Method and apparatus for scanning measurement of large parts

Abstract

This application provides a scanning measurement method and apparatus for large parts, relating to the field of measurement technology. The method includes: generating multiple docking stations for a first autonomous mobile device along the length of the part based on a three-dimensional digital model of the target part, and generating a scanning path executed by the operating arm carried by the first autonomous mobile device for each docking station; generating docking stations for a second autonomous mobile device based on the docking stations of the first autonomous mobile device and the scanning paths, so that the scanning device of the first autonomous mobile device enters the field of view monitoring range of the second autonomous mobile device; during the scanning process, controlling the first and second autonomous mobile devices to dock sequentially at their respective docking stations, and controlling the operating arm carried by the first autonomous mobile device to drive the scanner to scan according to the corresponding scanning path, so as to complete the scanning of all surfaces to be measured of the target part. The method provided by this application embodiment achieves full-process automation of full-surface scanning measurement of a part.

Description

Technical Field

[0001] This application relates to the field of measurement technology, and in particular to a scanning measurement method and apparatus for large parts. Background Technology

[0002] In aerospace, automotive manufacturing, and construction machinery industries, surface quality inspection of large parts is crucial for machining accuracy and equipment performance. Three-dimensional laser scanning, as a non-contact measurement method, can efficiently acquire complete three-dimensional point cloud data of part surfaces and has become an important method for quality inspection of such parts.

[0003] Existing automated scanning solutions typically deploy industrial robotic arms at fixed workstations, scanning parts via pre-set teaching paths. These solutions require manual adjustments to the robotic arm's position and path based on the dimensions of large parts. The teaching process is time-consuming and reliant on operator experience, making it difficult to adapt to the flexible inspection needs of parts with varying sizes. While some solutions incorporate automated guided vehicles (AGVs) carrying robotic arms to expand scanning coverage, their positions still require manual setting, and the lack of systematic optimization of the scanning path leads to unreasonable scanning angles, missing local data, or severe reflection interference, affecting point cloud quality. Furthermore, existing solutions often rely on the scanner itself for post-processing point cloud stitching. During continuous scanning of large parts, accumulated errors are significant, making it difficult to guarantee stitching accuracy. These issues result in existing technologies exhibiting low flexibility and a difficulty in simultaneously achieving both scanning efficiency and data quality when dealing with diverse and variable-sized large parts.

[0004] Therefore, a solution is urgently needed to address the above problems. Summary of the Invention

[0005] This application provides a scanning measurement method and apparatus for large parts to address the deficiencies in the prior art.

[0006] This application provides a scanning measurement method for large parts, including: Based on the three-dimensional digital model of the target part, multiple docking stations of the first autonomous mobile device along the length of the part are generated, and a scanning path executed by the operating arm carried by the first autonomous mobile device is generated for each docking station. The second autonomous mobile device position is generated based on the first autonomous mobile device position and the scanning path executed by the carrying operating arm. The first autonomous mobile device and the second autonomous mobile device are controlled to stop sequentially at each stop position, and the operating arm is controlled to drive the scanner to scan according to the corresponding scanning path. During the scanning process, the scanning coverage of the first autonomous mobile device is brought into the field of view monitoring range of the first autonomous mobile device by the planned position of the second autonomous mobile device, so as to complete the scanning of all the surfaces to be tested of the target part and obtain complete point cloud data. During the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the point cloud obtained by scanning into the global coordinate system.

[0007] According to an embodiment of this application, a scanning and measurement method for a large part is provided, wherein generating multiple docking stations for a first autonomous mobile device along the length direction of the part based on a three-dimensional digital model of the target part includes: Based on the three-dimensional digital model of the target part, according to the preset scanning point density and the optimal working distance of the scanner, an initial measurement path point covering the surface to be measured of the target part is generated. Based on the scanner's field of view and effective scanning distance, the initial measurement path point is divided into multiple segments along the length of the part, and a docking area for the first autonomous mobile device is determined for each segment. Within the permitted parking area, the sequence of the multiple parking stations is determined based on the principle of minimizing the total travel distance to all corresponding parking stations across all sections.

[0008] According to an embodiment of this application, a scanning and measurement method for large parts is provided, wherein generating a scanning path for each docking station, executed by the operating arm carried by the first autonomous mobile device, includes: Obtain the initial measurement path points within the section corresponding to each stop; For each initial measurement path point, solve for the set of reachable postures of the end effector that satisfy the preset measurement angle constraint at that point; From the set of reachable postures, the posture sequence that best combines the change in the joint space of the manipulator arm with the deviation of the measurement beam is selected for adjacent path points to form the scanning path.

