CN114113079B - Multi-directional scanning device, system, scanning method and application thereof - Google Patents
Multi-directional scanning device, system, scanning method and application thereof Download PDFInfo
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Abstract
The invention discloses a scanning device, a scanning system, a scanning method and application thereof based on multiple directions, and belongs to the technical field of surface detection. The device comprises at least one placement area, a preset path, a first movement mechanism, a second execution tool and a control mechanism, wherein the placement area is used for placing at least one target workpiece, the preset path is arranged between the placement areas based on scanning requirements, the first movement mechanism performs movement in at least one degree of freedom on the preset path, the second movement mechanism is arranged on the first movement mechanism and is a rotation mechanism with 1-3 degrees of rotation freedom, the second execution tool is arranged on the second movement mechanism, and the second execution tool is used for realizing a second scanning mode and an obstacle avoidance mode required by the second execution tool relative to the target workpiece based on mutual cooperative movement of the first movement mechanism and the second movement mechanism or based on independent movement of the second movement mechanism. The invention adopts a movable and one-stop information acquisition system, and realizes comprehensive and high-efficiency workpiece surface treatment through space avoidance and time dislocation in the moving process.
Description
Technical Field
The invention belongs to the technical field of surface detection, and particularly relates to a scanning device, a scanning system, a scanning method and application thereof based on multiple directions.
Background
Currently, appearance detection of a large workpiece mainly comprises transferring the large workpiece to a designated position, and collecting appearance information of the large workpiece according to a preset route through an information collecting device arranged at the rear end of a mechanical arm.
However, in actual use, after the information acquisition device is shot at a certain station, the information acquisition device needs to be driven to the station by means of the mechanical arm to continue shooting, and the angle of the large workpiece or the information acquisition device needs to be changed, so that the condition for acquiring the appearance information is consistent. Since large workpieces are bulky and heavy, it is not practical to meet the above requirements by adjusting the angle or position of the large workpiece. If the space and shooting angle coordinates of the information acquisition device are changed through the mechanical arm to meet the requirements, the requirement on the positioning accuracy of the information acquisition device is very high.
Disclosure of Invention
The invention provides a scanning device, a scanning system, a scanning method and application thereof based on multiple directions for solving the technical problems in the background technology.
The invention adopts the following technical scheme that the multi-azimuth scanning system comprises:
At least one placement area for placing at least one target workpiece;
A predetermined path arranged between the placement areas based on scanning requirements;
a first motion mechanism for performing motion in at least one degree of freedom on a predetermined path;
The second motion mechanism is arranged on the first motion mechanism and is a rotating mechanism with 1 to 3 rotational degrees of freedom;
And the second executing tool is arranged on the second motion mechanism, and based on mutual cooperative motion of the first motion mechanism and the second motion mechanism or independent motion of the second motion mechanism, the second executing tool realizes a second scanning mode and an obstacle avoidance mode required by the second executing tool relative to the target workpiece.
In a further embodiment, the device further comprises a first executing tool arranged on the first motion mechanism, and a first scanning mode required by the first executing tool relative to the target workpiece is realized based on independent motion of the first motion mechanism.
Through adopting above-mentioned technical scheme, first execution frock is fixed to be set up on the first motion according to the demand, is in the static state relative to first motion for realize handling one or two faces of appointed on the target work piece.
In a further embodiment, the second scan mode includes at least a stationary scan mode and a moving scan mode;
The static scanning mode is defined as a state that the first movement mechanism is static relative to the current target workpiece when the second execution tool is in a working state;
the motion scanning mode is defined as a state that the first motion mechanism moves relative to the current target workpiece when the second executing tool is in a working state.
By adopting the technical scheme, the static scanning mode or the moving scanning mode is selected according to the requirement, the static scanning mode is selected to be relatively static, enough scanning space and time are provided for the second execution tool to act on the current target workpiece, the moving scanning mode is selected to be relative movement, namely the first movement mechanism is in a moving state, at the moment, the rotation angle and the steering of the second movement mechanism are required to be adjusted in real time, the operation on a preset surface is completed while the target workpiece is avoided, the operation efficiency is improved, and the operation time is shortened.
