and three-dimensional structure of the object based on these deformed images. The 3D structured light projects light with specific structural features (such as dot matrix or pattern) onto the object to be scanned, and uses the infrared camera to capture the deformed image formed by these light rays on the surface of the object. Based on these deformed images, the data processing unit can accurately calculate the depth information and three-dimensional structure of the object, thereby achieving high-precision scanning.

[0020] The beneficial effects achieved by the present invention are:

[0021] 1. In the present invention, by integrating high-precision laser sensors and gyroscope sensors to sense the position effect of the grating scanner in real time, the reference datum positioning bar made of high-reflectivity material significantly improves the positioning accuracy and stability of the system, ensuring that the relative position between the grating scanner moving in a spiral shape and the material moving in a straight line during the scanning process can be accurately monitored, thereby effectively reducing error accumulation, improving the accuracy of scanning data, and realizing arc trajectory scanning of materials in conveying motion. The high-precision measurement capability also provides a solid foundation for subsequent spraying operations, which helps to improve the quality and consistency of spraying.

[0022] 2. In the present invention, a counter-control system is introduced. The system realizes intelligent control and adaptive adjustment of the servo gimbal of the scanning device by comprehensively processing the data of the laser sensor and the gyroscope sensor. During the scanning process, the system can detect and respond to the position changes between the scanning device and the conveyor belt in real time. By adjusting the posture or driving mechanism of the scanning device, it is ensured that the scanning end face of the grating scanner is always opposite to the moving material surface and can perform arc motion in the Z-axis plane of the object. The intelligent control and adaptive adjustment mechanism not only improves the comprehensiveness and flexibility of the scanning, but also enhances the system's adaptability to objects of different shapes and sizes, further improving the detection efficiency and accuracy.

[0023] 3. In the present invention, a grating scanner equipped with a 3D structured light projector and an infrared camera combination is used to achieve comprehensive contour scanning and three-dimensional modeling capabilities for objects in transit. By projecting light with specific structural features and capturing its reflected light, the system can obtain the depth information and three-dimensional structure of the object, and then build an accurate three-dimensional model. This comprehensive contour scanning and three-dimensional modeling capability provides detailed object information support for spraying operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the structure of a transmission rail and a scanning rail according to an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the structure of a servo pan / tilt and a grating scanner according to an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of the decomposed structure of a servo pan-tilt platform according to an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the guide slider structure according to an embodiment of the present invention;

[0029] Figure 6 The figure is a schematic diagram of the exploded structure of a scanning slide rail according to an embodiment of the present invention.

[0030] Reference numerals:

[0031] 100, testing cabinet; 110, conveying rail; 111, positioning strip;

[0032] 200, scanning slide rail; 210, permanent magnetic guide block; 220, guide slide block; 201, main slide bar; 202, electromagnetic coil; 203, slide cover;

[0033] 300, servo gimbal; 310, fixed seat; 320, first shaft core; 330, second shaft sleeve; 340, third shaft sleeve; 350, moving seat; 311, servo motor; 351, gyroscope sensor;

[0034] 400. Raster scanner; 410. Laser sensor. DETAILED DESCRIPTION

[0035] To make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below in combination with specific implementations and with reference to the accompanying drawings. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0036] It is to be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention.

[0037] A grating detection device for spraying provided by some embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0038] Combination Figure 1-Figure 6 As shown, the present invention provides a grating detection device for spraying, comprising:

[0039] A testing cabinet 100, and a conveying rail 110 fixed inside the testing cabinet 100 for conveying objects to be sprayed;

[0040] The scanning slide rail 200 is fixed to the surface of the conveying rail 110, and its axis is parallel to the direction of the linear conveying rail;

[0041] The servo platform 300 has a guide slider 220 on the bottom surface and is slidably mounted on the surface of the scanning rail 200, and can move laterally along the surface of the scanning rail 200 in synchronization with the object being transported. A gyroscope sensor 351 is provided on the surface of the servo platform 300;

[0042] The grating scanner 400 is installed on the surface of the servo gimbal 300 and is used to perform a comprehensive contour scan of the object being transported. The surface of the grating scanner 400 is provided with a laser sensor 410 for monitoring the relative position between the grating scanner 400 and the conveying rail 110;

[0043] The surface of the conveying rail 110 is provided with positioning bars 111 and the positioning bars 111 are arranged in pairs on both sides of the linear slide rail as reference bases for the laser sensor;

[0044] The facing control system includes a data processing unit and a feedback control module, which is used to receive the monitoring signal of the laser sensor 410, and adjust the posture or driving mechanism of the servo gimbal 300 according to the monitoring result, so that the grating scanner 400 always keeps parallel with the transmission rail 110 when moving on the scanning slide rail 200, and when moving on the scanning slide rail 200, the positioning bar 111 provided on the surface of the transmission rail 110 ensures that the end face of the grating scanner 400 always faces the axis of the scanning slide rail 200;

[0045] Among them, the opposite control system realizes precise control of the servo gimbal 300 by comprehensively processing the data of the gyro sensor 351 and the laser sensor 410, ensuring that the grating scanner 400 performs arc motion in the Z-axis plane of the object, and the motion angle is greater than or equal to 270 degrees, thereby realizing a comprehensive contour scan of the object.

