Detection system

Abstract

The utility model relates to the technical field of operation machinery detection, and discloses a detection system which is suitable for detection of large-scale structural members of operation machinery. The detection system comprises a mobile platform capable of moving relative to the large-scale structural member; the multi-axis rotating mechanical arm is hinged to the movable platform in a height-adjustable mode; the scanner is mounted at the free end of the multi-axis rotating mechanical arm and is used for acquiring point cloud data of the large structural component; and the tracker is used for acquiring the real-time position of the scanner. In the prior art, detection equipment is fixedly arranged, a detected workpiece needs to be moved, and the efficiency of a moving device is low. The large structural member is fixedly arranged, and the mobile platform can flexibly move relative to the large structural member, so that the detection of the large structural member is facilitated, the detection efficiency is improved, the overall cost is reduced, the detection scene is flexible, and the detection of large structural members of different specifications is compatible.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of work machine detection, and particularly relates to a detection system. BACKGROUND

[0002] Work machines, i.e. mechanical equipment necessary for comprehensive mechanized construction engineering required by construction engineering, generally include large structural members that cannot move by themselves, provide support for moving parts, and assist the movement of other parts. Since the work machines are used in harsh conditions, have long continuous operation time, and have large tonnage, the structural members have high bearing capacity requirements, and the key dimensions of the structural members need to be detected.

[0003] In the existing detection technology, a moving device is often used to cause the relative displacement of the detected workpiece and the detection equipment, so as to complete the detection, that is, the detected workpiece needs to pass through the detection equipment. When the detected workpiece is a large structural member with large size, large tonnage, and many key dimensions, the complexity and cost of the moving device and the detection equipment are greatly improved. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the application is to provide a detection system to facilitate the detection of large structural members and improve the detection efficiency.

[0005] To achieve the above purpose, the application provides a detection system suitable for the detection of large structural members of work machines, which comprises:

[0006] A moving platform capable of moving relative to the large structural member;

[0007] A multi-axis rotary mechanical arm height-adjustably hinged to the moving platform;

[0008] A scanner installed at the free end of the multi-axis rotary mechanical arm and used to obtain point cloud data of the large structural member;

[0009] A tracker used to obtain the real-time position of the scanner.

[0010] In some embodiments, the scanner comprises a structured light camera used to obtain the point cloud data.

[0011] In some embodiments, the moving platform comprises a platform body and a lifting platform, the lifting platform is installed on the platform body through telescopic support columns, a turntable is arranged on the lifting platform, and the connecting end of the multi-axis rotary mechanical arm is installed on the turntable.

[0012] In some embodiments, the platform body is an AGV trolley.

[0013] In some embodiments, the tracker comprises a visual camera used to obtain the orientation relationship of the scanner relative to the tracker.

[0014] In some embodiments, the detection system comprises a lifting device and a platform body, the lifting device comprises a fixed sleeve vertically arranged on the platform body and a lifting sleeve telescopically arranged at the top end of the fixed sleeve, and the tracker is rotatably installed at the top end of the lifting sleeve.

[0015] In some embodiments, the detection system further comprises a fixed platform and a plurality of target points.

[0016] The target points are used for spatial positioning of the tracker, and the plurality of target points are dispersedly arranged on the fixed platform.

[0017] In some embodiments, the detection system further comprises a controller configured to:

[0018] acquire real-time position of the scanner and point cloud data of the large structural member;

[0019] obtain a digital model of the large structural member according to the real-time position and the point cloud data;

[0020] compare the digital model with a preset standard model.

[0021] In some embodiments, comparing the digital model with the preset standard model further comprises:

[0022] determining that an error between the digital model and the preset standard model is less than a preset tolerance;

[0023] outputting a qualified detection report.

[0024] In some embodiments, comparing the digital model with the preset standard model further comprises:

[0025] determining that an error between the digital model and the preset standard model is greater than a preset tolerance;

[0026] generating an artificial judgment signal.

