A method for precise positioning and installation integration based on coordinate system information association

Abstract

The present invention provides a method for integrating precise positioning and installation based on the association of coordinate system information: S1, respectively measuring and calibrating the precise positioning module and the supporting component through a precise positioning module offline test and calibration platform and a supporting component offline test and calibration platform, and obtaining the actually acceptable deviation of the precise positioning module and the supporting component by comparing the actual measurement with the proposed structure; S2, establishing a spatial coordinate network, determining the position of the online installation positioning platform of the supporting component through the spatial coordinate network, and measuring the supporting component during online installation through the online installation positioning platform of the supporting component to obtain the actual position, and comparing it with the actual proposed deviation value to obtain the deviation of the supporting component after installation; S3, planning the installation path of the precise positioning module based on the spatial coordinate network after combining the proposed deviation value of the precise positioning module and the supporting component and the actual deviation value of the supporting component through the online installation and positioning component of the precise positioning module, and installing it with reference to the installation aperture.

Description

Technical Field

[0001] The present invention relates to the technical field of precision modules for positioning equipment, and in particular to a method for integrating precise positioning and installation based on the association of coordinate system information. Background Art

[0002] A large number of precision positioning modules are installed in traditional high-power solid-state laser devices. Since the operation of the device requires continuous replacement and maintenance of the precision positioning modules, in order to improve positioning accuracy and maintenance efficiency, the support of the precision positioning module is usually designed as a free-kinematic positioning structure, and the angle positioning arc of the free-kinematic positioning structure is usually accurate within hundreds of microns, and the position positioning is usually accurate within ten microns; the free-kinematic positioning structure facilitates the installation and disassembly of the precision positioning module. When the precision positioning module is installed, if the deviation between the actual position of the precision positioning module and the installed position is less than 1 to 3 mm, the precision positioning module can be put in place by its own gravity; when the precision positioning module is disassembled, after the disassembly tooling overcomes the gravity of the precision positioning module, the lateral deviation of the disassembly path can be controlled within 1 to 2 mm, and as the precision positioning module is removed, the larger the space around the precision positioning module, the greater the lateral selectivity of the disassembly path can be.

[0003] At present, digital technology is partially used in the installation and integration of precision positioning modules; first, a spatial coordinate network is established at the device level, and various supporting components in the device can be measured and accurately positioned when they are installed on site; second, at the offline level, in order to obtain reliable positioning accuracy, the supporting components of the precision positioning module and the precision positioning module itself are precisely tested and calibrated to obtain the position parameters of the positioning parts of the precision positioning module; finally, when the precision positioning module is installed on site, the auxiliary tooling, with the support of visual imaging equipment, installs the precision positioning module into the device through manual remote control; however, these technologies are more of a single-process digital technology, which fails to associate the full process of device integration and maintenance, and the precision test and calibration accuracy data of offline supporting components are not used for the on-site installation of the precision positioning module, resulting in the potential of accuracy data not being fully explored and the on-site installation of the precision positioning module being completely designed according to an independent process, resulting in a waste of resources. At the same time, there are also shortcomings such as the difficulty in arranging the visual imaging equipment for the on-site installation of the precision positioning module and the poor imaging effect, which leads to the existing installation process being not smooth and it is difficult to achieve the purpose of automated installation.

[0004] Therefore, it is imperative to provide a method for integrating digital positioning and installation of coordinate systems to improve accuracy and continuity through associativity. Summary of the invention

[0005] Based on the above technical problems, the present invention provides a method for integrating precise positioning and installation based on the association of coordinate system information, the main purpose of which is to associate the deviation values ​​that meet the actual standard requirements in the precision positioning module and the support component with the deviation values ​​after the support component is installed, so as to accurately plan the installation path of the precision positioning module and perform automated installation.

