Spatial data measuring equipment

Abstract

The utility model relates to spatial data measuring equipment, which comprises a base, the base is provided with a mechanical arm device, an air pressure detection module and a control module, and the mechanical arm device is provided with a 3D scanner; the mechanical arm device, the air pressure detection module and the 3D scanner are electrically connected with the control module; the control module controls movement of the mechanical arm device and scanning work of the 3D scanner according to atmospheric pressure detection data of the air pressure detection module. The air pressure detection module serves as an acquisition unit and is responsible for acquiring atmospheric pressure detection data; the mechanical arm device serves as an action unit and is responsible for driving the 3D scanner to automatically run in the cabin according to a preset track; the 3D scanner serves as a scanning unit and is responsible for scanning a specified precision device in the cabin. The air pressure detection module drives the mechanical arm device to drive the 3D scanner to move for spatial data measurement after detecting that atmospheric pressure detection data meet detection requirements, and spatial data measurement in a detection environment with requirements for air pressure is achieved.

Description

Technical Field

[0001] The utility model relates to the field of data measurement, in particular to a spatial data measurement device. Background Art

[0002] Most of the current spatial data measurement devices use 3D scanners. However, they cannot complete the measurement of spatial data in a detection environment with requirements for air pressure.

[0003] Especially for the measurement of spatial data of precision devices in the military aircraft cockpit. Military aircraft often perform tasks at altitudes above 10,000 meters. At this time, the cockpit is in a completely sealed environment, and the change in flight altitude will cause the air pressure in the cockpit to change. Under such conditions, some precision devices in the cockpit may have a probability of slight deformation or position deviation, and these slight changes may cause the relevant devices in the cockpit to fail, thus threatening the safety of the pilot.

[0004] From a safety perspective, it is necessary to regularly measure on the ground whether these precision instruments will deform or shift in position when the air pressure in the cockpit changes in a sealed environment. The traditional measurement method is completed by manual measurement, and there are large errors in measurement accuracy. More particularly, the traditional manual measurement cannot be carried out in a sealed space for a long time; it cannot measure whether the precision devices in the military aircraft cockpit will deform or shift in position with the change of air pressure.

[0005] Therefore, how to achieve the measurement of spatial data in a detection environment with requirements for air pressure has become an urgent technical problem to be solved. Summary of the Utility Model

[0006] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a spatial data measurement device that can achieve the measurement of spatial data in a detection environment with requirements for air pressure.

[0007] The purpose of the utility model is achieved by the following technical solutions:

[0008] A spatial data measurement device includes a machine base, the machine base is provided with a robotic arm device, an air pressure detection module, and a control module. A 3D scanner is provided on the robotic arm device; the robotic arm device, the air pressure detection module, and the 3D scanner are all electrically connected to the control module; the control module controls the movement of the robotic arm device and the scanning work of the 3D scanner according to the atmospheric pressure detection data of the air pressure detection module.

[0009] Further, the 3D scanner is a 3D laser scanner; the 3D scanner is connected to the control module through a gigabit network port.

[0010] Further, the robotic arm device is connected to the control module through a USB interface;

[0011] The robotic arm device is arranged on the top of the machine base, and a positioning block is arranged below the robotic arm device. The positioning block is connected to the machine base;

[0012] The positioning block and the machine base are provided with wire passing holes. The cable of the robotic arm device is electrically connected to the control module through the wire passing holes, and the cable of the robotic arm device is bound by a wire tying rack.

[0013] Furthermore, the air pressure detection module is connected to the control module through a serial interface;

[0014] The machine base is provided with a detection chamber. The air pressure detection module is arranged in the detection chamber, and the space of the detection chamber is in the same atmospheric environment as the outside of the machine base;

[0015] The detection chamber is provided with a detachable transparent panel.

[0016] Furthermore, the robotic arm device is detachably connected to the 3D scanner.

[0017] Furthermore, a scanner fixture is arranged at the end of the robotic arm device, and the scanner fixture clamps the 3D scanner.

[0018] Furthermore, the control module is electrically connected to a display module and a battery module.

[0019] Furthermore, a slide rail is arranged below the battery module, and the slide rail is fixed on the machine base.

[0020] Furthermore, an adjustable biaxial metal bracket is arranged below the display module, and the adjustable biaxial metal bracket is arranged on the machine base.

[0021] Furthermore, an AR film is adhered in front of the touch screen of the display module, a shielding film is pasted inside the touch screen, and the periphery of the touch screen is wrapped with copper foil.

