A component measurement and processing method and system

Abstract

The present invention discloses a component measurement and processing method and system, which relates to the field of large-scale component modeling and measurement technology, and is used to control a robot, a scanner, a tracker and a processing tool to measure and process the component. The method includes: dividing the processing area of ​​the component into multiple sub-processing areas, respectively constructing a robot coordinate system, a scanner coordinate system, a processing tool coordinate system, and a tracker coordinate system; measuring the spatial position of each of the sub-processing areas to obtain data points in the scanner coordinate system, reconstructing the data points in the tracker coordinate system to obtain a component model; according to the component model, combining the robot coordinate system and the processing tool coordinate system, planning the trajectory of the robot, and processing the component according to the trajectory. The present invention concentrates all measurement data in the coordinate system calibrated by the tracker, and performs data splicing through the system, so that the collected data has high accuracy and integrity.

Description

Technical Field

[0001] The invention belongs to the technical field of large-scale component modeling, measurement and processing, and more specifically, relates to a component measurement and processing system. Background Art

[0002] Large components have the characteristics of large size and wide processing surface, and traditional processing machine tools cannot be used due to the limited processing range. If proprietary processing equipment is used, the equipment will be laid out according to the workpiece processing surface. In order to ensure that the processing range covers the workpiece and that the equipment has a certain strength, rigidity and precision, a large amount of materials and manpower will be consumed for equipment laying, and the equipment will be difficult to adapt to workpieces with large changes.

[0003] Patent document CN112146571A discloses a non-basic measurement system for large components, which uses a laser scanner and a laser tracker target to be installed at the end of the robot at the same time, and uses the tracker to locate the scanner coordinate position, thereby completing the scanning machine data splicing work on the surface of the large component. In addition, patent document CN111238375A discloses a large component shape reconstruction method based on a mobile inspection robot with a laser tracker, proposes a set of theoretical methods for measuring large components, and realizes a method for controlling a physical mobile inspection robot system in a virtual environment.

[0004] However, patent documents CN112146571A and CN111238375A only describe systems and methods for measurement. In actual application, the measurement system is used to serve the processing process, but how the measurement system cooperates with the processing system is not explained in the documents. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a component measurement and processing method, which is used to control a robot, a scanner, a tracker and a processing tool to measure and process the component, comprising:

[0006] The processing area of ​​the component is divided into a plurality of sub-processing areas, and a robot coordinate system, a scanner coordinate system, a processing tool coordinate system, and a tracker coordinate system are respectively constructed;

[0007] Measuring the spatial position of each of the sub-processing areas to obtain data points in the scanner coordinate system, and reconstructing the data points in the tracker coordinate system to obtain a component model;

[0008] According to the component model, in combination with the robot coordinate system and the processing tool coordinate system, the robot is subjected to trajectory planning, and the component is processed according to the trajectory.

[0009] Further, reconstructing the data points in the tracker coordinate system includes:

[0010] The coordinates of the data point are the coordinates p in the scanner coordinate system. 3 , the coordinate p 3 Transformed into the coordinate p in the tracker coordinate system 1 , the formula is:

[0011] T 3-1 ·p 3 =p 1

[0012] Where T 3-1 For p 3 To p 1 The transformation matrix for the conversion.

[0013] Furthermore, it also includes:

[0014] The coordinate p 1 Transformed into the trajectory point coordinates p in the machining tool coordinate system 4 , the formula is:

[0015] T 1-4 ·p 1 =p 4

[0016] Where T 1-4 For p 1 To p 4 The transformation matrix for the conversion.

[0017] Furthermore, performing trajectory planning on the robot includes:

[0018] The coordinate p 4 Transformed into the robot coordinate system to obtain the robot end coordinate point p 2 , the formula is:

[0019] T 4-2 ·p 4 =p 2

[0020] Where T 4-2 For p 4 To p 2 The transformation matrix of the conversion;

[0021] During the processing, the trajectory point coordinates of the robot are (x, y, z), the actual coordinates measured by the tracker are (x', y', z'), and the coordinate error value is (Δx, Δy, Δz). The formula is:

[0022]

[0023] The trajectory of the robot is corrected according to the coordinate error values ​​(Δx, Δy, Δz).

[0024] Furthermore, before constructing the robot coordinate system, the method further includes: returning each axis of the robot to zero position.

