Scanning operation system and control method and device thereof, computer equipment, storage medium and computer program product

Abstract

The invention relates to a scanning operation system, a control method and device thereof, computer equipment, a storage medium and a computer program product. The system comprises a loading workbench; the foot margin adjusting mechanism is fixed at the bottom of the loading workbench and is used for supporting the loading workbench when the loading workbench is static; the mechanical arm is used for fixing and moving the surface structured light three-dimensional scanner and is fixed at the top of the loading workbench; and the unmanned carrying trolley is separated from the loading workbench, and the unmanned carrying trolley is used for bearing the loading workbench to move along with the unmanned carrying trolley when the loading workbench needs to move. By adopting the system and the control method thereof, the precision and the quality of collecting the fine feature point cloud can be improved, and large-range movement can be realized without a tracker.

Description

Technical Field

[0001] This application relates to the field of 3D scanning technology, and in particular to a scanning operation system and its control method, apparatus, computer equipment, storage medium and computer program product. Background Technology

[0002] With the development of 3D scanning technology, multi-line laser scanners have emerged, which simultaneously emit multiple laser lines onto the surface of an object. A built-in camera captures the deformation (contour) of these laser lines on the object's surface, and triangulation is used to calculate the 3D point cloud data of the object's surface. This technology is ideal for rapid scanning of large objects or environments, such as indoor modeling, logistics sorting, and coarse positioning of large workpieces.

[0003] In traditional technology, a multi-line laser scanner is installed on an automated guided vehicle (AGV) and used in conjunction with a binocular tracking system to perform point cloud scanning and stitching.

[0004] However, current multi-line laser scanners have low accuracy in scanning fine features, and the contact between the AGV's wheels and the ground line is subject to wobbling due to uneven ground and a small contact area, which further affects the accuracy of fine feature point cloud data. Summary of the Invention

[0005] Therefore, it is necessary to provide a scanning operation system and its control method, device, computer equipment, computer-readable storage medium and computer program product that can improve the accuracy of acquiring fine feature point clouds in order to address the above-mentioned technical problems.

[0006] In a first aspect, this application provides a scanning system, comprising:

[0007] Upper assembly workbench;

[0008] The foot adjustment mechanism is fixed to the bottom of the upper worktable and is used to support the upper worktable when it is stationary.

[0009] A robotic arm, used to fix and move a surface structured light 3D scanner, is fixed to the top of the upper worktable;

[0010] An unmanned transport trolley is detached from the upper loading platform. The unmanned transport trolley is used to carry the upper loading platform so that it can move with the unmanned transport trolley when the upper loading platform needs to be moved.

[0011] In one embodiment, the foot adjustment mechanism includes at least four legs symmetrically distributed at the bottom of the upper workbench, wherein at least one of the legs is a telescopic leg.

[0012] Secondly, this application also provides a scanning job control method applied to a programmable logic controller, the method comprising:

[0013] Obtain the target measurement task, and parse the target measurement task to obtain the target station;

[0014] When the unmanned transport vehicle moves horizontally to the target site under the control of the mobile unit, the automatic leveling module controls the foot adjustment mechanism to descend along the ground direction to the target point within the polling cycle, and obtains the first actual torque and the first actual position of the target point; wherein, the foot adjustment mechanism is fixed to the bottom of the upper workbench, and the unmanned transport vehicle is separated from the upper workbench;

[0015] When the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, the collaborative robot execution module controls the surface structured light 3D scanner mounted on the robotic arm to perform scanning, wherein the robotic arm is fixed to the top of the upper worktable.

