Method, device, medium and program product for determining a part reference point envelope region
By adjusting the initial spatial coordinates of the part's reference points and calculating the envelope region based on the corrected spatial coordinates, the design waste problem caused by the single-point alignment method is solved, and the calculation of the globally optimal part envelope region is achieved, reducing costs and redundancy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SAIC GM WULING AUTOMOBILE CO LTD
- Filing Date
- 2026-04-01
- Publication Date
- 2026-07-10
AI Technical Summary
In existing technologies, the single-point alignment method ignores the spatial distribution rationality of other reference points when determining the envelope region of the part's reference points, resulting in the calculated envelope region not being globally optimal, causing design waste and increased costs.
By obtaining the initial spatial coordinates of all reference points of the target type part, the overall reference coordinates and individual reference coordinates are determined, the offset is calculated and the reference point coordinates are adjusted, and the envelope area is calculated based on the corrected spatial coordinates to avoid error propagation caused by forced alignment of a single point.
It achieves globally optimal calculation of the part envelope region, reduces structural redundancy and development costs of flexible measurement supports, and improves the accuracy and repeatability of measurement data.
Smart Images
Figure CN122360280A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle manufacturing and measurement technology, specifically to a method, equipment, medium, and program product for determining the envelope region of a part's reference point. Background Technology
[0002] With the rapid development of the vehicle manufacturing industry, the requirements for efficiency and accuracy in the inspection of parts dimensions are increasing. Part measurement is gradually shifting from traditional contact measurement to efficient non-contact measurement (such as laser scanning). In non-contact measurement processes, in order to ensure the accuracy and repeatability of measurement data, the part to be measured usually needs to be stably placed on a measurement support (i.e., a measurement bracket), and the positioning unit is used to support and limit the reference points of the part to ensure the reliability of the measurement data.
[0003] With increasingly stringent cost control measures, developing a dedicated measurement support for each part is no longer sufficient to meet practical application needs. Measurement support technology is rapidly evolving towards flexibility and universality. Specifically, flexible measurement supports, through combinations of independently adjustable positioning units, can adapt to the measurement requirements of multiple different parts of the same type. The adjustment stroke of each positioning unit must strictly match the distribution range (i.e., envelope region) of the part's reference points in three-dimensional space. The accuracy of the envelope region calculation for the part's reference points directly determines the rationality of the positioning unit stroke design and affects the economic efficiency of flexible measurement support development.
[0004] In related technologies, a single-point alignment method is typically used to determine the envelope region of a part's datum points. Specifically, a datum point is selected as the spatial alignment datum, and the spatial coordinates of this datum point in all parts are forced to coincide. Then, the distribution range of the remaining datum points is calculated based on this. However, this method has significant limitations. On the one hand, it only focuses on the coincidence degree of a single datum point, achieving the optimality of that single datum point but neglecting the rationality of the spatial distribution of other datum points. On the other hand, forcibly aligning a single datum point inevitably transfers the manufacturing and measurement errors of that datum point itself to the remaining datum points, resulting in a significant increase in the calculated envelope region of the remaining datum points. This does not meet the globally optimal design standard, leading to design waste.
[0005] It should be noted that the information disclosed in the background section of this application is intended only to enhance the understanding of the general background of this application, and should not be regarded as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention
[0006] This application provides a method, apparatus, medium, and program product for determining the envelope region of a part's reference point, in order to solve the problem of how to accurately determine the envelope region of a part's reference point.
[0007] In a first aspect, embodiments of this application provide a method for determining the envelope region of a part's reference points, including: Obtain the initial spatial coordinates of the reference points for all parts of the target type; Based on the initial spatial coordinates of the reference points of all parts, determine the first reference coordinates corresponding to all parts; Based on the initial spatial coordinates of the reference point of each part, determine the second reference coordinates corresponding to each part; Based on the first reference coordinates and the second reference coordinates of each part, determine the offset of the initial spatial coordinates of the reference point of each part; The initial spatial coordinates of the reference point of each part are adjusted according to the offset of the initial spatial coordinates of the reference point of each part to obtain the corrected spatial coordinates of the reference point of each part. Based on the reference point type and the corrected spatial coordinates of the reference points of all parts, determine the envelope region of the reference points of all parts of the target type.
[0008] In one possible implementation, adjusting the initial spatial coordinates of the reference point of each part based on the offset of the initial spatial coordinates of the reference point of each part to obtain the corrected spatial coordinates of the reference point of each part includes: Based on the comparison between the initial spatial coordinate offset of the reference point of each part and the preset offset threshold, it is determined whether the initial spatial coordinate of the reference point of each part needs to be adjusted. If it is necessary to adjust the initial spatial coordinates of the reference point of each part, the initial spatial coordinates of the reference point of each part are adjusted according to the offset of the initial spatial coordinates of the reference point of each part to obtain the corrected spatial coordinates of the reference point of each part.