[0025] The present invention also provides a component measurement and processing system, which is used to control a robot, a scanner, a tracker and a processing tool to measure and process the component, including:

[0026] A coordinate system construction module is used to divide the processing area of ​​the component into multiple sub-processing areas, and respectively construct a robot coordinate system, a scanner coordinate system, a processing tool coordinate system, and a tracker coordinate system;

[0027] A component model acquisition module is used to measure the spatial position of each of the sub-processing areas to obtain data points in the scanner coordinate system, and reconstruct the data points in the tracker coordinate system to obtain a component model;

[0028] A processing module is used to plan the trajectory of the robot according to the component model in combination with the robot coordinate system and the processing tool coordinate system, and to process the component according to the trajectory.

[0029] Further, reconstructing the data points in the tracker coordinate system includes:

[0030] The coordinates of the data point are the coordinates p in the scanner coordinate system. 3 , the coordinate p 3 Transformed into the coordinate p in the tracker coordinate system 1 , the formula is:

[0031] T 3-1 ·p 3 =p 1

[0032] Where T 3-1 For p 3 To p 1 The transformation matrix for the conversion.

[0033] Furthermore, it also includes:

[0034] The coordinate p 1 Transformed into the trajectory point coordinates p in the machining tool coordinate system 4 , the formula is:

[0035] T 1-4 ·p 1 =p 4

[0036] Where T 1-4 For p1 To p 4 The transformation matrix for the conversion.

[0037] Furthermore, performing trajectory planning on the robot includes:

[0038] The coordinate p 4 Transformed into the robot coordinate system to obtain the robot end coordinate point p 2 , the formula is:

[0039] T 4-2 ·p 4 =p 2

[0040] Where T 4-2 For p 4 To p 2 The transformation matrix of the conversion;

[0041] During the processing, the trajectory point coordinates of the robot are (x, y, z), the actual coordinates measured by the tracker are (x', y', z'), and the coordinate error value is (Δx, Δy, Δz). The formula is:

[0042]

[0043] The trajectory of the robot is corrected according to the coordinate error values ​​(Δx, Δy, Δz).

[0044] Furthermore, before constructing the robot coordinate system, the method further includes: returning each axis of the robot to zero position.

[0045] In general, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art:

[0046] 1. The present invention uses a relatively simple processing unit to process large components in different areas, which is simple and flexible and can meet the processing requirements of workpieces of various sizes and shapes. It greatly reduces the cost and time of equipment installation for production units.

[0047] 2. The present invention concentrates all measurement data in the coordinate system calibrated by the tracker, and performs data splicing through the system, so that the collected data has high accuracy and integrity, while also ensuring the uniformity of processing errors between processing areas.

[0048] 3. The present invention utilizes the laser tracker to measure data for real-time feedback, implements closed-loop control of the processing path, and effectively combines the high precision of the measuring equipment with the flexibility of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0050] Figure 2 is a structural diagram of a system in Embodiment 2 of the present invention;

[0051] Figure 3 is a flow chart of the measurement process of Example 3 of the present invention;

[0052] Figure 4 is a processing area division diagram of embodiment 3 of the present invention;

[0053] Figure 5 is a robot calibration diagram of embodiment 3 of the present invention;

[0054] Figure 6 is a scanned image of a processing surface of Embodiment 3 of the present invention;

[0055] Figure 7 is a processing path planning diagram of embodiment 3 of the present invention;

[0056] Figure 8 This is a diagram of the machining unit position change in embodiment 3 of the present invention. DETAILED DESCRIPTION

[0057] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0058] The method provided by the present invention can be implemented in the following terminal environment, and the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, and the instruction is loaded and executed by the processor to implement the method described in the following embodiment.

[0059] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0060] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets or instructions.

[0061] The display screen is used to display the user interface of each application.

[0062] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal, and the terminal may include more or fewer components, or combine certain components, or arrange the components differently. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be described in detail here.

[0063] Example 1

[0064] like Figure 1 The embodiment of the present invention provides a component measurement and processing method, which is used to control a robot, a scanner, a tracker and a processing tool to measure and process the component, including:

[0065] Step 101, dividing the processing area of ​​the component into a plurality of sub-processing areas, and constructing a robot coordinate system, a scanner coordinate system, a processing tool coordinate system, and a tracker coordinate system respectively;

[0066] Before constructing the robot coordinate system, the process also includes: returning each axis of the robot to zero position.

[0067] Step 102, measuring the spatial position of each of the sub-processing areas to obtain data points in the scanner coordinate system, and reconstructing the data points in the tracker coordinate system to obtain a component model;

[0068] Reconstructing the data points in the tracker coordinate system includes:

[0069] The coordinates of the data point are the coordinates p in the scanner coordinate system. 3 , the coordinate p 3 Transformed into the coordinate p in the tracker coordinate system 1 , the formula is:

[0070] T 3-1 ·p 3 =p 1

[0071] Where T 3-1 For p 3 To p 1 The transformation matrix for the conversion.