In a further embodiment, the obstacle avoidance mode is defined as switching the motion state of the second motion mechanism in real time based on the current motion state of the first motion mechanism, and realizing autonomous avoidance between the second execution tool and the current target workpiece and between the second execution tool and other target workpieces adjacent to the current target workpiece in space.
In a further embodiment, the first scan pattern includes at least:
stationary scanning, namely, when the first motion mechanism is in a working state, the first motion mechanism is stationary relative to a target workpiece;
And (3) moving the first moving mechanism relative to the target workpiece when the first moving mechanism is in a working state.
The scanning device based on multiple directions comprises a bearing part, a power source, a cavity, a first scanning device, a second scanning device and a third scanning device, wherein the bottom of the bearing part is provided with the power source;
the first execution tool is arranged in the two side walls of the cavity and is arranged to work on at least one surface of a target workpiece;
The second executing tool is rotatably arranged in the cavity and is arranged to be operated on other surfaces of the target workpiece, and the required scanning and space avoidance of the target workpiece are realized by switching the motion state of the bearing part and/or the second executing tool in real time according to the operation requirement.
By adopting the technical scheme, the method is used for acquiring the images of the two side surfaces on the workpiece.
In a further embodiment, the second executing tool at least comprises a rotating piece, wherein two ends of the rotating piece are connected to the cavity through a second motion mechanism, and the rotating piece rotates around the workpiece by a preset angle along the moving direction under the driving of the second motion mechanism.
By adopting the technical scheme, more surface information on the workpiece is acquired.
In a further embodiment, the bearing part at least comprises a first bearing surface and a second bearing surface which are oppositely arranged;
The first executing tool operates on at least one surface, opposite to the first bearing surface and/or the second bearing surface, of the target workpiece according to operation requirements;
The second executing tool works on a surface intersecting with the first bearing surface on the target workpiece according to the working requirement.
In a further embodiment, the rotor is provided with a number of extensions extending a predetermined length along the rotor profile on both sides.
In a further embodiment, the target workpiece is placed in a lifted form.
A scanning method based on a multi-azimuth scanning system as described above, comprising the steps of:
Dividing a placement area according to requirements, and arranging a preset path in the placement area;
step two, the first moving mechanism makes reciprocating motion on a fixed path, sequentially passes through the target workpiece according to a preset sequence, and switches the rotation state or the position of the second moving mechanism in real time to finish autonomous avoidance between a second executing tool on the second moving mechanism and the target workpiece, wherein the first executing tool is in an avoidance state in the whole course;
thirdly, the first executing tool acts on at least one surface, opposite to the first bearing surface and/or the second bearing surface, of the target workpiece;
and fourthly, performing tooling operation on at least one surface of the target workpiece, which intersects with the first bearing surface, by the second execution tooling.
In a further embodiment, the autonomous avoidance in step two at least comprises:
When the target workpiece is static in the first executing tool, the second executing tool rotates according to preset steering to finish the operation of the required surface.
In a further embodiment, the autonomous avoidance in the second step at least includes:
When the first executing tool is in movable or stationary scanning, the motion state of the second motion mechanism is switched in real time, and autonomous avoidance between the second executing tool and the current target workpiece and between the second executing tool and other target workpieces adjacent to the current target workpiece is realized in space.
The surface information acquisition method based on multiple directions as described above is applied to surface treatment of a large-sized workpiece.
The invention is suitable for carrying out 360-degree full coverage surface treatment on large-size and heavy-weight workpieces, and comprises the treatment modes of image acquisition, surface detection and the like. The method is realized without transferring the position of the workpiece and the current placing schedule of the workpiece during the acquisition. The invention adopts a movable and one-stop information acquisition system, and realizes comprehensive and high-efficiency workpiece surface treatment through space avoidance and time dislocation in the moving process.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a multi-azimuth based surface information acquisition system.
Fig. 2 is a schematic structural diagram of a scanning device in embodiment 2.
Fig. 3 is a use state diagram of the scanning device of embodiment 2.
Fig. 4 is a front view of the scanner device of embodiment 2.
