Large-size target scanning imaging and intelligent detection system based on double-arm robot

Abstract

The invention discloses a large-size target scanning imaging and intelligent detection system based on a double-arm robot, and the system achieves the rapid, flexible and high-precision measurement of a workpiece. Two groups of multi-axis robots and two groups of three-dimensional scanners form a scanning mechanism, the output tail end of each group of multi-axis robots is fixedly provided with a seat body of the three-dimensional scanner, and the scanning mechanism of the three-dimensional scanner is arranged towards a large-size target to be measured; in the operation process, reflective feature points are attached to the surface of the large-size target in advance, the feature points serve as references to help the three-dimensional scanner to carry out data coordinate matching and alignment at different visual angles, and then a three-dimensional model of the large-size target is constructed through movement of the multi-axis robot and scanning of the three-dimensional scanner; after the three-dimensional model is constructed, the position and the area needing to be detected are intelligently detected, data are integrally uploaded, a measurement result is reported in real time, and detection is completed.

Description

Technical Field

[0001] The invention relates to the technical field of photoelectric detection, and in particular to a large-size target scanning imaging and detection system based on a dual-arm robot. Background Art

[0002] In modern industrial manufacturing and quality control, accurate measurement of large-size targets is crucial to ensure product quality, improve production efficiency and reduce costs. With the development of high-end equipment manufacturing technology, the demand for geometric dimension measurement of large parts such as aircraft, ships and heavy machinery is growing. The measurement of these large targets is not only related to the safety and reliability of the product, but also directly affects the optimization of the production process and cost control. However, traditional measurement methods, such as manual measurement or single automated equipment, often have problems such as low efficiency, insufficient accuracy and difficulty in standardization, which limit the development and application of large-size target measurement technology.

[0003] Existing large-scale target measurement technologies, such as portable coordinate measurement systems and sensor measurement execution devices, provide a quick measurement system construction solution, but still have the disadvantages of low measurement accuracy and low automation. In addition, existing measurement systems often have difficulty in achieving comprehensive and accurate measurements when dealing with large, complex or special-shaped parts. Summary of the invention

[0004] In view of the above problems, the present invention provides a large-size target scanning imaging and detection system based on a dual-arm robot, which realizes fast, flexible and high-precision measurement of workpieces.

[0005] The large-scale target scanning imaging and intelligent detection system based on a dual-arm robot is characterized in that: it is composed of two groups of multi-axis robots and two groups of three-dimensional scanners to form a scanning mechanism, the output end of each group of multi-axis robots is fixed with a three-dimensional scanner base, and the scanning mechanism of the three-dimensional scanner is set toward the large-scale target to be measured;

[0006] During the operation, reflective feature points are pre-applied on the surface of the large-size target. These feature points are used as references to help the 3D scanner match and align data coordinates at different viewing angles. Then, a 3D model of the large-size target is constructed through the movement of the multi-axis robot and the scanning of the 3D scanner. After the 3D model is constructed, the positions and areas that need to be inspected are intelligently inspected, and the data is uploaded as a whole. The measurement results are reported in real time to complete the inspection.

[0007] It is further characterized by:

[0008] The multi-axis robot is a seven-axis robot with high precision and high degree of freedom, and the three-dimensional scanner is a blue light three-dimensional scanner with high precision and high resolution.

[0009] A further feature thereof is:

[0010] The process of constructing a 3D model of a large-scale target includes the following steps:

[0011] S1. Pre-build a suitable seven-axis robot and blue light 3D scanner for large-sized targets, and apply reflective feature points on the large-sized targets.

[0012] S2, robot initialization and data collection start;

[0013] S3, robot automatic detection and positioning;

[0014] S4, guide the blue light 3D scanner to automatically measure and automatically stitch based on reflective points.

[0015] It is further characterized by:

[0016] In step S1, according to the size and position of the large-size target, a suitable seven-axis robot and a blue-light three-dimensional scanner are set, a three-dimensional scanning measurement sensor is built by the blue-light three-dimensional scanner, an electrical control device is built for the seven-axis robot, and a data processing device is built at the same time. Reflective feature points are pre-applied according to the size and position of the large-size target, so that the seven-axis robot can be operated under the electrical control device, and the system can perform three-dimensional scanning in a fully automatic and standardized manner, quickly obtain accurate three-dimensional data of the workpiece, and perform real-time online detection, and output a detection report;

[0017] In step S2, it includes the following steps:

[0018] S201. After receiving the start command, the robot system will perform a self-check procedure to ensure that all sensors, drivers and control systems are in normal working condition.