[0006] According to the technical problems to be solved, the technical solutions are as follows:

[0007] The present invention provides a method for accurate positioning and installation integration based on coordinate system information association, which is characterized by following the steps:

[0008] S1. The precision positioning module and the support assembly are measured and calibrated by the precision positioning module offline test and calibration platform and the support assembly offline test and calibration platform, and the kinematic positioning mechanism on the precision positioning module and the support assembly actually measured is compared with the kinematic positioning mechanism of the theoretical design, and the deviation values ​​that the precision positioning module and the support assembly can actually accept are obtained respectively;

[0009] S2. Establish a spatial coordinate network including the precision positioning module and the support component range in the device, and determine the set position of the online installation positioning platform of the support component through the spatial coordinate network, and then use the online installation positioning platform of the support component to measure the support component during online installation, and obtain the actual position of the kinematic positioning mechanism of the support component, and compare it with the actual acceptable deviation value of the support component to obtain the deviation value of the support component after installation;

[0010] S3, through the online installation of the precision positioning module and the positioning component, the deviation values ​​that the precision positioning module and the support component can actually accept and the deviation values ​​after the support component is installed are combined, and the installation path of the precision positioning module is planned online based on the spatial coordinate network. The online installation of the precision positioning module and the positioning component refer to the installation path of the precision positioning module and install it in place;

[0011] By adopting the above method, the actual acceptable deviation values ​​of the precision positioning module and the support component are associated with the deviation values ​​after the support component is installed. The installation path of the precision positioning module is accurately planned through the online installation of the precision positioning module and the positioning component, and then installed. This effectively improves the accuracy of the automated installation, omits the verification step, and saves debugging time.

[0012] Furthermore, the step S1 includes the following steps:

[0013] S11, the precision positioning module offline test calibration platform measures and obtains the position value of the kinematic positioning mechanism actually measured by the precision positioning module, which is recorded as S1(L), and S1(L)≤S1(LYX); wherein, it is known that S1(LYX) is the allowable error of S1(L);

[0014] S12, the support component offline test calibration platform measures and obtains the position value of the kinematic positioning mechanism of the support component actually measured, which is recorded as S2(L), and S2(L)≤S2(LYX); wherein, it is known that S2(LYX) is the allowable error of S2(L);

[0015] By adopting the above steps, the position values ​​of the kinematic positioning mechanism actually measured by the precision positioning module and the support assembly are determined, and the ranges are respectively determined to be ≤S1(LYX) and ≤S2(LYX), thereby determining the acceptable error range.

[0016] Furthermore, the step S2 further comprises the following steps:

[0017] S21, the actual position of the support assembly after installation is measured by the online installation positioning platform of the support assembly, which is calculated as S2(X). The support assembly should be adjusted to meet S2(X)≤S2(XYX); where S2(XYX) is the allowable error of S2(X);

[0018] By adopting the above steps, the actual position of the kinematic positioning mechanism of the support assembly is determined, and it is positioned within the range of ≤S1(LYX) by adjustment, thereby judging the actual and proposed numerical structures.

[0019] Furthermore, the outer surface of the precision positioning module and the outer surface of the support assembly are both provided with reference points, and local coordinate systems are formed on the precision positioning module and the support assembly respectively through the reference points;

[0020] By adopting the above steps, the position of the module and the local coordinate system on the support assembly can be clearly determined.

[0021] Furthermore, the step S11 further includes the following steps:

[0022] S111, the precision positioning module offline test and calibration platform uses the laser tracker 1-1 for measurement and calibration, and the precision positioning module offline test and calibration platform is provided with a supporting fixture for fixing the precision positioning module; the laser tracker 1-1 tests the spatial positions of the three ball heads and the local coordinate system on the outer surface of the precision positioning module, thereby obtaining the spatial positions of the three ball heads, which are Q1 (x1, y1, z1, r1), Q2 (x2, y2, z2, r2), Q3 (x3, y3, z3, r3), and the spatial positions of the four mounting surfaces of the precision positioning module, which are DWM1 (A1, B1, C1, D1), DWM2 (A2, B2, C2, D2), DWM3 (A3, B3, C3, D3), DWM4 (A4, B4, C4, D4);

[0023] S112, adding the obtained offline calibration parameters of the precision positioning module to the coordinate system of the online installation and positioning component of the precision positioning module by bonding the installation surface, thereby completing the association between the coordinates;

[0024] By adopting the above steps, the location of the three ball heads and the spatial positions of the four mounting and positioning surfaces of the precision positioning module can be clearly determined, so that the calibration parameters can be added to the online installation of the precision positioning module and the positioning component's own coordinate system to complete the association.

