A calibration method and system for eliminating orthogonal error of a vertical coordinate measuring machine

Abstract

The present invention provides a calibration method and system for eliminating the orthogonal error of a vertical coordinate instrument, which relates to the field of vertical coordinate instrument calibration. The method includes presetting a grid map with standard grid point coordinate values and establishing corresponding grid coordinates. Then, with the vertical line remaining unchanged, the vertical coordinate instrument is successively moved to the position of each grid point on the grid map on the same horizontal plane, and the initial measured values V x and V y of the X-axis and Y-axis of the vertical coordinate instrument are recorded. Finally, calibration calculations are performed on the initial measured values V x and V y based on the standard coordinate values of each grid point, so as to quickly and effectively calibrate the orthogonal error of the vertical coordinate instrument. The system includes a grid division module, a measurement module and a calibration module. The whole method is simple and ingenious, with high calibration efficiency and accuracy.

Description

Technical Field

[0001] The invention relates to the field of vertical coordinate measuring machine calibration, and in particular to a calibration method and system for eliminating the orthogonal error of a vertical coordinate measuring machine. Background Art

[0002] The plumb line coordinate meter combined with the plumb line measuring device is widely used in dam deformation monitoring. The plumb line coordinate meter has a variety of measurement principles, such as stepper motor type, photoelectric type, and capacitive type. The photoelectric plumb line coordinate meter has the characteristics of strong anti-interference and high measurement accuracy, and is widely used.

[0003] Due to the processing differences of the mechanical structure of the instrument, the vertical coordinate instrument cannot ensure that the two displacement measurement directions are exactly orthogonal during the installation process. Therefore, when the vertical line is translated along one axis, the real-time displacement measurement value of the other axis will change, resulting in instrument errors. Therefore, a method for calibrating the orthogonal error of the vertical coordinate instrument is urgently needed to improve the accuracy of the vertical coordinate instrument. Summary of the invention

[0004] The object of the present invention is to provide a calibration method and system for eliminating the orthogonal error of a vertical coordinate measuring machine, which can quickly and effectively calibrate the orthogonal error of the vertical coordinate measuring machine to improve the accuracy of the vertical coordinate measuring machine.

[0005] The embodiment of the present invention is achieved as follows:

[0006] In a first aspect, an embodiment of the present application provides a calibration method for eliminating the orthogonal error of a vertical coordinate measuring machine, comprising the following steps:

[0007] Step S101: According to the measuring range of the vertical coordinate measuring machine along the X-axis and the Y-axis, the measuring range of the X-axis and the Y-axis is divided into a plurality of grids according to a preset rule to obtain a grid map, and corresponding grid coordinates are established with the grid points in the grid map, wherein the coordinate value of each grid point is (H x , H y ), where H x and H y are the coordinate values ​​of the grid points along the X-axis and Y-axis respectively;

[0008] Step S102: The vertical line remains unchanged, and the vertical coordinate measuring machine is moved one by one to the position of each grid point on the grid map on the same horizontal plane, and the initial measurement value V of the vertical line measured by the X-axis and Y-axis of the vertical coordinate measuring machine is recorded. x and V y ;

[0009] Step S103: Based on the coordinate value (H x , H y ) for the initial measured value V x and Vy Perform calibration calculations to obtain the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and

[0010] In some embodiments of the present invention, the coordinate value (H) of each grid point is x , H y ) for the initial measured value V x and V y Perform calibration calculations to obtain the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and The steps specifically include:

[0011] Step S201: Initial measurement values ​​V of the X-axis and Y-axis of the vertical coordinate measuring machine x and V y , and get the corresponding V x 2 、V y 2 and V x ×V y Intermediate measurement;

[0012] Bu Mule S202: Based on formula H x =c1+a1×V x +b1×V y +d1×V x 2 +e1×V y 2 +f1×V x ×V y , H y =c2+a2×V x +b2×V y +d2×V x 2 +e2×V y 2 +f2×V x ×V y Regression analysis and fitting were performed to obtain calibration parameters c1, a1, b1, d1, e1, f1, c2, a2, b2, d2, e2, and f2;

[0013] Step S203: Based on the calibration parameters c1, a1, b1, d1, e1, f1, c2, a2, b2, d2, e2 and f2, using the formula Get the calibration values ​​of the X and Y axes of the vertical coordinate machine and

[0014] In some embodiments of the present invention, it further comprises:

[0015] Use the calibration values ​​of the X and Y axes of the vertical coordinate machine and The vertical coordinate measuring machine is calibrated, and steps S102 and S103 are repeated for a preset threshold number of times to calibrate the vertical coordinate measuring machine after the calibrated process for multiple times.

