TrackScan Pro Optical Laser Hand-Held Photographic Scanning Dynamic Tracking Scanning System

TrackScan Pro Optical Laser Hand-Held Photographic Scanning Dynamic Tracking Scanning System

I. Product technical parameters

1.1 Tracker

Tracking mode: infrared photographic real-time tracking

* Connection method: The tracker has a built-in high-performance processor, which is connected to the computer via cable through the hub controller.

Splicing mode: transfer splicing based on the reference mark point (no need to paste the mark point in the single-station measurement mode)

* Measuring volume: 16.6m ³

Measuring size: (3000 X 2500 mm) @ 3000mm, up to 4000 X 3000 mm

Working distance: 2m ~ 4m

Measurement rate: 60fps

* Volume accuracy: 0.06 mm @ 9 m ³, 0.075mm@16.6m ³

Extended accuracy: 0.044 mm + 0.015 mm/m with CoordMeasis photogrammetric system

1.2 Scanner

Scanning mode: laser hand-held photographic scanning

* Scanning technology: laser line grid scanning technology (41 blue laser lines, standard 26 cross laser lines + fine 14 cross laser lines + 1 blue laser line)

* Transmission technology: wired mode and wireless mode, wireless module supports device wireless synchronization and data wireless transmission

* Scanning area: up to 600 mm × 550mm

Reference distance: 300 mm

Depth of field: 400 mm

* Scan rate: 2,100,000 measurements/second

Scanning resolution: 0.02 mm

Measurement accuracy: 0.025 mm

Laser category: 2m (eye safe)

1.3 Light pen

* Measurement method: contact measurement

* Connection mode: optical automatic identification, no need for button trigger acquisition

Repeatability: 0.03 mm

Measurement rate: 50 FPS and above

1.4 Complete machine system (tracking scanning system)

Measurement mode: there is no need to paste marker points in tracking measurement and single station measurement mode, and only a very small number of marker points need to be pasted in transfer measurement mode.

Connection mode: connect all component devices as a whole through a hub controller (support to set the scanner as wireless connection mode)

Splicing mode: based on the reference target point, supporting single station measurement and transfer station measurement

Measurement range: up to 16.6m ³ in single station measurement mode, and basically unlimited in transfer station measurement mode

Volume accuracy: 0.06mm@9.1m ³, 0.075mm@16.6m ³

Extended accuracy: 0.044 mm + 0.015 mm/m with CoordMeasis photogrammetric system

II. System function

* 2.1 The system is composed of a tracker, a scanner, a light pen, a controller, a measurement software and a detection software. It supports non-contact scanning and contact measurement. Scanning and measurement can be switched freely. The data of scanning and measurement can be automatically unified in the same coordinate system. It can realize the full-size rapid acquisition of the three-dimensional shape of the object.

2.2 All equipment and cables of the system shall be placed and transported in aviation packing cases, which shall be safe, reliable, portable and easy to carry.

2.3 The system can work normally under the working conditions of temperature 0 ℃ ~ 40 ℃, humidity < 90%, various indoor lighting or outdoor non-strong light environment. It adopts laser scanning technology (eye safety), and can directly scan measured object with diffuse reflection effect on the surface without pre-spraying white treatment of developer. It has the ability to scan light, black, reflective and many other materials.

2.4 The system supports two modes of wired connection and wireless connection, that is, all hardware devices can be connected to the computer through a controller, or the scanner can be disconnected from the controller and switched to the wireless connection state. Both connection modes have highly stable data transmission capability.

2.5. The system supports combined assembly or disassembly scanning. Before the workpiece is disassembled, it can be positioned in the global coordinate system. After the parts are disassembled and scanned, all scanning data can be automatically unified in the global coordinate system.

2.6 The system has built-in anti-shake compensation technology, which can realize normal measurement under special working conditions such as vibration of the measured workpiece or unstable installation of the equipment, whether using a scanner or a light pen.

2.7 The system has the function of free switching between tracking scanning and stand-alone scanning. For larger workpieces, the tracking scanning function can be selected. For smaller workpieces or those not suitable for tracking scanning, the stand-alone scanning mode can be switched for scanning.

2.8. The system light pen adopts optical automatic identification technology, which can be used for the measurement of benchmark features, invisible features and easily occluded features. The system intelligently starts the sampling command without pulling the trigger during the measurement, thus avoiding the impact of trigger vibration on the measurement accuracy during the sampling.

2.9 The scanning resolution of the system can be adjusted freely, and the user can select the scanning resolution according to the size of the workpiece or the measurement requirements.

2.10 The system can output general data formats such as point cloud or grid, and the output format is compatible with many common CAD software.

