Laser scanning measurement equipment

Abstract

The utility model discloses laser scanning measurement equipment, which comprises a laser tracker, a tracker controller, a pair of wireless routers, a pair of wireless real-time links, a scanner, a scanning probe controller and the like. Wherein the tracker controller and the scanning probe controller are correspondingly connected with a pair of wireless real-time link devices through trigger lines respectively, and trigger signals needing to be transmitted between the tracker controller and the scanning probe controller are transmitted in a wireless mode through the wireless real-time link devices; a tracker controller and a scanning probe controller are configured to be correspondingly connected with a pair of wireless routers through network cables, and scanning point position information generated by the laser tracker and scanning data generated by the scanner are interacted in a wireless mode through the wireless routers. The scanning measuring head controller and the wireless router and the wireless real-time link device which are connected with the scanning measuring head controller are integrated into one mobile box, so that the scanning measuring head is convenient to carry, the flexibility of scanning operation can be improved, and the scanning measuring operation under complex scenes and working conditions becomes simple and convenient.

Description

Technical Field

[0001] The utility model belongs to the technical field of measuring equipment, and specifically relates to a laser scanning measuring device. Background Art

[0002] As a portable, high-precision, high-speed, absolute laser measuring system with dynamic six-degree-of-freedom function, a laser tracker integrates many advanced measuring functions. By carrying an AS1 blue light absolute scanner in a wired form, high-precision scanning measurement of large-sized workpieces within a range of 60 meters can be achieved, and it has been widely used in many industrial fields such as aviation, aerospace, automotive, shipbuilding, and manufacturing.

[0003] With the wide application of scanning measurement equipment and systems, the flexibility and efficiency of scanning measurement are becoming more and more important. However, due to the complexity of the on-site environment and working conditions, the measurement method of the laser tracker carrying the AS1 blue light absolute scanner in a wired form can no longer meet the application requirements of some industries. This is mainly reflected in:

[0004] (1) Poor flexibility. In the existing laser scanning measurement system, most of the connections between the laser tracker and the scanner are through two cables, one is a trigger cable and the other is a network cable, both of which are wired connections. When scanning large-sized or long-distance workpieces, the cables are dragged very long, and the measuring equipment and components are scattered, resulting in poor flexibility and affecting the efficiency of scanning measurement.

[0005] (2) High working difficulty and low efficiency. When scanning large-sized or long-distance workpieces, in addition to dragging the cables, it is also necessary to ensure that the cables dragged on the ground are not stepped on by passing vehicles and pedestrians to avoid damage to the cables, which leads to greater working difficulty and reduced working efficiency.

[0006] (3) Difficult scanning measurement under complex working conditions. For some on-site environments and working conditions, it is difficult to achieve the existing scanning measurement forms. For example: there are many equipment or workpieces set up on-site, and it is necessary to shuttle through these equipment or workpieces for scanning measurement. For the laser tracker and scanner connected by wire in such working conditions or requirements, the cables are prone to entanglement and it is difficult to achieve. Summary of the Utility Model

[0007] In order to solve the problems of poor flexibility, high working difficulty, and difficulty in dealing with complex working conditions of the wired-connected laser tracker and scanner during scanning measurement operations, the utility model proposes a laser scanning measuring device, which replaces the wired connection with wireless communication and is equipped with a mobile box with flexible operation, thereby reducing the operation difficulty and being able to well adapt to various on-site environments and working conditions.