[0016] In some embodiments of the present invention, the step of dividing the measuring range of the X-axis and the Y-axis into a plurality of grids according to a preset rule specifically includes: dividing the measuring range of the X-axis and the Y-axis into a plurality of grids at equal intervals.

[0017] In a second aspect, an embodiment of the present application provides a calibration system for eliminating the orthogonal error of a vertical coordinate measuring machine, comprising:

[0018] The grid division module is used to divide the measuring range of the X-axis and Y-axis into multiple grids according to the preset rules according to the measuring range of the vertical coordinate instrument along the X-axis and Y-axis, obtain a grid map, and establish corresponding grid coordinates with the grid points in the grid map, wherein the coordinate value of each grid point is (H x , H y ), where H x and H y are the coordinate values ​​of the grid points along the X-axis and Y-axis respectively;

[0019] The measuring module is used to keep the vertical line unchanged, move the vertical coordinate instrument to the position of each grid point on the grid map one by one on the same horizontal plane, and record the initial measurement value V of the vertical line of the X-axis and Y-axis of the vertical coordinate instrument x and V y ;

[0020] Calibration module, used to calculate the coordinate value of each grid point (H x , H y ) for the initial measured value V x and V y Perform calibration calculations to obtain the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and

[0021] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory for storing one or more programs; and a processor. When the one or more programs are executed by the processor, the method described in any one of the first aspects is implemented.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any one of the above-mentioned first aspects.

[0023] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0024] The embodiment of the present invention provides a calibration method and system for eliminating the orthogonal error of a vertical coordinate measuring machine, which divides the measuring range of the X-axis and the Y-axis into a plurality of grids according to a preset rule according to the measuring range of the vertical coordinate measuring machine along the X-axis and the Y-axis, obtains a grid map, and establishes corresponding grid coordinates with the grid points in the grid map, wherein the coordinate value of each grid point is (H x , H y ), where H x and H y are the coordinate values ​​of the grid points along the X-axis and Y-axis respectively; then the vertical line remains unchanged, and the vertical coordinate instrument is moved to the position of each grid point on the grid map one by one on the same horizontal plane, and the initial measurement value V of the vertical line of the X-axis and Y-axis of the vertical coordinate instrument is recorded x and V y ; Finally, based on the coordinate value of each grid point (H x , H y ) for the initial measured value V x and V y Perform calibration calculations to obtain the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and The whole method is simple and ingenious. It pre-sets a grid map with standard grid point coordinate values ​​and establishes corresponding grid coordinates. Then, according to the initial measurement value V x and V y And the standard coordinate value of each grid point is calibrated, so that the orthogonal error of the vertical coordinate instrument can be calibrated quickly and effectively to improve the accuracy of the vertical coordinate instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A flow chart of an embodiment of a calibration method for eliminating orthogonal errors of a vertical coordinate measuring machine according to the present invention;

[0027] Figure 2 is the coordinate value (H) of each grid point in the embodiment of the present invention. x , H y ) for the initial measured value V x and V yPerform calibration calculations to obtain the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and A detailed flowchart of the steps;

[0028] Figure 3 is a schematic diagram of a grid diagram in an embodiment of the present invention;

[0029] Figure 4 It is a structural block diagram of an embodiment of a calibration system for eliminating the orthogonal error of a vertical coordinate measuring machine according to the present invention;

[0030] Figure 5 A structural block diagram of an electronic device provided by an embodiment of the present invention.

[0031] Icons: 1. Grid division module; 2. Measurement module; 3. Calibration module; 4. Memory; 5. Processor; 6. Communication interface. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0035] In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship in which the product of the application is usually placed when used. This is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0036] In the description of this application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0038] Example

[0039] See also Figure 1 and Figure 3 The calibration method for eliminating the orthogonal error of a vertical coordinate measuring machine comprises the following steps:

[0040] Step S101: According to the measuring range of the vertical coordinate measuring machine along the X-axis and the Y-axis, the measuring range of the X-axis and the Y-axis is divided into a plurality of grids according to a preset rule to obtain a grid map, and corresponding grid coordinates are established with the grid points in the grid map, wherein the coordinate value of each grid point is (H x , H y ), where H x and H y are the coordinate values ​​of the grid points along the X-axis and Y-axis respectively.