[0046] In this embodiment, the servo gimbal 300 includes a fixed seat 310, a first shaft core 320, a second shaft sleeve 330, a third shaft sleeve 340 and a movable seat 350. The first shaft core 320, the second shaft sleeve 330 and the third shaft sleeve 340 are rotated and sleeved in sequence, and the top ends of the first shaft core 320, the second shaft sleeve 330 and the third shaft sleeve 340 are provided with connecting strips that are movably connected to the bottom end of the movable seat 350. The surface of the fixed seat 310 is provided with three servo motors 311 for driving the first shaft core 320, the second shaft sleeve 330 and the third shaft sleeve 340 to rotate respectively, and the gyroscope sensor 351 is fixed to the surface of the movable seat 350.

[0047] Specifically, the first shaft core 320, the second shaft sleeve 330 and the third shaft sleeve 340 are driven to rotate by the servo motors 311, and the top connecting rods thereof drive the movable seat 350 to deflect, thereby realizing multi-axis motion drive and adjusting the subtending angle of the grating scanner 400.

[0048] In this embodiment, the laser sensor 410 is a high-precision, low-noise laser displacement sensor that can accurately measure the distance change between the grating scanner and the positioning bar.

[0049] Specifically, the laser displacement sensor has high-speed data acquisition and processing capabilities, and can reflect the distance change between the grating scanner and the positioning bar in real time. At the same time, the sensor is equipped with temperature compensation, nonlinear correction and other mechanisms to ensure the stability and consistency of the measurement results under different working environments and conditions.

[0050] In this embodiment, the positioning bar 111 is made of a high reflectivity material, has a flat surface and has a certain width to ensure that the laser sensor 410 can stably detect its position.

[0051] Specifically, the positioning bar 111 is made of high reflectivity materials, such as silver-plated, aluminum-plated, or special plastics with high specular reflection properties, etc. These materials can effectively reflect the light projected onto their surfaces, ensuring that the laser sensor 410 can receive a reflection signal of sufficient intensity, thereby improving the accuracy and reliability of position detection.

[0052] In this embodiment, the gyro sensor 351 and the laser sensor 410 used in the opposite control system are connected to the data processing unit, and the data processing unit adopts a control algorithm such as a Kalman filter algorithm or a fuzzy control algorithm to improve the robustness and stability of the system.

[0053] Specifically, through the application of fuzzy control algorithm, the data processing unit can more flexibly cope with various uncertain factors in the scanning process, such as uneven slide rails, changes in object shape, etc., thereby further improving the overall performance and scanning accuracy of the system.

[0054] Embodiment 1: Data processing unit using Kalman filter algorithm

[0055] In this embodiment, the control system integrates a high-precision gyro sensor and a laser sensor, which are used to monitor the attitude angle of the three-axis gimbal and the relative position between the grating scanner and the linear slide rail. These sensors are connected to the data processing unit through signal lines to transmit monitoring data in real time.

[0056] The data processing unit has a built-in Kalman filter algorithm, which is an efficient recursive filter autoregressive filter that can estimate the state of a dynamic system from a series of measurement data containing statistical noise. In this system, the Kalman filter algorithm is used to fuse the data of the gyroscope sensor and the laser sensor to eliminate the influence of noise and uncertainty, and improve the accuracy and stability of the system's estimation of the three-axis gimbal attitude and the grating scanner position.

[0057] Specifically, the Kalman filter algorithm first predicts the next state of the three-axis gimbal, including the attitude angle and position, based on the data from the gyroscope sensor, and then corrects the predicted value in combination with the actual measurement value of the laser sensor. This process is iterated continuously, allowing the data processing unit to continuously and accurately track the attitude of the three-axis gimbal and the position of the grating scanner, and adjust the control parameters of the control system as needed to ensure that the grating scanner always remains parallel to the linear slide during the scanning process, and accurately faces the axis of the spiral track when moving on the spiral track.

[0058] Embodiment 2: Data processing unit using fuzzy control algorithm

[0059] In another embodiment, the data processing unit uses a fuzzy control algorithm to optimize the performance of the control system. Fuzzy control is a control method based on fuzzy set theory, fuzzy language variables and fuzzy logic reasoning, which imitates the fuzziness of human thinking to deal with complex control problems.