[0072] The coordinate p 1 Transformed into the trajectory point coordinates p in the machining tool coordinate system 4 , the formula is:

[0073] T 1-4 ·p 1 =p 4

[0074] Where T 1-4 For p 1 To p4 The transformation matrix for the conversion.

[0075] Step 103 , planning a trajectory for the robot according to the component model in combination with the robot coordinate system and the processing tool coordinate system, and processing the component according to the trajectory.

[0076] Performing trajectory planning for the robot includes:

[0077] The coordinate p 4 Transformed into the robot coordinate system to obtain the robot end coordinate point p 2 , the formula is:

[0078] T 4-2 ·p 4 =p 2

[0079] Where T 4-2 For p 4 To p 2 The transformation matrix of the conversion;

[0080] During the processing, the trajectory point coordinates of the robot are (x, y, z), the actual coordinates measured by the tracker are (x', y', z'), and the coordinate error value is (Δx, Δy, Δz). The formula is:

[0081]

[0082] The trajectory of the robot is corrected according to the coordinate error values ​​(Δx, Δy, Δz).

[0083] Example 2

[0084] like Figure 2 As shown, an embodiment of the present invention further provides a component measurement and processing system, which is used to control a robot, a scanner, a tracker and a processing tool to measure and process the component, including:

[0085] A coordinate system construction module is used to divide the processing area of ​​the component into multiple sub-processing areas, and respectively construct a robot coordinate system, a scanner coordinate system, a processing tool coordinate system, and a tracker coordinate system;

[0086] Before constructing the robot coordinate system, the process also includes: returning each axis of the robot to zero position.

[0087] A component model acquisition module is used to measure the spatial position of each of the sub-processing areas to obtain data points in the scanner coordinate system, and reconstruct the data points in the tracker coordinate system to obtain a component model;

[0088] Reconstructing the data points in the tracker coordinate system includes:

[0089] The coordinates of the data point are the coordinates p in the scanner coordinate system. 3 , the coordinate p 3 Transformed into the coordinate p in the tracker coordinate system 1 , the formula is:

[0090] T 3-1 ·p 3 =p 1

[0091] Where T 3-1 For p 3 To p 1 The transformation matrix for the conversion.

[0092] The coordinate p 1 Transformed into the trajectory point coordinates p in the machining tool coordinate system 4 , the formula is:

[0093] T 1-4 ·p 1 =p 4

[0094] Where T 1-4 For p 1 To p 4 The transformation matrix for the conversion.

[0095] A processing module is used to plan the trajectory of the robot according to the component model in combination with the robot coordinate system and the processing tool coordinate system, and to process the component according to the trajectory.

[0096] Performing trajectory planning for the robot includes:

[0097] The coordinate p 4 Transformed into the robot coordinate system to obtain the robot end coordinate point p 2 , the formula is:

[0098] T 4-2 ·p 4 =p 2

[0099] Where T 4-2 For p 4 To p 2 The transformation matrix of the conversion;

[0100] During the processing, the trajectory point coordinates of the robot are (x, y, z), the actual coordinates measured by the tracker are (x', y', z'), and the coordinate error value is (Δx, Δy, Δz). The formula is:

[0101]

[0102] The trajectory of the robot is corrected according to the coordinate error values ​​(Δx, Δy, Δz).

[0103] Example 3

[0104] like Figure 3 The specific implementation of Embodiment 3 of the present invention is as follows:

[0105] 1. As Figure 4 As shown in the figure, the processing area is divided into zones. The processing surface of large components is large, and the processing range will exceed the robot's accessible area. The processing area is divided into several zones according to the robot's accessible range to ensure that the processing area can be fully covered without omission.

[0106] 2. If Figure 5 As shown, the processing tool is hoisted to a fixed position and fixed, and after the robot is reset to zero, the robot position coordinates are measured. Since the size of the robot and related accessories is fixed, after the tracker locates a target ball at the end of the robot and three target balls at the base, the relative position of the robot processing unit in the tracker calibration coordinate system x1y1z1o1 can be located, and the robot coordinate system x2y2z2o2, the scanner coordinate system x3y3z3o3, and the processing tool coordinate system x4y4z4o4 can be constructed.