[0008] To solve the above technical problems, the utility model adopts the following technical solutions to achieve:

[0009] A laser scanning measurement device, comprising:

[0010] A laser tracker, which is connected to a tracker controller and is used to determine different scanning points on a target object and obtain the position information of each scanning point;

[0011] A first wireless router, which is connected to the tracker controller and is used to wirelessly transmit the position information of each scanning point;

[0012] A first wireless real-time link device, which is connected to the tracker controller and is used to wirelessly transmit a trigger signal;

[0013] A scanner, which is used to scan the areas involved in each scanning point on the target object and generate scan data;

[0014] A mobile box, which includes a box body, and installed in the box body are:

[0015] A scanning probe controller, which is connected to a sensor cable, and the sensor cable passes through the box body and is connected to the scanner;

[0016] A second wireless router, which wirelessly communicates with the first wireless router, receives the position information of each scanning point, transmits it to the scanning probe controller, and then transmits it to the scanner through the scanning probe controller; the scan data generated by the scanner is transmitted to the second wireless router through the scanning probe controller, wirelessly sent to the first wireless router through the second wireless router, and then transmitted to the tracker controller through the first wireless router;

[0017] A second wireless real-time link device, which wirelessly communicates with the first wireless real-time link device, receives the trigger signal, and transmits it to the scanning probe controller.

[0018] In some embodiments of the present application, a window can be opened on the box body, and the antenna part of the second wireless router can be passed through the window out of the box body to improve the reliability of wireless signal communication.

[0019] In some embodiments of the present application, in order to make the orientation of the antenna part of the second wireless router deviate from the target object as much as possible during actual use, a first cover plate and a second cover plate with opposite positions can be selected in the box body, the window is opened on the first cover plate, a wire passing hole is opened on the second cover plate, and a part of the sensor cable in the box body is passed through the wire passing hole out of the box body and connected to the scanner. In this way, when an operator holds the scanner to measure the target object, the second cover plate will probably face the target object, and the antenna part of the second wireless router will face outwards, so as to further ensure the continuity and reliability of wireless communication between the two wireless routers.

[0020] In some embodiments of the present application, in order to neatly store the sensor cable in the box and reduce the occupied space in the box, a wire winder can be provided in the box. The sensor cable is wound by the wire winder to form a coiled wire, which is arranged adjacent to the inner side of the second cover plate. A stop bracket can be arranged on the outer side in the axial direction of the coiled wire to prevent the coiled wire from loosening axially. The scanning probe controller can be installed on the stop bracket to realize the reasonable utilization of the space inside the box.

[0021] In some embodiments of the present application, the mobile box can be designed into a structure of a pull - rod suitcase. The openable front box cover of the suitcase is selected as the first cover plate, and a window is opened to allow the antenna part of the second wireless router to pass through. The rear box board of the suitcase is selected as the second cover plate, and a wire passing hole is opened for the sensor cable to pass through.

[0022] In some embodiments of the present application, in order to get rid of the bondage of the power cord, a battery can be further installed in the box, connected to the scanning probe controller to supply power to the scanning probe controller.

[0023] In some embodiments of the present application, the scanning probe controller can be arranged in the middle area inside the box; two batteries can be configured and placed on the left and right sides of the scanning probe controller respectively. While facilitating the wiring between the battery and the scanning probe controller, the continuous working duration of the scanning probe controller can be extended.

[0024] In some embodiments of the present application, the second wireless router can be arranged on the top inside the box, above the scanning probe controller; the second wireless real - time link device is located above one of the batteries, and a mobile power supply is arranged above the other battery. The mobile power supply is configured to be connected to the second wireless router to supply power to the second wireless router, thereby realizing the reasonable layout and full utilization of the internal space of the mobile box, helping to reduce the overall size of the mobile box and facilitating flexible movement.

[0025] In some embodiments of the present application, the scanner includes a scanning probe, a locator and a handle; inside the box, a receiving cavity can be formed between the scanning probe controller and the bottom plate of the box for receiving the scanning probe, the locator and the handle after the measurement is completed to facilitate the storage of the scanner.

[0026] In some embodiments of the present application, in order to reduce the working temperature of the load inside the mobile box to ensure the safety and reliability of the load operation, a fan can be installed on the box to discharge the heat generated when the load inside the box works.