[0022] The beneficial effects of the present utility model are:

[0023] The air pressure detection module, as the acquisition unit, is responsible for collecting air pressure detection data; the robotic arm device, as the action unit, is responsible for driving the 3D scanner to automatically run in the cabin according to a preset trajectory; the 3D scanner, as the scanning unit, is responsible for completing the scanning of specified precision devices in the cabin. After the air pressure detection module detects that the air pressure detection data meets the detection requirements, it drives the robotic arm device to drive the 3D scanner to move for spatial data measurement, and can realize spatial data measurement in a detection environment with requirements for air pressure. Description of the Drawings

[0024] Figure 1 is a schematic structural diagram of the present utility model;

[0025] Figure 2 is an exploded view of the present utility model;

[0026] Figure 3 Schematic connection diagram of the robotic arm device and the 3D scanner;

[0027] Figure 4 Top view of the base;

[0028] Figure 5 Left view of the base;

[0029] Figure 6 Right view of the base;

[0030] Figure 7 Schematic structural diagram of the robotic arm device;

[0031] Figure 8 For Figure 7 Top view;

[0032] Figure 9 Schematic bonding diagram of the display module touch screen;

[0033] Figure 10 Top view of the display module touch screen;

[0034] Figure 11 Flow chart of the working process of the present utility model.

[0035] In the figure, 1 - display module, 2 - battery module, 3 - air pressure detection module, 4 - control module, 5 - robotic arm device, 6 - positioning block, 7 - detection chamber, 8 - scanner fixture, 9 - slide rail, 10 - AR film, 11 - shielding film, 12 - copper foil, 13 - touch screen, 14 - robotic arm protective cover, 15 - upper housing, 16 - lower housing, 17 - fixed handle, 18 - embedded handle, 19 - battery box pull handle, 20 - 3D scanner, 21 - robotic claw, 22 - towing chamber. Specific embodiments

[0036] The following specifically illustrates the implementation manners of the present utility model through specific examples. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. The present utility model can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present utility model. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0037] It should be noted that the illustrations provided in the following embodiments only schematically illustrate the basic concept of the present invention. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0038] Embodiment 1:

[0039] As Figures 1 to 11 shown, a spatial data measurement device includes a machine base, the machine base is provided with a robotic arm device 5, a barometric pressure detection module 3, and a control module 4, and a 3D scanner 20 is provided on the robotic arm device 5; the robotic arm device 5, the barometric pressure detection module 3, and the 3D scanner 20 are all electrically connected to the control module 4; the control module 4 controls the movement of the robotic arm device 5 and the scanning operation of the 3D scanner 20 according to the barometric pressure detection data of the barometric pressure detection module 3.

[0040] The barometric pressure detection module 3 serves as the acquisition unit, responsible for collecting barometric pressure detection data; the robotic arm device 5 serves as the action unit, responsible for driving the 3D scanner 20 to automatically operate in the cockpit according to a preset trajectory; the 3D scanner 20 serves as the scanning unit, responsible for completing the scanning of specified precision devices in the cockpit. After the barometric pressure detection module 3 detects that the barometric pressure detection data meets the detection requirements, it drives the robotic arm device 5 to drive the 3D scanner 20 to move for spatial data measurement, and can realize spatial data measurement in a detection environment with requirements for barometric pressure.

[0041] Spatial data measurement of precision devices after a large change in barometric pressure in a military aircraft cockpit

[0042] The barometric pressure detection module 3 is connected to the control module 4 through a serial interface.

[0043] The barometric pressure detection module 3 transmits the barometric pressure detection data to the control module 4 in real time through the serial interface.

[0044] The robotic arm device 5 is connected to the control module 4 through a USB interface.

[0045] The 3D scanner 20 is a 3D laser scanner; the 3D scanner 20 is connected to the control module 4 through a gigabit network port.

[0046] The 3D laser scanner scans the specified precision devices in the cockpit to obtain 3D point cloud data, and transmits the 3D point cloud data to the control module 4 through the gigabit network port for subsequent operations.

[0047] The robotic arm device 5 is provided on the top of the machine base, and a positioning block 6 is provided below the robotic arm device 5, and the positioning block 6 is connected to the machine base.

[0048] The positioning block 6 and the machine base are provided with wire passing holes, and the cables of the robotic arm device 5 pass through the wire passing holes and are electrically connected to the control module 4. The cables of the robotic arm device 5 are bound by a cable tie rack.

[0049] During installation, first limit the position through the positioning block 6, and then fix it on the reinforcement surface of the machine base with screws. Leave a wire passing hole at the cable passing position, and use a cable tie rack to bind the cable routing.