[0016] In one embodiment, after the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, the method further includes, after the collaborative robot execution module controls the surface structured light 3D scanner mounted on the robotic arm to perform scanning, the method further includes:

[0017] When the unmanned transport vehicle is controlled by the mobile unit to move horizontally to a new target site, a new measurement task is acquired;

[0018] The new measurement task is taken as the target measurement task, and the target measurement task is re-executed to obtain the target station by parsing the target measurement task. When the unmanned transport vehicle moves horizontally to the target station by controlling the mobile unit, the automatic leveling module controls the foot adjustment mechanism to descend to the target position along the ground direction within the polling cycle, and obtains the first actual torque and the first actual pose of the target position. When the first actual torque reaches the calibration torque and the first actual pose reaches the calibration pose, the surface structured light 3D scanner installed on the robotic arm is controlled by the collaborative robot execution module to perform the scanning step.

[0019] In one embodiment, the first actual torque is acquired by a torque sensor, the first actual pose is acquired by an attitude sensor, and before acquiring the target measurement task, the method further includes:

[0020] The automatic leveling module controls the foot adjustment mechanism to move to the preparatory position, and initializes the torque sensor and the attitude sensor.

[0021] The torque sensor is used to obtain the second actual torque at the preparatory point, and the attitude sensor is used to obtain the second actual pose of the preparatory point.

[0022] If the second actual torque and the second actual pose pass the verification, it indicates that the torque sensor and the pose sensor are normal.

[0023] In one embodiment, obtaining the target measurement task and parsing the target measurement task to obtain the target site includes:

[0024] Obtain the target measurement task sent by the host computer;

[0025] If the target measurement task is valid, the target station can be obtained by parsing the target measurement task;

[0026] If the target measurement task is invalid, an error message is output to the host computer.

[0027] Thirdly, this application also provides a scanning operation control device applied to a programmable logic controller, comprising:

[0028] The acquisition module is used to acquire the target measurement task and parse the target measurement task to obtain the target station;

[0029] An automatic leveling module is used to control the foot adjustment mechanism to descend along the ground direction to the target point within a polling cycle when the unmanned transport trolley is horizontally moved to the target site by the control of the moving unit, and to obtain the first actual torque and the first actual position of the target point; wherein, the foot adjustment mechanism is fixed to the bottom of the upper workbench, and the unmanned transport trolley is separated from the upper workbench;

[0030] The collaborative robot execution module is used to control a surface structured light 3D scanner mounted on a robotic arm to perform scanning when the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose. The robotic arm is fixed to the top of the upper worktable.

[0031] Fourthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0032] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0033] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0034] The aforementioned scanning system operates by separating the unmanned transport trolley from the upper worktable. When the unmanned transport trolley needs to move, it carries the upper worktable to move with it. When the upper worktable is stationary, the unmanned transport trolley, detached from the upper worktable, does not need to carry it. The foot adjustment mechanism fixed to the bottom of the upper worktable adapts to different ground flatness and contacts the ground to support the upper worktable. The foot adjustment mechanism supports the upper worktable and is adjusted to adapt to different ground flatness, increasing the contact area and force support points. This ensures the stability of the upper worktable during the scanning operation of the surface structured light 3D scanner fixed on the robotic arm. While ensuring the stability of the surface structured light 3D scanner, it scans fine features, improving the accuracy and quality of acquiring fine feature point clouds.

[0035] The aforementioned scanning operation control method, device, computer equipment, storage medium, and computer program product acquire the target measurement task through a programmable logic controller (PLC) and parse the target measurement task to obtain the target site. When the unmanned transport vehicle moves horizontally to the target site via a mobile unit, the automatic leveling module controls the foot adjustment mechanism to descend along the ground direction to the target point within a polling cycle, and acquires the first actual torque and first actual pose of the target point. If the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, it indicates that the scanning requirements are met. The collaborative robot execution module then controls the surface structured light 3D scanner mounted on the robotic arm to perform scanning. This approach adapts to the scanning operation method of the scanning system, improving the stability of the surface structured light 3D scanner fixed on the robotic arm during scanning operations, thereby improving the accuracy and quality of acquiring fine feature point clouds. Furthermore, since it eliminates the need for a multi-line laser-equipped binocular + ball cage tracking system, it overcomes the limitations of binocular tracking range, allowing free movement within space and enabling long-distance scanning operations. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of a scanning operation system in one embodiment;

[0038] Figure 2 This is a flowchart illustrating a scanning job control method in one embodiment;

[0039] Figure 3 This is a schematic diagram of the automatic leveling module in one embodiment;

[0040] Figure 4 This is a schematic diagram of the operation flow of the automatic leveling module in one embodiment;

[0041] Figure 5 This is a schematic diagram illustrating the process of determining the normal operation of the torque sensor and attitude sensor in one embodiment.