[0027] By means of the above technical solutions, the detection system provided by the embodiments of the present application has the following beneficial effects:

[0028] In the technical solution of the present application, the large structural member is fixedly arranged, the mobile platform of the present application can move relative to the large structural member, the scanner is installed on the mobile platform through the multi-axis rotary mechanical arm and is used to collect the size information of each part of the large structural member. In the prior art, the detection device is fixedly arranged, and the workpiece to be detected needs to be moved. However, the large structural member has large size, large tonnage and many key sizes, so the moving efficiency of the large structural member is low, and the moving device generally has complex structure and high cost. In the present application, the large structural member is fixedly arranged, and the mobile platform can move flexibly relative to the large structural member, so as to improve the detection efficiency and reduce the overall cost. The height-adjustable arrangement of the multi-axis rotary mechanical arm can further increase the flexibility of the scanner and improve the detection efficiency.

[0029] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For those skilled in the art, other drawings can be obtained from the structures shown in the drawings without creative labor. In the drawings:

[0031] Figure 1 is a structural schematic diagram of a detection system according to the specific embodiments of the present application;

[0032] Figure 2 is a control flowchart of a controller of a detection system according to the specific embodiments of the present application.

[0033] EXPLANATION OF REFERENCE NUMERALS

[0034] 100 mobile platform 110 platform body

[0035] 120 lifting device 121 fixed sleeve

[0036] 122 lifting sleeve 130 lifting table

[0037] 131 telescopic support column 132 turntable

[0038] 200 multi-axis rotary mechanical arm 300 scanner

[0039] 400 tracker 500 fixed platform

[0040] 510 target point 600 large structural member DETAILED DESCRIPTION

[0041] The specific embodiments of the present application are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory and are not intended to limit the present application.

[0042] A detection system according to the present application is described below with reference to the accompanying drawings.

[0043] The present application discloses a new detection system, as shown in Figure 1 A detection system for large structural parts of working machines in a specific embodiment comprises:

[0044] A mobile platform 100 is capable of moving relative to the large structural part 600;

[0045] A multi-axis rotary robot arm 200 is height-adjustably articulated on the mobile platform 100;

[0046] A scanner 300 is installed on the free end of the multi-axis rotary robot arm 200 and is used to acquire point cloud data of the large structural part 600;

[0047] A tracker 400 is used to acquire the real-time position of the scanner 300.

[0048] In the present application, the large structural part 600 is fixedly arranged, and through the movement of the mobile platform 100, the lifting movement of the multi-axis rotary robot arm 200 and the movement of the scanner 300, the scanning area of the scanner 300 can flexibly cover the large structural part 600 (usually more than ten tons in weight), thereby completing the detection. Compared with the prior art in which the detection equipment is fixedly arranged and the workpiece to be detected needs to be moved, the scanner 300 of the present application is flexible in movement, convenient for detecting large structural parts and high in detection efficiency, and not only does not need to design a mobile device with complex structure and high cost, but also is flexible in detection scene and does not depend on a fixed working area. The large structural part 600 is a structural part with a weight of more than 1 ton or a span of more than 2 meters. As an example, the large structural part 600 can be an excavator upper frame, an excavator track frame, a boom, a bucket, etc. Of course, those skilled in the art can understand that the large structural part 600 is not limited to the above-mentioned excavator upper frame, etc., and any large structural part 600 that is difficult to move can be detected by the detection system of the present application.

[0049] If only the up and down movement of the multi-axis rotating mechanical arm 200 is relied on to realize the measurement of the upper side and the lower side of the large structural part 600, the overall size of the multi-axis rotating mechanical arm 200 will be large and the cost will be high. By adjustably arranging the multi-axis rotating mechanical arm 200 at the rear of the mobile platform 100, the extension range of the multi-axis rotating mechanical arm 200 can be expanded, so as to reduce the size and cost of the multi-axis rotating mechanical arm 200. After the relative position relationship between the large structural part 600 and the scanner 300 is acquired by the scanner 300, the spatial position of the scanner 300 also needs to be acquired to perform coordinate conversion and acquire the spatial position of the large structural part 600. At this time, the real-time position of the scanner 300 can be acquired by using the tracker 400. In addition, for large structural parts 600 of different specifications, different scanning paths can be set for the mobile platform 100 and the multi-axis rotating mechanical arm 200, so as to be compatible with the detection of large structural parts 600 of different specifications.

[0050] In the embodiment, the scanner 300 comprises a structured light camera for acquiring point cloud data.