[0009] In one possible implementation, before determining the envelope region of all parts of the target type based on the corrected spatial coordinates of the reference point of each part, the method further includes: Based on the corrected spatial coordinates of the reference points of all parts, determine the first corrected reference coordinates of all parts; Based on the corrected spatial coordinates of the reference point of each part, determine the second corrected reference coordinates corresponding to each part; Based on the first corrected reference coordinates and the second corrected reference coordinates of each part, determine the offset of the corrected spatial coordinates of the reference point of each part. Based on the comparison between the offset of the corrected spatial coordinates of the reference point of each part and the preset offset threshold, it is determined whether the corrected spatial coordinates of the reference point of each part need to be adjusted. If it is necessary to adjust the correction space coordinates of the reference point of each part, the correction space coordinates of the reference point of each part are adjusted according to the offset of the correction space coordinates of the reference point of each part, so as to obtain the adjusted correction space coordinates of the reference point of each part.
[0010] In one possible implementation, determining the first reference coordinates corresponding to all parts based on the initial spatial coordinates of the reference points of all parts includes: Based on the initial spatial coordinates of the reference points of all the parts, determine the third reference coordinate set corresponding to all the parts; Based on the third reference coordinate set corresponding to all parts, determine the first reference coordinates corresponding to all parts.
[0011] In one possible implementation, determining the third reference coordinate set corresponding to all parts based on the initial spatial coordinates of the reference points of all parts includes: Based on the reference point type and the initial spatial coordinates of the reference points of all parts, determine the third reference coordinate set corresponding to all parts.
[0012] In one possible implementation, the first reference coordinates corresponding to all parts are the geometric center of the initial spatial coordinates of the reference points of all parts, and the second reference coordinates corresponding to each part are the geometric center of the initial spatial coordinates of the reference points of each part.
[0013] In one possible implementation, determining whether the initial spatial coordinates of the reference points of each part need to be adjusted based on a comparison between the offset of the initial spatial coordinates of the reference points of each part and a preset offset threshold includes: If the sum of the offsets of all the parts is greater than or equal to the first offset threshold, or the average offset of all the parts is greater than or equal to the second offset threshold, then it is determined that the initial spatial coordinates of the reference point of each part need to be adjusted.
[0014] Secondly, embodiments of this application provide an electronic device, including: processor; Memory; And a computer program, wherein the computer program is stored in the memory, and when the computer program is executed by the processor, causes the electronic device to perform the method described in any one of the first aspects.
[0015] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any one of the first aspects.
[0016] Fourthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in any one of the first aspects.
[0017] In this embodiment, a first reference coordinate is determined as the overall spatial position reference by considering the initial spatial coordinates of the reference points of all parts. A second reference coordinate is determined based on the initial spatial coordinates of the reference points of each part to characterize the spatial position of each part. The relative positional relationship between the first and second reference coordinates is quantified as an offset, thereby effectively characterizing the difference between the spatial position of the reference points of each part and the overall distribution of all parts. The initial spatial coordinates are adjusted according to the offset of each part, and the envelope region of the reference points of the parts is calculated based on the corrected spatial coordinates. This can achieve a part envelope region that approaches the global optimum, basically avoiding the error propagation caused by forced alignment of a single point, thereby significantly reducing the structural redundancy and development cost of the part measurement support. Attached Figure Description
[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 A schematic diagram of a positioning unit structure for a flexible measurement support provided in an embodiment of this application; Figure 2 A flowchart illustrating a method for determining the envelope region of a part reference point, provided in an embodiment of this application; Figure 3 A flowchart illustrating a method for determining corrected spatial coordinates provided in an embodiment of this application; Figure 4 A flowchart illustrating an iterative method for correcting spatial coordinates provided in an embodiment of this application; Figure 5 A flowchart illustrating a method for determining a first reference coordinate provided in an embodiment of this application. Figure 6 A flowchart illustrating another method for determining the envelope region of a part reference point provided in an embodiment of this application; Figure 7 A schematic diagram of the calculation result of the envelope region of a part provided in an embodiment of this application. Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation
[0020] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0021] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.
[0022] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.
[0023] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.
[0024] In non-contact measurement processes, to ensure the accuracy and repeatability of measurement data, the part to be measured typically needs to be stably placed on a measurement support (i.e., a measurement bracket). Positioning units are used to support and limit the reference points of the part, thus guaranteeing the reliability of the measurement data. However, with increasingly stringent cost control measures, developing a dedicated measurement support for each part is no longer sufficient to meet practical application needs. Measurement support technology is rapidly evolving towards flexibility and universality. Specifically, flexible measurement supports, through combinations of independently adjustable positioning units, can adapt to the measurement requirements of multiple different parts of the same type.