[0041] A vertical coordinate measuring instrument is a measuring instrument in a vertical measuring device for measuring the horizontal displacement of engineering structures. It is widely used in the field of dam safety monitoring to measure the law of horizontal displacement of the dam body and foundation over time. Affected by the installation accuracy, the displacement measurement values ​​of the vertical coordinate measuring instrument in two directions may not fully meet the orthogonal requirements, resulting in a certain error in the output value of the vertical coordinate measuring instrument. Therefore, it is necessary to calibrate the vertical coordinate measuring instrument so that it can output accurate displacement measurement values. In the above steps, a grid diagram with standard grid point coordinate values ​​is pre-set (such as Figure 3As shown), and establish the corresponding grid coordinates, the coordinate value of each grid point is (H x , H y ), where H x and H y The coordinate values ​​of the grid points along the X-axis and Y-axis are respectively, so that the vertical coordinate instrument can be calibrated with this standard grid diagram later. It should be noted that the X-axis and the Y-axis are two orthogonal direction axes on the horizontal plane.

[0042] Specifically, the above-mentioned step of dividing the range of the X-axis and the Y-axis into a plurality of grids according to the preset rules specifically includes: dividing the range of the X-axis and the Y-axis into a plurality of grids at equal intervals. By dividing the range of the X-axis and the Y-axis into a plurality of grids at equal intervals, the grid points in the grid map thus established will be in an equidistant array, and the later stage will be conveniently controlled to move the vertical coordinate instrument to the position where each grid point on the grid map is located one by one on the same horizontal plane, and the computational amount of regression analysis and fitting processing in the later stage can be simplified to a certain extent. Of course, other different division rules can also be adopted according to one's own needs, for example, the range of the X-axis and the Y-axis is divided into a plurality of grids according to a geometric progression or an arithmetic progression.

[0043] Step S102: The vertical line remains unchanged, and the vertical coordinate measuring machine is moved one by one to the position of each grid point on the grid map on the same horizontal plane, and the initial measurement value V of the vertical line measured by the X-axis and Y-axis of the vertical coordinate measuring machine is recorded. x and V y .

[0044] In the above steps, by keeping the vertical line unchanged, the vertical coordinate meter is moved one by one to the position of each grid point on the grid diagram on the same horizontal plane, and the initial measurement values ​​V of the X-axis and Y-axis of the vertical coordinate meter are recorded. x and V y , we can get the actual displacement of the vertical coordinate on the X-axis and Y-axis corresponding to the grid diagram, that is, V x and V y . In this way, V x and V y The grid point coordinates on the standard grid diagram (H x , H y ) to analyze and compare, we can understand the initial measurement value V x and V y The deviation can be easily detected, so as to facilitate the calibration of the vertical coordinate measuring machine in the later stage.

[0045] Step S103: Based on the coordinate value (H x , H y ) for the initial measured value Vx and V y Perform calibration calculations to obtain the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and

[0046] In the above steps, the coordinate value of each grid point (H x , H y ) for the initial measured value V x and V y Perform calibration calculations, that is, the initial measurement value V x and V y Calibrated to the standard value H in the grid diagram x and H y , get the calibration values ​​of the X-axis and Y-axis of the vertical coordinate machine and In other words, the initial measurement value V can be found by calibration calculation x and V y Compared with the standard value H in the grid diagram x and H y Then, this relationship function can be used to compare the initial measured value V x and V y Calculate the X-axis and Y-axis calibration values ​​of the vertical coordinate machine and (The output value of the calibrated vertical coordinate measuring machine can now output accurate X-axis and Y-axis displacement values, which means that the orthogonal error calibration of the vertical coordinate measuring machine is realized).

[0047] Specifically, see Figure 2 , the above is based on the coordinate value of each grid point (H x , H y ) for the initial measured value V x and V y Perform calibration calculations to obtain the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and The steps specifically include:

[0048] Step S201: Initial measurement values ​​V of the X and Y axes based on the vertical coordinate measuring machine x and V y , and get the corresponding V x 2 、V y 2 and V x ×V y Intermediate measurement.

[0049] In the above steps, by obtaining the corresponding V x 2 、Vy 2 and V x ×V y Intermediate measurements can provide specific raw data support for subsequent regression analysis and fitting.

[0050] Step S202: Based on formula H x =c1+a1×V x +b1×V y +d1×V x 2 +e1×V y 2 +f1×V x ×V y , H y =c2+a2×V x +b2×V y +d2×V x 2 +e2×V y 2 +f2×V x ×V y Regression analysis and fitting were performed to obtain the calibration parameters c1, a1, b1, d1, e1, f1, c2, a2, b2, d2, e2 and f2.