[0051] Specifically, the basic principle of the structured light camera is to place a grating in front of the laser source of the structured light camera, so that the laser is refracted when it is projected and imaged through the grating, so that the landing point of the laser on the surface of the object is displaced and forms a point array. When the detected object is relatively close to the laser source, the displacement caused by refraction is small, and when the detected object is relatively far away, the displacement caused by refraction will also correspondingly become larger. Then the structured light camera detects the point array projected on the surface of the detected object, and through the displacement change of the point array, the position and depth information of each point of the point array can be calculated by an algorithm, and then the three-dimensional space corresponding to the point array is restored. The position and depth information of each point projected on the large structural part 600 are integrated to form point cloud data. In this way, the size detection of the large structure by the scanner 300 is not only accurate but also fast. Those skilled in the art can understand that the scanner 300 can be a line structured light camera, a point structured light camera or a surface structured light camera, or even a binocular vision camera.

[0052] In the embodiment, as shown in Figure 1 The mobile platform 100 comprises a platform body 110 and a lifting platform 130, the lifting platform 130 is installed on the platform body 110 through a telescopic support column 131, a turntable 132 is arranged on the lifting platform 130, and the connecting end of the multi-axis rotating mechanical arm 200 is installed on the turntable 132. In this way, not only the scanning range of the scanner 300 can be expanded, but also the size and cost of the multi-axis rotating mechanical arm 200 can be reduced, and the structure of the lifting platform 130 is simple and easy to process.

[0053] Of course, the lifting platform 130 is not limited to the above form, and can also be other forms, such as a telescopic cylinder.

[0054] In order to further facilitate the movement of the mobile platform 100 relative to the large structure 600, so as to facilitate the coverage of the large structure 600 by the scanner 300, the platform body 110 can be various. In the embodiment, as shown in the figure, the platform body 110 is an AGV trolley, so as to facilitate the movement efficiency and flexibility of the mobile platform 100. Of course, the platform body 110 can also be a ground rail, a servo mechanism or other forms. Figure 1

[0055] After the scanner 300 obtains the relative positional relationship between the large structure 600 and the scanner 300, the spatial position of the scanner 300 also needs to be obtained in order to perform coordinate conversion to obtain the spatial position of the large structure 600. In the embodiment, the tracker 400 includes a visual camera, which is used to obtain the orientation relationship of the scanner 300 relative to the tracker 400. In this way, the tracker 400 can obtain the orientation relationship of the scanner 300 relative to the tracker 400, so as to facilitate the subsequent positioning of the spatial position of the scanner 300, which is not only accurate, but also easy to arrange. Of course, the way for the tracker 400 to obtain the orientation relationship of the scanner 300 relative to the tracker 400 is not limited to the above-mentioned visual camera, but can also be achieved by setting an electromagnetic signal generating end on the scanner 300 and setting a corresponding electromagnetic signal receiving end on the tracker 400.

[0056] Due to the high flexibility of the scanner 300, in order to ensure that the scanner 300 is always within the visual field range of the visual camera of the tracker 400, the real-time positioning of the scanner 300 is ensured. In the embodiment, as shown in the figure, Figure 1 The detection system includes a lifting device 120 and a platform body 110, the lifting device 120 includes a fixed sleeve 121 vertically arranged on the platform body 110 and a lifting sleeve 122 which is arranged on the top end of the fixed sleeve 121 in a lifting manner, and the tracker 400 is rotatably installed on the top end of the lifting sleeve 122. In this way, the visual field range of the tracker 400 can be conveniently improved by the lifting of the lifting sleeve 122 and the yawing of the tracker 400, that is, the tracking ability of the scanner 300, and the structure is simple and easy to realize. Of course, the lifting and yawing actions of the tracker 400 are not limited to the above-mentioned forms, but can also be the combination of an upwardly extending screw rod and a nut seat. The setting position of the tracker 400 is not limited to the platform body 110, but can also be fixedly arranged or arranged on an additional AGV trolley.

[0057] After obtaining the orientation relationship of the scanner 300 relative to the tracker 400, the spatial position of the scanner 300 still needs to be obtained in order to obtain the coordinates of the scanner 300. The spatial positioning mode of the tracker 400 can be various, such as the combination of the electromagnetic signal generating end and the electromagnetic signal receiving end as mentioned above. In the embodiment, as shown in the figure,​Figure 1 As shown, the detection system further comprises a fixed platform 500 and a plurality of target points 510, wherein the target points 510 are used for tracking the spatial position of the tracker 400, and the plurality of target points 510 are dispersedly arranged on the fixed platform 500.