[0009] According to an embodiment of this application, a scanning measurement method for a large part is provided, wherein the degree of deviation of the measurement beam is measured by the degree to which the angle between the measurement beam and the surface normal deviates from the vertical direction; and the change in the joint space of the operating arm is measured by the change in the posture of each joint of the operating arm from the previous path point to the current path point.

[0010] According to an embodiment of this application, a scanning and measurement method for large parts is provided, wherein a tracking device mounted on a second autonomous mobile device acquires the spatial pose of the scanner in real time, including: The six-degree-of-freedom pose of the scanner in the global coordinate system is obtained; wherein the six-degree-of-freedom pose is calculated in real time by the tracking device by recognizing the target set on the scanner; Based on the six-degree-of-freedom pose, the point cloud data collected by the scanner at the corresponding moment is converted to the global coordinate system in real time, realizing online point cloud stitching during the scanning process.

[0011] According to an embodiment of this application, a scanning and measurement method for a large part is provided, wherein completing the scanning of all surfaces to be measured of the target part to obtain complete point cloud data includes: The first autonomous mobile device traverses each docking station to complete the scanning of all scannable areas of the target part.

[0012] This application also provides a scanning and measuring device for large parts, comprising: The first generation module is used to generate multiple docking stations of the first autonomous mobile device along the length of the part based on the three-dimensional digital model of the target part, and to generate a scanning path executed by the operating arm carried by the first autonomous mobile device for each docking station. The second generation module is used to generate the second autonomous mobile device position based on the first autonomous mobile device position and the scanning path executed by the carrying operating arm. The control module is used to control the first autonomous mobile device and the second autonomous mobile device to stop sequentially at each stop station, and to control the operating arm to drive the scanner to scan according to the corresponding scanning path; The scanning module is used to, during the scanning process, position the second autonomous mobile device so that the scanning coverage of the first autonomous mobile device enters the field of view monitoring range of the first autonomous mobile device, so as to complete the scanning of all the surfaces to be measured of the target part and obtain complete point cloud data. During the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the point cloud obtained by scanning into the global coordinate system.

[0013] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the scanning and measurement method for large parts as described above.

[0014] This application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the scanning and measurement method for large parts as described above.

[0015] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the scanning and measurement method for large parts as described above.

[0016] This application provides a scanning measurement method and apparatus for large parts. Based on a three-dimensional digital model of the target part, multiple docking stations of a first autonomous mobile device are generated along the length of the part. For each docking station, a scanning path is generated by the operating arm carried by the first autonomous mobile device. Based on the first autonomous mobile device's station and the scanning path executed by the operating arm, a second autonomous mobile device station is generated. The first and second autonomous mobile devices are controlled to dock sequentially at each station, and the operating arm is controlled to drive the scanner to scan along the corresponding scanning path. During the scanning process, the second autonomous mobile device station allows the scanning coverage area of ​​the first autonomous mobile device to enter its field of view, thus completing the scanning of all surfaces of the target part and obtaining complete point cloud data. During the scanning process, a tracking device mounted on the second autonomous mobile device acquires the spatial pose of the scanner in real time to unify the obtained point cloud into a global coordinate system. Therefore, this application embodiment, through a dual-vehicle collaborative architecture, combined with the automatic generation of station positions and scanning paths based on three-dimensional digital models, the automatic change of the relative orientation between the part and the scanning device, and the real-time tracking and unification of scanning pose, realizes the full-process automation of scanning measurement of the entire surface of large parts, significantly improving detection efficiency and flexibility while ensuring the accuracy of point cloud data. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the scanning and measurement method for large parts provided in this application embodiment.

[0019] Figure 2 This is a system architecture diagram of the scanning and measurement system for large parts provided in the embodiments of this application.

[0020] Figure 3 This is a complete flowchart of the scanning and measurement method for large parts provided in the embodiments of this application.

[0021] Figure 4This is a schematic diagram of the structure of the scanning and measuring device for large parts provided in the embodiments of this application.

[0022] Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the embodiments of this application.

[0024] The following describes a scanning measurement method and apparatus for a large part according to an embodiment of this application, with reference to the accompanying drawings.

[0025] Figure 1 This is a flowchart illustrating the scanning and measurement method for large parts provided in an embodiment of this application, as shown below. Figure 1 As shown, the method includes the following: Step 100: Based on the three-dimensional digital model of the target part, generate multiple docking stations of the first autonomous mobile device along the length of the part, and generate a scanning path executed by the operating arm carried by the first autonomous mobile device for each docking station.

[0026] It should be noted that the scanning and measurement method for large parts provided in this embodiment can be applied to surface quality inspection scenarios for large parts in fields such as aerospace, automobile manufacturing, and engineering machinery.

