A method, system and computer storage medium for evaluating rigid body posture transformation

Abstract

The present invention discloses a method, system and computer storage medium for evaluating the posture transformation of a rigid body. The method comprises: obtaining a plurality of marking points on a rigid body; calculating the coordinate value of each marking point before and after the posture transformation of the rigid body, and generating an input matrix and an output matrix respectively; converting the input matrix and the output matrix into homogeneous coordinate matrices respectively, and establishing a posture transformation equation with the converted matrices; solving the posture transformation matrix in the posture transformation equation according to the constraint conditions; calculating the transformed target coordinates of the key points of the rigid body after the posture transformation according to the posture transformation matrix and the original target coordinates before the posture transformation of the key points of the rigid body; evaluating whether the transformed target coordinates are within a preset range, and if so, determining that the posture transformation of the rigid body meets the requirements. Through this method, the calculation and measurement problems of solving the posture transformation matrix after the posture transformation are solved, and the calculation method is simple and easy to implement.

Description

Technical Field

[0001] The present invention relates to the field of evaluation technology, and in particular to a rigid body posture transformation evaluation method, system and computer storage medium. Background Art

[0002] A rigid body is an object whose shape and size remain unchanged under any external force. It is an ideal particle system. The position transformation of a rigid body is equivalent to the motion of the rigid body, and is also equivalent to the transformation of a three-dimensional Cartesian coordinate system. Any form of rigid body position transformation can be decomposed into translation and rotation. Translation and rotation are the most common movements in engineering, and are also the basis for studying complex movements. In engineering, the movement of the piston in the cylinder and the movement of the tool holder on the lathe are rigid body translations, while the rotation of gears and the movement of motor rotors are rotations around fixed axes in rigid body rotations. The movement of robot hands and robot arms is a complex movement.

[0003] Solving the rigid body posture transformation matrix has application needs in many fields, and is of fundamental and critical significance in the industrial field, especially in the field of robot kinematics. However, in the prior art, in the field of robot kinematics, solving the rigid body posture transformation matrix is ​​too complicated.

[0004] With regard to the problem that solving the rigid body posture transformation matrix in the prior art is too complicated, no effective solution has been proposed so far. Summary of the invention

[0005] A rigid body posture transformation evaluation method is provided in an embodiment of the present invention to solve the problem that the rigid body posture transformation matrix is ​​too complicated to solve in the prior art.

[0006] To achieve the above-mentioned purpose, on the one hand, the present invention provides a method for evaluating the posture transformation of a rigid body, which method includes: acquiring multiple marking points on a rigid body; calculating the original sample coordinate value of each marking point before the posture transformation of the rigid body and generating an input matrix with all the original sample coordinate values, and calculating the transformed sample coordinate value of each marking point after the posture transformation of the rigid body and generating an output matrix with all the transformed sample coordinate values; converting the input matrix and the output matrix into homogeneous coordinate matrices respectively, and establishing a posture transformation equation with the converted matrices; solving the posture transformation matrix in the posture transformation equation according to constraints; calculating the transformed target coordinates of the key points of the rigid body after the posture transformation according to the posture transformation matrix and the original target coordinates of the key points of the rigid body before the posture transformation; evaluating whether the transformed target coordinates are within a preset range, and if so, determining that the posture transformation of the rigid body meets the requirements.

[0007] Optionally, the number of the marking points is at least 3, and all the marking points are not on the same straight line.

[0008] Optionally, the posture transformation includes: rotation and translation.

[0009] Optionally, the posture transformation equation is:

[0010]

[0011] in, is the homogeneous coordinate matrix of the output matrix; is the homogeneous coordinate matrix of the input matrix; is the pose transformation matrix.

[0012] Optionally, the constraint condition is:

[0013] t 11 2 +t 21 2 +t 31 2 =1;

[0014] t 12 2 +t 22 2 +t 32 2 =1;

[0015] t 13 2 +t 23 2 +t 33 2 =1;

[0016] t 13 =t 21 *t 32 -t 22 *t 31 ;

[0017] t 23 =t 11 *t 32 -t 12 *t 31 ;

[0018] t 33 =t 11 *t 22 -t 12 *t 21 ;

[0019] or:

[0020] t 11 2 +t 21 2 +t31 2 =1;

[0021] t 12 2 +t 22 2 +t 32 2 =1;

[0022] t 13 2 +t 23 2 +t 33 2 =1;

[0023] 0 = t 11 *t 12 +t 21 *t 22 +t 31 *t 32 ;

[0024] 0 = t 11 *t 13 +t 21 *t 23 +t 31 *t 33 ;

[0025] 0 = t 13 *t 12 +t 23 *t 22 +t 33 *t 32 .