Each labeled in fig. 1 to 4 is a first bearing surface 1, a second bearing surface 2, a third bearing surface 3, a second movement mechanism 4, a rotating member 5, a camera 6, a target workpiece 7, a shuttle rail 8, a placement area 9.
Detailed Description
The invention is further described below with reference to the accompanying drawings and detailed description.
The applicant finds that the device in the prior art is more suitable for surface treatment of small workpieces when performing surface detection or obtaining appearance information of the workpiece, namely, the device rotates the angle of the small workpiece or replaces the position of the small workpiece so as to realize the surface treatment of the small workpiece in all aspects. When the surface treatment is carried out on a large workpiece, the detection is generally carried out by adopting a mechanical arm and a camera arranged at the rear end of the mechanical arm, wherein the rear end of the mechanical arm is controlled to adjust the position of the camera according to a preset track or according to detection requirements, and the detection is carried out by rotating the camera around the workpiece as far as possible. However, the requirements of the method on the precision of the rear end of the mechanical arm and the shooting angle of the camera are extremely high, and it is difficult to ensure that other factors such as the angle, the distance and the like of shooting the same workpiece or the same group of workpieces are consistent. And the length of the large-sized workpiece is generally more than 3 meters, and the large-sized workpiece is heavy and convenient to move. Therefore, when the outer surface of a large workpiece having a length of 3m or more is treated, it is difficult to achieve high-precision treatment while ensuring time and labor saving.
Example 1
In order to solve the technical problems, the embodiment provides a multi-azimuth-based scanning system, which comprises a plurality of placement areas 9, wherein a placement table for placing workpieces is correspondingly arranged in each placement area 9. A plurality of groups of shuttle rails 8 are arranged between adjacent placement areas 9 according to a preset route, a first movement mechanism is arranged on the shuttle rails 8, and the first movement mechanism moves back and forth on the shuttle rails 8 according to the preset route, in other words, the movement route of the first movement mechanism is consistent with the trend of the shuttle rails 8. And defines the advancing direction of the first moving mechanism as the front end, and vice versa.
In a further embodiment, the first movement mechanism is provided with a second movement mechanism 4, and the second movement mechanism 4 is a rotation mechanism having 1 to 3 degrees of rotational freedom, in other words, the second movement mechanism 4 rotates in a predetermined direction. And the second motion mechanism 4 is provided with a second executing tool, and based on the motion state of the second motion mechanism 4, the second executing tool also rotates in a preset direction so as to act on a designated surface of the target workpiece 7 according to requirements. The method is characterized in that a second scanning mode and an obstacle avoidance mode required by a second execution tool relative to the target workpiece 7 are realized based on mutual cooperative movement of the first movement mechanism and the second movement mechanism 4 or based on independent movement of the second movement mechanism 4. In other words, unlike the six-axis robot and the common moving rail in the prior art, the second movement mechanism in the present embodiment has 1 to 3 degrees of rotational freedom, that is, the second movement mechanism has less degrees of freedom than the six-axis robot, so that the omnibearing operation on the target workpiece can be realized. The six-axis robot used in the prior art can realize the omnibearing operation on a target workpiece only by adjusting or shifting in a plurality of degrees of freedom, and has a plurality of adjusting and controlling positions on the tail end of the six-axis robot and high precision requirements.
In a further embodiment, the mutual cooperative motion based on the first motion mechanism and the second motion mechanism 4 is embodied in such a way that when the first motion mechanism and the target workpiece 7 are always in a state of relative motion, the state of the second motion mechanism 4 needs to be adjusted according to the position of the first motion mechanism to realize a second scanning mode and an obstacle avoidance mode required by the second execution tool relative to the target workpiece 7. Because when there is at least a partial overlap between the first movement mechanism and the target workpiece 7, then autonomous avoidance between the second execution workpiece and the current target workpiece 7, and other target workpieces 7 adjacent to the current target workpiece 7, needs to be considered. When the first movement mechanism and the target workpiece 7 are not overlapped, the autonomous avoidance between the second execution workpiece and the adjacent target workpiece 7 needs to be considered, and the position and the current movement state of the second execution workpiece are adjusted in real time.