[0027] Compared with the prior art, the advantages and positive effects of the present utility model are mainly reflected in:

[0028] (1) The utility model uses a pair of wireless routers to replace the original long network cable and a pair of wireless real-time linkers to replace the original long trigger cable, changing the wired connection to a wireless connection. When scanning and measuring large-sized or long-distance workpieces, there is no need to drag the cable anymore, greatly simplifying the measurement operation, increasing the flexibility of scanning measurement, and improving the measurement efficiency.

[0029] (2) After the transformation, when scanning large-sized or long-distance workpieces, in addition to not needing to drag the cable, there is no need to worry about whether the dragged cable will be stepped on by moving vehicles and pedestrians, causing damage to the cable. The scanning probe controller, the wireless router and the wireless real-time linker connected thereto are integrated into a mobile box, which is convenient to carry for scanning, reducing the work difficulty and improving the work efficiency.

[0030] (3) For the situation where there are many devices or workpieces on-site and it is necessary to shuttle through these devices or workpieces for scanning measurement, the operator can carry the mobile box and hold the scanner, walking flexibly and conveniently between various devices or workpieces, making the scanning measurement operation in complex scenarios and working conditions simple and convenient.

[0031] After reading the detailed description of the embodiments of the utility model in conjunction with the accompanying drawings, other features and advantages of the utility model will become clearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the utility model, the accompanying drawings required for use in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 is the overall architecture diagram of an embodiment of the laser scanning measurement device proposed by the utility model;

[0034] Figure 2 is Figure 1 the circuit principle block diagram of an embodiment of the wireless real-time linker in

[0035] Figure 3 is the external structure diagram of an embodiment of the mobile box;

[0036] Figure 4 is Figure 3 the internal layout diagram of an embodiment of the mobile box shown in

[0037] Figure 5 is Figure 3 the internal layout diagram of another perspective of the mobile box shown in Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present utility model.

[0039] In the description of the present utility model, it should be noted that the terms indicating directions or positional relationships such as "inside", "outside", "upper", "lower", "top", "bottom", "front", "rear", "left", "right", "middle", etc. are based on the directions or positional relationships shown in the accompanying drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed or operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model.

[0040] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations. In the description of the implementation manners, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0041] The terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features.

[0042] See Figure 1 , the laser scanning measurement device of this embodiment mainly includes components such as a laser tracker, a tracker controller, a pair of wireless routers, a pair of wireless real-time linkers, a scanner, a scan probe controller, a power supply (power adapter, battery, mobile power supply, etc.).

[0043] Among them, the laser tracker is used to scan the overall contour of the target object (such as the device or workpiece to be measured, etc.), generate different scan points, and obtain the position information of each scan point. For example, an AT960 laser tracker can be selected to achieve 3D reflective sphere measurement, 6DoF (dynamic six degrees of freedom) detection, and non-contact scanning measurement, etc.

[0044] During use, the laser tracker can be fixed on a tripod or other device through a quick-release base and connected to the tracker controller to send the position information of each scanned point generated by the laser tracker to the tracker controller.

[0045] Connect the tracker controller to the first wireless real-time link device through a trigger wire and to the first wireless router through a network cable. On this basis, a computer can be further configured to be connected to the first wireless router through a network cable and communicate with the tracker controller via the first wireless router; or the computer can be configured to communicate with the tracker controller directly in a wireless manner, set the parameters of the laser tracker through the computer, and monitor the scanning process and measurement results in real time.

[0046] During the actual measurement process, since the position of the laser tracker is relatively fixed and does not need to be moved frequently, a power adapter can be configured to be connected to the power grid to convert the mains power to generate the working power required for the laser tracker, the tracker controller, the first wireless router, and the first pair of wireless real-time link devices.

[0047] The scanner is used to scan one by one the areas involved in each scanned point determined by the laser tracker on the target object and generate scan data to detect the surface and depth defects of the target object. In some embodiments, the scanner may include a handle, a locator, and a scanning probe head. Among them, the locator can be selected as the absolute locator AP21, and the scanning probe head can be selected as the AS1 absolute blue light scanning probe head. Using the AS1 absolute blue light scanning probe head in cooperation with the AT960 laser tracker can provide a wide enough scanning line and an ultra-high measurement speed to achieve efficient measurement of various large parts and deep cavity parts in various industries.