[0026] Optionally, after solving the pose transformation matrix in the pose transformation equation according to the constraint conditions, the method includes: obtaining a verification point on a rigid body; calculating an original verification coordinate value of the verification point before the pose change of the rigid body, and calculating a transformed verification coordinate value of the verification point after the pose transformation of the rigid body; bringing the original verification coordinate value, the transformed verification coordinate value and the solved pose transformation matrix into the pose transformation equation to verify the pose transformation matrix.

[0027] On the other hand, the present invention provides a rigid body posture transformation evaluation system, which includes: a first acquisition unit, used to acquire multiple marking points on the rigid body; a generation unit, used to calculate the original sample coordinate value of each of the marking points before the rigid body is transformed and generate an input matrix with all the original sample coordinate values, and calculate the transformed sample coordinate value of each of the marking points after the rigid body is transformed and generate an output matrix with all the transformed sample coordinate values; an equation establishment unit, used to convert the input matrix and the output matrix into homogeneous coordinate matrices respectively, and establish a posture transformation equation with the converted matrices; a solving unit, used to solve the posture transformation matrix in the posture transformation equation according to constraints; a key point calculation unit, used to calculate the transformed target coordinates of the key points of the rigid body after the posture transformation according to the posture transformation matrix and the original target coordinates of the key points of the rigid body before the posture transformation; an evaluation unit, used to evaluate whether the transformed target coordinates are within a preset range, and if so, determine that the posture transformation of the rigid body meets the requirements.

[0028] Optionally, the number of the marking points is at least 3, and all the marking points are not on the same straight line.

[0029] Optionally, the system also includes: a second acquisition unit, used to acquire verification points on the rigid body; a verification point calculation unit, used to calculate the original verification coordinate value of the verification point before the rigid body undergoes a posture change, and to calculate the transformed verification coordinate value of the verification point after the rigid body undergoes a posture transformation; a verification unit, used to substitute the original verification coordinate value, the transformed verification coordinate value and the solved posture transformation matrix into the posture transformation equation to verify the posture transformation matrix.

[0030] On the other hand, the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned rigid body posture transformation evaluation method when executed by a processor.

[0031] Beneficial effects of the present invention:

[0032] The present invention provides a method, system and computer storage medium for evaluating the posture transformation of a rigid body. The method includes: obtaining multiple marking points on a rigid body; calculating the coordinate value of each marking point before and after the posture transformation of the rigid body to generate an input matrix and an output matrix; using the secondary coordinates to establish a posture transformation equation; solving the posture transformation matrix in the posture transformation equation according to the constraint conditions; calculating the transformed target coordinates of the key points of the rigid body after the posture transformation according to the posture transformation matrix and the original target coordinates before the posture transformation of the key points of the rigid body; evaluating whether the transformed target coordinates are within a preset range, and if so, determining that the posture transformation of the rigid body meets the requirements. Through this method, the calculation and measurement problems of solving the posture transformation matrix after the posture transformation are solved, and the calculation method is simple and easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a flow chart of a rigid body posture transformation evaluation method provided by an embodiment of the present invention;

[0034] Figure 2 is a structural schematic diagram of a rigid body posture change assessment system provided by an embodiment of the present invention;

[0035] Figure 3 Schematic diagram of the movement of the robot arm provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] A rigid body is an object whose shape and size remain unchanged under any external force. It is an ideal particle system. The position transformation of a rigid body is equivalent to the motion of the rigid body, and is also equivalent to the transformation of a three-dimensional Cartesian coordinate system. Any form of rigid body position transformation can be decomposed into translation and rotation. Translation and rotation are the most common movements in engineering, and are also the basis for studying complex movements. In engineering, the movement of the piston in the cylinder and the movement of the tool holder on the lathe are rigid body translations, while the rotation of gears and the movement of motor rotors are rotations around fixed axes in rigid body rotations. The movement of robot hands and robot arms is a complex movement.

[0038] Solving the rigid body posture transformation matrix has application needs in many fields, and is of fundamental and critical significance in the industrial field, especially in the field of robot kinematics. However, in the prior art, in the field of robot kinematics, solving the rigid body posture transformation matrix is ​​too complicated.