[0025] See Figure 1 This is a schematic diagram of a positioning unit structure for a flexible measurement support provided in an embodiment of this application. Figure 1 As shown, this structure is designed to achieve continuous movement or adjustment within a certain range in the X, Y, and Z directions. By adjusting the positions of some components in this structure, measurements of different parts of the same type can be achieved.
[0026] In the design process of flexible measurement support, the spatial envelope region of the part reference points refers to the smallest circumscribed geometric region of the point cloud set formed by the corresponding reference points in three-dimensional space after aligning multiple parts of the same type according to preset rules. This region is used to define the travel coverage range of the flexible support positioning unit. The reference points of the parts can be of two types: positioning point references and positioning surface references. Positioning surface reference points can include multiple reference points, and positioning point reference points can also include multiple reference points. For each type of reference point, its envelope region is calculated based on the spatial distribution data of all part samples of the target type. These envelope regions typically do not overlap, and the set of envelope regions for each type of reference point is the final required spatial envelope region of the part reference points.
[0027] In practical applications, the adjustment stroke of the positioning unit must strictly match the envelope region of the part's reference point in three-dimensional space. In other words, the accuracy of the calculated envelope region of the part's reference point directly determines the rationality of the positioning unit's stroke design and affects the economic efficiency of developing flexible measurement support. If the calculated envelope region is insufficient, the reference position of a part of the target type may exceed the movable range of the positioning unit, thus failing to meet basic positioning requirements. Conversely, if the calculated envelope region is too large, it will cause serious design redundancy, resulting in a complex measurement support mechanism, increased costs, and potentially obstructing or interfering with subsequent measurement scanning paths due to its excessive size, hindering measurement operations. Accurately determining the envelope region of the reference point of the target type part is crucial for the overall layout planning of the flexible measurement support and the reservation of the positioning unit's stroke.
[0028] In related technologies, a single-point alignment method is typically used to determine the envelope region of a part's datum points. Specifically, a datum point is selected as the spatial alignment datum, and the spatial coordinates of this datum point in all parts are forced to coincide. Then, the distribution range of the remaining datum points is calculated based on this. However, this method has significant limitations. On the one hand, it only focuses on the coincidence degree of a single datum point, achieving the optimality of that single datum point but neglecting the rationality of the spatial distribution of other datum points. On the other hand, forcibly aligning a single datum point inevitably transfers the manufacturing and measurement errors of that datum point itself to the remaining datum points, resulting in a significant increase in the calculated envelope region of the remaining datum points. This does not meet the global optimal design standard, leading to design waste.
[0029] To address the aforementioned issues, this application provides a method for determining the envelope region of a part reference point, thereby facilitating the accurate determination of the envelope region of a part reference point.
[0030] In this embodiment, a first reference coordinate is determined as the overall spatial position reference by considering the initial spatial coordinates of the reference points of all parts. A second reference coordinate is determined based on the initial spatial coordinates of the reference points of each part to characterize the spatial position of each part. The relative positional relationship between the first and second reference coordinates is quantified as an offset, thereby effectively characterizing the difference between the spatial position of the reference points of each part and the overall distribution of all parts. The initial spatial coordinates are adjusted according to the offset of each part, and the envelope region of the reference points of the parts is calculated based on the corrected spatial coordinates. This can achieve a part envelope region that approaches the global optimum, basically avoiding the error propagation caused by forced alignment of a single point, thereby significantly reducing the structural redundancy and development cost of the part measurement support.
[0031] Specifically, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments.
[0032] See Figure 2 This is a flowchart illustrating a method for determining the envelope region of a part reference point according to an embodiment of this application. Figure 2 As shown, the method specifically includes the following steps.
[0033] Step S201: Obtain the initial spatial coordinates of the reference points of all parts of the target type.
[0034] As mentioned above, the flexible measurement support can measure all parts of the target type. "All parts of the target type" refers to parts that can be measured by the same flexible measurement support, such as a complete set of part samples belonging to the same design system, sharing the same reference point type. The reference points for all parts of the target type refer to all reference points used for measurement and positioning on each part of the target type. The initial spatial coordinates of the reference points refer to the spatial coordinates of the reference points obtained by placing the parts according to preset rules, such as directly using the position of the part's reference point in the vehicle coordinate system as the initial spatial coordinates of the part.
[0035] For example, in the vehicle coordinate system (unit: centimeters), spatial coordinates usually include three coordinate components: X, Y, and Z. For example, the initial spatial coordinates of reference point 1 of part a are (10.1, 200.0, 1.4).
[0036] In practical applications, the initial spatial coordinates can be obtained directly from the theoretical design coordinates of the 3D CAD model of the target type part sample, or through actual measurement using a coordinate measuring machine, laser scanner, or structured light scanning equipment.
[0037] Step S202: Determine the first reference coordinates corresponding to all parts based on the initial spatial coordinates of the reference points of all parts.
[0038] In the embodiments of this application, the first reference coordinate is a coordinate point that is determined based on the initial spatial coordinates of the reference points of all parts, and is used to characterize the overall spatial position reference of the reference points of all parts.