[0019] S202. The robot starts slowly according to the preset path planning, starts to move in the measurement area, and performs a rough scan. During this process, the mounted blue light 3D scanner starts to work, and by capturing the image data of the workpiece surface in real time, the blue light 3D scanner transmits the image information to the data processing unit. The image data includes the geometric feature information of the workpiece, thereby automatically setting the path planning for the subsequent robot system to automatically detect and locate.

[0020] In step S3, it includes the following steps:

[0021] S301, after receiving the start command, the robot system will perform a self-check procedure until the self-check obtains that all sensors, drivers and control systems are in normal working condition;

[0022] S302, determining the precise position and posture of the robot in the working environment;

[0023] S303, the robot starts to perform the data collection task. The robot will move to a specific work area according to the pre-set path or task instructions. During the movement, the robot's control system will continuously monitor its position and posture to enable it to move accurately along the predetermined trajectory.

[0024] In step S4, it includes the following steps:

[0025] S401. When scanning, the CCD of the blue light 3D scanner only receives blue light wavelength light, avoiding the interference of ambient light, so as to obtain accurate measurement data. The blue light 3D scanner can identify the changes in environmental conditions during the measurement process and make corresponding compensations, and continuously monitor the calibration status, splicing accuracy, environmental changes and displacement changes;

[0026] S402, 3D data deviation is displayed in the form of a chromatogram. The Blue Light 3D scanner software supports multiple stitching methods based on marker points, feature stitching and turntable, which can meet the scanning of objects under various working conditions, so that data obtained from different perspectives or positions can be accurately connected to construct a complete 3D model.

[0027] After adopting the present invention, comprehensive inspection of large workpieces is achieved by combining advanced automation technology and three-dimensional scanning technology. The dual-arm robot system adopts two groups of seven-axis robots. This high-degree-of-freedom robot can cover a wider working space and realize all-round, no-dead-angle scanning. The seven-axis operation greatly enhances the flexibility and accessibility of the robot in space, and can adapt to various complex measurement environments and needs; the blue light three-dimensional scanner equipped with the system has the characteristics of high precision and high resolution, and is suitable for reliable scanning of fine parts such as hardware injection molding and 3C electronics. Compared with other light sources, blue light scanning technology can better capture the features of the surface of objects, especially on dark or reflective surfaces; and in order to achieve accurate data splicing, the system applies reflective feature points on the surface of the object. These reflective feature points serve as references to help the blue light three-dimensional scanner match and align data at different viewing angles, thereby improving the accuracy of scanning and the accuracy of reconstruction; it realizes fast, flexible and high-precision measurement of workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a system detection flow chart of the present invention;

[0029] Figure 2 It is a schematic diagram of the arrangement of the corresponding mechanisms of the system applicable to the present invention;

[0030] The names corresponding to the serial numbers in the figure are as follows:

[0031] Seven-axis robot 10, blue light 3D scanner 20, large-size target 30, reflective feature points 40, track 50. DETAILED DESCRIPTION

[0032] A large-scale target scanning imaging and intelligent detection system based on a dual-arm robot: it is composed of two groups of high-precision and high-degree-of-freedom seven-axis robots 10 and a blue-light 3D scanner 20 with high precision and high resolution. The output end of each group of seven-axis robots 10 is fixed with a base of the blue-light 3D scanner 20. The scanning mechanism of the blue-light 3D scanner 20 is set toward the large-scale target 30 to be measured. The bottoms of the two groups of seven-axis robots 10 are placed on a track 50. The two groups of seven-axis robots 10 move along the track 50 and cooperate with the posture and position changes of the output ends of the seven-axis robots 10 to enable the visual threshold of the scanning mechanism of the blue-light 3D scanner 20 to completely cover the surface to be measured of the large-scale target 30.