[0042] Figure 6 This is a flowchart illustrating the initialization process of the automatic leveling module in one embodiment;

[0043] Figure 7 This is a flowchart illustrating the process of a scanning job control method controlling a scanning job system in one embodiment.

[0044] Figure 8 This is a structural block diagram of a scanning operation control device in one embodiment;

[0045] Figure 9 This is an internal structural diagram of a computer device in one embodiment.

[0046] Explanation of reference numerals in the attached figures:

[0047] 1- Upper workbench, 2- Foot adjustment mechanism, 3- Robotic arm, 4- Unmanned transport vehicle, 5- Surface structured light 3D scanner, 6- Bottom sheet metal enclosure Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] In one exemplary embodiment, such as Figure 1 As shown, a scanning operation system is provided, including: an upper worktable; a foot adjustment mechanism fixed to the bottom of the upper worktable for supporting the upper worktable when it is stationary; a robotic arm fixed to the top of the upper worktable for fixing and moving a surface structured light 3D scanner; and an unmanned transport trolley detached from the upper worktable, which carries the upper worktable to move with the upper worktable when it needs to be moved.

[0050] For example, the upper worktable 1; the foot adjustment mechanism 2, fixed to the bottom of the upper worktable 1, is used to support the upper worktable 1 when it is stationary; wherein, the foot adjustment mechanism 2 includes at least four legs, symmetrically distributed at the bottom of the upper worktable 1, wherein at least one leg is a telescopic leg, which can be a stepper ball screw electric telescopic leg; the robotic arm 3, used to fix and move the surface structure light 3D scanner 5, is fixed to the top of the upper worktable 1; the unmanned transport vehicle 4, separate from the upper worktable 1, is used to carry the upper worktable 1 to move with the unmanned transport vehicle 4 when the upper worktable 1 needs to be moved.

[0051] For example, such as Figure 1 As shown, the foot adjustment mechanism 2 includes four legs, one of which is a telescopic leg. It can also have two, three, or all four legs being telescopic legs.

[0052] It should be noted that the foot adjustment mechanism 2 also includes six legs, eight legs, ten legs, etc., at least one of which is a telescopic leg, and there may also be two telescopic legs, three telescopic legs, four telescopic legs, etc.

[0053] For example, when the unmanned transport vehicle 4 needs to move, the unmanned transport vehicle 4 carries the upper worktable 1 to move with it. If the host computer sends a start command to the programmable logic controller (PLC), the PLC controls the scanning operation system. When the PLC receives the start command, it controls the unmanned transport vehicle 4 carrying the upper worktable 1 to move horizontally.

[0054] For example, when the upper worktable 1 is stationary and scanning is required, the unmanned transport vehicle 4, detached from the upper worktable 1, does not need to support the upper worktable 1. The foot adjustment mechanism 2, fixed to the bottom of the upper worktable 1, such as a stepper ball screw electric telescopic outrigger, adapts to ground with different flatness and contacts the ground to support the upper worktable 1. At this time, the unmanned transport vehicle 4, detached from the upper worktable 1, can be located below the upper worktable 1 or not, for example, to perform other mobile tasks. The programmable logic controller (PLC) controls the movement of the robotic arm equipped with a surface structured light 3D scanner, enabling 3D scanning operations. The objects of 3D scanning operations include fine objects as well as large objects or environments.

[0055] For example, the scanning system also includes a bottom sheet metal panel 6, with each leg corresponding to a bottom sheet metal panel 6 for decorative purposes.

