Laser tracker coordinate system establishment method, device, equipment and medium

Abstract

Embodiments of the present invention disclose a method, apparatus, device, and medium for establishing a laser tracker coordinate system. The method includes: determining multiple target measurement points in response to a station establishment instruction; sequentially measuring the coordinates of the multiple target measurement points using a laser tracker to determine the measured coordinate values ​​of the multiple target measurement points; and determining the measurement coordinate system of the laser tracker based on the measured coordinate values ​​of the multiple target measurement points. In the above technical solution, the laser tracker coordinate system is automatically established in response to the station establishment instruction without human intervention, achieving automated station establishment, improving station establishment efficiency, shortening station establishment time, reducing unnecessary measurement errors caused by human operation, and improving station establishment accuracy.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of laser tracking measurement technology, and in particular to a method, device, equipment and medium for establishing a coordinate system of a laser tracker. Background Art

[0002] As a large-scale, high-precision measuring device, laser tracker is often used in the aerospace field to assist in the attitude adjustment and docking of large aircraft components and product quality verification.

[0003] Before using a laser tracker for measurement, the laser tracker's coordinate system must be established to match the coordinate system of the object being measured. This is known as laser tracker station establishment. Currently, laser tracker station establishment is performed manually, requiring a person to hold a measuring target sphere, use the laser tracker as a starting point, and manually guide light to each of the multiple landmarks being measured. This process continues until all landmarks are measured, ultimately resulting in the laser tracker's actual coordinate system. Due to the large number of landmarks being measured, repeated manual light guidance and measurement are required, resulting in low station establishment efficiency. Furthermore, manual measurement using the target sphere can easily lead to unnecessary measurement errors, causing the error between the laser tracker's measurement coordinate system and the object's coordinate system to exceed the allowable range. This necessitates reselecting the landmarks and repeating all measurement operations, making the station establishment process cumbersome and time-consuming. Therefore, reducing human intervention, improving station establishment accuracy and efficiency, and shortening station establishment time are pressing issues. Summary of the Invention

[0004] The embodiments of the present invention provide a laser tracker coordinate system station establishment method, device, equipment and medium to achieve automated station establishment, improve station establishment accuracy and efficiency, and shorten station establishment time.

[0005] In a first aspect, an embodiment of the present invention provides a method for establishing a laser tracker coordinate system, comprising:

[0006] In response to a station establishment instruction, determining a plurality of target measurement points;

[0007] measuring the coordinates of the plurality of target measurement points in sequence by using a laser tracker, and determining the measurement coordinate values ​​of the plurality of target measurement points respectively;

[0008] A measurement coordinate system of the laser tracker is determined according to the measurement coordinate values ​​of the multiple target measurement points.

[0009] In a second aspect, an embodiment of the present invention further provides a laser tracker coordinate system station building device, comprising:

[0010] a target measurement point determination module, configured to determine a plurality of target measurement points in response to a station establishment instruction;

[0011] a measurement coordinate value determination module, configured to sequentially measure the coordinates of the plurality of target measurement points using a laser tracker, and respectively determine the measurement coordinate values ​​of the plurality of target measurement points;

[0012] The measurement coordinate system determination module is used to determine the measurement coordinate system of the laser tracker according to the measurement coordinate values ​​of the multiple target measurement points.

[0013] In a third aspect, an embodiment of the present invention further provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the laser tracker coordinate system establishment method as described in any embodiment of the present invention is implemented.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the laser tracker coordinate system establishment method as described in any embodiment of the present invention.