[0025] Furthermore, the step S12 further includes the following steps:

[0026] S121, the support component offline test calibration platform uses the laser tracker 1-2 to measure and calibrate, and the laser tracker 1-2 is used to test the spatial positions of the three positioning parts and the local coordinate system on the outer surface of the support component, so as to obtain the spatial positions of the three positioning parts, which are D1: A1X+B1Y+C1Z+D1=0, D3:A3X 2 +B3Y 2 +C3Z 2 =0, and the spatial positions of the four external feature points of the supporting assembly are P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), and P4 (X4, Y4, Z4).

[0027] S122, unifying the offline calibration parameters of the support components into the same coordinate system, thereby completing the association of the offline coordinates;

[0028] By adopting the above steps, the spatial positions of the three positioning parts and the spatial positions of the four external feature points of the support assembly can clearly determine the position that the support assembly can actually accept, and it is also convenient to put the offline calibration parameters of the support assembly into the same coordinate system to complete the association.

[0029] Furthermore, the step S21 further includes the following steps:

[0030] S211, after measuring the spatial coordinate network target points by the laser tracker 1-3 in the online installation positioning platform of the support component to determine its own position, the four targets outside the reflector box are measured, and the data of the offline measurement model is imported;

[0031] S212, fitting the data of the imported offline measurement model to obtain the values ​​D1', D2' and D3' of the offline calibration parameters D1, D2 and D3 of the support component in the spatial coordinate network; when D1', D2' and D3' exceed the deviation values ​​that meet the standard requirements, they are adjusted to meet the actual acceptable deviation values ​​and then recorded;

[0032] By adopting the above structure, the parameters of the support component offline calibration are converted into parameters that can be associated in the spatial coordinate network, and then can be compared and associated with other parameters.

[0033] Furthermore, the step S3 further comprises the following steps:

[0034] S31, adding the offline calibration parameters of the precision positioning module to the coordinate system of the online installation and positioning component of the precision positioning module by bonding the installation surface, thereby completing the association of the coordinates, and the online installation and positioning component of the precision positioning module transports the precision positioning module to the installation site;

[0035] S32, using the precision positioning module to install and position the component online, compare the target points in the spatial coordinate network with the measurement module to determine its own position, and convert the spatial positions of the three ball heads Q1 (x1, y1, z1, r1), Q2 (x2, y2, z2, r2), Q3 (x3, y3, z3, r3) into data under the spatial coordinate network, namely Q1' (x1, y1, z1, r1), Q2' (x2, y2, z2, r2), Q3' (x3, y3, z3, r3), and import the final data D1', D2' and D3' obtained by the online installation positioning platform of the support component;

[0036] S33, associate the known Q1'(x1, y1, z1, r1), Q2'(x2, y2, z2, r2), Q3'(x3, y3, z3, r3), D1', D2' and D3' with the boundary conditions of the building structure of the precision positioning module, plan the installation path of the precision positioning module through the online installation and positioning component of the precision positioning module, and complete the automated installation of the precision positioning module;