[0058] In this way, the tracker 400 can take the fixedly arranged target points 510 as relative positioning points to confirm its own spatial position. The plurality of target points 510 are beneficial to improve the positioning accuracy of the tracker 400, and the target points 510 arranged close to the large structural member 600 are beneficial to reduce the influence of the positioning error of the tracker 400 on the detection of the large structural member 600 by the scanner 300. In addition, the positioning of the scanner 300 in this way also eliminates the dependence on the movement accuracy of the mobile device in the prior art. Of course, those skilled in the art can understand that the fixed platform 500 is only used to load the large member 600, and the arrangement position of the target points 510 is not limited to the fixed platform 500 described above, but can also be the surface of other fixedly arranged objects around the large structural member 600, such as walls, floors, even large building foundations, etc.

[0059] In the embodiment, the detection system further comprises a controller (not shown in the figure) configured to:

[0060] acquire the real-time position of the scanner 300 and the point cloud data of the large structural member 600;

[0061] obtain a digital model of the large structural member 600 according to the real-time position and the point cloud data;

[0062] compare the digital model with a preset standard model.

[0063] Specifically, referring to Figure 2 , the detection system is in an origin position and remains in a standby state, the large structural member 600 is loaded onto the fixed platform 500, the controller can acquire the identification information of the large structural member 600 such as specification information and position information from the production line information system, or can acquire the identification information of the large structural member 600 through manual input, code scanning identification and other ways. The controller determines a preset path according to the specification information and moves the mobile platform 100 to a preset position, then controls the mobile platform 100 to move along the preset path and controls the detection system to drive the scanner 300 to move along the preset path. After acquiring the real-time position of the scanner 300 and the point cloud data of the large structural member 600, the data processing system can complete coordinate transformation by combining the point cloud data with the real-time position of the scanner 300, thereby obtaining a digital model of the large structural member 600. After comparing the digital model with a preset standard model, the size difference between the large structural member 600 and the preset standard model can be confirmed.

[0064] The controller is not limited to obtaining the specification information and position information of the large structural part 600 from the production line information system, and can also be realized by identifying whether the large structural part 600 is on the fixed platform 500 or scanning the serial code of the large structural part 600.

[0065] In the embodiment, as shown in FIG. 6, the digital model is compared with the preset standard model, and the comparison further includes: Figure 2

[0066] determining that the error between the digital model and the preset standard model is less than the preset tolerance;

[0067] outputting a qualified detection report.

[0068] Since the large structural part 600 has many key dimensions, for each error term of each key dimension, the acceptable range of each error should be considered comprehensively. When the controller determines that the error between the digital model and the preset standard model is less than the preset tolerance, a qualified detection report can be outputted and saved to a corresponding file storage location.

[0069] When there is a large error term, the error is higher than the preset tolerance, and whether it is in the acceptable range needs to be judged manually. In the embodiment, the digital model is compared with the preset standard model, and the comparison further includes:

[0070] determining that the error between the digital model and the preset standard model is greater than the preset tolerance;

[0071] generating a manual judgment signal.

[0072] Specifically, when the error exceeds the acceptable range, the controller can display the detection result for the operator to check, and manually judge whether it is qualified. If the manual judgment is qualified, the large structural part 600 is released, and the serial number of the large structural part 600 is associated with the detection result, and the detection report is outputted to the corresponding file storage location. If the manual judgment is unqualified, the serial number is marked and the large structural part 600 is repaired for next time detection.

[0073] In summary, the application integrates the scanner into the mobile platform, thereby facilitating the detection of the large structural part, solving the problems of large size, large weight and difficult displacement of the large structural part, without the need to design a mobile device with complex structure and high cost, and the detection scene is flexible and does not depend on a fixed work area. By tracking the visual positioning target of the scanner, the real-time positioning of the scanner is realized, thereby eliminating the dependence on the moving precision of the mobile device in the prior art, and greatly reducing the design cost.