[0015] In the technical solution provided by the embodiment of the present invention, in response to a station establishment instruction, multiple target measurement points are determined, and the coordinates of the multiple target measurement points are measured in sequence by a laser tracker, and the measurement coordinate values ​​of the multiple target measurement points are respectively determined. Based on the measurement coordinate values ​​of the multiple target measurement points, the measurement coordinate system of the laser tracker is determined. That is, the laser tracker coordinate system can be automatically established according to the station establishment instruction without human intervention, thereby realizing automated station establishment, improving station establishment efficiency, shortening station establishment time, reducing unnecessary measurement errors caused by human operation, and improving station establishment accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of a method for establishing a station using a laser tracker coordinate system in the first embodiment of the present invention;

[0017] Figure 2 This is a flow chart of a method for establishing a laser tracker coordinate system in a second embodiment of the present invention;

[0018] Figure 3 This is a schematic structural diagram of a laser tracker coordinate system station building device in the third embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram of the hardware structure of a computer device in Example 4 of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0021] It should be noted that before discussing exemplary embodiments in more detail, some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the various operations (or steps) as sequential processes, many of the operations therein can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the various operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0022] Example 1

[0023] Figure 1 This is a flowchart of a laser tracker coordinate system establishment method provided in the first embodiment of the present invention. The embodiment of the present invention is applicable to the situation of automatically establishing a laser tracker coordinate system. The method can be executed by the laser tracker coordinate system establishment device provided in the embodiment of the present invention. The device can be implemented in software and / or hardware and can generally be integrated into a computer device.

[0024] like Figure 1 As shown, this embodiment provides a method for establishing a laser tracker coordinate system, which specifically includes:

[0025] S110 : In response to a site establishment instruction, determine a plurality of target measurement points.

[0026] Station establishment command, used to instruct the establishment of the laser tracker coordinate system.

[0027] Target measurement points are reference points selected on a spatial plane (such as the ground). When determining target measurement points, ensure that they can be measured by the laser tracker and that multiple target measurement points cover the entire measurement space, accurately representing the spatial position of the measured object (such as an aircraft wing or fuselage). To ensure the accuracy of the laser tracker's coordinate system, at least eight target measurement points should be determined.

[0028] In an embodiment of the present invention, secondary development can be performed based on the SA (Spatial Analyzer) software. The automatic site construction control system can be integrated into the SA software. The automatic site construction control system executes the laser tracker coordinate system site construction method. When the computer runs the automatic site construction control system, a visual interface is provided for information exchange with the user. Based on actual site construction needs, the user can trigger the "one-click site construction" function in the automatic site construction control system and issue a site construction instruction. The automatic site construction control system then executes the laser tracker coordinate system site construction method.

[0029] Optionally, multiple target measurement points may be determined, including:

[0030] A plurality of pre-verified initial measurement points are obtained, and a plurality of target measurement points are determined from the plurality of initial measurement points; wherein the number of the initial measurement points is greater than the number of the target measurement points.

[0031] The initial measurement point refers to a measurement point selected from a large number of landmark points and pre-verified.

[0032] It is understandable that in order to ensure the accuracy of station establishment, before determining multiple target measurement points, it is necessary to determine some initial measurement points. In order to determine multiple target measurement points from these initial measurement points for the automatic station establishment of the laser tracker, this is equivalent to the preliminary preprocessing operation of station establishment. Specifically, the deviation between the measured coordinate value and the standard coordinate value of each landmark point is calculated, and the landmark points with smaller deviations are used as the initial measurement points. Landmark points with larger deviations can be discarded. For example, landmark points with deviations greater than the maximum allowable deviation value can be discarded. Among them, the measured coordinate value refers to the coordinate value determined during the actual measurement of a coordinate point; the standard coordinate value refers to the predetermined reference coordinate value of a coordinate point.

[0033] In an embodiment of the present invention, a user can import multiple pre-verified initial measurement points into a system that executes the laser tracker coordinate system station establishment method. The system then automatically determines multiple target measurement points from the multiple initial measurement points, for example, automatically determining eight target measurement points. Alternatively, a technician can regularly maintain the initial measurement points and import a drawing including multiple verified initial measurement points into a computer device that executes the laser tracker coordinate system station establishment method. During the station establishment process, based directly on the drawing provided by the technician, multiple target measurement points that can cover the entire measurement space are randomly selected from the multiple verified initial measurement points included in the drawing, or multiple target measurement points are selected according to a preset selection strategy, for example, target measurement points are selected according to the edge contour of the measured object.