[0039] Therefore, the present invention provides a rigid body posture transformation evaluation method, Figure 1 is a flow chart of a rigid body posture transformation evaluation method provided by an embodiment of the present invention, such as Figure 1 As shown, the method includes:

[0040] S101. Obtain multiple marking points on the rigid body;

[0041] In an optional embodiment, the number of the marking points is at least 3, and all the marking points are not on the same straight line. In the present invention, the rigid body can be a robot arm or a large ship engine, and the following is explained using a robot arm:

[0042] Figure 3 is a schematic diagram of the movement of the robot arm provided by an embodiment of the present invention, such as Figure 3 As shown, let ABCD and KLMN be a robot arm, ABCD represents the hand of the arm, and KLMN represents the elbow of the arm. ABCD and KLMN represent the initial position of the arm, and their coordinates are known; A`B`C`D` and K`L`M`N` represent the position of the arm after movement. We will preset the position of the arm after movement, that is, the position of A`B`C`D`, the coordinates of A`B`C`D` are known, and K`L`M`N` is the elbow, and its coordinates are unknown.

[0043] In the present invention, three marking points, namely ABC, on the robot arm are first obtained.

[0044] S102. Calculate the original sample coordinate value of each of the marking points before the rigid body is transformed in posture and generate an input matrix with all the original sample coordinate values, and calculate the transformed sample coordinate value of each of the marking points after the rigid body is transformed in posture and generate an output matrix with all the transformed sample coordinate values;

[0045] The posture transformation includes: rotation and translation.

[0046] Calculate the original sample coordinate values ​​of the three marking points ABC before the rigid body is transformed in position and generate an input matrix with all the original sample coordinate values;

[0047] The input matrix is

[0048] And calculate the transformed sample coordinate values ​​of the three marking points ABC after the rigid body is transformed in posture (i.e. A`B`C`) and generate an output matrix of all the transformed sample coordinate values;

[0049] The output matrix is

[0050] S103. Convert the input matrix and the output matrix into homogeneous coordinate matrices respectively, and establish a posture transformation equation for the converted matrices;

[0051] The input matrix is ​​converted into a homogeneous coordinate matrix, and the homogeneous coordinate matrix of the input matrix is ​​obtained as follows: The output matrix is ​​converted into a homogeneous coordinate matrix, and the homogeneous coordinate matrix of the output matrix is ​​obtained as follows: The homogeneous coordinate matrix of the input matrix and the homogeneous coordinate matrix of the output matrix are used to establish the pose transformation equation, which is specifically:

[0052]

[0053] in, is the homogeneous coordinate matrix of the output matrix; is the homogeneous coordinate matrix of the input matrix; is the pose transformation matrix.

[0054] S104. Solving the posture transformation matrix in the posture transformation equation according to the constraint conditions;

[0055] The constraints are:

[0056] t 11 2 +t 21 2 +t 31 2 =1;

[0057] t 12 2 +t 22 2 +t 32 2 =1;

[0058] t 13 2 +t 23 2 +t 33 2 =1;

[0059] t 13 =t 21 *t 32 -t 22 *t 31 ;

[0060] ( 23 =t 11 *t 32 -t 12 *t 31 ;

[0061] t33 =t 11 *t 22 -t 12 *t 21 ;

[0062] or:

[0063] t 11 2 +t 21 2 +t 31 2 =1;

[0064] t 12 2 +t 22 2 +t 32 2 =1;

[0065] t 13 2 +t 23 2 +t 33 2 =1;

[0066] 0 = t 11 *t 12 +t 21 *t 22 +t 31 *t 32 ;

[0067] 0 = t 11 *t 13 +t 21 *t 23 +t 31 *t 33 ;

[0068] 0 = t 13 *t 12 +t 23 *t 22 +t 33 *t 32 .

[0069] According to the above constraints, the posture transformation matrix in the posture transformation equation is solved as follows:

[0070]

[0071] or

[0072]

[0073] Solving the above equation, we get the pose transformation matrix:

[0074]

[0075] Obtain a verification point D on a rigid body, calculate an original verification coordinate value of D before the rigid body undergoes a posture change, and calculate a transformed verification coordinate value of D after the rigid body undergoes a posture transformation (D`);

[0076] The original verification coordinate value, the transformed verification coordinate value and the calculated posture transformation matrix are brought into the posture transformation equation to verify the posture transformation matrix.