The independent movement based on the second movement mechanism is characterized in that when the first movement mechanism is in a static state, the space obstacle avoidance between the second execution tool and the target workpiece can be realized by only regulating and controlling the movement state and the position of the second movement mechanism no matter what the position relation between the first movement mechanism and the current target workpiece is.
Based on the above description, the second scanning mode at least comprises a stationary scanning mode and a moving scanning mode;
The stationary scanning mode is defined as a state in which the first moving mechanism is stationary relative to the current target workpiece 7 when the second executing tool is in a working state, in other words, when the second executing tool is in a working state, the first moving mechanism is stationary, that is, the operation on the required surface can be realized by rotating the second executing tool.
The motion scanning mode is defined as a state that the first motion mechanism moves relative to the current target workpiece 7 when the second executing tool is in a working state. In other words, when the second executing tool is in the working state and the first movement mechanism is in the moving state, the second executing tool moves in at least two directions when the second executing tool is in the second executing tool, one is the rotation of the second executing tool, and the other is the movement (following the movement of the first movement mechanism) of the second executing tool relative to the current workpiece, at this time, the avoidance requirement is higher relative to the stationary scanning mode.
In a further embodiment, the obstacle avoidance mode is defined as switching the motion state of the second motion mechanism 4 in real time based on the current motion state of the first motion mechanism, and realizing autonomous avoidance between the second executing tool and the current target workpiece 7 and other target workpieces 7 adjacent to the current target workpiece 7 in space.
In a further embodiment the multi-aspect based scanning system further comprises a first executing tool arranged on the first movement mechanism, the first executing tool being adapted to realize a first scanning mode required by the first executing tool with respect to the target workpiece 7 based on the independent movement of the first movement mechanism. The first scanning mode includes at least stationary scanning when the first movement mechanism is in a stationary state with respect to the target workpiece 7 and movable scanning when the first movement mechanism is in a moving state with respect to the target workpiece 7. And no matter what motion mode the first motion mechanism is in, the first executing tool always keeps a space in a preset direction away from the target workpiece 7.
Example 2
Based on the description of embodiment 1, the embodiment provides a scanning device based on multiple directions, which comprises a bearing part, wherein a power source is arranged at the bottom of the bearing part, and the power source in the embodiment is the first movement mechanism in embodiment 1. The bottom surface of the bearing part is recessed from bottom to top to form a cavity, the front end surface and the rear end surface of the cavity are hollow structures and are in communication with the cavity, in other words, the whole avoidance space is a hollow structure with the front end surface, the rear end surface and the bottom penetrating each other. It is further understood that when the carrying part moves forward along the shuttle rail 8 under the action of the moving mechanism, the workpiece in the placement area 9 sequentially passes through the avoiding space, so that the space required by the movement of the carrying part is avoided. It should be noted that the relief space is sufficient to accommodate one target workpiece 7.
The first executing tool is arranged in two side walls of the cavity and is arranged to work on at least one surface of the target workpiece 7.
In this embodiment, the second executing tool is rotatably installed in the cavity, and in this embodiment, the second executing tool is connected with the cavity through a rotating component in a transmission manner, the second executing tool is set to operate on other surfaces of the target workpiece 7, and according to operation requirements, scanning and space avoidance required for the target workpiece 7 are achieved by switching the motion state of the bearing part and/or the second executing tool in real time. The first executing tool and the second executing tool can be shooting units, detection units or other operation units.
In operation, the first and second executing tools perform surface treatment on the target workpiece 7 located in the cavity, wherein the first executing tool is set to act on at least one surface of the target workpiece 7, and the second executing tool is set to act on other surfaces of the target workpiece 7.
For example, when the placement areas 9 are arranged in a matrix on the bottom surface or other support surface, one or two sets of shuttle tracks 8 are provided between each row of placement areas 9. When the shuttle tracks 8 between each column of placement areas 9 are in a group, then the carriers on both sides of the shuttle track 8 share the shuttle track 8 (each shuttle track 8 corresponds to a placement area 9 on both sides). Therefore, when the carrying parts are arranged, the carrying parts sharing one shuttle rail 8 are distributed in a staggered way, and target workpieces 7 positioned in the placement areas 9 at two sides of the shuttle rail 8 are detected respectively.