[0027] Specifically, the system first acquires a 3D digital model of the target part, i.e., a CAD model, which records the part's nominal geometric dimensions and shape features. Based on this model, the system generates a series of ordered initial measurement path points on the surface of the part to be measured, according to a preset scanning point density and the scanner's optimal working distance. These path points define the spatial positions that the scanner needs to traverse one by one. Subsequently, based on the scanner's field of view and effective scanning distance, the initial measurement path points are divided into multiple segments along the length of the part. For each segment, considering the motion space range of the first autonomous mobile device equipped with a manipulator (e.g., an automated guided vehicle (AGV) integrating a multi-joint collaborative robotic arm) and the tooling's anti-collision constraints, the system determines the docking area of ​​the first autonomous mobile device near the tooling. Finally, from the docking area, docking points that can cover all segments are selected, and based on the principle of minimizing the total travel distance through all docking stations, a sequence of multiple docking stations arranged by the first autonomous mobile device along the length of the part is determined.

[0028] Step 200: Generate the second autonomous mobile device position based on the first autonomous mobile device position and the scanning path executed by the carrying operating arm.

[0029] Specifically, after determining the various docking positions of the first autonomous mobile device and the corresponding scanning path of the operating arm for each position, the system further plans the docking positions of the second autonomous mobile device based on the spatial distribution of the scanning path. The method is to confirm the position of the second autonomous mobile device by using the parameters of the tracking scanning device, including depth of field and range, so that the second autonomous mobile device can maintain unobstructed visibility of the target on the scanner carried by the first autonomous mobile device in each scanning stage, thereby ensuring that the tracking device can acquire the spatial pose of the scanner in real time.

[0030] Step 300: Control the first autonomous mobile device and the second autonomous mobile device to stop at each stop in sequence, and control the operating arm to drive the scanner to scan according to the corresponding scanning path.

[0031] Optionally, the first autonomous mobile device is controlled to move sequentially to each docking station using navigation and positioning methods and to dock precisely, ensuring that the docking deviation is controlled within the scanner's depth-of-field tolerance range. After the second autonomous mobile device docks, its onboard tracking device's field of view should cover the entire range of motion of the scanner at the current station of the first autonomous mobile device. At each station, the operating arm carried by the first autonomous mobile device drives the scanner mounted at its end to perform scanning actions according to the corresponding scanning path. The generation process of this scanning path considers the angular constraint between the scanner's measuring beam and the normal to the part's surface, selecting the optimal posture sequence from the operable arm's reachable postures that combines the joint space variation with the degree of measuring beam deviation, ensuring a continuous and smooth scanning path and a reasonable scanning angle.

[0032] Step 400: During the scanning process, by positioning the second autonomous mobile device, the scanning coverage of the first autonomous mobile device is brought into the field of view monitoring range of the first autonomous mobile device, so as to complete the scanning of all the surfaces to be measured of the target part and obtain complete point cloud data. During the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the point cloud obtained by scanning into the global coordinate system.

[0033] Specifically, during the scanning process, the second autonomous mobile device's station, planned in step 200, ensures that the scanner carried by the first autonomous mobile device remains within the field of view of the tracking device on the second autonomous mobile device at all scanning path points. This allows the tracking device to continuously identify targets on the scanner, calculate the scanner's six-degree-of-freedom spatial pose in the global coordinate system in real time, and convert the original point cloud collected by the scanner at each moment to a unified global coordinate system, thus completing online point cloud stitching during the scanning process. The first autonomous mobile device scans all surfaces of the target part by traversing each docking station, obtaining complete point cloud data.

[0034] Figure 2 This is a system architecture diagram of the scanning and measurement system for large parts provided in the embodiments of this application, such as... Figure 2 As shown, the part scanning and measurement system provided in this application embodiment is applied to the automated inspection of large parts. First, the two ends of the target large part are precisely clamped between the two fixtures shown in the figure. The fixtures not only provide stable physical support for the part, but also flexibly adjust the length to adapt to parts of different lengths, so that all surfaces to be measured, such as the outer contour and inner wall of the large part, can sequentially enter the coverage area of ​​the scanner during the scanning process. The bottom of the system integrates three underlying infrastructures: an electrical system, a control system, and a network system. The electrical system is responsible for providing reliable power drive for various mobile devices and fixtures. The control system, as the central scheduling brain of the entire measurement task, coordinates the equipment movement, part rotation angle, and scanning trigger timing throughout the entire process. The network system is used to ensure low-latency real-time data interaction between multiple autonomous mobile devices and the control center. In the specific scanning execution steps, the first autonomous mobile device, namely AGV 1, is equipped with a multi-degree-of-freedom robotic arm and a scanner. It moves to the docking station in front of the fixture according to the preset planning path of the control system, and drives the robotic arm to drive the scanner to collect local point cloud data of the part according to the corresponding scanning path. At the same time, the second autonomous mobile device, namely AGV 2. Equipped with a high-precision tracker working synchronously, the tracker continuously tracks the scanner's pose in three-dimensional space in real time throughout the scanning process. It feeds back the scanner's six-degree-of-freedom spatial pose data of each local scan to the control system in real time, and uses this absolute spatial pose as the reference coordinate transformation basis. This allows the local point clouds collected at different stations to be accurately stitched and mapped to the same global coordinate system, thereby ultimately generating a complete and unbiased global high-precision three-dimensional point cloud model of the entire large part through data processing.