[0056] Compared to multi-line laser scanners, structured light 3D scanners offer higher accuracy and faster speed, especially for fine objects such as thin plate holes and cut edges, providing superior point cloud quality with a measurement accuracy of ±0.08mm. While maintaining the stability of the structured light 3D scanner, it scans fine features, improving the accuracy and quality of acquiring detailed feature point clouds. Furthermore, it eliminates the need for trackers, as scanning and stitching cannot be performed outside the tracker's range. Using a structured light 3D scanner removes the limitations of trackers, allowing the system to move freely over a wide area, such as within a workshop.

[0057] The aforementioned scanning system operates by separating the unmanned transport trolley from the upper worktable. When the unmanned transport trolley needs to move, it carries the upper worktable to move with it. When the upper worktable is stationary, the unmanned transport trolley, detached from the upper worktable, does not need to carry it. The foot adjustment mechanism fixed to the bottom of the upper worktable adapts to different ground flatness and contacts the ground to support the upper worktable. The foot adjustment mechanism supports the upper worktable and is adjusted to adapt to different ground flatness, increasing the contact area and force support points. This ensures the stability of the upper worktable during the scanning operation of the surface structured light 3D scanner fixed on the robotic arm. While ensuring the stability of the surface structured light 3D scanner, it scans fine features, improving the accuracy and quality of acquiring fine feature point clouds.

[0058] In one embodiment, such as Figure 2 As shown, a scanning operation control method is provided. In this embodiment, this method is applied to a programmable logic controller (PLC). The PLC controls the operation as follows: Figure 1 The scanning system shown. In this embodiment, the method includes the following steps S202 to S206. Wherein:

[0059] Step S202: Obtain the target measurement task and parse the target measurement task to obtain the target station.

[0060] Optionally, the programmable logic controller (PLC) includes an acquisition module, an automatic leveling module, a moving unit, and a collaborative robot execution module. The user inputs the measurement task into a host computer, which then sends the measurement task to the PLC. The PLC receives the target measurement task from the host computer and parses it to obtain the target station.

[0061] In step S204, when the unmanned transport vehicle is controlled to move horizontally to the target site by the mobile unit, the automatic leveling module controls the foot adjustment mechanism to move down to the target point along the ground direction within the polling cycle, and obtains the first actual torque and the first actual pose of the target point.

[0062] Among them, the foot adjustment mechanism 2 is fixed to the bottom of the upper loading platform 1, and the unmanned transport trolley 4 is separated from the upper loading platform 1, such as Figure 1 The scanning system shown.

[0063] Optionally, the programmable logic controller (PLC) controls the unmanned transport vehicle 4 to move horizontally to the target site via the motion unit. When the unmanned transport vehicle 4 arrives at the target site, the PLC, through the automatic leveling module, controls the foot adjustment mechanism 2 to descend along the ground direction to the target position within a polling cycle, such as 3 milliseconds, and acquires the first actual torque and the first actual pose at the target position. The first actual torque is acquired by a torque sensor, and the first actual pose is acquired by an attitude sensor. The torque sensor may include a high-precision torque sensor, and the attitude sensor may include a high-precision 6-DOF attitude sensor. Figure 3 As shown, the high-precision torque sensor feeds back the first actual torque to the programmable logic controller (PLC). Similarly, the high-precision 6-DOF attitude sensor feeds back the first actual pose to the PLC. The PLC issues commands to control the telescopic outriggers in the foot adjustment mechanism 2, such as the stepper ball screw electric telescopic outriggers extending downwards towards the ground.

[0064] In step S206, when the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, the surface structured light 3D scanner installed on the robotic arm is controlled by the collaborative robot execution module to perform scanning.

[0065] The robotic arm 3 is fixed to the top of the upper worktable 1. Figure 1 The scanning system shown.