[0037] By adopting the above steps, the spatial positions of the three ball heads are converted through the spatial coordinate network and associated with the final data obtained by the online installation and positioning platform of the support component. The installation path of the precision positioning module is planned through the online installation and positioning component of the precision positioning module, so that the automated installation of the precision positioning module can be successfully completed by referring to its installation path.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] A method of integrating precise positioning and installation based on the association of coordinate system information using the above technical solution can associate the entire process of device integration and maintenance. The precision testing and calibration accuracy data of offline support components can be used for the on-site installation of precise positioning modules. The potential of precision data can be explored, and the on-site installation of the precise positioning module is designed and installed completely in accordance with the compared data, thereby facilitating the arrangement of visual imaging equipment for on-site installation of the precise positioning module, improving the imaging effect, making the installation process smooth, and improving the installation accuracy, and being able to smoothly realize the automated installation of the precise positioning module. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flow chart of the method for integrating precise positioning and installation based on the association of coordinate system information of the present invention. DETAILED DESCRIPTION

[0041] The present invention is further described below in conjunction with embodiments and drawings.

[0042] Reference Figure 1 As shown, the present invention provides a method for accurate positioning and installation integration based on coordinate system information association, wherein the following steps are performed:

[0043] S1. The precision positioning module and the support assembly are measured and calibrated by the precision positioning module offline test and calibration platform and the support assembly offline test and calibration platform, and the kinematic positioning mechanism on the precision positioning module and the support assembly actually measured is compared with the kinematic positioning mechanism of the theoretical design, and the deviation values ​​that the precision positioning module and the support assembly can actually accept are obtained respectively;

[0044] S2. Establish a spatial coordinate network including the precision positioning module and the support component range in the device, and determine the set position of the online installation positioning platform of the support component through the spatial coordinate network, and then use the online installation positioning platform of the support component to measure the support component during online installation, and obtain the actual position of the kinematic positioning mechanism of the support component, and compare it with the actual acceptable deviation value of the support component to obtain the deviation value of the support component after installation;

[0045] S3, through the online installation of the precision positioning module and the positioning component, the deviation values ​​that the precision positioning module and the support component can actually accept and the deviation values ​​after the support component is installed are combined, and the installation path of the precision positioning module is planned online based on the spatial coordinate network. The online installation of the precision positioning module and the positioning component refer to the installation path of the precision positioning module and install it in place;

[0046] When the actual acceptable deviation values ​​of the precision positioning module and the support component are associated with the deviation values ​​after the support component is installed, the installation path of the precision positioning module is accurately planned and installed through the online installation and positioning component of the precision positioning module, which effectively improves the accuracy of the automated installation, omits the verification step, and saves debugging time.

[0047] Wherein, the step S1 also includes the following steps:

[0048] S11, the precision positioning module offline test calibration platform measures and obtains the position value of the kinematic positioning mechanism actually measured by the precision positioning module, which is recorded as S1(L), and S1(L)≤S1(LYX); wherein, it is known that S1(LYX) is the allowable error of S1(L);

[0049] S12, the support component offline test calibration platform measures and obtains the position value of the kinematic positioning mechanism of the support component actually measured, which is recorded as S2(L), and S2(L)≤S2(LYX); wherein, it is known that S2(LYX) is the allowable error of S2(L);

[0050] The position values ​​of the kinematic positioning mechanisms actually measured by the precision positioning module and the support assembly are determined, and the ranges are respectively determined to be ≤S1(LYX) and ≤S2(LYX), thereby determining the acceptable error range.

[0051] Wherein, the step S2 also includes the following steps:

[0052] S21, the actual position of the support assembly after installation is measured by the online installation positioning platform of the support assembly, which is calculated as S2(X). The support assembly should be adjusted to meet S2(X)≤S2(XYX); where S2(XYX) is the allowable error of S2(X);

[0053] After determining the actual position of the kinematic positioning mechanism of the support assembly, it is positioned within the range of ≤S1(LYX) by adjustment, thereby judging the actual and proposed numerical structures.

[0054] Preferably, reference points are provided on the outer surface of the precision positioning module and the outer surface of the support assembly, and local coordinate systems are formed on the precision positioning module and the support assembly respectively through the reference points; the positions of the precision positioning module and the support assembly can be clearly determined through the local coordinate systems on the precision positioning module and the support assembly.