[0035] The above describes the steps of the scanning and measurement method for large parts provided in the embodiments of this application. As can be seen from the above description, according to the scanning and measurement method for large parts provided in the embodiments of this application, based on the three-dimensional digital model of the target part, multiple docking stations of the first autonomous mobile device are generated along the length direction of the part, and a scanning path executed by the operating arm carried by the first autonomous mobile device is generated for each docking station; based on the first autonomous mobile device station and the scanning path executed by the carrying operating arm, a second autonomous mobile device station is generated; the first autonomous mobile device and the second autonomous mobile device are controlled to dock sequentially at each docking station, and the operating arm is controlled to drive the scanner to scan according to the corresponding scanning path; during the scanning process, through the second autonomous mobile device station, the scanning coverage area of ​​the first autonomous mobile device enters the field of view monitoring range of the first autonomous mobile device, so as to complete the scanning of all surfaces to be measured of the target part and obtain complete point cloud data; wherein, during the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the scanned point cloud to the global coordinate system. Therefore, this application embodiment, through a dual-vehicle collaborative architecture, combined with the automatic generation of station positions and scanning paths based on three-dimensional digital models, the automatic change of the relative orientation between the part and the scanning device, and the real-time tracking and unification of scanning pose, realizes the full-process automation of scanning measurement of the entire surface of large parts, significantly improving detection efficiency and flexibility while ensuring the accuracy of point cloud data.

[0036] Based on the above embodiments, in this embodiment, step 100 generates multiple docking stations for the first autonomous mobile device along the length of the part based on the three-dimensional digital model of the target part, including: Based on the three-dimensional digital model of the target part, according to the preset scanning point density and the optimal working distance of the scanner, an initial measurement path point covering the surface to be measured of the target part is generated. Based on the scanner's field of view and effective scanning distance, the initial measurement path point is divided into multiple segments along the length of the part, and a docking area for the first autonomous mobile device is determined for each segment. Within the permitted parking area, the sequence of the multiple parking stations is determined based on the principle of minimizing the total travel distance to all corresponding parking stations across all sections.

[0037] Specifically, the system first performs point cloud sampling on the 3D digital model of the target part. Based on the pre-set scanning point density and the scanner's optimal working distance (i.e., the nominal distance between the scanner and the surface being measured to acquire the highest quality point cloud data), a set of ordered initial measurement path points is automatically generated on the surface of the part to be measured. These path points define the ideal passage position of the scanner in space. Next, based on the scanner's field of view and effective scanning distance, the system divides the aforementioned initial measurement path points into multiple segments along the length of the part, ensuring that the measurement points within each segment are completely covered within the scanner's effective working range. For each segment, the system calculates the dockable area where the device can safely park and complete the corresponding segment scanning task, taking into account the motion space limitations of the first autonomous moving device equipped with the manipulator and the anti-collision constraints between it and the tooling clamping the part. Finally, the system selects an optimal stopping point from each of the dockable areas corresponding to all sections. With the goal of minimizing the total travel distance required to pass through all stopping points, these stopping points are sorted and filtered to determine the sequence of multiple stopping points arranged by the first autonomous mobile device along the length of the part. This minimizes the invalid empty travel of the AGV between the stopping points and improves the overall scanning efficiency.

[0038] Further, step 100 generates a scanning path for each docking station, executed by the operating arm carried by the first autonomous mobile device, including: Obtain the initial measurement path points within the section corresponding to each stop; For each initial measurement path point, solve for the set of reachable postures of the end effector that satisfy the preset measurement angle constraint at that point; From the set of reachable postures, select the posture sequence that best combines the change in the joint space of the manipulator arm with the deviation of the measurement beam for adjacent path points to form the scanning path; The degree of deviation of the measurement beam is measured by the degree to which the angle between the measurement beam and the surface normal deviates from the vertical direction; the change in the joint space of the operating arm is measured by the change in the posture of each joint of the operating arm from the previous path point to the current path point.