[0066] Optionally, such as Figure 4 As shown, the programmable logic controller (PLC) determines whether the first actual torque has reached the calibrated torque and whether the first actual pose has reached the calibrated pose. If both the first actual torque and the first actual pose have reached the calibrated pose, the telescopic outrigger stops descending and sends feedback of the current status to the PLC, recording the first actual torque and the first actual pose. The PLC then controls the structured light 3D scanner 5 mounted on the robotic arm 3 via the collaborative robot execution module to scan the fine object and obtain high-precision point cloud data.

[0067] If either the first actual torque fails to reach the calibrated torque or the first actual pose fails to reach the calibrated pose, the programmable logic controller (PLC) controls the telescopic outrigger to continue descending. The torque at the descending position is collected by the torque sensor as the first actual torque, and the pose at the descending position is collected by the attitude sensor as the first actual pose. The PLC then continues to execute the steps of determining whether the first actual torque has reached the calibrated torque and whether the first actual pose has reached the calibrated pose.

[0068] The aforementioned scanning operation control method, device, computer equipment, storage medium, and computer program product acquire the target measurement task through a programmable logic controller (PLC) and parse the target measurement task to obtain the target site. When the unmanned transport vehicle moves horizontally to the target site via a mobile unit, the automatic leveling module controls the foot adjustment mechanism to descend along the ground direction to the target point within a polling cycle, and acquires the first actual torque and first actual pose of the target point. If the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, it indicates that the scanning requirements are met. The collaborative robot execution module then controls the surface structured light 3D scanner mounted on the robotic arm to perform scanning. This approach adapts to the scanning operation method of the scanning system, improving the stability of the surface structured light 3D scanner fixed on the robotic arm during scanning operations, thereby improving the accuracy and quality of acquiring fine feature point clouds. Furthermore, since it eliminates the need for a multi-line laser-equipped binocular + ball cage tracking system, it overcomes the limitations of binocular tracking range, allowing free movement within space and enabling long-distance scanning operations.

[0069] In an exemplary embodiment, after the collaborative robot execution module controls the structured light 3D scanner mounted on the robotic arm to perform scanning when the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, the method further includes: when the unmanned transport vehicle is horizontally moved to a new target site by the mobile unit, acquiring a new measurement task; taking the new measurement task as the target measurement task, re-executing the acquisition of the target measurement task, and parsing the target measurement task to obtain the target site; when the unmanned transport vehicle is horizontally moved to the target site by the mobile unit, controlling the foot adjustment mechanism to descend along the ground direction to the target point within the polling cycle by the automatic leveling module, and acquiring the first actual torque and the first actual pose of the target point; and when the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, controlling the structured light 3D scanner mounted on the robotic arm to perform scanning by the collaborative robot execution module.

[0070] Optionally, after the programmable logic controller (PLC) completes the scanning of the workpiece, the PLC controls the lifting mechanism of the unmanned transport vehicle to rise, and controls the unmanned transport vehicle to move horizontally to a new target station via the moving unit to acquire a new measurement task. The new measurement task is then used as the target measurement task, and the acquisition of the target measurement task is re-executed. The target measurement task is then parsed to obtain the target station. When the unmanned transport vehicle moves horizontally to the target station via the moving unit, the automatic leveling module controls the foot adjustment mechanism to descend along the ground direction to the target point within the polling cycle, and acquires the first actual torque and the first actual pose of the target point. When the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, the collaborative robot execution module controls the surface structured light 3D scanner installed on the robotic arm to perform the scanning steps until all scanning tasks are completed. Finally, the programmable logic controller (PLC) controls the unmanned transport vehicle to return to the Home point.

[0071] In this embodiment, the scanning operation system can be controlled by the scanning operation control method to realize the execution of multiple measurement tasks.

[0072] In an exemplary embodiment, the torque sensor and attitude sensor are properly distinguished, such as... Figure 5 As shown, the first actual torque is acquired through a torque sensor, and the first actual pose is acquired through an attitude sensor. Before acquiring the target measurement task, the method further includes steps S502 to S506. Wherein:

[0073] Step S502: The automatic leveling module controls the foot adjustment mechanism to move to the preparatory position, and initializes the torque sensor and attitude sensor.