When the shuttle tracks 8 between each column of placement areas 9 are in two sets, each placement area 9 corresponds to a shuttle track 8 located on both sides thereof. Therefore, there is no special requirement in space when the bearing part is arranged.
In a further embodiment, the carrier part comprises a first carrier surface 1 and a second carrier surface 2 arranged opposite the first carrier surface 1. In order to realize the reciprocating motion of the bearing parts, in the embodiment, the bottoms of the first bearing surface 1 and the second bearing surface 2 are provided with a plurality of driving wheels and driving wheels, one driving wheel is connected to a driving motor in a transmission manner, and the driving wheels move on the shuttle rail 8 under the action of the driving motor, so that the requirement of the reciprocating motion of the bearing parts on the shuttle rail 8 is met. In another embodiment, the bottoms of the first bearing surface 1 and the second bearing surface 2 are provided with other driving mechanisms for driving the bearing parts to move, such as threaded screw driving, gear rack driving and the like.
The first executing device is arranged to acquire at least one surface of the target workpiece 7, which is opposite to the first bearing surface 1 and/or the second bearing surface 2, respectively, and in this embodiment, the executing device adopts tools such as a camera 6, a detection head and the like.
In other words, when only information of the surface of the target workpiece 7 opposite to the first carrying surface 1 needs to be obtained, the first executing device is installed on the first carrying surface 1 according to the requirement, and when the target workpiece 7 is located in the avoidance space of the carrying part, the first executing device works on the surface of the target workpiece 7 opposite to the first carrying surface 1. Similarly, when only information of a surface of the target workpiece 7 opposite to the second carrying surface 2 needs to be acquired, a first executing device is installed on the second carrying surface 2 according to requirements, and when the target workpiece 7 is located in the avoidance space of the carrying part, the second executing device works on the surface of the target workpiece 7 opposite to the first carrying surface 1.
In another embodiment, when only the information of the surfaces of the target workpiece 7 opposite to the first bearing surface 1 and the second bearing surface 2 needs to be acquired simultaneously, a first executing device is installed on the first bearing surface 1 and the second bearing surface 2 according to the requirement, and when the target workpiece 7 is located in the cavity of the bearing part, the first executing device operates on the surfaces of the target workpiece 7 opposite to the first bearing surface 1 and the second bearing surface 2 to acquire the information of the two surfaces of the target workpiece 7. When the moving direction of the moving mechanism is the forward and backward directions, information on both side surfaces of the target workpiece 7 is acquired at this time.
In the above embodiment, the first executing device adopts the cameras 6, and the number and positions of the cameras 6 are determined according to specific requirements. For example, the number of cameras 6 is an even number of 2 groups, 4 groups, etc., and is distributed on the first bearing surface 1 and/or the second bearing surface 2 in a matrix manner. The number of the cameras 6 is 3, 5 or other odd numbers, and the cameras are asymmetrically distributed on the first bearing surface 1 and/or the second bearing surface 2.
In order to obtain more information of the target workpiece 7, in a further embodiment the carrier part further comprises a third carrier surface 3 fixedly connected between the first carrier surface 1 and the second carrier surface 2 and located on top of the first carrier surface 1. The first bearing surface 1, the second bearing surface 2 and the third bearing surface 3 form an inverted U-shaped bearing part. And the first photographing unit further comprises a plurality of sets of third executing devices custom-installed at the lower surface of the third carrying surface 3, the third executing devices being configured to acquire a surface of the target workpiece 7 opposite to the third carrying surface 3. In the present embodiment, the third actuator employs a camera 6 and is used to photograph the upper surface of the target workpiece 7.