[0039] In one possible implementation, the first reference coordinate is the geometric center of the initial spatial coordinates of the reference points of all parts. This can be understood as the geometric center of the initial spatial coordinates being the coordinate point obtained by summing and averaging the X, Y, and Z coordinate components of all coordinate points, thus allowing for equal consideration of the spatial coordinates of all reference points of all parts.
[0040] In another possible implementation, the first reference coordinate is a weighted geometric center. Here, the weighted geometric center refers to the coordinate determined based on the functional weights of the reference points (the weight of the positioning surface reference point is greater than the weight of the positioning hole reference point). It can be understood that using a weighted geometric center strengthens the influence of key reference points on the reference coordinates.
[0041] Of course, those skilled in the art can adjust the method for determining the first reference coordinate according to actual needs, and the embodiments of this application do not impose specific limitations on this.
[0042] Step S203: Determine the second reference coordinates corresponding to each part based on the initial spatial coordinates of the reference point of each part.
[0043] In the embodiments of this application, the second reference coordinate corresponding to each part refers to a coordinate point determined based on the initial spatial coordinates of the reference point of each part, which is used to characterize the spatial position of each part.
[0044] In one possible implementation, the second reference coordinate for each part is the geometric center of the initial spatial coordinates of the reference point of each part. This can be understood as the geometric center of the initial spatial coordinates being the coordinate point obtained by summing and averaging the X, Y, and Z coordinate components of all coordinate points, thus allowing for equal consideration of the spatial coordinates of all reference points for all parts.
[0045] In another possible implementation, the second reference coordinate for each part is the median of the initial spatial coordinates of the reference point for each part. The median coordinate is determined by taking the median values of the X, Y, and Z coordinate components. It is understood that using the median coordinate can effectively suppress outlier interference caused by manufacturing anomalies or measurement noise.
[0046] Of course, those skilled in the art can adjust the method for determining the second reference coordinates according to actual needs, and the embodiments of this application do not impose specific limitations on this.
[0047] Step S204: Determine the initial spatial coordinate offset of the reference point of each part based on the first reference coordinate and the second reference coordinate of each part.
[0048] In one possible implementation, the offset of the initial spatial coordinates of the reference point of each part can be obtained by subtracting the first reference coordinates from the second reference coordinates. For example, in the vehicle coordinate system, the first reference coordinates are (150.0, 200.0, 50.0), and the second reference coordinates of part b are (152.3, 198.7, 51.5). Then the offset vector of part b is (2.3, -1.3, 1.5).
[0049] In another possible implementation, the spatial relationship between the first reference coordinate and the second reference coordinate can be converted into a set of spherical coordinate parameters. With the first reference coordinate as the center of the sphere, the radial distance, azimuth angle and pitch angle corresponding to the second reference coordinate can be calculated, and the radial distance, azimuth angle and pitch angle can be combined into an offset vector. This allows the positioning unit with polar coordinate adjustment capability to quickly perform subsequent spatial coordinate adjustments.
[0050] Of course, those skilled in the art can adjust the method of determining the offset of the initial spatial coordinates of the reference point of each part according to actual needs, and the embodiments of this application do not impose specific limitations on this.
[0051] Step S205: Adjust the initial spatial coordinates of the reference point of each part according to the offset of the initial spatial coordinates of the reference point of each part, and obtain the corrected spatial coordinates of the reference point of each part.
[0052] In this embodiment of the application, when adjusting the initial spatial coordinates of the reference point of each part, the offset of the initial spatial coordinates of the reference point of each part can be directly used as the translation vector, and all reference points of each part can be adjusted based on the translation vector to obtain the corrected spatial coordinates.
[0053] For example, if the offset vector of part c is (1.9, -2.7, -4.1), the initial spatial coordinates of reference point 1 of part c are (100.0, 30.2, 40.0), and the initial spatial coordinates of reference point 2 of part c are (150.5, 28.7, 42.3); then the corrected spatial coordinates of reference point 1 of part c are (98.1, 32.9, 44.1), and the corrected spatial coordinates of reference point 2 are (148.6, 31.4, 46.4).
[0054] In another possible implementation, the mean of the initial spatial coordinate offsets of the reference points of all parts can be used as the translation vector, and all reference points of each part can be adjusted based on the translation vector to obtain the corrected spatial coordinates.
[0055] Of course, those skilled in the art can adjust the method for obtaining corrected spatial coordinates according to actual needs, and the embodiments of this application do not impose specific limitations on this.
[0056] Step S206: Determine the envelope region of all part reference points of the target type based on the reference point type and the corrected spatial coordinates of all part reference points.