[0074] Among them, the pre-set points are preset points where corresponding data is collected to determine whether the torque sensor and attitude sensor are abnormal.

[0075] Optionally, the programmable logic controller (PLC) controls the foot adjustment mechanism to move to the preparatory position via the automatic leveling module, initializes the torque sensor and attitude sensor to clear previously stored data, and improves the accuracy of torque and attitude.

[0076] Optionally, such as Figure 6 As shown, when the scanning system is powered on, the programmable logic controller (PLC) controls the outriggers to return to their original positions and resets, i.e., initializes, the torque and attitude sensors. Afterwards, the PLC controls the outriggers to descend to the preparatory position.

[0077] Step S504: Obtain the second actual torque at the preparatory point through the torque sensor, and obtain the second actual pose at the preparatory point through the attitude sensor.

[0078] Optionally, the programmable logic controller (PLC) acquires the second actual torque at the preparatory point via a torque sensor and the second actual pose at the preparatory point via an attitude sensor. The PLC then verifies the second actual torque and the second actual pose.

[0079] Step S506: If the second actual torque and the second actual pose pass the verification, it indicates that the torque sensor and the attitude sensor are normal.

[0080] Optionally, if the second actual torque and the second actual pose pass the verification, it indicates that the torque sensor and the attitude sensor are normal and the self-test passes.

[0081] Optionally, if either the second actual torque or the second actual pose fails the verification, it indicates that at least one of the torque sensor and the attitude sensor is malfunctioning, triggering a self-test and feeding the anomaly back to the host computer. If the second actual torque fails the verification, it indicates that the torque sensor is malfunctioning; if the second actual pose fails the verification, it indicates that the attitude sensor is malfunctioning.

[0082] In this embodiment, after initialization, the torque sensor and attitude sensor are judged to be normal based on the pre-set points, which can scan the accuracy of the operation.

[0083] In an exemplary embodiment, obtaining a target measurement task and parsing the target measurement task to obtain a target site includes: obtaining a target measurement task sent by a host computer; if the target measurement task is valid, parsing the target measurement task to obtain a target site; if the target measurement task is invalid, outputting an error message to the host computer.

[0084] Optionally, the programmable logic controller (PLC) acquires the target measurement task sent by the host computer; verifies the validity of the target measurement task; if the target measurement task is valid, it parses the target measurement task to obtain the target station; if the target measurement task is invalid, it outputs an error message to the host computer.

[0085] In this embodiment, accuracy can be improved by verifying and analyzing the target measurement task.

[0086] In one exemplary embodiment, such as Figure 7As shown, the user inputs a measurement task into the host computer, which then sends the task to the programmable logic controller (PLC). The PLC receives the target measurement task from the host computer, verifies its validity, and if valid, parses it to obtain the target site. If invalid, it outputs an error message to the host computer. The PLC controls the unmanned transport vehicle (ARTV) 4 to move horizontally to the target site via the motion unit. When ARTV 4 reaches the target site, the PLC, through the automatic leveling module, controls the foot adjustment mechanism 2 to descend along the ground direction to the target point within a polling cycle (e.g., 3 milliseconds), and acquires the first actual torque and first actual pose of the target point. The PLC determines whether the first actual torque reaches the calibrated torque and whether the first actual pose reaches the calibrated pose. If both the first actual torque and the first actual pose reach the calibrated pose, the telescopic outrigger stops descending and reports the current status to the PLC, recording the first actual torque and first actual pose, indicating that the leveling mechanism has completed its operation. The programmable logic controller (PLC) controls the structured light 3D scanner 5 mounted on the robotic arm 3 via the collaborative robot execution module to scan fine objects and obtain high-precision point cloud data. After completing the workpiece scanning, the PLC controls the lifting mechanism of the unmanned transport vehicle (ARTV) to rise, and the ARTV moves horizontally to a new target site via the motion unit to acquire a new measurement task. This new measurement task is then used as the target measurement task, and the acquisition and parsing of the target measurement task yields the target site. While the ARTV moves horizontally to the target site via the motion unit, the automatic leveling module controls the foot adjustment mechanism to descend along the ground direction to the target point within a polling cycle, acquiring the first actual torque and first actual pose of the target point. Once the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, the structured light 3D scanner mounted on the robotic arm is controlled by the collaborative robot execution module to perform scanning. This process continues until all scanning tasks are completed. Finally, the PLC controls the ARTV to return to the home point, such as a charging station.