[0034] S120 , measuring the coordinates of a plurality of target measurement points in sequence using a laser tracker, and determining the measurement coordinate values ​​of the plurality of target measurement points respectively.

[0035] It should be emphasized that before using a laser tracker to measure the coordinates of multiple target measurement points in sequence, it is necessary to establish a network for the laser tracker, establish a communication connection between the laser tracker and the computer device that executes the laser tracker coordinate system establishment method, and initialize the laser tracker.

[0036] The coordinates of each target measurement point are measured in sequence using a laser tracker to obtain the actual coordinate value of each target measurement point, that is, to determine the measurement coordinate values ​​of multiple target measurement points.

[0037] As an optional implementation, coordinate measurement of multiple target measurement points is performed in sequence by a laser tracker to determine the measurement coordinate values ​​of the multiple target measurement points respectively, which can include: obtaining the standard coordinate values ​​of the multiple target measurement points, and sending the standard coordinate values ​​of the multiple target measurement points to the laser tracker; using the laser tracker to point the laser beam to the optical reflector set on the corresponding target measurement point according to the standard coordinate value of each target measurement point in sequence, and determining the measurement coordinate value of each target measurement point based on the laser reflection result.

[0038] The optical reflector, or target sphere, is used to determine the three-dimensional spatial coordinates of the measurement target. In embodiments of the present invention, the optical reflector can be placed on a mounting base at each target measurement point. A laser tracker guides the light, tracks the optical reflector, and measures the spatial coordinates of the target measurement point in real time.

[0039] Users can import the standard coordinate values ​​of multiple target measurement points through the visual interface provided by the computer equipment running the automatic station building upper control system; after receiving the standard coordinate values ​​of multiple target measurement points sent by the system that executes the laser tracker coordinate system building method, the laser tracker points the laser beam to the optical reflector according to the standard coordinate values. Each optical reflector reflects the beam of the laser tracker, and the laser tracker determines the measurement coordinate value of each target measurement point based on the laser reflection results.

[0040] As an optional implementation, when a laser tracker is used to perform coordinate measurement on multiple target measurement points in sequence and the measurement coordinate values ​​of the multiple target measurement points are determined respectively, it can also include: displaying the measurement process of the laser tracker for the multiple target measurement points, the measurement result solution process and the measurement coordinate values ​​of the multiple target measurement points.

[0041] It can be understood that the system that executes the laser tracker coordinate system establishment method can provide a user with an information interaction interface for displaying to the user the device status parameters (such as communication status, connection, temperature, humidity, etc.) of the laser tracker when measuring multiple target measurement points, the measurement process (such as the measurement of a certain target measurement point that has been completed, etc.), the measurement result solution process (such as calculating the incident light beam angle of the optical reflector corresponding to a certain target measurement point, etc.) and the measurement coordinate values ​​of multiple target measurement points when the measurement coordinate values ​​of multiple target measurement points are determined separately by the laser tracker, so as to facilitate the user to observe the measurement progress of the target measurement points in real time and realize real-time interaction between the device status and the test data.

[0042] S130 : Determine a measurement coordinate system of the laser tracker according to the measurement coordinate values ​​of the plurality of target measurement points.

[0043] The measurement coordinate system refers to a coordinate system determined by the measurement coordinate values ​​of each coordinate point.

[0044] After determining the measurement coordinate values ​​of multiple target measurement points, the measurement coordinate system of the laser tracker can be established using each measurement coordinate value. For example, the multiple measurement coordinate values ​​can be fitted using SA software or any fitting algorithm in the existing technology (such as the least squares method) to complete the establishment of the measurement coordinate system.