[0039] Specifically, the initial measurement path points within the segment corresponding to the station are obtained. These path points are the set of measurement points on the part surface that the station is responsible for covering, as defined in the previous step. Then, for each initial measurement path point, the set of reachable postures of the manipulator end effector at that point that satisfy the preset measurement angle constraint is calculated. The preset measurement angle constraint means that the angle between the measurement beam emitted by the scanner and the normal to the part surface at that point must not exceed the maximum allowable deviation angle. Typically, the beam direction is required to be as perpendicular as possible to the measured surface to reduce reflection interference and point cloud quality degradation caused by oblique incidence. For a single path point, there may be more than one manipulator joint posture that satisfies this constraint; these postures together constitute the set of reachable postures for that point. After obtaining the set of reachable postures for each path point, the system needs to select a specific posture from each set so that the combined index of the change in the space of the manipulator joints between adjacent path points (i.e., the total angle of rotation required for each joint of the manipulator to move from the previous posture to the next posture, reflecting the magnitude and time of posture switching) and the degree of deviation of the measurement beam from the surface normal under the current posture (i.e., the angle of deviation of the beam from the perpendicular to the surface, reflecting the scanning quality under this posture) reaches the optimal level.

[0040] The scanning and measurement method for large parts provided in this embodiment can automatically divide the scanning area and optimize the AGV station sequence according to the actual size of the large parts through the above-mentioned station planning and path generation method, effectively reducing invalid idle travel. At the same time, it generates a continuous and smooth scanning path with a comprehensive optimal strategy that takes into account both the incident angle of the scanner and the motion of the robotic arm joints, thereby significantly improving the scanning efficiency while ensuring the quality of point cloud data acquisition.

[0041] Based on the above embodiments, in this embodiment, the tracking device mounted on the second autonomous mobile device acquires the spatial pose of the scanner in real time, including: The six-degree-of-freedom pose of the scanner in the global coordinate system is obtained; wherein the six-degree-of-freedom pose is calculated in real time by the tracking device by recognizing the target set on the scanner; Based on the six-degree-of-freedom pose, the point cloud data collected by the scanner at the corresponding moment is converted to the global coordinate system in real time, realizing online point cloud stitching during the scanning process.

[0042] Specifically, during the scanning process, the second autonomous mobile device works in conjunction with the scanner. Its onboard tracking device identifies targets placed on the scanner in real time, such as reflective markers or actively emitting markers. Using optical triangulation or photogrammetry principles, it calculates the scanner's six-degree-of-freedom pose in the global coordinate system in real time. This includes the scanner's three translational degrees of freedom (position in the X, Y, and Z directions) and three rotational degrees of freedom (pitch, yaw, and roll). Based on this real-time acquired six-degree-of-freedom pose information, the system can instantly convert the raw point cloud data collected by the scanner at the corresponding moment into a pre-calibrated global coordinate system.

[0043] The scanning and measurement method for large parts provided in this embodiment enables point cloud data collected at different times and locations to be automatically aligned without subsequent iterative registration. This allows for online stitching of point cloud data during the scanning process, avoiding point cloud layering or misalignment problems caused by accumulated errors in the traditional scanning-then-stitching scheme.

[0044] Based on the above embodiments, in this embodiment, step 300, changing the relative orientation between the target part and the first autonomous moving device, includes: The scanning and measurement of large parts adopts a scanning strategy of traversing the stations in reverse on both sides, so that the AGV can connect to the scanning of the other side without empty running after completing the scanning of one side, which shortens the overall measurement cycle to the greatest extent and achieves high efficiency and data integrity of full surface scanning of large parts.

[0045] Figure 3 This is a complete flowchart of the scanning and measurement method for large parts provided in the embodiments of this application. The following is a summary of the process. Figure 3 This application provides a complete description of the scanning and measurement method for large parts.

[0046] like Figure 2 As shown, a scanning and measurement system for large parts is constructed.

[0047] Step 1: Measurement field construction.

[0048] The measurement field is constructed according to the on-site measurement requirements, including the parts to be measured, inspection fixtures, composite AGV1 and composite AGV2, a 6-DOF collaborative robotic arm, a tracking scanning system, a network system, an electrical system, and a control system.

[0049] like Figure 3 The specific implementation flowchart is as follows: Step 2: Measurement field calibration.

[0050] The calibration of the measurement field includes defining a global coordinate system and merging the AGV map coordinate system. Tooling coordinate system Part coordinate system Robot installation position coordinate system Robot tool coordinate system They are calibrated together.

[0051] Step 3: Automatic generation of initial measurement points for the part.

[0052] Based on the large CAD model, point cloud data is generated. According to the length, shape and other features of the large part, and based on the optimal measurement distance of the scanner, the incident angle, and the measurement point density, a large initial measurement path point is generated. .

[0053] Step 4: Automatic planning of AGV1 station positions.