[0048] During use, the locator can be installed on the handle, and the scanning probe head can be installed in the locator. Connect the scanning probe head and the locator to the scanning probe head controller through a sensor cable, connect the scanning probe head controller to the second wireless real-time link device through a trigger wire, and receive the trigger signal sent by the tracker controller through the first wireless real-time link device to control the locator and the scanning probe head to start measurement. Connect the scanning probe head controller to the second wireless router through a network cable to receive the position information of each scanned point sent by the tracker controller through the first wireless router and send it to the locator to control the locator to drive the scanning probe head to different scanned points for scanning measurement. The scan data generated by the scanning probe head can be fed back to the scanning probe head controller and then wirelessly sent to the first wireless router through the second wireless router. After being demodulated by the first wireless router, it is transmitted to the tracker controller and / or the computer.

[0049] On the scanner side, a mobile power supply can be configured to power the second wireless router, and a battery can be configured to power the scanning probe controller and the second wireless real-time link device.

[0050] The first and second wireless real-time link devices are used to establish a wireless connection between the laser tracker controller and the scanning probe controller, so as to realize the transmission of trigger signals between the tracker controller and the scanning probe controller without a fixed cable connection.

[0051] As Figure 2 shown, in this embodiment, main components such as RF antennas, wireless modules, memories, transceivers, signal interfaces, and human-computer interaction units are respectively provided in the first wireless real-time link device and the second wireless real-time link device.

[0052] Among them, the wireless module can select a low-power Bluetooth module, which cooperates with the RF antenna to transmit trigger signals in a Bluetooth manner.

[0053] The memory is connected to the wireless module and is mainly used to store all software parts running in the link management layer of the wireless module.

[0054] The human-computer interaction unit mainly includes buttons, indicator lights, etc., and is mainly used for channel selection and indication of connection status.

[0055] The transceiver is connected to the wireless module and is mainly used for protocol conversion of data transmission between the wireless module and external devices (such as a tracker controller or a scanning probe controller).

[0056] The signal interface can select a general interface, such as an RS485 serial port, etc., is internally connected to the transceiver, and is externally used to connect to external devices (such as a tracker controller or a scanning probe controller).

[0057] During use, the tracker controller generates a trigger signal, which is transmitted to the signal interface of the first wireless real-time link device through a trigger line, and then transmitted to the transceiver inside the first wireless real-time link device through the signal interface of the first wireless real-time link device. After data protocol conversion by the transceiver, it is transmitted to the wireless module to be modulated into a wireless signal (such as a Bluetooth signal), and is transmitted to the second wireless real-time link device through the RF antenna.

[0058] The second wireless real-time link device receives the wireless signal through its RF antenna, demodulates it through its internal wireless module, then transmits it to the transceiver inside the second wireless real-time link device, is converted into a trigger signal by the transceiver, and is output through the signal interface of the second wireless real-time link device, and is transmitted to the scanning probe controller through a trigger line for the control of scanning measurement.

[0059] Thus, the wireless transmission of trigger signals between the tracker controller and the scanning probe controller is realized.

[0060] In order to cope with the complex and changeable on-site environment and working conditions, in this embodiment, the devices on the scanner side are centrally arranged in a mobile box. As Figure 3 shown, during use, the operator only needs to hold the scanner in hand to scan and measure the target object.

[0061] For the convenience of movement, the mobile box can be designed into the structure of a pull rod suitcase. As Figures 3 to 5 shown, it includes a box body 10, a pull rod 11, a handle 12, a universal wheel 13, etc. The internal space of the box body 10 is reasonably arranged to ensure that all the devices on the scanner side can be neatly accommodated, while facilitating wiring, reducing cable entanglement, and improving safety.