[0033] During the operation, the large-size target 30 is a workpiece, and reflective feature points 40 are pre-pasted on the surface of the workpiece. These reflective feature points 40 are used as references to help the blue light 3D scanner 20 match and align data coordinates at different viewing angles. Then, a three-dimensional model of the large-size target is constructed through the movement of the seven-axis robot 10 and the scanning of the blue light 3D scanner 20. After the three-dimensional model is constructed, the positions and areas that need to be detected are intelligently detected, and the data is uploaded as a whole, and the measurement results are reported in real time to complete the detection.

[0034] The seven-axis robot 10 has seven-axis operation capability without dead angles, dust-proof and moisture-proof cabinet protection, free-lifting universal wheels, touch-and-stop safety guarantee, and low-power design for energy saving and noise reduction. The system can perform three-dimensional scanning in a fully automatic and standardized manner, quickly obtain accurate three-dimensional data of workpieces, and perform real-time online inspection and output inspection reports. This ability to flexibly configure inspection paths and automatically output customized reports enables the system to process product scanning inspections in batches, significantly improving production efficiency. It is suitable for batch 3D dimension inspections in modern factories, and helps the efficient and high-quality development of intelligent manufacturing.

[0035] The application of the blue light 3D scanner 20 in automatic measurement is mainly reflected in its high-precision and high-efficiency scanning capabilities; the blue light 3D scanner adopts blue light narrow-range wavelength projection technology, so that the CCD only receives blue light wavelength light during scanning, effectively avoiding ambient light interference, thereby obtaining accurate measurement data, and the blue light 3D scanner can identify changes in environmental conditions during the measurement process and make corresponding compensations, and continuously monitor the calibration status, splicing accuracy, environmental changes and displacement changes to ensure the reliability and accuracy of the measurement data.

[0036] In terms of automatic stitching based on reflective points, the Blue Light 3D Scanner 20 supports a variety of automatic stitching methods. After the measurement is completed, the 3D data deviation is displayed in a chromatogram pattern, and the results are clear at a glance. This automatic stitching function greatly improves the efficiency and accuracy of data processing. For example, the XTOM Blue Light 3D Scanner software supports multiple stitching methods such as marker-based, feature-based and turntable-based, which can meet the scanning of objects under various working conditions. This enables data acquired from different perspectives or different positions to be accurately docked to build a complete 3D model;

[0037] In addition, the significance of guiding the automatic measurement of blue light 3D scanners and automatic splicing based on reflective points is that it can greatly improve the efficiency of optical 3D scanning system detection while ensuring high accuracy and integrity of data. The application of this technology not only improves the speed and convenience of measurement, but also ensures the accurate reconstruction of large workpieces or complex structures, and has important practical application value for the full process digital processing of industrial inspection. Through automated measurement and splicing, production efficiency can be significantly improved, labor costs can be reduced, and product quality can be improved.

[0038] In specific implementation, the process of constructing a 3D model of a large-size target includes the following steps:

[0039] S1. Pre-build a suitable seven-axis robot and a blue light 3D scanner corresponding to the large-size target, and apply reflective feature points on the large-size target;

[0040] According to the size and position of the large-sized target, a suitable seven-axis robot and a blue-light 3D scanner are set. Usually, the seven-axis robot and the blue-light 3D scanner can cover most of the workpieces. If they are placed in large equipment such as airplanes, ships, rockets, and cars, it is necessary to set tracks, seven-axis robots, and blue-light 3D scanners according to the size. The blue-light 3D scanner is used to build a 3D scanning measurement sensor, and the seven-axis robot is built with an electrical control device. At the same time, a data processing device is built. Reflective feature points are pre-applied according to the size and position of the large-sized target, so that the seven-axis robot can be operated under the electrical control device. The system can perform 3D scanning in a fully automatic and standardized manner, quickly obtain accurate 3D data of the workpiece, and perform real-time online detection and output a detection report.

[0041] S2, robot initialization and data collection start;

[0042] S201, after receiving the start command, the robot system will perform a self-check procedure to ensure that all sensors, drivers and control systems are in normal working condition;

[0043] S202, the robot starts slowly according to the preset path planning, starts to move in the measurement area, and performs a rough scan. During this process, the blue light 3D scanner starts to work, and by capturing the image data of the workpiece surface in real time, the blue light 3D scanner transmits the image information to the data processing unit. The image data contains the geometric feature information of the workpiece, so as to automatically set the path planning for the subsequent robot system to automatically detect and locate. At the same time, a large amount of workpiece surface data obtained by the rough scan is collected successively, which provides rich data support for the subsequent intelligent detection and analysis.