[0057] Here, the reference point type refers to the characteristic representation of the reference point divided according to its geometric features, such as the positioning surface reference point and the positioning hole reference point. In the embodiments of this application, by obtaining the corrected spatial coordinates of the reference points of all parts, the maximum and minimum values of the X, Y, and Z components in the reference point coordinates corresponding to each reference point type can be used to construct an axis alignment bounding box as the envelope region corresponding to that reference point type. The union of the envelope regions of all reference point types in space is the envelope region of all part reference points of the target type.
[0058] It should be noted that the number of reference points for each part is usually the same for each reference point type.
[0059] In this embodiment, a first reference coordinate is determined as the overall spatial position reference by considering the initial spatial coordinates of the reference points of all parts. A second reference coordinate is determined based on the initial spatial coordinates of the reference points of each part to characterize the spatial position of each part. The relative positional relationship between the first and second reference coordinates is quantified as an offset, thereby effectively characterizing the difference between the spatial position of the reference points of each part and the overall distribution of all parts. The initial spatial coordinates are adjusted according to the offset of each part, and the envelope region of the reference points of the parts is calculated based on the corrected spatial coordinates. This can achieve a part envelope region that approaches the global optimum, basically avoiding the error propagation caused by forced alignment of a single point, thereby significantly reducing the structural redundancy and development cost of the part measurement support.
[0060] In practical applications, directly placing parts according to preset rules and obtaining the spatial coordinates of the reference points (e.g., using the position of the part's reference point in the vehicle coordinate system as the initial spatial coordinates of the part) without any adjustments may yield a globally optimal spatial envelope region. Further adjustments in this case may cause the calculated reference point envelope region to deviate from the optimal solution. To further improve the method for determining the spatial envelope region of part reference points and enhance its adaptability, a pre-judgment can be made regarding whether the initial spatial coordinates of the reference points for each part need to be adjusted.
[0061] See Figure 3 This is a flowchart illustrating a method for determining corrected spatial coordinates provided in an embodiment of this application. Figure 3 As shown, the method specifically includes the following steps.
[0062] Step S301: Based on the comparison between the initial spatial coordinate offset of the reference point of each part and the preset offset threshold, determine whether the initial spatial coordinate of the reference point of each part needs to be adjusted.
[0063] As mentioned above, the initial spatial coordinates usually include components in the X, Y, and Z directions. Therefore, in one possible implementation, the setting of the preset offset threshold usually needs to encompass the preset offset thresholds in the X, Y, and Z directions, so that the offset of the initial spatial coordinates of the reference point of each part can have a reasonable reference value.
[0064] In another possible implementation, a Euclidean distance can be determined based on the components in the X, Y, and Z directions, and used as a global preset offset threshold.
[0065] Of course, those skilled in the art can adjust the setting of the preset offset value according to actual needs, such as using the preset offset thresholds in the X, Y, and Z directions as well as the global preset offset threshold. This application does not impose specific restrictions on this.
[0066] In this embodiment of the application, before adjusting the initial spatial coordinates of the reference point of each part, it can be determined whether the initial spatial coordinates of the reference point of each part need to be adjusted based on the comparison result between the offset of the initial spatial coordinates of the reference point of each part and the preset offset threshold, thereby avoiding unnecessary coordinate adjustments.
[0067] In one possible implementation, the comparison between the initial spatial coordinate offset of each part's reference point and a preset offset threshold refers to the comparison between the sum of the initial spatial coordinate offsets of all parts' reference points and the preset offset threshold. In other words, if the sum of the offsets of all parts is greater than or equal to the first offset threshold, then it is determined that the initial spatial coordinates of each part's reference point need to be adjusted.
[0068] In another possible implementation, the comparison between the initial spatial coordinate offset of each part's reference point and a preset offset threshold refers to the comparison between the average of the initial spatial coordinate offsets of all parts' reference points and the preset offset threshold. In other words, if the average offset of all parts is greater than or equal to the second offset threshold, then it is determined that the initial spatial coordinates of each part's reference point need to be adjusted.
[0069] In another possible implementation, the comparison result of the initial spatial coordinate offset of the reference point of each part with the preset offset threshold refers to the comparison result of the initial spatial coordinate offset of each part with each preset offset threshold; specifically, if the number of the initial spatial coordinate offsets of all parts that are greater than or equal to the third offset threshold is greater than a preset number, then it is determined that the initial spatial coordinates of the reference point of each part need to be adjusted.
[0070] Of course, those skilled in the art can adjust the method for determining whether the initial spatial coordinates of the reference point of the part need to be adjusted according to actual needs, and the embodiments of this application do not impose specific limitations on this.
[0071] Step S302: If it is necessary to adjust the initial spatial coordinates of the reference point of each part, then adjust the initial spatial coordinates of the reference point of each part according to the offset of the initial spatial coordinates of the reference point of each part to obtain the corrected spatial coordinates of the reference point of each part.
[0072] In this embodiment of the application, if the result of step S301 is that the initial spatial coordinates of each part need to be adjusted, then the initial spatial coordinates of the reference point of each part are adjusted according to the offset of the initial spatial coordinates of the reference point of each part.