[0051] In the above steps, the coordinate value of each grid point in the grid map (H x , H y ), and the initial measurement value V recorded when the coordinate measuring machine is moved to the heavy vertical line where the corresponding grid point is located x and V y By substituting the above formula into regression analysis and fitting, the calibration parameters c1, a1, b1, d1, e1, f1, c2, a2, b2, d2, e2 and f2 can be obtained, providing original data support for subsequent calibration processing.

[0052] Step S203: Based on the calibration parameters c1, a1, b1, d1, e1, f1, c2, a2, b2, d2, e2 and f2, using the formula Get the calibration values ​​of the X and Y axes of the vertical coordinate machine and

[0053] In the above steps, after obtaining the calibration parameters c1, a1, b1, d1, e1, f1, c2, a2, b2, d2, e2 and f2, they can be substituted into the above formula, and then the initial measurement value V of the vertical coordinate measuring machine can be x and V y Calibration transformation to the corresponding calibration value and When you use the vertical coordinate machine later, the vertical coordinate machine will be able to directly output the corresponding and So that the standard value H in the standard grid map can be output x and H y The calibration of the vertical coordinate measuring machine is completed by using consistent values ​​to avoid the phenomenon that the output value of the vertical coordinate measuring machine will have certain errors because the displacement measurement values ​​in two directions of the vertical coordinate measuring machine cannot fully meet the orthogonality requirements.

[0054] In some embodiments of the present invention, the method further includes: using the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and The vertical coordinate measuring machine is calibrated, and steps S102 and S103 are repeated for a preset threshold number of times to calibrate the vertical coordinate measuring machine after the calibrated process for multiple times.

[0055] In the above steps, repeating steps S102 and S103 for a preset threshold number of times will calibrate the calibrated vertical coordinate measuring machine multiple times, and a more accurate initial measurement value V can be calculated. x and V y Compared with the standard value H in the grid diagram x and H y The relationship function makes the calibration of the vertical coordinate measuring machine more accurate and effective.

[0056] For example, the preset threshold can be set to 2-3 times, so as to achieve accurate calibration of the vertical coordinate measuring machine without wasting too much calculation. Of course, you can also choose different times to perform multiple calibrations according to your own needs, so as to meet the accuracy requirements of the vertical coordinate measuring machine.

[0057] Based on the same inventive concept, please refer to Figure 4 The present invention also proposes a calibration system for eliminating the orthogonal error of a vertical coordinate measuring machine, comprising:

[0058] The grid division module 1 is used to divide the measuring range of the X-axis and the Y-axis into a plurality of grids according to the preset rules according to the measuring range of the vertical coordinate instrument along the X-axis and the Y-axis, obtain a grid map, and establish corresponding grid coordinates with the grid points in the grid map, wherein the coordinate value of each grid point is (H x , H y ), where H x and H y are the coordinate values ​​of the grid points along the X-axis and Y-axis respectively;

[0059] Measuring module 2 is used to keep the vertical line unchanged, move the vertical coordinate meter to the position of each grid point on the grid map one by one on the same horizontal plane, and record the initial measurement value V of the vertical line of the X-axis and Y-axis of the vertical coordinate meter x and V y ;

[0060] Calibration module 3, for calculating the coordinate value (H) of each grid point x , H y ) for the initial measured value V x and V y Perform calibration calculations to obtain the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and

[0061] For the specific implementation process of the above system, please refer to the calibration method for eliminating the orthogonal error of a vertical coordinate measuring machine provided in an embodiment of the present application, which will not be described in detail here.

[0062] See also Figure 5 , Figure 5 A block diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device includes a memory 4, a processor 5 and a communication interface 6, and the memory 4, the processor 5 and the communication interface 6 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The memory 4 can be used to store software programs and modules, such as program instructions / modules corresponding to a calibration system for eliminating the orthogonal error of a vertical coordinate measuring machine provided in an embodiment of the present application. The processor 5 executes various functional applications and data processing by executing the software programs and modules stored in the memory 4. The communication interface 6 can be used to communicate signaling or data with other node devices.

[0063] Among them, the memory 4 can be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc.