[0044] S3, robot automatic detection and positioning;

[0045] S301, after the rough scan is completed, the robot system will perform a self-check procedure after receiving the start command, until the self-check obtains that all sensors, drivers and control systems are in normal working condition; at this stage, the robot will check each of its components one by one, including the robot arm, sensor, driver and control system, to ensure that there is no fault or damage, which involves testing the motor, calibrating the sensor and checking the software system to ensure that all hardware and software can work together normally;

[0046] S302, positioning is a key step before the robot performs a task, which determines the precise position and posture of the robot in the working environment. By using a built-in positioning system, such as an encoder, the robot can monitor its position changes in real time. The data collected by these sensors is used to calculate the absolute or relative position of the robot to ensure that it can accurately reach the predetermined working point when performing a task;

[0047] S303, after the self-check and positioning are completed, the robot starts to perform the data collection task. The robot will move to a specific working area according to the pre-set path or task instructions. During the movement, the robot's control system will continuously monitor its position and posture to enable it to move accurately along the predetermined trajectory. Whether on an automated production line or when performing precision measurement, accurate positioning capability is essential for the robot to perform precise operations in a complex environment.

[0048] S4, guide the blue light 3D scanner to automatically measure and automatically stitch based on reflective points;

[0049] S401, the blue light 3D scanner moves under the drive of the seven-axis robot and performs real-time scanning. During scanning, the CCD only receives blue light wavelength light, avoiding interference from ambient light, thereby obtaining accurate measurement data. The blue light 3D scanner can identify changes in environmental conditions during the measurement process and make corresponding compensations, and continuously monitors the calibration status, splicing accuracy, environmental changes and displacement changes;

[0050] S402, 3D data deviation is displayed in the form of a chromatogram. The Blue Light 3D scanner software supports multiple stitching methods based on marker points, feature stitching and turntable, which can meet the scanning of objects under various working conditions, so that data obtained from different perspectives or positions can be accurately connected to construct a complete 3D model.

[0051] By combining advanced automation technology and 3D scanning technology, comprehensive inspection of large workpieces is achieved. The dual-arm robot system uses two groups of seven-axis robots. This high-degree-of-freedom robot can cover a wider working space and achieve all-round, no-dead-angle scanning. The seven-axis operation greatly enhances the flexibility and accessibility of the robot in space, and can adapt to various complex measurement environments and needs; the blue light 3D scanner equipped with the system has the characteristics of high precision and high resolution, which is suitable for reliable scanning of fine parts such as hardware injection molding and 3C electronics. Compared with other light sources, blue light scanning technology can better capture the features of the surface of objects, especially on dark or reflective surfaces; and in order to achieve accurate data splicing, the system applies reflective feature points on the surface of the object. These reflective feature points serve as a reference to help the blue light 3D scanner match and align data at different viewing angles, thereby improving the accuracy of scanning and the accuracy of reconstruction; it realizes fast, flexible and high-precision measurement of workpieces.

[0052] Its beneficial effects are as follows:

[0053] 1. The system can automatically perform 3D scanning, quickly obtain accurate 3D data of the workpiece, conduct real-time online detection, and output the detection report. This automated measurement method greatly improves the measurement efficiency and reduces the error of manual operation;

[0054] 2. With the assistance of high-precision blue light 3D scanner and reflective feature points, the system can achieve high-precision measurement to meet industrial-grade application requirements;

[0055] 3. The use of reflective feature points enables the system to achieve accurate data splicing between different scanning areas and construct a complete 3D model of large workpieces;

[0056] 4. The design of the dual-arm robot makes it highly flexible and adaptable. It can adjust the scanning strategy according to the shape and size of the workpiece and adapt to various complex measurement tasks. By flexibly configuring the detection path and automatically outputting customized reports, the system can process product scanning and detection in batches, significantly improving production efficiency;

[0057] 5. It not only improves the automation level and accuracy of measurement, but also enhances the accuracy of data splicing through the use of reflective feature points.