[0087] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0088] Based on the same inventive concept, this application also provides a scanning job control device for implementing the scanning job control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more scanning job control device embodiments provided below can be found in the limitations of the scanning job control method described above, and will not be repeated here.

[0089] In one exemplary embodiment, such as Figure 8 As shown, a scanning operation control device is provided, applied to a programmable logic controller, including: an acquisition module 801, an automatic leveling module 802, and a collaborative robot execution module 803, wherein:

[0090] The acquisition module 801 is used to acquire the target measurement task and parse the target measurement task to obtain the target site.

[0091] The automatic leveling module 802 is used to control the foot adjustment mechanism to descend to the target point along the ground direction within a polling cycle when the unmanned transport trolley is horizontally moved to the target site by the control of the moving unit, and to obtain the first actual torque and the first actual position of the target point; wherein, the foot adjustment mechanism is fixed to the bottom of the upper workbench, and the unmanned transport trolley is separated from the upper workbench.

[0092] The collaborative robot execution module 803 is used to control the surface structured light 3D scanner mounted on the robotic arm to perform scanning when the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose. The robotic arm is fixed to the top of the upper worktable.

[0093] In an exemplary embodiment, the acquisition module 801 is further configured to acquire a new measurement task when the unmanned transport vehicle is horizontally moved to a new target site by the control of the mobile unit; the automatic leveling module 802 is further configured to take the new measurement task as the target measurement task, re-execute the acquisition of the target measurement task, and parse the target measurement task to obtain the target site; when the unmanned transport vehicle is horizontally moved to the target site by the control of the mobile unit, the automatic leveling module controls the foot adjustment mechanism to descend to the target point along the ground direction within the polling cycle, and acquires the first actual torque and the first actual pose of the target point; the collaborative robot execution module 803 is further configured to control the surface structured light 3D scanner installed on the robotic arm to perform scanning when the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose.

[0094] In an exemplary embodiment, the first actual torque is acquired by a torque sensor, and the first actual pose is acquired by an attitude sensor. The device further includes a discrimination module, which controls the foot adjustment mechanism to move to a preparatory position through an automatic leveling module, initializes the torque sensor and attitude sensor, acquires the second actual torque at the preparatory position through the torque sensor, and acquires the second actual pose at the preparatory position through the attitude sensor, and indicates that the torque sensor and attitude sensor are normal if the second actual torque and the second actual pose pass the verification.

[0095] In an exemplary embodiment, the acquisition module is further configured to acquire the target measurement task sent by the host computer; if the target measurement task is valid, parse the target measurement task to obtain the target site; if the target measurement task is invalid, output error information to the host computer.

[0096] Each module in the aforementioned scanning operation control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0097] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 9As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data for the scanning operation system. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a scanning operation control method.

[0098] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0099] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0100] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0101] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0102] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0103] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A scanning job system, characterized by, The application relates to a three-dimensional scanning device, which comprises the following parts: an upper working platform; a ground leg adjusting mechanism fixed to the bottom of the upper working platform and used for supporting the upper working platform when the upper working platform is static; a mechanical arm used for fixing and moving a structured light three-dimensional scanner and fixed to the top of the upper working platform; an unmanned carrier separated from the upper working platform, which is used for carrying the upper working platform to move along with the unmanned carrier when the upper working platform needs to be moved.