[0055] As a further preferred embodiment, the step S11 further includes the following steps:

[0056] S111, the precision positioning module offline test and calibration platform uses the laser tracker 1-1 for measurement and calibration, and the precision positioning module offline test and calibration platform is provided with a supporting fixture for fixing the precision positioning module; the laser tracker 1-1 tests the spatial positions of the three ball heads and the local coordinate system on the outer surface of the precision positioning module, thereby obtaining the spatial positions of the three ball heads, which are Q1 (x1, y1, z1, r1), Q2 (x2, y2, z2, r2), Q3 (x3, y3, z3, r3), and the spatial positions of the four mounting surfaces of the precision positioning module, which are DWM1 (A1, B1, C1, D1), DWM2 (A2, B2, C2, D2), DWM3 (A3, B3, C3, D3), DWM4 (A4, B4, C4, D4);

[0057] S112, adding the obtained offline calibration parameters of the precision positioning module to the coordinate system of the online installation and positioning component of the precision positioning module by bonding the installation surface, thereby completing the association between the coordinates;

[0058] The above steps can clearly determine the location of the three ball heads and the four mounting surfaces of the precision positioning module through their spatial positions, making it easier to add the calibration parameters to the online installation of the precision positioning module and the positioning component's own coordinate system to complete the association.

[0059] Wherein, the step S12 also includes the following steps:

[0060] S121, the support component offline test calibration platform uses the laser tracker 1-2 to measure and calibrate, and the laser tracker 1-2 is used to test the spatial positions of the three positioning parts and the local coordinate system on the outer surface of the support component, so as to obtain the spatial positions of the three positioning parts, which are D1: A1X+B1Y+C1Z+D1=0, D3:A3X 2 +B3Y 2 +C3Z 2 =0, and the spatial positions of the four external feature points of the supporting assembly are P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), and P4 (X4, Y4, Z4).

[0061] S122. Unify the offline calibration parameters of the support assembly into the same coordinate system, thereby completing the association of the offline coordinates; the spatial positions of the three positioning parts and the spatial positions of the four external feature points of the support assembly can clearly determine the actual acceptable position of the support assembly, and it is also convenient to put the offline calibration parameters of the support assembly into the same coordinate system to complete the association.

[0062] Wherein, the step S21 also includes the following steps:

[0063] S211, after measuring the spatial coordinate network target points by the laser tracker 1-3 in the online installation positioning platform of the support component to determine its own position, the four targets outside the reflector box are measured, and the data of the offline measurement model is imported;

[0064] S212, fit the data of the imported offline measurement model to obtain the values ​​D1', D2' and D3' of the offline calibration parameters D1, D2 and D3 of the support component in the spatial coordinate network. When D1', D2' and D3' exceed the deviation values ​​that meet the standard requirements, adjust them to meet the actual acceptable deviation values ​​and then record them; convert the parameters of the offline calibration of the support component into parameters that can be associated in the spatial coordinate network, so that they can be compared and associated with other parameters.

[0065] Wherein, the step S3 further includes the following steps:

[0066] S31, adding the offline calibration parameters of the precision positioning module to the coordinate system of the online installation and positioning component of the precision positioning module by bonding the installation surface, thereby completing the association of the coordinates, and the online installation and positioning component of the precision positioning module transports the precision positioning module to the installation site;

[0067] S32, using the precision positioning module to install and position the component online, compare the target points in the spatial coordinate network with the measurement module to determine its own position, and convert the spatial positions of the three ball heads Q1 (x1, y1, z1, r1), Q2 (x2, y2, z2, r2), Q3 (x3, y3, z3, r3) into data under the spatial coordinate network, namely Q1' (x1, y1, z1, r1), Q2' (x2, y2, z2, r2), Q3' (x3, y3, z3, r3), and import the final data D1', D2' and D3' obtained by the online installation positioning platform of the support component;