Based on the above description, the upper surface and both side surfaces of the target workpiece 7 are subjected to job processing of the corresponding surfaces by the third execution means and the first execution means, respectively. However, the lower surface and the front and rear sides of the target workpiece 7 cannot be informed. Therefore, in a further embodiment, the bearing part further includes two sets of second moving mechanisms 4 respectively disposed on the inner surfaces of the first bearing surface 1 and the second bearing surface 2, and two ends of the rotating member 5 are respectively connected to the second moving mechanisms 4 in a transmission manner. The rotary member 5 is rotated by a predetermined angle around the target workpiece 7 in the moving direction by the second movement mechanism 4. And the second executing tool further comprises a plurality of second executing devices which are arranged on the lower surface of the rotating piece 5 according to the information obtaining requirement, wherein the second executing devices are arranged to obtain the surfaces (namely the upper surface and the lower surface of the target workpiece 7 and the front side surface and the rear side surface) of the target workpiece 7 which are intersected with the first bearing surface 1.
In a further embodiment, the second movement mechanism 4 comprises a rotating shaft respectively arranged on the first bearing surface 1 and the second bearing surface 2, wherein a first gear is sleeved on the rotating shaft, the first gear is meshed with a second gear, and the second gear is connected with an output shaft of the positive and negative motor in a transmission way. The rotating member 5 comprises a connecting part connected to the rotating shaft and a mounting part fixed between the two connecting parts, wherein the mounting part is used for mounting a second executing device, and the second executing device is only needed by adopting the camera 6. In a further implementation, the connection is extended in the vertical direction by a predetermined length, and the length is greater than half the height of the target workpiece 7.
Based on the above structure, when the rotating member 5 rotates around the target workpiece 7 under the action of the second movement mechanism 4, the camera 6 on the connection portion performs real-time collection or intermittent collection on the surface of the passing target workpiece 7 according to the requirement. In the process of adopting, the target workpiece 7 is taken as a reference object, the distances from the camera 6 on the connecting part to the same surface or the same tangential surface of the target workpiece 7 are the same, and the shooting angles are consistent.
However, in the actual processing process, the target workpiece 7 needs to be supported to a certain extent when being placed, and if the target workpiece 7 is suspended, on the one hand, the safety coefficient is low, and on the other hand, the movement of the bearing part is plagued. If the target workpiece 7 is directly placed on the placing table, a large area of contact is formed between the target workpiece 7 and the placing table, which results in that the information on the lower surface of the target workpiece 7 cannot be comprehensively obtained.
In order to solve the above technical problems, in a further embodiment, the placing table is configured to place the target workpiece 7 in a lifting manner, specifically, two sides of the placing table are provided with support columns extending upwards by a predetermined height, and two ends of the target workpiece 7 are in contact with the support columns to complete lifting of the target workpiece 7. At this time, a predetermined gap is left between the lower surface of the target workpiece 7 and the placing table to form a working space.
However, due to the arrangement of the support columns, the second movement mechanism 4 cannot drive the rotating member 5 to perform a complete closed-loop movement, and the reason is analyzed that when the target workpiece 7 is placed on the placing table, two ends of the target workpiece 7 actually form a tight connection structure with the support columns, and when the rotating member 5 is driven by the second movement mechanism 4 to move to the tight connection structure, the tight connection structure plays a role of blocking the rotating member 5 in space, so that the rotating member 5 cannot continue to rotate according to the original rotation direction, and the surface, located between the two support columns, of the target workpiece 7 cannot acquire related images through the camera 6 on the rotating member 5.
Therefore, in order to solve the technical problems, the improvement is made in the embodiment that a plurality of extending parts extending along the outline of the rotating piece 5 by a preset length are arranged on the front side and the rear side of the mounting part of the rotating piece 5, and a second executing device is arranged on the extending parts in a self-defining mode. Wherein the extension length of the extension portion satisfies the following requirement, when the mounting portion is stopped at the front/rear side of the support column, the extension portion and the camera 6 on the extension portion pass through the photographing space, and the photographing of the lower surface is completed with the camera 6 facing the lower surface of the target workpiece 7.
Based on the above description, the cameras 6 arranged on the first bearing surface 1 and the second bearing surface 2 complete image acquisition of two side surfaces of the target workpiece 7, and the second motion mechanism 4 with at least one degree of freedom is combined to drive the rotating member 5, so that the rotating member 5 rotates around the target workpiece 7, detection of other surfaces on the target workpiece 7 is realized, and further 360-degree omnibearing surface image acquisition is completed on the target workpiece 7. And when information is acquired, the acquisition angles and the acquisition parameters of the target workpieces 7 positioned in the same group and a plurality of surfaces on the same target workpiece 7 are the same, so that later data processing and analysis are facilitated.