[0073] The specific adjustment method and steps S205 have been described in detail, and for the sake of brevity, they will not be repeated here in the embodiments of this application.
[0074] On the other hand, if the result of step S301 is that it is not necessary to adjust the initial spatial coordinates of each part, then the envelope area of the reference points of all parts can be determined directly based on the initial spatial coordinates of each part.
[0075] In this embodiment of the application, by first determining whether the initial spatial coordinates of the reference points of each part need to be adjusted, redundant calculations are avoided when no adjustment is needed. At the same time, by quantifying whether adjustment is needed into specific judgment conditions, the error problem caused by manual judgment can also be largely avoided, providing guidance on whether the initial spatial coordinates of the reference points of the parts are reasonable.
[0076] In practical applications, in order to further improve the calculation method of the spatial envelope region and enhance the accuracy and robustness of the determination of the spatial envelope region, after obtaining the corrected spatial coordinates, it is possible to further determine whether the corrected spatial coordinates are reasonable. If they are not reasonable, the method for determining the spatial envelope region of the reference point of the part will be executed cyclically until the spatial coordinates that meet the conditions are determined.
[0077] See Figure 4 This is a flowchart illustrating an iterative method for correcting spatial coordinates provided in an embodiment of this application. Figure 4 As shown, the method specifically includes the following steps.
[0078] Step S401: Determine the first corrected reference coordinates of all parts based on the corrected spatial coordinates of the reference points of all parts.
[0079] First, based on the corrected spatial coordinates of the reference point of each part, the first corrected reference coordinates corresponding to each part are determined. Similar to the first reference coordinates mentioned above, the first corrected reference coordinates are coordinate points determined according to the corrected spatial coordinates of the reference points of all parts, used to characterize the overall spatial position reference of the reference points of all parts. For details, please refer to step S202, which will not be repeated here for the sake of brevity.
[0080] Step S402: Determine the second corrected reference coordinates for each part based on the corrected spatial coordinates of the reference point of each part.
[0081] Similar to the second reference coordinate, the second corrected reference coordinate for each part refers to a coordinate point determined based on the corrected spatial coordinates of the reference point of each part, used to characterize the spatial position of each part. For details, please refer to step S203; for brevity, this embodiment will not elaborate further.
[0082] Step S403: Determine the offset of the corrected spatial coordinates of the reference point of each part based on the first corrected reference coordinates and the second corrected reference coordinates of each part.
[0083] The calculation logic for the offset is completely consistent with step S204, the only difference being the input data source. Step S204 is based on the initial spatial coordinates of the reference point, while this step is based on the corrected spatial coordinates of the reference point. For details, please refer to step S204; for the sake of brevity, this embodiment will not elaborate further.
[0084] Step S404: Based on the comparison between the offset of the corrected spatial coordinates of the reference point of each part and the preset offset threshold, determine whether the corrected spatial coordinates of the reference point of each part need to be adjusted.
[0085] The threshold setting, comparison rules, and judgment logic in this step are completely consistent with those in step S301. The only difference is that the input data source is the corrected spatial coordinates (step S301 is based on the initial spatial coordinates). For details, please refer to step S301. For the sake of brevity, this embodiment will not repeat the details.
[0086] Step S405: If it is necessary to adjust the correction space coordinates of the reference point of each part, then adjust the correction space coordinates of the reference point of each part according to the offset of the correction space coordinates of the reference point of each part, and obtain the adjusted correction space coordinates of the reference point of each part.
[0087] In this embodiment, if step S404 determines that further adjustment of the spatial coordinates is needed, the corrected spatial coordinates of the reference point of each part are adjusted according to the offset of the corrected spatial coordinates of the reference point of each part. For details, please refer to step S302; for brevity, this embodiment will not elaborate further.
[0088] In practical applications, after obtaining the corrected spatial coordinates of the reference points of each part after adjustment, step S401 can be continued until step S404 determines that it is not necessary to adjust the corrected spatial coordinates of the reference points of each part, then the final calculation of the part reference point envelope area is performed.
[0089] In the embodiments of this application, the coordinate distribution can be gradually converged through multiple rounds of adjustment, which can further improve the solution accuracy on the basis of a single adjustment, continuously approach the optimal solution, and improve the accuracy and economy of the flexible measurement support positioning unit design.
[0090] See Figure 5 This is a flowchart illustrating a method for determining a first reference coordinate provided in an embodiment of this application. Figure 5 As shown, the method specifically includes the following steps.
[0091] Step S501: Determine the third reference coordinate set corresponding to all parts based on the initial spatial coordinates of the reference points of all parts.
[0092] The third reference coordinate set is a set of initial spatial coordinates used to characterize the overall distribution of reference points for all parts.