III. Software Functions

3.1 The software has a series of functions such as new project, save project and open project, and supports 3D scanning, 3D tracking, light pen measurement, frame measurement and other modes.

3.2 The software has the functions of setting the scanning point distance, adjusting the scanning parameters, automatically switching the scanning angle of view, indicating the sound and light state, and rendering the three-dimensional model;

3.3. The software will automatically integrate each scanning data into the global coordinate system, and provide editing functions such as selection/reverse selection, deletion/undeletion, display/hide for 3D point cloud.

3.4. After the scanning is completed, the three-dimensional point cloud data can generate an STL triangular mesh surface, and the obtained point cloud can be quickly encapsulated into a high-quality triangular mesh. The meshing process includes special processing such as removing nails, eliminating small components, and sharpening features. Rich mesh processing functions are provided, including general operations such as mesh hole filling, mesh smoothing, and mesh reduction, among which the mesh hole filling function has multiple options such as normal hole filling and marked point hole filling.

3.5. The software can automatically merge two or more scanned project files, and align the scanned data under different coordinate systems to the same coordinate system through common marking points.

3.6 The software has camera calibration, light pen calibration, robot calibration and other calibration functions:

(1) Camera calibration: When the tracker is transported or subjected to strong mechanical impact, the parameters of the dual cameras inside the tracker may change. At this time, the user can re-calibrate the tracker through the camera calibration function;

* (2) Light pen calibration: when the user disassembles and switches the ruby ball nib and the carbon steel nib, the user needs to re-calibrate the light pen nib through the light pen calibration function;

(3) Robot calibration: if the tracker is installed at the end of the robot or the tracker is fixedly installed relative to the robot base, the user can use the robot calibration function to calibrate the coordinate conversion relationship between the coordinate system of the tracker and the coordinate system of the end of the robot or the coordinate system of the robot base.

3.7 The software has geometric frame measurement functions such as shooting frame, optimization frame and tracking frame:

(1) Frame shooting: After the user pastes the marked points on the rigid workpiece, the three-dimensional coordinates of these marked points can be measured through the frame shooting function and exported as a frame file;

(2) optimizing the frame: for the three-dimensional coordinates of the marked points obtained by shooting the frame, the accuracy of the shooting frame can be further improved based on the multi-view global optimization algorithm through the function of optimizing the frame;

* (3) Tracking frame: The user can import the frame files of multiple rigid workpieces (no more than 20) in advance, and then measure the 6-Dof value of each workpiece in real time through the tracking frame function when these rigid workpieces move freely in space.

3.8 The software has the functions of light pen measurement, particle measurement, distance measurement, feature measurement, feature management, etc.:

(1) Light pen measurement: It can measure the three-dimensional coordinates of the light pen tip or the 6-Dof value of the light pen body. It provides two modes of single measurement and continuous measurement. In the single measurement mode, there is no need for user intervention. The software automatically identifies the state of the light pen and triggers the measurement action. In the continuous measurement mode, the motion trajectory of the light pen tip can be obtained.

(2) the software automatically identifies the state of the light pen according to the image and triggers the measurement action without Bluetooth or network transmission or a key switch, thereby avoiding the influence of key vibration on the measurement accuracy during point acquisition;

(3) Particle measurement: This function can be used to shoot the three-dimensional coordinates of all marked points in the field of view of the tracker. When the marked points move, the "displacement-time" curve of the marked points can be obtained;

(4) Distance measurement: Click any two points in the 3D view with the mouse to quickly measure the distance between the two points;

(5) feature measurement: when a user imports basic geometric features such as a point, a straight line, a plane, a circumference, a sphere, a cylinder, a cone and the like, the distance or the angle between any two features can be measured in real time when entities corresponding to the features move freely in space;

(6) Feature management: Users can import point cloud files obtained by frame shooting or light pen measurement, fit basic geometric features such as points, straight lines, planes, circumferences, spheres, cylinders, cones, and measure the distances or angles between these features, and create user coordinate systems based on these features. The coordinate system of the point cloud file is established on the workpiece itself according to the design requirements of the workpiece.

3.9 Triangular mesh processing module

1. After scanning, the obtained point cloud can be quickly encapsulated into a high-quality triangular mesh, and the meshing process includes special processing such as removing spikes, eliminating small components, and sharpening features;
2. Rich mesh processing functions are provided, including general operations such as mesh hole filling, mesh smoothing, and mesh reduction, among which the mesh hole filling function has multiple options such as normal hole filling and marked point hole filling.

3.10 Data input and output

1. The exported results are in ASC and STL point cloud file formats, and the data output interfaces are extensive. The measurement results can freely exchange data with CATIA, Geomagic Studio, Imageware and other 3D software.

IV. List of Equipment