[0074] ​On the basis of the above, the lifting movement and self-movement of the multi-axis rotary mechanical arm 200 improve the flexibility of the scanner. For large structural parts 600 of different specifications, different scanning paths can be set for the mobile platform 100 and the multi-axis rotary mechanical arm 200, so as to be compatible with the detection of large structural parts 600 of different specifications. Among them, the scanning path can be adjusted according to the need, and the large structural part 600 can be scanned as a whole or only the key size can be detected.

[0075] Due to the high flexibility of the scanner 300, in order to ensure that the scanner 300 is always within the field of view of the visual camera of the tracker 400, the real-time positioning of the scanner 300 is ensured. The tracker 400 can perform lifting and yawing actions, thereby improving the field of view of the tracker 400. Among them, the tracker 400 is installed flexibly, and can be set on the mobile platform 100 in a following manner, or fixedly set, or set on an additional AGV trolley.

[0076] Due to the large number of key sizes of the large structural part 600, for each error term of each key size, the acceptable range of each error should be considered comprehensively. When there is an error higher than the preset tolerance, it can be judged manually whether the error of the large structural part 600 is within the acceptable range. If the manual judgment is qualified, the large structural part 600 is released, and the serial number of the large structural part 600 is associated with the detection result, and the detection report is output to the corresponding file storage location. If the manual judgment is unqualified, the serial number is marked and the large structural part 600 is repaired for next time.

[0077] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0078] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0079] In the description of the specification, the description using the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the particular feature, structure, material or characteristic being described is included in at least one embodiment or example of the application. The illustrative appearances of the above-mentioned terms in the specification are not necessarily referring to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples, without mutual cannibalism. Those skilled in the art can combine the different embodiments or examples described in the specification and the features of different embodiments or examples in a suitable manner without mutual contradiction.

Claims

1. A detection system suitable for detecting large structural components (600) of machinery, characterized in that, The detection system includes: The mobile platform (100) is movable relative to the large structural member (600); A multi-axis rotary robotic arm (200) is height-adjustably hinged to the mobile platform (100); A scanner (300) is mounted on the free end of the multi-axis rotary robotic arm (200) and is used to acquire point cloud data of the large structural component (600); Tracker (400) is used to acquire the real-time position of the scanner (300).

2. The detection system according to claim 1, characterized in that, The scanner (300) includes a structured light camera for acquiring the point cloud data.

3. The detection system according to claim 1, characterized in that, The mobile platform (100) includes a platform body (110) and a lifting platform (130). The lifting platform (130) is installed on the platform body (110) via a telescopic support column (131). A turntable (132) is provided on the lifting platform (130), and the connecting end of the multi-axis rotating robotic arm (200) is installed on the turntable (132).

4. The detection system according to claim 3, characterized in that, The platform body (110) is an AGV (Automated Guided Vehicle).

5. The detection system according to claim 1, characterized in that, The tracker (400) includes a vision camera for acquiring the orientation of the scanner (300) relative to the tracker (400).

6. The detection system according to claim 5, characterized in that, The detection system includes a lifting device (120) and a platform body. The lifting device (120) includes a fixed sleeve (121) vertically mounted on the platform body (110) and a lifting sleeve (122) that is movably mounted on the top of the fixed sleeve (121). The tracker (400) is rotatably mounted on the top of the lifting sleeve (122).

7. The detection system according to claim 5, characterized in that, The detection system also includes a fixed platform (500) and multiple target points (510); The target point (510) is used for spatial positioning of the tracker (400), and multiple target points (510) are distributed on the fixed platform (500).

8. The detection system according to any one of claims 1 to 7, characterized in that, The detection system also includes a controller configured to: Acquire the real-time position of the scanner (300) and the point cloud data of the large structural component (600); Based on the real-time location and the point cloud data, a digital model of the large structural component (600) is obtained; The digital model is compared with a preset standard model.

9. The detection system according to claim 8, characterized in that, The comparison of the digital model with a preset standard model also includes: It is determined that the error between the digital model and the preset standard model is less than the preset tolerance; Output a qualified test report.

10. The detection system according to claim 8, characterized in that, The comparison of the digital model with a preset standard model also includes: It is determined that the error between the digital model and the preset standard model is greater than the preset tolerance; Generate human judgment signals.

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