[0062] In some embodiments, the scanning probe controller 1 can be centrally arranged in the mobile box, and the battery 2 is arranged beside it. In order to extend the continuous working duration of the scanner, two batteries 2 can be provided and placed on the left and right sides of the scanning probe controller 1 respectively for convenient wiring. The second wireless router 3 is arranged above the scanning probe controller 1, for example, at a position adjacent to the middle of the top inside the box body 10, and can be connected to the scanning probe controller 1 through a short network cable 21. The second wireless real-time link device 4 and the mobile power supply 5 can be respectively arranged on the left and right sides of the second wireless router 3. Among them, the second wireless real-time link device 4 is located above one of the batteries 2 and obliquely above the scanning probe controller 1, which not only facilitates the connection between the second wireless real-time link device 4 and the battery 2, but also can well limit the length of the trigger wire 22 connected between the second wireless real-time link device 4 and the scanning probe controller 1. The mobile power supply 5 is arranged adjacent to the second wireless router 3. Therefore, the two can be connected through an extremely short power cord 23.

[0063] In order to ensure the quality of wireless communication and at the same time minimize the overall thickness and size of the mobile box as much as possible to facilitate the flexible movement of the mobile box, in this embodiment, a window 14 is opened on the cover plate of the box body 10. As Figure 3 shown, the antenna part 31 of the second wireless router 3 arranged in the box body 10 is passed out of the box body 10 through the window 14, which can improve the stability and reliability of signal interaction between the second wireless router 3 and the first wireless router.

[0064] In order to ensure that the antenna part 31 of the second wireless router 3 can be facing away from the target with a high probability during the actual measurement process, and reduce the blocking effect of the target on the wireless signal transmission, two cover plates in opposite positions in the box body 10 can be selected: the first cover plate 15 and the second cover plate 16, respectively, on which the window 14 and the threading hole for the sensor cable 24 to pass through are opened (not shown in the figure). For a mobile box with a trolley suitcase structure, a front box cover that can be opened and closed can be selected as the first cover plate 15, on which the window 14 is opened; the rear box plate opposite to the front box cover can be used as the second cover plate 16, on which the threading hole is opened. One end of the sensor cable 24 is connected to the scanning probe controller 1 in the box body 10, and the other end passes through the box body 10 through the threading hole and is connected to the scanner. During measurement, the operator can push and pull the mobile box to the vicinity of the target, with the front box cover facing outward and the rear box plate facing the target, pull out the sensor cable 24 and connect it to the scanner, and then the handheld scanner can be used to scan and measure the target.

[0065] For some complex scenes and working conditions that require interspersed measurements between devices or workpieces, the position of the mobile box can be kept unchanged, and the sensor cable 24 can be lengthened to complete the interspersed measurement. This requires the configuration of a longer sensor cable 24 to adapt to complex working conditions. To this end, the present embodiment also provides a winder in the box body 10 of the mobile box, through which the sensor cable 24 is wound in the box body 10 to form a coil, and is arranged adjacent to the inner side of the second cover plate 16 of the box body 10, so that the sensor cable 24 can be led out from the threading hole opened on the second cover plate 16.

[0066] In order to prevent the coil formed by the sensor cable 24 from axially loosening, a stop frame 7 may be provided inside the box 10. Figure 4 As shown, it is located outside the axial direction of the coil to play a role of blocking and limiting. The scanning probe controller 1 can be installed on the stop frame 7 to achieve reasonable utilization of the internal space of the box 10.

[0067] After the measurement is completed, the sensor cable 24 can be unplugged from the scanner and completely stored in the moving box. The scanner can also be stored in the moving box to facilitate overall movement.

[0068] To this end, in this embodiment, a receiving cavity 18 is formed in the box 10, for example, it can be formed between the scanning probe controller 1 and the bottom plate 17 of the box 10, so as to accommodate the scanning probe, the positioner and the handle of the scanner after the measurement is completed.