[0054] Based on the input geometric parameters, combined with the scanner's effective scanning distance and field of view, the system calculates the multiple scanning stations where the AGV needs to stop. The process includes: dividing the large part into segments along its length, calculating the optimal distance between the scanner and the part surface for each segment while ensuring scanning accuracy, considering the AGV1's movement space and tooling size limitations, filtering out unreasonable positions, generating the optimal stopping point sequence, and optimizing the sorting according to the shortest total travel distance.

[0055] Step 5: The scanning path of the robotic arm at each AGV1 station is automatically generated.

[0056] At each AGV1 docking point, the system further calculates the movement path of the robotic arm to ensure the following requirements are met during the scanning process: the scanning path must cover the entire surface of the shaft segment corresponding to that position; the scanner's viewing angle must be as perpendicular as possible to the workpiece surface to reduce reflection interference; the robotic arm's movement must be continuous and without abrupt changes; and based on meeting the above conditions, the total length of the planned path must be minimized to improve efficiency. When selecting the robot arm joint pose for scanning path points, make the evaluation function... The smallest: In the formula Indicates the first The robotic arm joint posture configuration for each scanning point. Indicates the robotic arm's joint posture The angle between the scanner and the surface of the large part in this configuration.

[0057] Step 6: Determine the monitoring position of AGV2 based on the depth parameters and field of view of the tracking scanning system; AGV1 moves to the first docking point, AGV2 moves to the first docking point, and the scanning process is started.

[0058] AGV1 moves to the first target docking point according to the generated path. The robotic arm completes pose initialization and enters the scanning preparation state. AGV2 monitors the scanning equipment of AGV1. The operations performed in this process are: (1) AGV1 and AGV2 use the QR code positioning and navigation system to make precise docking; (2) The robotic arm system communicates to confirm that the scanning preparation is complete; (3) Control the robotic arm to start the scanner to collect data according to the planned trajectory.

[0059] Step 7: After completing the current segment scan, determine whether a unilateral scan has been completed.

[0060] The system determines whether the current segment is the last segment of the face: if it is not completed, AGV1 and AGV2 move to the next docking point and repeat step four; if one side has been completed, the next face switching operation is performed.

[0061] Step 8: After scanning all path points, perform data stitching and 3D reconstruction.

[0062] After all scanning tasks are completed, the system stitches, registers, and fuses the point cloud data collected from different locations to finally reconstruct a complete 3D model of the part.

[0063] The scanning and measuring apparatus for large parts provided in the embodiments of this application will be described below. The scanning and measuring apparatus for large parts described below can be referred to in correspondence with the scanning and measuring method for large parts described above.

[0064] Figure 4 This is a schematic diagram of the structure of the scanning and measuring device for large parts provided in the embodiments of this application, as shown below. Figure 4 As shown, the scanning and measuring device for large parts provided in this application embodiment includes: The first generation module 401 is used to generate multiple docking stations of the first autonomous mobile device along the length direction of the part based on the three-dimensional digital model of the target part, and to generate a scanning path executed by the operating arm carried by the first autonomous mobile device for each docking station. The second generation module 402 is used to generate the second autonomous mobile device position based on the first autonomous mobile device position and the scanning path executed by the carrying operating arm. The control module 403 is used to control the first autonomous mobile device and the second autonomous mobile device to stop sequentially at each stop position, and to control the operating arm to drive the scanner to scan according to the corresponding scanning path; The scanning module 404 is used to, during the scanning process, position the second autonomous mobile device so that the scanning coverage of the first autonomous mobile device enters the field of view monitoring range of the first autonomous mobile device, so as to complete the scanning of all the surfaces to be measured of the target part and obtain complete point cloud data. During the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the point cloud obtained by scanning into the global coordinate system.

[0065] The scanning and measuring device for large parts provided in this application generates multiple docking stations for a first autonomous mobile device along the length of the part based on a three-dimensional digital model of the target part, and generates a scanning path executed by the operating arm carried by the first autonomous mobile device for each docking station; a second autonomous mobile device station is generated based on the first autonomous mobile device station and the scanning path executed by the carrying operating arm; the first and second autonomous mobile devices are controlled to dock sequentially at each docking station, and the operating arm is controlled to drive the scanner to scan according to the corresponding scanning path; during the scanning process, the scanning coverage area of ​​the first autonomous mobile device is brought into the field of view monitoring range of the first autonomous mobile device through the second autonomous mobile device station, so as to complete the scanning of all the surfaces to be measured of the target part and obtain complete point cloud data; wherein, during the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the scanned point cloud to the global coordinate system. Therefore, this application embodiment, through a dual-vehicle collaborative architecture, combined with the automatic generation of station positions and scanning paths based on three-dimensional digital models, the automatic change of the relative orientation between the part and the scanning device, and the real-time tracking and unification of scanning pose, realizes the full-process automation of scanning measurement of the entire surface of large parts, significantly improving detection efficiency and flexibility while ensuring the accuracy of point cloud data.