[0060] In this system, the fuzzy control algorithm takes the monitoring data of the gyro sensor and the laser sensor as input and converts it into a fuzzy set through fuzzification processing. Then, it makes inferences and decisions based on the preset fuzzy control rule base to generate control signals to adjust the attitude and position of the three-axis gimbal. The fuzzy control algorithm can handle imprecise and incomplete input information, and has strong robustness and adaptability, and can maintain the stability and reliability of the system in a complex and changing environment.

[0061] In this embodiment, a permanent magnetic guide block 210 and a guide slider 220 are fixedly installed on the bottom surface of the servo gimbal 300 and are sleeved and slidably installed on the surface of the scanning slide rail 200. The scanning slide rail 200 includes a main slide bar 201 and a plurality of electromagnetic coils 202 evenly distributed on the surface of the main slide bar 201. Sliding covers 203 that are slidably abutted against the inner side of the permanent magnetic guide block 210 are fixedly installed on both sides of the main slide bar 201.

[0062] Specifically, under the intermittent energization of the electromagnetic coils 202 , electromagnetic effects are generated one by one to guide and pull the guide slider 220 , thereby realizing the sliding movement of the servo pan-tilt platform 300 on the surface of the scanning slide rail 200 .

[0063] In this embodiment, the grating scanner 400 includes: a scanner body, which is arranged parallel to the linear slide rail and fixed to the surface of the moving seat 350;

[0064] 3D structured light projector, installed inside the scanner body, used to project light with specific structural features onto the object to be scanned;

[0065] The infrared camera is installed inside the scanner body and cooperates with the 3D structured light projector to collect the reflected light of the object after being illuminated by the projected light to obtain the depth information and three-dimensional structure of the object;

[0066] A data processing unit is connected to the infrared camera, and is used to receive data collected by the camera and convert changes in structured light into depth information through calculation and processing, thereby constructing a three-dimensional model of the object;

[0067] Furthermore, the 3D structured light projector projects coded dots or patterns through near-infrared lasers, the infrared camera captures the deformed images formed by these dots or patterns on the surface of the object, and the data processing unit calculates the depth information and three-dimensional structure of the object based on these deformed images.

[0068] Specifically, 3D structured light projects light with specific structural features, such as dots or patterns, onto the object to be scanned, and uses an infrared camera to capture the deformed images formed by these lights on the surface of the object. Based on these deformed images, the data processing unit can accurately calculate the depth information and three-dimensional structure of the object, thereby achieving high-precision scanning. The scanning accuracy of this technology can usually reach the micron level, which is of great significance for application scenarios that require high-precision measurement.

[0069] The working principle and use process of the present invention:

[0070] The raster scanner 400 is a high-end measuring device that integrates a high-precision laser sensor 410 and advanced data processing algorithms. Its overall working principle can be summarized in the following steps:

[0071] Initialization and calibration:

[0072] Before starting the raster scanner 400, initialization settings are first performed, including preheating of the laser sensor 410, stability check, and configuration of system parameters.

[0073] Calibration is performed to ensure that the laser sensor 410 can accurately measure the distance change between the grating scanner 400 and the positioning bar 111. The calibration process may include zero calibration, range calibration, and nonlinear correction.

[0074] Laser emission and reception:

[0075] The laser light source built into the laser sensor 410 emits a highly monochromatic and highly coherent laser beam. After being focused by the optical system, the laser beam is irradiated onto the positioning bar or the surface of the object to be measured to form a light spot. The laser signal reflected back from the positioning bar 111 or the surface of the object to be measured is received by the highly sensitive photodetector inside the sensor. The photodetector converts the optical signal into an electrical signal and performs preliminary signal processing.

[0076] The grating scanner 400 moves according to a predetermined trajectory and speed under the drive of the control system through the mechanical structure of the servo pan-tilt platform 300. During the movement, the gyroscope sensor 351 and the laser sensor 410 continuously measure the distance change between the grating scanner and the positioning bar or the object to be measured, and transmit the measurement data to the data processing unit in real time.

[0077] The data processing unit integrates and processes the received measurement data, and controls the servo motor 311 to drive in real time. Each servo motor 311 drives the rotation of the first shaft core 320, the second shaft sleeve 330 and the third shaft sleeve 340, and the top connecting rod drives the movable seat 350 to deflect, thereby realizing multi-axis motion drive and adjusting the subtending angle of the grating scanner 400.

[0078] During the scanning process, the 3D structured light of the grating scanner 400 projects light with specific structural features such as dots or patterns onto the object to be scanned, and uses an infrared camera to capture the deformed images formed by these lights on the surface of the object. Based on these deformed images, the data processing unit can accurately calculate the depth information and three-dimensional structure of the object, thereby achieving high-precision scanning.

[0079] If any abnormal situation is found, such as abnormal measurement data, mechanical structure failure, etc., the control system will promptly issue an alarm and take corresponding emergency measures.