[0068] S33. Associate the known Q1'(x1, y1, z1, r1), Q2'(x2, y2, z2, r2), Q3'(x3, y3, z3, r3), D1', D2' and D3' with the boundary conditions of the building structure of the precision positioning module, plan the installation path of the precision positioning module through the online installation and positioning component of the precision positioning module, and complete the automated installation of the precision positioning module; transform the spatial positions of the three ball heads through the spatial coordinate network, and associate them with the final data obtained by the online installation and positioning platform of the support component, plan the installation path of the precision positioning module through the online installation and positioning component of the precision positioning module, and then the automated installation of the precision positioning module can be successfully completed by referring to its installation path.

[0069] It should be noted that the kinematic positioning mechanism on the precision positioning module is respectively composed of the three spatial positions of the ball head at the top, left and right positions of the precision positioning module and the local coordinate system on the outer surface of the precision positioning module; and the kinematic positioning mechanism on the support assembly is respectively composed of the three spatial positions of the positioning parts at the left, right and bottom positions and the local coordinate system on the outer surface of the support assembly; thereby, the position is determined by at least three positioning points and the various coordinate points on the local coordinate system formed by itself, so that its deviation value can be accurately measured and determined.

[0070] Embodiments of the present invention are described in detail above, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described above with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0071] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0072] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0073] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0074] Finally, it should be noted that the above description is only a preferred embodiment of the present invention. Under the guidance of the present invention, ordinary technicians in this field can make various similar expressions without violating the purpose and claims of the present invention, and such changes all fall within the scope of protection of the present invention.

Claims

1. A method for accurate positioning and installation integration based on coordinate system information association, characterized in that: Follow these steps: S1. The precision positioning module and the support assembly are measured and calibrated by the precision positioning module offline test and calibration platform and the support assembly offline test and calibration platform, and the kinematic positioning mechanism on the precision positioning module and the support assembly actually measured is compared with the kinematic positioning mechanism of the theoretical design, and the deviation values ​​that the precision positioning module and the support assembly can actually accept are obtained respectively; S2. Establish a spatial coordinate network including the precision positioning module and the support component range in the device, and determine the set position of the online installation positioning platform of the support component through the spatial coordinate network, and then use the online installation positioning platform of the support component to measure the support component during online installation, and obtain the actual position of the kinematic positioning mechanism of the support component, and compare it with the actual acceptable deviation value of the support component to obtain the deviation value of the support component after installation; S3. Through the online installation and positioning assembly of the precision positioning module, the actual acceptable deviation values ​​of the precision positioning module and the support assembly, as well as the deviation values ​​after the support assembly is installed, the installation path of the precision positioning module is planned online based on the spatial coordinate network. The online installation and positioning assembly of the precision positioning module refers to the installation path of the precision positioning module and installs it in place.

2. According to claim 1, a method for accurate positioning and installation integration based on coordinate system information association is characterized in that: The step S1 comprises the following steps: S11, the precision positioning module offline test calibration platform measures and obtains the position value of the kinematic positioning mechanism actually measured by the precision positioning module, which is recorded as S1(L), and S1(L)≤S1(LYX); wherein, it is known that S1(LYX) is the allowable error of S1(L); S12. The support component offline test calibration platform measures and obtains the position value of the kinematic positioning mechanism of the support component actually measured, which is recorded as S2(L), and S2(L)≤S2(LYX); among which, it is known that S2(LYX) is the allowable error of S2(L).

3. The method for accurate positioning and installation integration based on coordinate system information association according to claim 2 is characterized in that: The step S2 further comprises the following steps: S21. The actual position of the support assembly after installation is measured by the online installation positioning platform and recorded as S2(X). The support assembly should be adjusted to satisfy S2(X)≤S2(XYX); wherein, S2(XYX) is the allowable error of S2(X).

4. A method for accurate positioning and installation integration based on coordinate system information association according to claim 1, 2 or 3, characterized in that: The outer surface of the precision positioning module and the outer surface of the support assembly are both provided with reference points, and local coordinate systems are formed on the precision positioning module and the support assembly respectively through the reference points.