[0093] In one possible implementation, a third reference coordinate set is determined for all parts based on their reference point types and initial spatial coordinates. Specifically, the initial spatial coordinates of all reference points can be categorized by type, and a third reference coordinate point (e.g., the geometric center) is determined from the initial spatial coordinates of the reference points corresponding to each reference point type. The set of third reference coordinate points corresponding to all reference point types is the third reference coordinate set. It can be understood that determining the third reference coordinate set based on the reference point type largely avoids the problem of reference datum distortion, enabling the third reference coordinate set to reflect the overall distribution characteristics of each reference point type.
[0094] Of course, those skilled in the art can adjust the method of determining the third reference coordinate set according to actual needs, and the embodiments of this application do not impose specific limitations on this.
[0095] In practical applications, the coordinate points in the third reference coordinate set can also be combined to form a reference geometric frame. This reference geometric frame can intuitively represent the overall distribution of the reference points of the target type, and can help engineers visualize and verify the rationality of the reference point distribution.
[0096] Step S502: Determine the first reference coordinates for all parts based on the third reference coordinate set corresponding to all parts.
[0097] Specifically, the geometric center or median coordinates of the third coordinate set corresponding to all parts can be determined as the first reference coordinates corresponding to all parts.
[0098] Of course, those skilled in the art can adjust the method of determining the first reference coordinate according to actual needs, and the embodiments of this application do not impose specific limitations on this.
[0099] In the embodiments of this application, by first determining the third reference coordinate set and then determining the first reference coordinate based on the third reference coordinate set, the representativeness and interpretability of the first reference coordinate can be improved. Compared with directly averaging the original coordinates to obtain the geometric center, it can more intuitively represent the overall spatial position of the reference point of the target type of part.
[0100] To facilitate understanding, specific examples will be used to illustrate the concept below.
[0101] See Figure 6 This is a flowchart illustrating another method for determining the envelope region of a part reference point provided in an embodiment of this application. Figure 6 As shown, the method specifically includes the following steps.
[0102] Step S601: Standardize the initial spatial coordinates of the part's reference points.
[0103] First, standardize the initial spatial coordinates of the reference points. The number of reference points corresponding to each reference point type must be equal. The initial spatial coordinates of all reference points of all parts can be obtained based on the vehicle coordinate system.
[0104] Step S602: Calculate the third reference coordinate set for all parts.
[0105] Calculate the geometric center of the initial spatial coordinates of all parts corresponding to each reference point type. The set of geometric centers of the initial spatial coordinates of all reference point types is the third reference coordinate set.
[0106] Step S603: Calculate the first reference coordinates for all parts.
[0107] The geometric center of the third reference coordinate set is the first reference coordinate of all parts.
[0108] Step S604: Calculate the second reference coordinates for each part.
[0109] Calculate the geometric center of the initial spatial coordinates of all reference points for each part, and use it as the second reference coordinate for each part.
[0110] Step S605: Determine whether the sum of the offsets of all parts is less than the preset offset threshold.
[0111] If the sum of the offsets of all parts is less than the preset offset threshold, then proceed to step S606; otherwise, proceed to step S607.
[0112] Step S606: End the iteration and calculate the envelope region of the part reference point.
[0113] Calculate the envelope region of the part's reference point based on its current spatial coordinates.
[0114] Step S607: Adjust the initial spatial coordinates of the part's reference point.
[0115] The reference point coordinates of each part are adjusted according to the offset of each part to obtain the corrected spatial coordinates of the reference point of each part, and then step S602 is executed.
[0116] Corresponding to the above embodiments, this application also provides an electronic device.
[0117] See Figure 7 This is a schematic diagram illustrating the calculation results of the envelope region of a part provided in an embodiment of this application. Figure 7 As shown in the figure. "This represents the initial spatial coordinates of each part's reference point." "" indicates the adjusted spatial coordinates of each part. A1, A2, A3, and A4 are the datum point types for the positioning surfaces, and B and C are the datum point types for the positioning holes. Each datum point type corresponds to an envelope region. It can be seen that calculating the envelope region based on the adjusted spatial coordinates comprehensively considers the global spatial position, avoids interference from outliers in the initial spatial coordinates, and achieves the determination of the globally optimal (minimum) part datum point envelope region.
[0118] See Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 8As shown, the electronic device 800 may include a processor 801, a memory 802, and a communication unit 803. These components communicate via one or more buses. Those skilled in the art will understand that the electronic device structure shown in the figure does not constitute a limitation on the embodiments of this application. It may be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0119] The communication unit 803 is used to establish a communication channel, thereby enabling the electronic device to communicate with other devices.
[0120] The processor 801 serves as the control center of the electronic device, connecting various parts of the device via various interfaces and lines. It executes software programs and / or modules stored in the memory 802, and calls data stored in the memory to perform various functions and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 801 may consist only of a central processing unit (CPU). In this embodiment, the CPU may have a single processing core or include multiple processing cores.
[0121] Memory 802 is used to store the execution instructions of processor 801. Memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.