[0058] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and range of equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0059] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. Large-size target scanning imaging and intelligent detection system based on dual-arm robot, characterized by: The scanning mechanism is composed of two groups of multi-axis robots and two groups of three-dimensional scanners. The output end of each group of multi-axis robots is fixed with a base of a three-dimensional scanner, and the scanning mechanism of the three-dimensional scanner is set toward the large-size target to be measured. During the operation, reflective feature points are pre-applied on the surface of the large-size target. These feature points are used as references to help the 3D scanner match and align data coordinates at different viewing angles. Then, a 3D model of the large-size target is constructed through the movement of the multi-axis robot and the scanning of the 3D scanner. After the 3D model is constructed, the positions and areas that need to be inspected are intelligently inspected, and the data is uploaded as a whole. The measurement results are reported in real time to complete the inspection.

2. The large-size target scanning imaging and intelligent detection system based on a dual-arm robot according to claim 1 is characterized in that: The multi-axis robot is a seven-axis robot with high precision and high degree of freedom, and the three-dimensional scanner is a blue light three-dimensional scanner with high precision and high resolution.

3. The large-size target scanning imaging and intelligent detection system based on a dual-arm robot according to claim 1 is characterized in that: The process of constructing a 3D model of a large-scale target includes the following steps: S1. Pre-build a suitable seven-axis robot and blue light 3D scanner for large-sized targets, and apply reflective feature points on the large-sized targets. S2, robot initialization and data collection start; S3, robot automatic detection and positioning; S4, guide the blue light 3D scanner to automatically measure and automatically stitch based on reflective points.

4. The large-size target scanning imaging and intelligent detection system based on a dual-arm robot according to claim 3 is characterized in that: In step S1, a suitable seven-axis robot and a blue-light 3D scanner are set according to the size and position of the large-size target, a 3D scanning measurement sensor is built through the blue-light 3D scanner, an electrical control device of the seven-axis robot is built, and a data processing device is built at the same time. Reflective feature points are pre-applied according to the size and position of the large-size target so that the seven-axis robot can be operated under the electrical control device. The system can perform 3D scanning in a fully automatic and standardized manner, quickly obtain accurate 3D data of the workpiece, perform real-time online detection, and output a detection report.

5. The large-size target scanning imaging and intelligent detection system based on a dual-arm robot according to claim 3 is characterized in that: In step S2, it includes the following steps: S201. After receiving the start command, the robot system will perform a self-check procedure to ensure that all sensors, drivers and control systems are in normal working condition. S202. The robot starts slowly according to the preset path planning, starts to move in the measurement area, and performs a rough scan. During this process, the mounted blue light 3D scanner starts to work, and by capturing the image data of the workpiece surface in real time, the blue light 3D scanner transmits the image information to the data processing unit. The image data includes the geometric feature information of the workpiece, thereby automatically setting the path planning for the subsequent robot system to automatically detect and locate.

6. The large-size target scanning imaging and intelligent detection system based on a dual-arm robot according to claim 3 is characterized in that: In step S3, it includes the following steps: S301, after receiving the start command, the robot system will perform a self-check procedure until the self-check obtains that all sensors, drivers and control systems are in normal working condition; S302, determining the precise position and posture of the robot in the working environment; S303, the robot starts to perform the data collection task. The robot will move to a specific work area according to the pre-set path or task instructions. During the movement, the robot's control system will continuously monitor its position and posture to enable it to move accurately along the predetermined trajectory.

7. The large-size target scanning imaging and intelligent detection system based on a dual-arm robot according to claim 3 is characterized in that: In step S4, it includes the following steps: S401. When scanning, the CCD of the blue light 3D scanner only receives blue light wavelength light, avoiding the interference of ambient light, so as to obtain accurate measurement data. The blue light 3D scanner can identify the changes in environmental conditions during the measurement process and make corresponding compensations, and continuously monitor the calibration status, splicing accuracy, environmental changes and displacement changes; S402, 3D data deviation is displayed in the form of a chromatogram. The Blue Light 3D scanner software supports multiple stitching methods based on marker points, feature stitching and turntable, which can meet the scanning of objects under various working conditions, so that data obtained from different perspectives or positions can be accurately connected to construct a complete 3D model.

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