5. The method for accurate positioning and installation integration based on coordinate system information association according to claim 4 is characterized in that: The step S11 further comprises the following steps: S111, the precision positioning module offline test and calibration platform uses a laser tracker 1-1 for measurement and calibration, and the precision positioning module offline test and calibration platform is provided with a supporting fixture for fixing the precision positioning module; the laser tracker 1-1 measures the spatial positions of the three ball heads on the precision positioning module and the local coordinate system on the outer surface of the precision positioning module, thereby obtaining the spatial positions of the three ball heads, which are Q1 (x1, y1, z1, r1), Q2 (x2, y2, z2, r2), Q3 (x3, y3, z3, r3), and the spatial positions of the four mounting surfaces of the precision positioning module, which are DWM1 (A1, B1, C1, D1), DWM2 (A2, B2, C2, D2), DWM3 (A3, B3, C3, D3), DWM4 (A4, B4, C4, D4); S112, adding the obtained offline calibration parameters of the precision positioning module into the coordinate system of the online installation and positioning component of the precision positioning module by bonding the mounting surface, thereby completing the association between the coordinates.

6. The method for accurate positioning and installation integration based on coordinate system information association according to claim 5, characterized in that: The step S12 further comprises the following steps: S121, the support component offline test calibration platform uses the laser tracker 1-2 to measure and calibrate. The laser tracker 1-2 is used to measure the spatial positions of the three positioning parts on the support component and the local coordinate system on the outer surface of the support component, so as to obtain the spatial positions of the three positioning parts, which are D1: A1X + B1Y + C1Z + D1 = 0, D2: D3:A3X 2 +B3Y 2 +C3Z 2 = 0, and the spatial positions of the four external feature points of the support assembly are P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), and P4 (X4, Y4, Z4); S122, unifying the offline calibration parameters of the support components into the same coordinate system, thereby completing the association of the offline coordinates.

7. The method for accurate positioning and installation integration based on coordinate system information association according to claim 6, characterized in that: The step S21 further comprises the following steps: S211, after measuring the spatial coordinate network target points by the laser tracker 1-3 in the online installation positioning platform of the support component to determine its own position, the four targets outside the reflector box are measured, and the data of the offline measurement model is imported; S212. Fit the data of the imported offline measurement model to obtain the values ​​D1', D2' and D3' of the offline calibration parameters D1, D2 and D3 of the support components in the spatial coordinate network. When D1', D2' and D3' exceed the deviation values ​​that meet the standard requirements, adjust them to the actual acceptable deviation values ​​and then record them.

8. The method for accurate positioning and installation integration based on coordinate system information association according to claim 7 is characterized in that: The step S3 further comprises the following steps: S31, adding the offline calibration parameters of the precision positioning module to the coordinate system of the online installation and positioning component of the precision positioning module by bonding the installation surface, thereby completing the association of the coordinates, and the online installation and positioning component of the precision positioning module transports the precision positioning module to the installation site; S32, using the precision positioning module to install and position the component online, compare the target points in the spatial coordinate network with the measurement module to determine its own position, and convert the spatial positions of the three ball heads Q1 (x1, y1, z1, r1), Q2 (x2, y2, z2, r2), Q3 (x3, y3, z3, r3) into data under the spatial coordinate network, namely Q1' (x1, y1, z1, r1), Q2' (x2, y2, z2, r2), Q3' (x3, y3, z3, r3), and import the final data D1', D2' and D3' obtained by the online installation positioning platform of the support component; S33. Associate the known Q1'(x1, y1, z1, r1), Q2'(x2, y2, z2, r2), Q3'(x3, y3, z3, r3), D1', D2' and D3' with the boundary conditions of the precision positioning module building structure, plan the installation path of the precision positioning module through the online installation and positioning component of the precision positioning module, and complete the automated installation of the precision positioning module.

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