[0069] The battery 2, mobile power source 5 and electrical equipment in the box 10 will release heat when working, raising the temperature in the box 10, which is not conducive to the safe operation of the load in the box. Figure 5As shown in the figure, in this embodiment, a fan 6 is installed on the box body 10. For example, a fan 6 can be installed on each of the left and right sides of the top plate 19 of the box body 10, and ventilation openings 20 are formed on the bottom plate 17 of the box body 10. The fan 6 is powered by a mobile power source 5 to quickly release the heat inside the box body 10, ensuring that the load inside the box body 10 can always work in a suitable ambient temperature.

[0070] The laser scanning measurement device of this embodiment uses wireless communication instead of wired transmission and is combined with a mobile box design, greatly improving the flexibility and portability of the device. It can well adapt to simple and complex on-site environments and working conditions, which is beneficial to improving the scanning and measurement efficiency of the device and the workpiece.

[0071] Of course, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions required to be protected by the present invention.

Claims

1. A laser scanning measurement device, characterized in that: include: A laser tracker connected to a tracker controller for determining different scanning points on the target object and obtaining position information of each scanning point; A first wireless router connected to the tracker controller and used for wirelessly transmitting the location information of each scanning point; A first wireless real-time linker connected to the tracker controller for wirelessly transmitting a trigger signal; A scanner, which is used to scan the area involved by each scanning point on the target object and generate scanning data; The mobile box comprises a box body, in which are installed: A scanning probe controller connected to a sensor cable, wherein the sensor cable passes through the box and is connected to the scanner; a second wireless router, which communicates wirelessly with the first wireless router, receives the position information of each scanning point, transmits it to the scanning probe controller, and transmits it to the scanner through the scanning probe controller; the scanning data generated by the scanner is transmitted to the second wireless router via the scanning probe controller, wirelessly sent to the first wireless router through the second wireless router, and transmitted to the tracker controller through the first wireless router; The second wireless real-time link device communicates wirelessly with the first wireless real-time link device, receives the trigger signal, and transmits the trigger signal to the scanning probe controller.

2. The laser scanning measurement device according to claim 1, characterized in that: A window is provided on the box body, and the antenna part of the second wireless router passes through the box body through the window.

3. The laser scanning measurement device according to claim 2, characterized in that: The box body comprises a first cover plate and a second cover plate which are located opposite to each other. The window is provided on the first cover plate, and a threading hole is provided on the second cover plate. The sensor cable passes through the threading hole and goes out of the box body.

4. The laser scanning measurement device according to claim 3, characterized in that: The sensor cable is coiled in the box through a cable winder and arranged adjacent to the inner side of the second cover plate; A stop frame is arranged on the axial outer side of the coil, and the scanning probe controller is mounted on the stop frame.

5. The laser scanning measurement device according to claim 3 or 4, characterized in that: The mobile box is a trolley-type luggage box structure, the first cover plate is an openable front box cover, and the second cover plate is a rear box plate.

6. The laser scanning measurement device according to any one of claims 1 to 4, characterized in that: Also includes: A battery is installed in the box and connected to the scanning probe controller to supply power to the scanning probe controller.

7. The laser scanning measurement device according to claim 6, characterized in that: The scanning probe controller is arranged in the middle area of ​​the box; The battery comprises two pieces, which are respectively placed on the left and right sides of the scanning probe controller.

8. The laser scanning measurement device according to claim 7, characterized in that: The second wireless router is arranged at the top of the box, above the scanning probe controller; The second wireless real-time link device is located above one of the batteries, and a mobile power source is arranged above the other battery. The mobile power source is connected to the second wireless router to supply power to the second wireless router.

9. The laser scanning measurement device according to claim 8, characterized in that: The scanner comprises a scanning probe, a locator and a handle; In the box, a receiving cavity is formed between the scanning probe controller and the bottom plate of the box, which is used to receive the scanning probe, the positioner and the handle after the measurement is completed.

10. The laser scanning measurement device according to any one of claims 1 to 4, characterized in that: The box body is also provided with a fan for discharging the heat in the box body.

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