[0050] To ensure appearance consistency and sealing performance, the robotic arm device 5 adopts a partial streamline industrial styling design, uses a sheet metal structure, and decorative strips and sealing strips are used at the joints.

[0051] The machine base is provided with a detection chamber 7, the air pressure detection module 3 is arranged in the detection chamber 7, and the space of the detection chamber 7 is in the same atmospheric environment as the outside of the machine base.

[0052] The detection chamber 7 is provided with a detachable transparent panel.

[0053] The air pressure detection module 3 can be fixed inside the detection chamber 7 at the top of the machine base through the mounting holes on the back. The space of the detection chamber 7 is in the same atmospheric environment as the outside. At the same time, a detachable transparent panel is used for convenient observation and calibration.

[0054] The air pressure detection module 3 is used to detect the real-time atmospheric pressure, and the real-time data is sent to the control module 4 for processing through a serial interface to control the working state of the device.

[0055] The control module 4 serves as the scheduling unit, operation unit, and storage unit of the measuring device, and includes an FPGA processor, DDR3 memory, FLASH program storage, EMMC memory, power chip, serial interface, USB interface, network interface, etc. to form a small system. The control module 4 realizes the overall scheduling of each module, the 3D image space data operation of precision devices, and the recording and storage of measurement data.

[0056] The robotic arm device 5 is detachably connected to the 3D scanner 20.

[0057] The end of the robotic arm device 5 is provided with a scanner fixture 8, and the scanner fixture 8 clamps the 3D scanner 20.

[0058] There are two scanner fixtures 8, which are respectively arranged on two claws of the robotic claw 21 of the robotic arm device 5.

[0059] The scanner fixture 8 is fixed on the robotic arm device 5 by a screw mounting method, and the 3D laser scanner is locked by screw mounting. One scanner is equipped with two fixtures to ensure that the scanner will not shake or fall when the robotic arm device rotates 360° for work.

[0060] The scanner fixture 8 is installed by the robotic gripper 21, and the 3D laser scanner is clamped by the scanner fixture 8 for scanning and measuring work.

[0061] The control module 4 is electrically connected to the display module 1 and the battery module 2.

[0062] The display module 1 serves as the display and control unit, responsible for initiating operation instructions by the operator and displaying the measurement results.

[0063] The battery module 2, the control module 4, the display module 1, and the air pressure detection module 3 are encapsulated inside the machine base.

[0064] A slide rail 9 is provided below the battery module 2, and the slide rail 9 is fixed to the machine base.

[0065] The battery module 2 is arranged at the bottom of the machine base. A metal slide rail 9 is installed inside the machine base to support the weight of the entire battery module 2. At the end of the metal slide rail 9 of the machine base, a positioning guide sleeve (hole) is installed. The battery module 2 is firmly fixed inside the machine base through the guide rail, guide sleeve, and front locking, and has good anti-seismic performance.

[0066] The machine base is provided with a towing compartment 22. The slide rail 9 is arranged in the towing compartment 22. A battery box pull handle 19 is provided on the side wall of the towing compartment 22. The towing compartment 22 is pulled out through the opening provided in the machine base. It is convenient to replace the battery.

[0067] An adjustable biaxial metal bracket is provided below the display module 1, and the adjustable biaxial metal bracket is arranged on the machine base.

[0068] In this way, the pitch and height can be adjusted. When handling, the display module 1 can be embedded in the installation surface and flush with the installation surface, which is convenient for handling.

[0069] An AR film 10 is bonded in front of the touch screen 13 of the display module 1, a shielding film 11 is pasted inside the touch screen 13, and the periphery of the touch screen 13 is wrapped with a copper foil 12.

[0070] To make the measurement device visible in sunlight, the display module 1 uses a high-brightness liquid crystal screen. An AR film 10 is also bonded in front of the touch screen 13 and is fully adhered to the touch screen 13. At the same time, a shielding film 11 is pasted inside the touch screen 13 and the periphery is wrapped with a copper foil 12. The AR film 10 not only does not affect the touch effect but also has electromagnetic compatibility capabilities.

[0071] The machine base includes an upper shell 15 and a lower shell 16, and a robotic arm protective cover 14 is provided on the upper shell 15.

[0072] Fixed handles 17 and recessed handles 18 are provided on the side wall of the machine base.