[0066] Based on the above embodiments, in this embodiment, the first generation module 401 is specifically used for: Based on the three-dimensional digital model of the target part, according to the preset scanning point density and the optimal working distance of the scanner, an initial measurement path point covering the surface to be measured of the target part is generated. Based on the scanner's field of view and effective scanning distance, the initial measurement path point is divided into multiple segments along the length of the part, and a docking area for the first autonomous mobile device is determined for each segment. Within the permitted parking area, the sequence of the multiple parking stations is determined based on the principle of minimizing the total travel distance to all corresponding parking stations across all sections.

[0067] Based on the above embodiments, in this embodiment, the first generation module 401 is further configured to: Obtain the initial measurement path points within the section corresponding to each stop; For each initial measurement path point, solve for the set of reachable postures of the end effector that satisfy the preset measurement angle constraint at that point; From the set of reachable postures, the posture sequence that best combines the change in the joint space of the manipulator arm with the deviation of the measurement beam is selected for adjacent path points to form the scanning path.

[0068] Based on the above embodiments, in this embodiment, the degree of deviation of the measured beam is measured by the degree to which the angle between the measured beam and the surface normal deviates from the vertical direction; the change in the joint space of the operating arm is measured by the change in the posture of each joint of the operating arm from the previous path point to the current path point.

[0069] Based on the above embodiments, in this embodiment, the device further includes a real-time acquisition module, specifically used for: The six-degree-of-freedom pose of the scanner in the global coordinate system is obtained; wherein the six-degree-of-freedom pose is calculated in real time by the tracking device by recognizing the target set on the scanner; Based on the six-degree-of-freedom pose, the point cloud data collected by the scanner at the corresponding moment is converted to the global coordinate system in real time, realizing online point cloud stitching during the scanning process.

[0070] Based on the above embodiments, in this embodiment, the scanning module 404 is specifically used for: The first autonomous mobile device traverses each docking station to complete the scanning of all scannable areas of the target part.

[0071] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device can be a robot or other electronic device. This electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communication bus 550. The processor 510, communications interface 520, and memory 530 communicate with each other via the communication bus 540. The processor 510 can call logical instructions from the memory 530 to execute a scanning and measurement method for large parts, including: Based on the three-dimensional digital model of the target part, multiple docking stations of the first autonomous mobile device along the length of the part are generated, and a scanning path executed by the operating arm carried by the first autonomous mobile device is generated for each docking station. The second autonomous mobile device position is generated based on the first autonomous mobile device position and the scanning path executed by the carrying operating arm. The first autonomous mobile device and the second autonomous mobile device are controlled to stop sequentially at each stop position, and the operating arm is controlled to drive the scanner to scan according to the corresponding scanning path. During the scanning process, the second autonomous mobile device is positioned so that the scanning coverage of the first autonomous mobile device enters the field of view monitoring range of the first autonomous mobile device, so as to complete the scanning of all the surfaces to be tested of the target part and obtain complete point cloud data. During the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the point cloud obtained by scanning into the global coordinate system.

[0072] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application embodiment, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in at least one embodiment of this application embodiment. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0073] On the other hand, embodiments of this application also provide a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to perform the scanning and measurement methods for large parts provided by the above methods, including: Based on the three-dimensional digital model of the target part, multiple docking stations of the first autonomous mobile device along the length of the part are generated, and a scanning path executed by the operating arm carried by the first autonomous mobile device is generated for each docking station. The second autonomous mobile device position is generated based on the first autonomous mobile device position and the scanning path executed by the carrying operating arm. The first autonomous mobile device and the second autonomous mobile device are controlled to stop sequentially at each stop position, and the operating arm is controlled to drive the scanner to scan according to the corresponding scanning path. During the scanning process, the second autonomous mobile device is positioned so that the scanning coverage of the first autonomous mobile device enters the field of view monitoring range of the first autonomous mobile device, so as to complete the scanning of all the surfaces to be tested of the target part and obtain complete point cloud data. During the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the point cloud obtained by scanning into the global coordinate system.

[0074] In another aspect, embodiments of this application also provide a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the scanning and measurement method for large parts provided by the methods described above, including: Based on the three-dimensional digital model of the target part, multiple docking stations of the first autonomous mobile device along the length of the part are generated, and a scanning path executed by the operating arm carried by the first autonomous mobile device is generated for each docking station. The second autonomous mobile device position is generated based on the first autonomous mobile device position and the scanning path executed by the carrying operating arm. The first autonomous mobile device and the second autonomous mobile device are controlled to stop sequentially at each stop position, and the operating arm is controlled to drive the scanner to scan according to the corresponding scanning path. During the scanning process, the second autonomous mobile device is positioned so that the scanning coverage of the first autonomous mobile device enters the field of view monitoring range of the first autonomous mobile device, so as to complete the scanning of all the surfaces to be tested of the target part and obtain complete point cloud data. During the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the point cloud obtained by scanning into the global coordinate system.