Based on the above description, the avoidance space is further defined by setting that there are currently N target workpieces 7 juxtaposed in the designated placement area 9, where N is an integer of 2 or more. And defining the workpiece to be detected currently as an Mth target workpiece 7, wherein M is more than or equal to 1 and less than or equal to N. Under the action of the first movement mechanism, the bearing part is located between the M-1 target workpiece 7 and the M-1 target workpiece 7, and at this time, the second shooting unit on the rotating member 5 finishes detection on the front end face and the corresponding bottom face of the M-1 target workpiece 7, and the current rotating member 5 is stationary at the top of the avoidance space or rotates towards the rear end in a rotating mode. When the carrying part just passes through the mth target workpiece 7 (i.e. the mth target workpiece 7 starts to enter the avoidance space of the carrying part), the rotating member 5 is positioned at the top of the avoidance space or at the rear end of the avoidance space, and when the rotating member 5 is positioned at the rear end of the avoidance space, no contact between the rotating member 5 and the mth-1 target workpiece 7 needs to be satisfied. The carrying part continues to move forward, that is, the mth target workpiece 7 is gradually changed from a part (a part located at the front end) located in the avoidance space to a whole part located in the avoidance space, in the process, if the rotating member 5 is located at the top of the avoidance space, no influence is exerted on the movement of the rotating member 5, and if the rotating member 5 is located at the rear end of the avoidance space, when the carrying part continues to move forward, the rotating member 5 can prevent the carrying part from moving forward if the position of the rotating member 5 is always located at the rear end, that is, the rotating member 5 and the workpiece are contacted with each other at the rear end to form a space barrier, so that in the process, the rotating member needs to rotate from the rear end to the top or the front end according to a preset rotation speed. When the mth target workpiece 7 is gradually changed from being completely located in the avoidance space to being partially located in the avoidance space (the portion located at the rear end) and even completely coming out of the avoidance space, it should be noted that when the rotating member 5 rotates to the top and needs to continue to rotate forward, two conditions should be satisfied, namely, the front end face of the mth target workpiece 7 does not cause an obstruction to the rotation of the rotating member 5, that is, the rotating member 5 cannot rotate to the front end in advance and comes into contact with the front end face of the mth target workpiece 7, and the second, mth+1th target workpiece 7 cannot be in contact with the rotating member 5, that is, the time point or the position point of the rotation of the rotating member 5 to the front end cannot be retarded.
In summary, the cavity is configured to at least achieve space avoidance between the workpiece and the bearing portion, and space avoidance between the second photographing unit and the current workpiece and between the second photographing unit and the adjacent workpiece.
Example 3
Based on the description of embodiment 1, the present embodiment discloses a scanning method based on a multi-azimuth scanning system, which specifically includes the following steps:
Step one, dividing the placement areas 9 according to requirements, arranging a preset path in the placement areas 9, placing the target workpieces 7 in the corresponding placement areas 9 in a lifting mode, and paying attention to the sharing problem of the shuttle rails 8 when arranging the shuttle rails 8. If the same shuttle rail 8 is shared by the placement areas 9 on both sides of the shuttle rail 8, the carrying parts sharing one shuttle rail 8 are distributed in a staggered manner, and target workpieces 7 in the placement areas 9 on both sides of the shuttle rail 8 are detected respectively, and if the two shuttle rails 8 correspond to the placement areas 9 in the middle, no special space requirement exists when the carrying parts are arranged.