[0064] The processor 5 may be an integrated circuit chip with signal processing capability. The processor 5 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0065] Understandably, Figure 5 The structure shown is for illustration only. The electronic device may also include Figure 5 More or fewer components as shown, or with Figure 5 Different configurations are shown. Figure 5 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0066] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0067] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0068] If the above functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0069] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0070] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A calibration method for eliminating the orthogonal error of a vertical coordinate measuring machine, characterized in that: The following steps are involved: Step S101: According to the measuring range of the vertical coordinate measuring machine along the X-axis and the Y-axis, the measuring range of the X-axis and the Y-axis is divided into a plurality of grids according to a preset rule to obtain a grid map, and corresponding grid coordinates are established with the grid points in the grid map, wherein the coordinate value of each grid point is (H x , H y ), where H x and H y are the coordinate values ​​of the grid points along the X-axis and Y-axis respectively; Step S102: The vertical line remains unchanged, and the vertical coordinate measuring machine is moved one by one to the position of each grid point on the grid map on the same horizontal plane, and the initial measurement value V of the vertical line measured by the X-axis and Y-axis of the vertical coordinate measuring machine is recorded. x and V y ; Step S103: Based on the coordinate value (H x , H y ) for the initial measured value V x and V y Perform calibration calculations to obtain the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and Specifically, step S201: based on the initial measurement values ​​V of the X-axis and Y-axis of the vertical coordinate measuring machine x and V y , and get the corresponding V x 2 、V y 2 and V x ×V y Intermediate measurement value; Step S202: Based on formula H x =c1+a1×V x +b1×V y +d1×V x 2 +e1×V y 2 +f1×V x ×V y , H y =c2+a2×V x +b2×V y +d2×V x 2 +e2×V y 2 +f2×V x ×V y Perform regression analysis and fitting to obtain calibration parameters c1, a1, b1, d1, e1, f1, c2, a2, b2, d2, e2 and f2; Step S203: Based on the calibration parameters c1, a1, b1, d1, e1, f1, c2, a2, b2, d2, e2 and f2, use the formula Get the calibration values ​​of the X and Y axes of the vertical coordinate machine and 2. A calibration method for eliminating the orthogonal error of a vertical coordinate measuring machine as claimed in claim 1, characterized in that: Also includes: Use the calibration values ​​of the X and Y axes of the vertical coordinate machine and The vertical coordinate measuring machine is calibrated, and steps S102 and S103 are repeated for a preset threshold number of times to calibrate the vertical coordinate measuring machine after the calibrated process for multiple times.

3. A calibration method for eliminating the orthogonal error of a vertical coordinate measuring machine as claimed in claim 1, characterized in that: The step of dividing the measuring range of the X-axis and the Y-axis into a plurality of grids according to a preset rule specifically includes: dividing the measuring range of the X-axis and the Y-axis into a plurality of grids at equal intervals.

4. A calibration system for eliminating the orthogonal error of a vertical coordinate measuring machine, characterized in that: include: The grid division module is used to divide the measuring range of the X-axis and Y-axis into multiple grids according to the preset rules according to the measuring range of the vertical coordinate instrument along the X-axis and Y-axis, obtain a grid map, and establish corresponding grid coordinates with the grid points in the grid map, wherein the coordinate value of each grid point is (H x , H y ), where H x and H y are the coordinate values ​​of the grid points along the X-axis and Y-axis respectively; The measuring module is used to keep the vertical line unchanged, move the vertical coordinate instrument to the position of each grid point on the grid map one by one on the same horizontal plane, and record the initial measurement value V of the vertical line of the X-axis and Y-axis of the vertical coordinate instrument x and V y ; Calibration module, used to calculate the coordinate value of each grid point (H x , H y ) for the initial measured value V x and V y Perform calibration calculations to obtain the calibration values ​​of the X-axis and Y-axis of the vertical coordinate measuring machine and Specifically, step S201: based on the initial measurement values ​​V of the X-axis and Y-axis of the vertical coordinate measuring machine x and V y , and get the corresponding V x 2 、V y 2 and V x ×V y Intermediate measurement value; Step S202: Based on formula H x =c1+a1×V x +b1×V y +d1×V x 2 +e1×V y 2 +f1×V x ×V y , H y =c2+a2×V x +b2×V y +d2×V x 2 +e2×V y 2 +f2×V x ×V y Perform regression analysis and fitting to obtain calibration parameters c1, a1, b1, d1, e1, f1, c2, a2, b2, d2, e2 and f2; Step S203: Based on the calibration parameters c1, a1, b1, d1, e1, f1, c2, a2, b2, d2, e2 and f2, use the formula Get the calibration values ​​of the X and Y axes of the vertical coordinate machine and 5. An electronic device, characterized in that: include: A memory for storing one or more programs; processor; When the one or more programs are executed by the processor, the method according to any one of claims 1 to 3 is implemented.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 3 is implemented.

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