[0073] Workflow:

[0074] Step 1: According to the position of the device to be measured in the cockpit, preset the movement trajectory of the robotic arm device 5 in advance;

[0075] Step 2: Set 0 - N air pressure thresholds through the display module 1;

[0076] Step 3: Trigger the device to start measurement through the display module 1, and start the air pressure detection module 3 to work;

[0077] Step 4: Place the measurement device at the pre - selected position in the cockpit, close the cockpit, and start pressurizing the cockpit;

[0078] Step 5: The air pressure detection module 3 continuously collects air pressure data and transmits it to the control module 4 through the serial interface;

[0079] Step 6: The control module 4 obtains the air pressure data, determines whether the current cabin air pressure reaches a certain preset air pressure threshold. If not, enter Step 5; if so, enter Step 7;

[0080] Step 7: The control module 4 starts the robotic arm device 5 and runs according to the preset movement trajectory;

[0081] Step 8: When the robotic arm reaches the specified position, the control module 4 starts the 3D laser scanner to start multi - angle scanning of the precision device, collects the three - dimensional point cloud data of the precision device, and the 3D laser scanner transmits the collected data to the control module 4 through the gigabit network port;

[0082] Step 9: The control module 4 obtains the three - dimensional point cloud data of the precision device, starts to process the point cloud data, completes the reverse three - dimensional modeling of the precision device, and calculates a set of measurement data through a specified algorithm;

[0083] Step 10: The control module 4 sends this set of measurement data to the display module for display;

[0084] Step 11: The control module 4 checks whether all the measurement work under N pre - set air pressure threshold conditions is completed. If not, continue to pressurize the cockpit and enter Step 5; if so, end this measurement.

[0085] By adjusting, switching, and upgrading the work process and improving the supporting fixture of the robotic arm device 5, the measurement of different models of aircraft and different precision devices can be realized.

[0086] A spatial data measurement device is mainly used for measuring the spatial data of precision devices inside the military aircraft cockpit. The 3D laser scanner is driven by a robotic arm to measure the shape, horizontal / vertical displacement, and angle deviation value of the precision device, so as to realize the automatic measurement of parameters such as shape, position, and angle. It has the characteristics of high precision, no contact loss to the device under test, convenient operation, and strong versatility. It can realize automatic measurement without manual measurement, through presetting the movement trajectory of the robotic arm and internal program control.

[0087] The above embodiments only represent the specific implementation manners of the present utility model, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several variations and improvements can still be made, and these all belong to the protection scope of the present utility model.

Claims

1. A spatial data measurement device, characterized in that: It includes a base, which is provided with a mechanical arm device, an air pressure detection module and a control module. The mechanical arm device is provided with a 3D scanner; the mechanical arm device, the air pressure detection module and the 3D scanner are all electrically connected to the control module; the control module controls the movement of the mechanical arm device and the scanning work of the 3D scanner according to the atmospheric pressure detection data of the air pressure detection module.

2. A spatial data measurement device according to claim 1, characterized in that: The 3D scanner is a 3D laser scanner; the 3D scanner is connected to the control module via a gigabit network port.

3. A spatial data measurement device according to claim 1, characterized in that: The robotic arm device is connected to the control module via a USB interface; The mechanical arm device is arranged on the top of the machine base, and a positioning block is arranged below the mechanical arm device, and the positioning block is connected to the machine base; The positioning block and the machine base are provided with wire holes, the cables of the mechanical arm device are electrically connected to the control module through the wire holes, and the cables of the mechanical arm device are bound by a wire tie rack.

4. A spatial data measurement device according to claim 1, characterized in that: The air pressure detection module is connected to the control module via a serial interface; The base is provided with a detection cabin, the air pressure detection module is arranged in the detection cabin, and the space of the detection cabin is in the same atmospheric environment as the outside of the base; The detection cabin is provided with a detachable transparent panel.

5. A spatial data measurement device according to claim 1, characterized in that: The mechanical arm device is detachably connected to the 3D scanner.

6. A spatial data measurement device according to claim 5, characterized in that: A scanner fixture is provided at the end of the mechanical arm device, and the scanner fixture clamps the 3D scanner.

7. A spatial data measurement device according to claim 1, characterized in that: The control module is electrically connected to the display module and the battery module.

8. A spatial data measurement device according to claim 7, characterized in that: A slide rail is arranged below the battery module and is fixed to the machine base.

9. A spatial data measurement device according to claim 7, characterized in that: An adjustable dual-axis metal bracket is arranged below the display module, and the adjustable dual-axis metal bracket is arranged on the machine base.

10. A spatial data measurement device according to claim 7, characterized in that: The front of the touch screen of the display module is bonded with an AR film, the inside of the touch screen is bonded with a shielding film, and the touch screen is wrapped with copper foil around it.

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