[0107] 3. Such as Figure 6 As shown in the figure, the laser tracker is used in conjunction with the laser scanner to determine the spatial position of the processing surface, and the processing surface model is reconstructed in the tracker coordinates. With the cooperation of the tracker, all data points scanned by the scanner are located in the tracker calibration coordinate system, and the processing surface will also be reconstructed in this coordinate system, so that accurate position information between the robot and the processing surface can be obtained.

[0108] The coordinates of the point directly obtained by the scanner are the coordinates p in the scanner coordinate system x3y3z3o3 3 , which is transformed into the coordinate p1 in the tracker coordinate system x1y1z1o1 through coordinate transformation.

[0109] T 3-1 ·p 3 =p 1

[0110] 4. Such as Figure 7 As shown in the figure, the robot trajectory is planned based on the scanned processing surface model, and the robot performs processing based on the planned trajectory. During the processing, the laser tracker tracks the target ball at the end of the robot in real time and calibrates the real-time position of the robot tool. The position information will be transmitted back to the system, and the robot trajectory will be corrected in real time to ensure the processing accuracy. Since the measurement and processing correction are all performed in the same coordinate system, it will effectively improve the processing accuracy.

[0111] When planning the trajectory, in order to obtain a more accurate processing trajectory, the coordinates p 1 Transform to the machining tool coordinate system x4y4z4o4 to obtain the trajectory point coordinate p 4 .

[0112] T 1-4 ·p 1 =p 4

[0113] The processing points are connected to get the trajectory path. Before the robot reverse solution, the coordinates p 4 Convert to the robot coordinate system x2y2z2o2 to get the robot end coordinate point p 2 .

[0114] T 4-2 ·p 4 =p 2

[0115] During the processing, the theoretical trajectory point coordinates of the robot are (x, y, z), the actual coordinate values ​​measured by the laser tracker are (x', y', z'), and the coordinate error values ​​are (Δx, Δy, Δz).

[0116]

[0117] Substitute the error values ​​(Δx, Δy, Δz) into the robot system, correct the coordinates of the robot's trajectory points, and achieve closed-loop control.

[0118] 5. As Figure 8 As shown, after the current processing area is processed, the robot processing unit is hoisted to the next fixed position for fixation, and the above process is repeated.

[0119] Example 4

[0120] The embodiment of the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are used to implement the component measurement and processing method.

[0121] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0122] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps: Step 101, dividing a processing area of ​​a component into a plurality of sub-processing areas, and constructing a robot coordinate system, a scanner coordinate system, a processing tool coordinate system, and a tracker coordinate system respectively;

[0123] Before constructing the robot coordinate system, the process also includes: returning each axis of the robot to zero position.

[0124] Step 102, measuring the spatial position of each of the sub-processing areas to obtain data points in the scanner coordinate system, and reconstructing the data points in the tracker coordinate system to obtain a component model;

[0125] Reconstructing the data points in the tracker coordinate system includes:

[0126] The coordinates of the data point are the coordinates p in the scanner coordinate system. 3 , the coordinate p 3 Transformed into the coordinate p in the tracker coordinate system 1 , the formula is:

[0127] T 3-1 ·p 3 =p 1

[0128] Where T 3-1 For p 3 To p 1 The transformation matrix for the conversion.

[0129] The coordinate p 1 Transformed into the trajectory point coordinates p in the machining tool coordinate system 4 , the formula is:

[0130] T 1-4 ·p 1 =p 4

[0131] Where T 1-4 For p 1 To p 4 The transformation matrix for the conversion.

[0132] Step 103 , planning a trajectory for the robot according to the component model in combination with the robot coordinate system and the processing tool coordinate system, and processing the component according to the trajectory.

[0133] Performing trajectory planning for the robot includes:

[0134] The coordinate p 4 Transformed into the robot coordinate system to obtain the robot end coordinate point p 2 , the formula is:

[0135] T 4-2 ·p 4 =p 2

[0136] Where T 4-2 For p 4 To p 2The transformation matrix of the conversion;

[0137] During the processing, the trajectory point coordinates of the robot are (x, y, z), the actual coordinates measured by the tracker are (x', y', z'), and the coordinate error value is (Δx, Δy, Δz). The formula is:

[0138]

[0139] The trajectory of the robot is corrected according to the coordinate error values ​​(Δx, Δy, Δz).

[0140] Example 5

[0141] An embodiment of the present invention further proposes an electronic device, comprising a processor and a storage medium connected to the processor, wherein the storage medium stores a plurality of instructions, and the instructions can be loaded and executed by the processor so that the processor can execute the measurement and processing method of a component.

[0142] Specifically, the electronic device of this embodiment may be a computer terminal, and the computer terminal may include: one or more processors, and a storage medium.