2. The system of claim 1, wherein, The ground leg adjusting mechanism comprises at least four supporting legs symmetrically distributed at the bottom of the upper working platform, wherein at least one of the supporting legs is a telescopic supporting leg.

3. A scan job control method characterized by, The application relates to a method applied to a programmable logic controller, which comprises the following steps: acquiring a target measurement task and analyzing the target measurement task to obtain a target station; in the case that the unmanned carrier is horizontally moved to the target station through a moving unit, a ground leg adjusting mechanism is controlled to be lowered to a target point along a ground direction in a polling period through an automatic leveling module, and a first actual torque and a first actual pose of the target point are acquired; wherein the ground leg adjusting mechanism is fixed to the bottom of the upper working platform, and the unmanned carrier is separated from the upper working platform; in the case that the first actual torque reaches a calibrated torque and the first actual pose reaches a calibrated pose, a structured light three-dimensional scanner installed on a mechanical arm is controlled to perform scanning through a collaborative robot execution module, wherein the mechanical arm is fixed to the top of the upper working platform.

4. The method of claim 3, wherein, After the structured light three-dimensional scanner installed on the mechanical arm is controlled to perform scanning through the collaborative robot execution module in the case that the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, the method further comprises the following steps: in the case that the unmanned carrier is horizontally moved to a new target station through the moving unit, a new measurement task is acquired; the new measurement task is taken as a target measurement task, the step of acquiring the target measurement task and analyzing the target measurement task to obtain the target station is re-executed, in the case that the unmanned carrier is horizontally moved to the target station through the moving unit, the ground leg adjusting mechanism is controlled to be lowered to the target point along the ground direction in the polling period through the automatic leveling module, and a first actual torque and a first actual pose of the target point are acquired, and in the case that the first actual torque reaches the calibrated torque and the first actual pose reaches the calibrated pose, the structured light three-dimensional scanner installed on the mechanical arm is controlled to perform scanning through the collaborative robot execution module.

5. The method according to claim 3 or 4, characterized in that, The first actual torque is collected through a torque sensor, and the first actual pose is collected through a pose sensor, and before the step of acquiring the target measurement task, the method further comprises the following steps: the ground leg adjusting mechanism is controlled to move to a preliminary point through the automatic leveling module, and the torque sensor and the pose sensor are initialized; a second actual torque of the preliminary point is acquired through the torque sensor, and a second actual pose of the preliminary point is acquired through the pose sensor. In a case where the second actual torsion and the second actual pose are verified, it is indicated that the torsion sensor and the pose sensor are normal.

6. The method of claim 3, wherein, The target measurement task is acquired, and a target site is obtained by analyzing the target measurement task. The target measurement task sent by the upper computer is acquired. In a case where the target measurement task is valid, the target site is obtained by analyzing the target measurement task. In a case where the target measurement task is invalid, error information is output to the upper computer.

7. A scan job control apparatus characterized by comprising: The application is applied to a programmable logic controller, and includes: An acquisition module is configured to acquire a target measurement task and obtain a target site by analyzing the target measurement task. An automatic leveling module is configured to, in a case where an unmanned carrier vehicle is controlled by a moving unit to move horizontally to the target site, control a foot adjusting mechanism to probe downward to a target point along a ground direction in a polling period by the automatic leveling module, and acquire a first actual torsion and a first actual pose of the target point, wherein the foot adjusting mechanism is fixed to a bottom of the upper working platform, and the unmanned carrier vehicle is separated from the upper working platform. A collaborative robot execution module is configured to, in a case where the first actual torsion reaches a calibrated torsion and the first actual pose reaches a calibrated pose, control a face structured light three-dimensional scanner installed on a mechanical arm to perform scanning by the collaborative robot execution module, wherein the mechanical arm is fixed to a top of the upper working platform.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to implement the steps of the method in any one of claims 3 to 6.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 3 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 3 to 6.

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