[0077] D, D` and Substitute it into the pose transformation equation to verify the pose transformation matrix. Check whether the equation is true. If it is true, it means that the pose transformation matrix is ​​correct. Otherwise, recalculate the pose transformation matrix.

[0078] S105. Calculating the transformed target coordinates of the key points of the rigid body after the posture transformation according to the posture transformation matrix and the original target coordinates of the key points of the rigid body before the posture transformation;

[0079] The transformed target coordinates (K`L`M`N`) of the key points of the rigid body after the posture transformation are calculated based on the calculated posture transformation matrix and the original target coordinates (KLMN) of the key points of the rigid body before the posture transformation.

[0080] In the present invention, the posture transformation matrix of the entire robot arm (as a rigid body, the hand and elbow coordinates remain relatively fixed) can be obtained from the known coordinates ABCD and A`B`C`D`, and the posture transformation matrix and the original target coordinates KLMN of the elbow can be used to solve the coordinates K`L`M`N` of the elbow after movement.

[0081] S106. Evaluate whether the transformed target coordinates are within a preset range. If so, determine that the posture transformation of the rigid body meets the requirements.

[0082] Now assume that the robot arm is only allowed to move in the first quadrant of the coordinate system. If it exceeds the first quadrant, it is considered that the arm overlaps or interferes with the robot itself. Therefore, we initially preset ABCD and KLMN to be in the first quadrant, and the robot will not interfere with itself. A`B`C`D` as the preset position cannot be manually set outside the first quadrant. What is uncertain at present is whether K`L`M`N`, that is, the elbow of the arm after movement, will exceed the first quadrant and cause self-interference.

[0083] Based on the above results, it can be calculated whether the transformed target coordinates are in the first quadrant. When the transformed target coordinates are in the first quadrant, it can be determined that the robot arm movement does not self-interfere. When the transformed target coordinates are not in the first quadrant, it can be determined that the robot arm movement self-interferes.

[0084] Figure 2 is a structural diagram of a rigid body posture transformation evaluation system provided by an embodiment of the present invention, such as Figure 2 As shown, the system includes:

[0085] A first acquisition unit 201 is used to acquire a plurality of marking points on the rigid body;

[0086] In an optional embodiment, the number of the marking points is at least 3, and all the marking points are not on the same straight line. In the present invention, the rigid body can be a robot arm or a large ship engine, and the following is explained using a robot arm:

[0087] Figure 3 is a schematic diagram of the movement of the robot arm provided by an embodiment of the present invention, such as Figure 3 As shown, let ABCD and KLMN be a robot arm, ABCD represents the hand of the arm, and KLMN represents the elbow of the arm. ABCD and KLMN represent the initial position of the arm, and their coordinates are known; A`B`C`D` and K`L`M`N` represent the position of the arm after movement. We will preset the position of the arm after movement, that is, the position of A`B`C`D`, the coordinates of A`B`C`D` are known, and K`L`M`N` is the elbow, and its coordinates are unknown.

[0088] In the present invention, three marking points, namely ABC, on the robot arm are first obtained.

[0089] A generating unit 202 is used to calculate the original sample coordinate value of each of the marking points before the rigid body undergoes posture transformation and generate an input matrix with all the original sample coordinate values, and to calculate the transformed sample coordinate value of each of the marking points after the rigid body undergoes posture transformation and generate an output matrix with all the transformed sample coordinate values;

[0090] Calculate the original sample coordinate values ​​of the three marking points ABC before the rigid body is transformed in position and generate an input matrix with all the original sample coordinate values;

[0091] The input matrix is

[0092] And calculate the transformed sample coordinate values ​​of the three marking points ABC after the rigid body is transformed in posture (i.e. A`B`C`) and generate an output matrix of all the transformed sample coordinate values;

[0093] The output matrix is

[0094] An equation establishing unit 203, used to convert the input matrix and the output matrix into homogeneous coordinate matrices respectively, and establish a posture transformation equation with the converted matrices;

[0095] The input matrix is ​​converted into a homogeneous coordinate matrix, and the homogeneous coordinate matrix of the input matrix is ​​obtained as follows: The output matrix is ​​converted into a homogeneous coordinate matrix, and the homogeneous coordinate matrix of the output matrix is ​​obtained as follows: The homogeneous coordinate matrix of the input matrix and the homogeneous coordinate matrix of the output matrix are used to establish the pose transformation equation, which is specifically:

[0096]

[0097] in, is the homogeneous coordinate matrix of the output matrix; is the homogeneous coordinate matrix of the input matrix; is the pose transformation matrix.