[0045] The technical solution provided by the embodiments of the present invention determines multiple target measurement points in response to a station establishment instruction. A laser tracker sequentially measures the coordinates of these multiple target measurement points, determining their respective measured coordinate values. Based on these measured coordinate values, the laser tracker's measurement coordinate system is then determined. This automatically establishes the laser tracker coordinate system based on the station establishment instruction without human intervention, achieving automated station establishment, improving station establishment efficiency, shortening station establishment time, reducing unnecessary measurement errors caused by manual operation, and improving station establishment accuracy. This technical solution is applicable to applications such as the docking and assembly of large aircraft sections.

[0046] Example 2

[0047] Figure 2 This is a flow chart of a method for establishing a laser tracker coordinate system according to a second embodiment of the present invention. This embodiment is a refinement of the above embodiment, wherein, after determining the measurement coordinate system of the laser tracker, the method may further include: verifying the accuracy of the measurement coordinate system of the laser tracker.

[0048] like Figure 2 As shown, this embodiment provides a method for establishing a laser tracker coordinate system, which specifically includes:

[0049] S210 : In response to a site establishment instruction, determine a plurality of target measurement points.

[0050] S220 , sequentially measuring the coordinates of a plurality of target measurement points using a laser tracker, and respectively determining the measurement coordinate values ​​of the plurality of target measurement points.

[0051] S230 : Determine a measurement coordinate system of the laser tracker according to the measurement coordinate values ​​of the plurality of target measurement points.

[0052] S240. Verify the accuracy of the measurement coordinate system of the laser tracker.

[0053] Among them, accuracy verification is used to check whether the measurement coordinate system of the laser tracker can match the standard coordinate system.

[0054] Exemplarily, the similarity between the measured coordinate value and the standard coordinate value of each target measurement point can be calculated respectively, and it can be determined whether the similarity of each target measurement point is less than a preset similarity threshold. If more than a preset number of target measurement points all meet the condition that the similarity is less than the preset similarity threshold, it can be determined that the measurement coordinate system of the laser tracker has passed the accuracy verification. If more than a preset number of target measurement points do not meet the condition that the similarity is less than the preset similarity threshold, it can be determined that the measurement coordinate system of the laser tracker has failed the accuracy verification.

[0055] As an optional implementation, the accuracy verification of the measurement coordinate system of the laser tracker can be specifically performed as follows:

[0056] Obtain a standard coordinate system; verify the accuracy of the laser tracker's measurement coordinate system based on the error between the laser tracker's measurement coordinate system and the standard coordinate system.

[0057] That is, S240 may specifically include the following operations S241-S242:

[0058] S241. Obtain a standard coordinate system.

[0059] The standard coordinate system refers to a predetermined coordinate system used as a reference.

[0060] It can be understood that before the laser tracker coordinate system is established, it is necessary to pre-determine the position of the laser tracker in the standard coordinate system, place the laser tracker at the corresponding position, and import the standard coordinate value corresponding to the placement position of the laser tracker into the system that executes the laser tracker coordinate system establishment method.

[0061] S242. Verify the accuracy of the laser tracker's measurement coordinate system based on the error between the laser tracker's measurement coordinate system and the standard coordinate system.

[0062] After determining the laser tracker's measurement coordinate system, a fitting algorithm can be used to calculate the error between the laser tracker's measurement coordinate system and the standard coordinate system to determine the accuracy of the station establishment and ensure that the accuracy of the laser tracker's coordinate system station establishment meets the actual project requirements. For example, a fitting algorithm can be used to calculate the error between the laser tracker's measurement coordinate system and the standard coordinate system in each direction (i.e., the x-axis, y-axis, and z-axis). The calculated error results can be used to verify whether the laser tracker's measurement coordinate system meets the accuracy requirements.