Step two, the first moving mechanism makes reciprocating motion on a fixed path, sequentially passes through the target workpieces 7 according to a preset sequence, switches the rotation state or the position of the second moving mechanism 4 in real time, completes autonomous avoidance between a second executing tool on the second moving mechanism 4 and the target workpieces 7, and enables the first executing tool to be in an avoidance state in the whole process, at least one step from step three to step four is executed every time the first executing tool passes through a placement area 9 where the current target workpieces 7 are located, and N placement areas 9 which are arranged side by side are taken as an example, the target workpieces 7 are placed in each placement area 9, and N target workpieces 7 exist at the moment, wherein N is an integer greater than 1. Defining the position of the moving mechanism before starting as the initial position, the moving mechanism sequentially passes through each area from the initial position, that is, sequentially passes through the first target workpiece 7, the second target workpiece 7, the third target workpiece 7, and the nth target workpiece 7. Taking the bearing part as a reference object, the first target workpiece 7 firstly enters the cavity, then comes out of the cavity, then the second target workpiece 7 firstly enters the cavity, then comes out of the cavity, and the process is repeated until the Nth target workpiece 7 firstly enters the cavity and then comes out of the cavity. And any one of the target workpieces 7 performs at least one of the steps three to four in a period from the entrance into the chamber to the exit from the chamber.
Step three, a first executing tool acts on at least one surface, opposite to the first bearing surface 1 and/or the second bearing surface 2, of the target workpiece 7;
And step four, the second executing tool works on at least one surface of the target workpiece 7, which intersects with the first bearing surface 1. The specific acquisition mode of the fourth step is that the first moving mechanism drives the rotating piece 5 to rotate around the target workpiece 7, the upper surface and the front side and the rear side are acquired while rotating, and after the supporting column of the rotating piece 5 is limited, the lower surface of the workpiece is operated through the camera 6 positioned on the extending part in the operation room, so that the upper, lower, front and rear treatments of the target workpiece 7 are realized.
In order to ensure the normal movement of the moving mechanism and the bearing part, the target workpiece 7 is not limited, in a further embodiment, when the target workpiece 7 enters into the cavity or comes out from the cavity, the rotating member 5 is always positioned above the target workpiece 7 under the driving of the second moving mechanism 4 until the target workpiece 7 is static in the cavity, and the rotating member 5 rotates according to the information acquisition requirement, namely, the second moving mechanism 4 controls the rotating member 5 to rotate forwards or backwards and rotates according to other preset rotation directions.
Meanwhile, in order to improve the working efficiency, in the second embodiment, when the target workpiece 7 enters the cavity, the rotating member 5 is positioned at the rear end in the moving direction in a static or rotating state under the action of the second motion mechanism 4, and when the target workpiece 7 exits from the cavity, the rotating member 5 is positioned at the front end in the moving direction in a static or rotating state under the action of the second motion mechanism 4. According to the technical scheme, the bearing part moves while the first executing tool is in a working state to shoot the two sides of the target workpiece 7, meanwhile, the rotating part 5 effectively shoots in the other direction on the premise of not interfering with the movement of the bearing part, and at least two operations are carried out on the same time axis, so that the effect of half effort is achieved.
Based on the above description, the method for acquiring surface information based on multiple directions in the embodiment is suitable for acquiring the surface image of 360-degree full coverage of the large-size and heavy-weight target workpiece 7, and the acquisition is realized without transferring the position of the target workpiece 7 and the current placement schedule of the target workpiece 7.
Claims (8)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111176525.7A CN114113079B (en) | 2021-10-09 | 2021-10-09 | Multi-directional scanning device, system, scanning method and application thereof |
| PCT/CN2021/124054 WO2023056661A1 (en) | 2021-10-09 | 2021-10-15 | Multi-direction-based scanning apparatus, system and scanning method and use thereof |
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| CN202111176525.7A CN114113079B (en) | 2021-10-09 | 2021-10-09 | Multi-directional scanning device, system, scanning method and application thereof |
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| CN107991324A (en) * | 2017-12-25 | 2018-05-04 | 北京华力兴科技发展有限责任公司 | Double-visual angle passenger car scanography equipment |
| IT201800006253A1 (en) * | 2018-06-12 | 2019-12-12 | Method and system for the localization of points on a complex surface in space | |
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| CN111022883A (en) * | 2019-12-12 | 2020-04-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition device capable of moving horizontally |
| CN211262139U (en) * | 2019-12-26 | 2020-08-14 | 苏州登城智能科技有限公司 | High-precision 3D scanning device |
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| WO2023056661A1 (en) | 2023-04-13 |
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