[0098] A solving unit 204, used for solving the posture transformation matrix in the posture transformation equation according to the constraint conditions;

[0099] The constraints are:

[0100] t 11 2 +t 21 2 +t 31 2 =1;

[0101] t 12 2 +t 22 2 +t 32 2 =1;

[0102] t 13 2 +t 23 2 +t 33 2 =1;

[0103] t 13 =t 21 *t 32 -t 22 *t 31 ;

[0104] t 23 =t 11 *t32 -t 12 *t 31 ;

[0105] t 33 =t 11 *t 22 -t 12 *t 21 ;

[0106] or:

[0107] t 11 2 +t 21 2 +t 31 2 =1;

[0108] t 12 2 +t 22 2 +t 32 2 =1;

[0109] t 13 2 +t 23 2 +t 33 2 =1;

[0110] 0 = t 11 *t 12 +t 21 *t 22 +t 31 *t 32 ;

[0111] 0 = t 11 *t 13 +t 21 *t 23 +t 31 *t 33 ;

[0112] 0 = t 13 *t 12 +t 23 *t 22 +t 33 *t 32 .

[0113] According to the above constraints, the posture transformation matrix in the posture transformation equation is solved as follows:

[0114]

[0115] or

[0116]

[0117] Solving the above equation, we get the pose transformation matrix:

[0118]

[0119] The system also includes: a second acquisition unit, for acquiring a verification point D on the rigid body,

[0120] A verification point calculation unit, used to calculate the original verification coordinate value of D before the rigid body undergoes a posture change, and to calculate the transformed verification coordinate value of D after the rigid body undergoes a posture transformation (D`);

[0121] A verification unit is used to bring the original verification coordinate value, the transformed verification coordinate value and the solved posture transformation matrix into the posture transformation equation to verify the posture transformation matrix.

[0122] D, D` and Substitute it into the pose transformation equation to verify the pose transformation matrix. Check whether the equation is true. If it is true, it means that the pose transformation matrix is ​​correct. Otherwise, recalculate the pose transformation matrix.

[0123] A key point calculation unit 205 is used to calculate the transformed target coordinates of the key points of the rigid body after the posture transformation according to the posture transformation matrix and the original target coordinates of the key points of the rigid body before the posture transformation;

[0124] The transformed target coordinates (K`L`M`N`) of the key points of the rigid body after the posture transformation are calculated based on the calculated posture transformation matrix and the original target coordinates (KLMN) of the key points of the rigid body before the posture transformation.

[0125] In the present invention, the posture transformation matrix of the entire robot arm (as a rigid body, the hand and elbow coordinates remain relatively fixed) can be obtained from the known coordinates ABCD and A`B`C`D`, and the posture transformation matrix and the original target coordinates KLMN of the elbow can be used to solve the coordinates K`L`M`N` of the elbow after movement.

[0126] The evaluation unit 206 is used to evaluate whether the transformed target coordinates are within a preset range, and if so, determine whether the posture transformation of the rigid body meets the requirements.

[0127] Now assume that the robot arm is only allowed to move in the first quadrant of the coordinate system. If it exceeds the first quadrant, it is considered that the arm overlaps or interferes with the robot itself. Therefore, we initially preset ABCD and KLMN to be in the first quadrant, and the robot will not interfere with itself. A`B`C`D` as the preset position cannot be manually set outside the first quadrant. What is uncertain at present is whether K`L`M`N`, that is, the elbow of the arm after movement, will exceed the first quadrant and cause self-interference.

[0128] Based on the above results, it can be calculated whether the transformed target coordinates are in the first quadrant. When the transformed target coordinates are in the first quadrant, it can be determined that the robot arm movement does not self-interfere. When the transformed target coordinates are not in the first quadrant, it can be determined that the robot arm movement self-interferes.