[0063] Furthermore, after the accuracy of the laser tracker's measurement coordinate system is verified, the following steps may also be performed:

[0064] If the measurement coordinate system of the laser tracker fails the accuracy verification, multiple target measurement points are re-determined, and the measurement coordinate system of the laser tracker is determined based on the re-determined multiple target measurement points until the re-determined measurement coordinate system of the laser tracker passes the accuracy verification.

[0065] If the laser tracker's measurement coordinate system fails accuracy verification, for example, if the error between the laser tracker's measurement coordinate system and the standard coordinate system exceeds a preset error threshold, it can be determined that the laser tracker's measurement coordinate system fails accuracy verification. In this case, multiple target measurement points can be reselected and the laser tracker's measurement coordinate system redefined. Accuracy verification is then continued for the redefined measurement coordinate system. For example, the error between the redefined measurement coordinate system and the standard coordinate system is calculated. If the redefined laser tracker's measurement coordinate system passes accuracy verification, the laser tracker coordinate system establishment process is terminated. If the redefined laser tracker's measurement coordinate system fails accuracy verification, the above steps are repeated until the redefined laser tracker's measurement coordinate system passes accuracy verification, meaning that the measurement coordinate system matches the standard coordinate system. The redefined target measurement points may partially overlap or completely not overlap with the originally selected target measurement points, as is not specifically limited in this embodiment of the present invention.

[0066] For details not explained in this embodiment, please refer to the aforementioned embodiments and will not be repeated here.

[0067] After determining the laser tracker's measurement coordinate system, the above technical solution also allows for accuracy verification of the laser tracker's measurement coordinate system. If the accuracy verification fails, multiple target measurement points are re-determined and the laser tracker's measurement coordinate system is re-determined until the re-determined laser tracker measurement coordinate system passes the accuracy verification. By performing accuracy verification on the laser tracker's coordinate system, the accuracy of the measurement coordinate points is ensured, thereby ensuring that the accuracy of the laser tracker coordinate system station establishment can meet actual engineering requirements.

[0068] Example 3

[0069] Figure 3 This is a structural diagram of a laser tracker coordinate system establishment device provided in Example 3 of the present invention. This embodiment of the present invention is applicable to the situation of automatically establishing a laser tracker coordinate system. The device can be implemented in software and / or hardware and can generally be integrated into a computer device.

[0070] like Figure 3 As shown, the laser tracker coordinate system station building device specifically includes: a target measurement point determination module 310, a measurement coordinate value determination module 320 and a measurement coordinate system determination module 330.

[0071] The target measurement point determination module 310 is configured to determine a plurality of target measurement points in response to a station establishment instruction;

[0072] A measurement coordinate value determination module 320 is configured to sequentially measure the coordinates of the plurality of target measurement points using a laser tracker, and respectively determine the measurement coordinate values ​​of the plurality of target measurement points;

[0073] The measurement coordinate system determination module 330 is configured to determine the measurement coordinate system of the laser tracker according to the measurement coordinate values ​​of the multiple target measurement points.

[0074] The technical solution provided by the embodiment of the present invention determines multiple target measurement points in response to a site establishment instruction, sequentially measures the coordinates of the multiple target measurement points using a laser tracker, and respectively determines the measurement coordinate values ​​of the multiple target measurement points. Based on the measurement coordinate values ​​of the multiple target measurement points, the measurement coordinate system of the laser tracker is determined. That is, the laser tracker coordinate system can be automatically established according to the site establishment instruction without human intervention, thereby realizing automated site establishment, improving site establishment efficiency, shortening site establishment time, reducing unnecessary measurement errors caused by human operation, and improving site establishment accuracy.

[0075] Optionally, the target measurement point determination module 310 is specifically configured to obtain a plurality of pre-verified initial measurement points in response to a site building instruction, and determine a plurality of target measurement points from the plurality of initial measurement points; wherein the number of the initial measurement points is greater than the number of the target measurement points.