[0075] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0076] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them; although the embodiments of this application have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A scanning measurement method for large parts, characterized in that, include: Based on the three-dimensional digital model of the target part, multiple docking stations of the first autonomous mobile device along the length of the part are generated, and a scanning path executed by the operating arm carried by the first autonomous mobile device is generated for each docking station. The second autonomous mobile device position is generated based on the first autonomous mobile device position and the scanning path executed by the carrying operating arm. The first autonomous mobile device and the second autonomous mobile device are controlled to stop sequentially at each stop position, and the operating arm is controlled to drive the scanner to scan according to the corresponding scanning path. During the scanning process, the second autonomous mobile device is positioned so that the scanning coverage of the first autonomous mobile device enters the field of view monitoring range of the first autonomous mobile device, so as to complete the scanning of all the surfaces to be tested of the target part and obtain complete point cloud data. During the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the point cloud obtained by scanning into the global coordinate system.

2. The scanning and measurement method for large parts according to claim 1, characterized in that, The process of generating multiple docking stations for the first autonomous mobile device along the length of the part based on the three-dimensional digital model of the target part includes: Based on the three-dimensional digital model of the target part, according to the preset scanning point density and the optimal working distance of the scanner, an initial measurement path point covering the surface to be measured of the target part is generated. Based on the scanner's field of view and effective scanning distance, the initial measurement path point is divided into multiple segments along the length of the part, and a docking area for the first autonomous mobile device is determined for each segment. Within the permitted parking area, the sequence of the multiple parking stations is determined based on the principle of minimizing the total travel distance to all corresponding parking stations across all sections.

3. The scanning and measurement method for large parts according to claim 2, characterized in that, The generation of a scanning path for each docking station, executed by the operating arm carried by the first autonomous mobile device, includes: Obtain the initial measurement path points within the section corresponding to each stop; For each initial measurement path point, solve for the set of reachable postures of the end effector that satisfy the preset measurement angle constraint at that point; From the set of reachable postures, the posture sequence that best combines the change in the joint space of the manipulator arm with the deviation of the measurement beam is selected for adjacent path points to form the scanning path.

4. The scanning and measurement method for large parts according to claim 3, characterized in that, The degree of deviation of the measurement beam is measured by the degree to which the angle between the measurement beam and the surface normal deviates from the vertical direction; the change in the joint space of the operating arm is measured by the change in the posture of each joint of the operating arm from the previous path point to the current path point.

5. The scanning and measurement method for large parts according to claim 1, characterized in that, The tracking device mounted on the second autonomous mobile device acquires the spatial pose of the scanner in real time, including: The six-degree-of-freedom pose of the scanner in the global coordinate system is obtained; wherein the six-degree-of-freedom pose is calculated in real time by the tracking device by recognizing the target set on the scanner; Based on the six-degree-of-freedom pose, the point cloud data collected by the scanner at the corresponding moment is converted to the global coordinate system in real time, realizing online point cloud stitching during the scanning process.

6. The scanning and measurement method for large parts according to claim 5, characterized in that, The process involves scanning all surfaces of the target part to be measured, obtaining complete point cloud data, including: The first autonomous mobile device traverses each docking station to complete the scanning of all scannable areas of the target part.

7. A scanning and measuring device for large parts, characterized in that, include: The first generation module is used to generate multiple docking stations of the first autonomous mobile device along the length of the part based on the three-dimensional digital model of the target part, and to generate a scanning path executed by the operating arm carried by the first autonomous mobile device for each docking station. The second generation module is used to generate the second autonomous mobile device position based on the first autonomous mobile device position and the scanning path executed by the carrying operating arm. The control module is used to control the first autonomous mobile device and the second autonomous mobile device to stop sequentially at each stop station, and to control the operating arm to drive the scanner to scan according to the corresponding scanning path; The scanning module is used to, during the scanning process, through the planned position of the second autonomous mobile device, bring the scanning coverage of the first autonomous mobile device into the field of view monitoring range of the first autonomous mobile device, so as to complete the scanning of all the surfaces to be measured of the target part and obtain complete point cloud data. During the scanning process, the tracking device carried by the second autonomous mobile device acquires the spatial pose of the scanner in real time, so as to unify the point cloud obtained by scanning into the global coordinate system.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the scanning measurement method for large parts as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the scanning measurement method for large parts as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the scanning measurement method for large parts as described in any one of claims 1 to 6.

Images