[0122] When the execution instructions in memory 802 are executed by processor 801, the electronic device 800 is able to perform some or all of the steps in the above method embodiments.
[0123] Corresponding to the above embodiments, this application also provides a computer-readable storage medium, wherein the computer-readable storage medium may store a program, wherein when the program runs, it can control the device where the computer-readable storage medium is located to execute some or all of the steps in the above method embodiments. In specific implementation, the computer-readable storage medium may be a magnetic disk, an optical disk, read-only memory (ROM), or random access memory (RAM), etc.
[0124] Corresponding to the above embodiments, this application also provides a computer program product containing executable instructions that, when executed on a computer, cause the computer to perform some or all of the steps in the above method embodiments.
[0125] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, or the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.
[0126] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0127] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0128] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0129] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application should be determined by the protection scope of the claims.
Claims
1. A method for determining the envelope region of a part's reference points, characterized in that, include: Obtain the initial spatial coordinates of the reference points for all parts of the target type; Based on the initial spatial coordinates of the reference points of all parts, determine the first reference coordinates corresponding to all parts; Based on the initial spatial coordinates of the reference point of each part, determine the second reference coordinates corresponding to each part; Based on the first reference coordinates and the second reference coordinates of each part, determine the offset of the initial spatial coordinates of the reference point of each part; The initial spatial coordinates of the reference point of each part are adjusted according to the offset of the initial spatial coordinates of the reference point of each part to obtain the corrected spatial coordinates of the reference point of each part. Based on the corrected spatial coordinates of the reference points of all the parts and the reference point types of all the parts, determine the envelope region of the reference points of all parts of the target type.
2. The method according to claim 1, characterized in that, The step of adjusting the initial spatial coordinates of the reference point of each part based on the offset of the initial spatial coordinates of the reference point of each part to obtain the corrected spatial coordinates of the reference point of each part includes: Based on the comparison between the initial spatial coordinate offset of the reference point of each part and the preset offset threshold, it is determined whether the initial spatial coordinate of the reference point of each part needs to be adjusted. If it is necessary to adjust the initial spatial coordinates of the reference point of each part, the initial spatial coordinates of the reference point of each part are adjusted according to the offset of the initial spatial coordinates of the reference point of each part to obtain the corrected spatial coordinates of the reference point of each part.
3. The method according to claim 2, characterized in that, Before determining the envelope region of all parts of the target type based on the corrected spatial coordinates of the reference point of each part, the method further includes: Based on the corrected spatial coordinates of the reference points of all parts, determine the first corrected reference coordinates of all parts; Based on the corrected spatial coordinates of the reference point of each part, determine the second corrected reference coordinates corresponding to each part; Based on the first corrected reference coordinates and the second corrected reference coordinates of each part, determine the offset of the corrected spatial coordinates of the reference point of each part. Based on the comparison between the offset of the corrected spatial coordinates of the reference point of each part and the preset offset threshold, it is determined whether the corrected spatial coordinates of the reference point of each part need to be adjusted. If it is necessary to adjust the correction space coordinates of the reference point of each part, the correction space coordinates of the reference point of each part are adjusted according to the offset of the correction space coordinates of the reference point of each part, so as to obtain the adjusted correction space coordinates of the reference point of each part.
4. The method according to claim 1, characterized in that, The step of determining the first reference coordinates corresponding to all parts based on the initial spatial coordinates of the reference points of all parts includes: Based on the initial spatial coordinates of the reference points of all the parts, determine the third reference coordinate set corresponding to all the parts; Based on the third reference coordinate set corresponding to all parts, determine the first reference coordinates corresponding to all parts.
5. The method according to claim 4, characterized in that, The step of determining the third reference coordinate set corresponding to all parts based on the initial spatial coordinates of the reference points of all parts includes: Based on the reference point type and the initial spatial coordinates of the reference points of all parts, determine the third reference coordinate set corresponding to all parts.
6. The method according to claim 1, characterized in that, The first reference coordinates corresponding to all parts are the geometric center of the initial spatial coordinates of the reference points of all parts, and the second reference coordinates corresponding to each part are the geometric center of the initial spatial coordinates of the reference points of each part.
7. The method according to claim 2, characterized in that, The step of determining whether the initial spatial coordinates of the reference points of each part need to be adjusted based on the comparison between the offset of the initial spatial coordinates of the reference points of each part and a preset offset threshold includes: If the sum of the offsets of all the parts is greater than or equal to the first offset threshold, or the average offset of all the parts is greater than or equal to the second offset threshold, then it is determined that the initial spatial coordinates of the reference point of each part need to be adjusted.
8. An electronic device, characterized in that, include: processor; Memory; And a computer program, wherein the computer program is stored in the memory, and when the computer program is executed by the processor, causes the electronic device to perform the method of any one of claims 1 to 7.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1 to 7.
10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1 to 7.