[0080] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0081] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A grating detection device for spraying, characterized in that: include: A detection cabinet (100), and a conveyor rail (110) fixed inside the detection cabinet (100) and used for conveying objects to be sprayed; The scanning slide rail (200) is fixed on the surface of the conveying rail (110), and its axis is parallel to the direction of the linear conveying rail; A servo platform (300) having a guide slider (220) on its bottom surface and slidably mounted on the surface of a scanning slide rail (200), capable of synchronously moving laterally along the surface of the scanning slide rail (200) following an object in a conveying motion, wherein a gyroscope sensor (351) is provided on the surface of the servo platform (300); The servo gimbal (300) further comprises a fixed seat (310), a first shaft core (320), a second shaft sleeve (330), a third shaft sleeve (340) and a movable seat (350); the first shaft core (320), the second shaft sleeve (330) and the third shaft sleeve (340) are rotatably sleeved in sequence, and the top ends of the first shaft core (320), the second shaft sleeve (330) and the third shaft sleeve (340) are all provided with connecting bars movably connected to the bottom end of the movable seat (350); the surface of the fixed seat (310) is provided with three servo motors (311) for driving the first shaft core (320), the second shaft sleeve (330) and the third shaft sleeve (340) to rotate respectively; and the gyro sensor (351) is fixed to the surface of the movable seat (350); A grating scanner (400) is mounted on the surface of the servo platform (300) and is used to perform a comprehensive profile scan on the object being transported. A laser sensor (410) is provided on the surface of the grating scanner (400) and is used to monitor the relative position between the grating scanner (400) and the transport rail (110); The surface of the conveying rail (110) is provided with positioning strips (111), and the positioning strips (111) are arranged in pairs on both sides of the linear slide rail to serve as reference datums for the laser sensor; A facing control system, comprising a data processing unit and a feedback control module, for receiving a monitoring signal from a laser sensor (410), and adjusting the posture or driving mechanism of a servo platform (300) according to the monitoring result, so that the grating scanner (400) always remains parallel to the transmission rail (110) when moving on the scanning slide rail (200), and when moving on the scanning slide rail (200), a positioning bar (111) is provided on the surface of the transmission rail (110) to ensure that the end face of the grating scanner (400) always faces the axis of the scanning slide rail (200); The control system achieves precise control of the servo gimbal (300) by comprehensively processing data from the gyro sensor (351) and the laser sensor (410), thereby ensuring that the grating scanner (400) performs arc motion in the Z-axis plane of the object, with the motion angle being greater than or equal to 270 degrees, thereby achieving a comprehensive contour scan of the object.

2. A grating detection device for spraying according to claim 1, characterized in that: The laser sensor (410) is a laser displacement sensor, used to accurately measure the distance change between the grating scanner and the positioning bar.

3. A grating detection device for spraying according to claim 1, characterized in that: The positioning strip (111) has a flat surface and a certain width, so as to ensure that the laser sensor (410) can stably detect its position.

4. A grating detection device for spraying according to claim 1, characterized in that: The gyro sensor (351) and the laser sensor used in the opposite control system are both connected to a data processing unit, and the data processing unit uses a control algorithm selected from a Kalman filter algorithm and a fuzzy control algorithm.

5. A grating detection device for spraying according to claim 1, characterized in that: The bottom surface of the servo gimbal (300) is fixedly mounted with a permanent magnetic guide block (210) and a guide slider (220) which are sleeved and slidably mounted on the surface of a scanning slide rail (200); the scanning slide rail (200) comprises a main slide bar (201) and a plurality of electromagnetic coils (202) evenly distributed on the surface of the main slide bar (201); and sliding covers (203) which are slidably abutted against the inner side of the permanent magnetic guide block (210) are fixedly mounted on both sides of the main slide bar (201).

6. A grating detection device for spraying according to claim 1, characterized in that: The grating scanner (400) comprises: The scanner body is arranged parallel to the linear slide rail and fixed on the surface of the moving seat (350); 3D structured light projector, installed inside the scanner body, used to project light with specific structural features onto the object to be scanned; The infrared camera is installed inside the scanner body and cooperates with the 3D structured light projector to collect the reflected light of the object after being illuminated by the projected light to obtain the depth information and three-dimensional structure of the object; The data processing unit is connected to the infrared camera, and is used to receive the data collected by the camera, and convert the changes in structured light into depth information through calculation and processing, so as to construct a three-dimensional model of the object.

7. A grating detection device for spraying according to claim 6, characterized in that: The 3D structured light projector projects coded dots or patterns through near-infrared lasers, and the infrared camera captures the deformed images formed by these dots or patterns on the surface of the object. The data processing unit calculates the depth information and three-dimensional structure of the object based on these deformed images.

Images