[0076] Optionally, the measurement coordinate value determination module 320 is specifically used to obtain the standard coordinate values ​​of the multiple target measurement points and send the standard coordinate values ​​of the multiple target measurement points to the laser tracker; the laser tracker sequentially points the laser beam to the optical reflector set on the corresponding target measurement point according to the standard coordinate value of each target measurement point, and determines the measurement coordinate value of each target measurement point based on the laser reflection result.

[0077] Optionally, the above-mentioned device further includes: an accuracy verification module, wherein the accuracy verification module is used to verify the accuracy of the measurement coordinate system of the laser tracker after the measurement coordinate system of the laser tracker is determined.

[0078] Optionally, the accuracy verification module is specifically used to obtain a standard coordinate system; and perform accuracy verification on the measurement coordinate system of the laser tracker according to an error between the measurement coordinate system of the laser tracker and the standard coordinate system.

[0079] Optionally, the above-mentioned device also includes: a measurement coordinate system re-determination module, wherein the measurement coordinate system re-determination module is used to, after performing accuracy verification on the measurement coordinate system of the laser tracker, if the measurement coordinate system of the laser tracker fails to pass the accuracy verification, re-determine multiple target measurement points, and determine the measurement coordinate system of the laser tracker based on the re-determined multiple target measurement points until the re-determined measurement coordinate system of the laser tracker passes the accuracy verification.

[0080] Optionally, the above-mentioned device also includes: an interactive display module, wherein the interactive display module is used to display the measurement process, measurement result solution process and measurement coordinate values ​​of the multiple target measurement points of the laser tracker when the laser tracker is used to measure the coordinates of the multiple target measurement points in sequence and determine the measurement coordinate values ​​of the multiple target measurement points respectively.

[0081] The above-mentioned laser tracker coordinate system station building device can execute the laser tracker coordinate system station building method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the laser tracker coordinate system station building method.

[0082] Example 4

[0083] Figure 4 A schematic diagram of the hardware structure of a computer device provided in Example 4 of the present invention. Figure 4 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 4 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0084] like Figure 4 As shown, computer device 12 is implemented as a general-purpose computing device. Components of computer device 12 may include, but are not limited to, one or more processors or processing units 16, system memory 28, and a bus 18 that connects various system components (including system memory 28 and processing unit 16).

[0085] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0086] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0087] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 4 Not shown, often called a "hard drive"). Although Figure 4 Not shown, a magnetic disk drive for reading and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0088] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0089] The computer device 12 may also communicate with one or more external devices 14 (e.g., a keyboard, a pointing device, a display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be understood that although Figure 4 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0090] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing a laser tracker coordinate system establishment method provided by an embodiment of the present invention. That is, when the processing unit executes the program, it implements:

[0091] In response to a station establishment instruction, determining a plurality of target measurement points;

[0092] measuring the coordinates of the plurality of target measurement points in sequence by using a laser tracker, and determining the measurement coordinate values ​​of the plurality of target measurement points respectively;

[0093] A measurement coordinate system of the laser tracker is determined according to the measurement coordinate values ​​of the multiple target measurement points.

[0094] Example 5

[0095] A fifth embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, a method for establishing a laser tracker coordinate system is implemented as provided in all the embodiments of the present invention. That is, when the program is executed by the processor, the following is implemented:

[0096] In response to a station establishment instruction, determining a plurality of target measurement points;

[0097] measuring the coordinates of the plurality of target measurement points in sequence by using a laser tracker, and determining the measurement coordinate values ​​of the plurality of target measurement points respectively;

[0098] A measurement coordinate system of the laser tracker is determined according to the measurement coordinate values ​​of the multiple target measurement points.

[0099] Any combination of one or more computer-readable media can be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductors, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by an instruction execution system, device or device or used in combination with it.

[0100] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0101] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0102] The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​(such as Java, Smalltalk, C++), and also conventional procedural programming languages ​​(such as "C" language or similar programming languages). The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network (including a local area network (LAN) or a wide area network (WAN)), or can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet).