[0129] Beneficial effects of the present invention:

[0130] The present invention provides a method, system and computer storage medium for evaluating the posture transformation of a rigid body. The method includes: obtaining multiple marking points on a rigid body; calculating the coordinate value of each marking point before and after the posture transformation of the rigid body to generate an input matrix and an output matrix; using the secondary coordinates to establish a posture transformation equation; solving the posture transformation matrix in the posture transformation equation according to the constraint conditions; calculating the transformed target coordinates of the key points of the rigid body after the posture transformation according to the posture transformation matrix and the original target coordinates before the posture transformation of the key points of the rigid body; evaluating whether the transformed target coordinates are within a preset range, and if so, determining that the posture transformation of the rigid body meets the requirements. Through this method, the calculation and measurement problems of solving the posture transformation matrix after the posture transformation are solved, and the calculation method is simple and easy to implement.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rigid body pose transformation evaluation method, It is characterized in that include: Get multiple marker points on the rigid body; Calculate the original sample coordinate value of each of the marking points before the rigid body undergoes posture transformation and generate an input matrix with all the original sample coordinate values, and calculate the transformed sample coordinate value of each of the marking points after the rigid body undergoes posture transformation and generate an output matrix with all the transformed sample coordinate values; Convert the input matrix and the output matrix into homogeneous coordinate matrices respectively, and establish a posture transformation equation with the converted matrices; Solving the posture transformation matrix in the posture transformation equation according to the constraint conditions; Calculate the transformed target coordinates of the key points of the rigid body after the posture transformation according to the posture transformation matrix and the original target coordinates of the key points of the rigid body before the posture transformation; Evaluate whether the transformed target coordinates are within a preset range, and if so, determine whether the position and posture transformation of the rigid body meets the requirements; The pose transformation equation is: ； in, is the homogeneous coordinate matrix of the output matrix; is the homogeneous coordinate matrix of the input matrix; is the pose transformation matrix.

2. The method according to claim 1, Features: The number of the marking points is at least 3, and all the marking points are not on the same straight line.

3. The method according to claim 1, Features: The posture transformation includes: rotation and translation.

4. The method according to claim 1, Features: The constraints are: ； ； ； ； ； or: ； ； ； ； ； 。 5. The method according to claim 1, Features: After solving the posture transformation matrix in the posture transformation equation according to the constraint conditions, the method includes: Get the verification points on the rigid body; Calculating the original verification coordinate value of the verification point before the rigid body undergoes a posture change, and calculating the transformed verification coordinate value of the verification point after the rigid body undergoes a posture change; The original verification coordinate value, the transformed verification coordinate value and the calculated posture transformation matrix are brought into the posture transformation equation to verify the posture transformation matrix.

6. A rigid body posture transformation evaluation system, It is characterized in that include: A first acquisition unit, used for acquiring a plurality of marking points on the rigid body; A generating unit, used for calculating the original sample coordinate value of each of the marking points before the rigid body undergoes posture transformation and generating an input matrix with all the original sample coordinate values, and for calculating the transformed sample coordinate value of each of the marking points after the rigid body undergoes posture transformation and generating an output matrix with all the transformed sample coordinate values; An equation establishing unit, used for converting the input matrix and the output matrix into homogeneous coordinate matrices respectively, and establishing a posture transformation equation with the converted matrices; A solving unit, used for solving the posture transformation matrix in the posture transformation equation according to the constraint conditions; A key point calculation unit, used for calculating the transformed target coordinates of the key points of the rigid body after the posture transformation according to the posture transformation matrix and the original target coordinates of the key points of the rigid body before the posture transformation; An evaluation unit, used to evaluate whether the transformed target coordinates are within a preset range, and if so, determine that the posture transformation of the rigid body meets the requirements; The pose transformation equation is: ； in, is the homogeneous coordinate matrix of the output matrix; is the homogeneous coordinate matrix of the input matrix; is the pose transformation matrix.

7. The system according to claim 6, Features: The number of the marking points is at least 3, and all the marking points are not on the same straight line.

8. The system according to claim 6, It is characterized in that The system also includes: A second acquisition unit is used to acquire verification points on the rigid body; A verification point calculation unit, used to calculate the original verification coordinate value of the verification point before the rigid body undergoes a posture change, and to calculate the transformed verification coordinate value of the verification point after the rigid body undergoes a posture change; A verification unit is used to bring the original verification coordinate value, the transformed verification coordinate value and the solved posture transformation matrix into the posture transformation equation to verify the posture transformation matrix.

9. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the program is executed by a processor, the rigid body posture transformation evaluation method according to any one of claims 1 to 5 is implemented.

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