[0103] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for establishing a laser tracker coordinate system, characterized in that: include: In response to the station establishment instruction, a plurality of target measurement points are determined; wherein the target measurement points refer to measurement reference points selected on the spatial plane; measuring the coordinates of the plurality of target measurement points in sequence by using a laser tracker, and determining the measurement coordinate values ​​of the plurality of target measurement points respectively; determining a measurement coordinate system of the laser tracker according to the measurement coordinate values ​​of the plurality of target measurement points; The step of determining a plurality of target measurement points includes: Calculate the deviation between the measured coordinate value and the standard coordinate value of each landmark point, and take the landmark point whose deviation value is less than the maximum allowable deviation value as the initial measurement point; determining a plurality of target measurement points among the plurality of initial measurement points; wherein the number of the initial measurement points is greater than the number of the target measurement points; The step of sequentially measuring the coordinates of the plurality of target measurement points using a laser tracker to determine the measurement coordinate values ​​of the plurality of target measurement points includes: Acquiring standard coordinate values ​​of the plurality of target measurement points, and sending the standard coordinate values ​​of the plurality of target measurement points to the laser tracker; The laser tracker directs the laser beam to the optical reflector provided on the corresponding target measurement point in accordance with the standard coordinate value of each target measurement point in turn, and determines the measurement coordinate value of each target measurement point according to the laser reflection result.

2. The method according to claim 1, characterized in that After determining the measurement coordinate system of the laser tracker, the method further includes: The accuracy of the measurement coordinate system of the laser tracker is verified.

3. The method according to claim 2, characterized in that include: Get the standard coordinate system; The accuracy of the measurement coordinate system of the laser tracker is verified according to the error between the measurement coordinate system of the laser tracker and the standard coordinate system.

4. The method according to claim 2, characterized in that After the accuracy of the measurement coordinate system of the laser tracker is verified, the following steps are also included: If the measurement coordinate system of the laser tracker fails the accuracy verification, multiple target measurement points are re-determined, and the measurement coordinate system of the laser tracker is determined based on the re-determined multiple target measurement points until the re-determined measurement coordinate system of the laser tracker passes the accuracy verification.

5. The method according to claim 1, characterized in that When the laser tracker is used to sequentially measure the coordinates of the plurality of target measurement points and the measurement coordinate values ​​of the plurality of target measurement points are respectively determined, the method further includes: The measurement process of the laser tracker for the multiple target measurement points, the measurement result calculation process, and the measurement coordinate values ​​of the multiple target measurement points are displayed.

6. A laser tracker coordinate system station building device, characterized in that: include: A target measurement point determination module is used to determine a plurality of target measurement points in response to a station establishment instruction; wherein the target measurement points refer to measurement reference points selected on a spatial plane; a measurement coordinate value determination module, configured to sequentially measure the coordinates of the plurality of target measurement points using a laser tracker, and respectively determine the measurement coordinate values ​​of the plurality of target measurement points; a measurement coordinate system determination module, configured to determine a measurement coordinate system of the laser tracker according to the measurement coordinate values ​​of the plurality of target measurement points; The target measurement point determination module is specifically configured to calculate the deviation between the measured coordinate value and the standard coordinate value of each landmark point, and use the landmark point whose deviation value is less than the maximum allowable deviation value as the initial measurement point; and determine multiple target measurement points from the multiple initial measurement points; wherein the number of the initial measurement points is greater than the number of the target measurement points; The measurement coordinate value determination module is specifically configured to obtain the standard coordinate values ​​of the multiple target measurement points and send the standard coordinate values ​​of the multiple target measurement points to the laser tracker; the laser tracker sequentially directs the laser beam to the optical reflector provided on the corresponding target measurement point according to the standard coordinate value of each target measurement point, and determines the measurement coordinate value of each target measurement point based on the laser reflection result.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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