[0143] Among them, the storage medium can be used to store software programs and modules, such as the constructed measurement and processing method in the embodiment of the present invention, the corresponding program instructions / modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned constructed measurement and processing method. The storage medium may include a high-speed random storage medium, and may also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include a storage medium remotely arranged relative to the processor, and these remote storage media may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0144] The processor may call the information and application program stored in the storage medium through the transmission system to execute the following steps: Step 101, dividing the processing area of ​​the component into a plurality of sub-processing areas, and respectively constructing a robot coordinate system, a scanner coordinate system, a processing tool coordinate system, and a tracker coordinate system;

[0145] Before constructing the robot coordinate system, the process also includes: returning each axis of the robot to zero position.

[0146] Step 102, measuring the spatial position of each of the sub-processing areas to obtain data points in the scanner coordinate system, and reconstructing the data points in the tracker coordinate system to obtain a component model;

[0147] Reconstructing the data points in the tracker coordinate system includes:

[0148] The coordinates of the data point are the coordinates p in the scanner coordinate system. 3 , the coordinate p 3 Transformed into the coordinate p in the tracker coordinate system 1 , the formula is:

[0149] T 3-1 ·p 3 =p 1

[0150] Where T 3-1 For p 3 To p 1 The transformation matrix for the conversion.

[0151] The coordinate p 1 Transformed into the trajectory point coordinates p in the machining tool coordinate system 4 , the formula is:

[0152] T 1-4 ·p 1 =p 4

[0153] Where T 1-4 For p 1 To p 4 The transformation matrix for the conversion.

[0154] Step 103 , planning a trajectory for the robot according to the component model in combination with the robot coordinate system and the processing tool coordinate system, and processing the component according to the trajectory.

[0155] Performing trajectory planning for the robot includes:

[0156] The coordinate p 4 Transformed into the robot coordinate system to obtain the robot end coordinate point p 2 , the formula is:

[0157] T 4-2 ·p 4 =p 2

[0158] Where T 4-2 For p 4 To p 2 The transformation matrix of the conversion;

[0159] During the processing, the trajectory point coordinates of the robot are (x, y, z), the actual coordinates measured by the tracker are (x', y', z'), and the coordinate error value is (Δx, Δy, Δz). The formula is:

[0160]

[0161] The trajectory of the robot is corrected according to the coordinate error values ​​(Δx, Δy, Δz).

[0162] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0163] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0164] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0165] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0167] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of 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 invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0168] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A component measurement and processing method, used to control a robot, a scanner, a tracker and a processing tool to measure and process the component, characterized in that: include: Divide the processing area of ​​the component into multiple sub-processing areas, and construct a robot coordinate system, a scanner coordinate system, a processing tool coordinate system, and a tracker coordinate system respectively; Measuring the spatial position of each of the sub-processing areas to obtain data points in the scanner coordinate system, and reconstructing the data points in the tracker coordinate system to obtain a component model; According to the component model, in combination with the robot coordinate system and the processing tool coordinate system, the robot is subjected to trajectory planning, and the component is processed according to the trajectory.

2. A component measuring and processing method as claimed in claim 1, characterized in that: Reconstructing the data points in the tracker coordinate system includes: The coordinates of the data point are the coordinates p in the scanner coordinate system. 3 , the coordinate p 3 Transformed into the coordinate p of the tracker coordinate system 1 , the formula is: T 3-1 ·p 3 =p 1 Where T 3-1 For p 3 To p 1 The transformation matrix for the conversion.

3. A component measuring and processing method as claimed in claim 2, characterized in that: Also includes: The coordinate p 1 Transformed into the trajectory point coordinates p in the machining tool coordinate system 4 , the formula is: T 1-4 ·p 1 =p 4 Where T 1-4 For p 1 To p 4 The transformation matrix for the conversion.

4. A component measuring and processing method as claimed in claim 3, characterized in that: Performing trajectory planning for the robot includes: The coordinate p 4 Transformed into the robot coordinate system to obtain the robot end coordinate point p 2 , the formula is: T 4-2 ·p 4 =p 2 Where T 4-2 For p 4 To p 2 The transformation matrix of the conversion; During the processing, the trajectory point coordinates of the robot are (x, y, z), the actual coordinates measured by the tracker are (x', y', z'), and the coordinate error value is (Δx, Δy, Δz). The formula is: The trajectory of the robot is corrected according to the coordinate error values ​​(Δx, Δy, Δz).

5. A component measuring and processing method as claimed in claim 1, characterized in that: Before constructing the robot coordinate system, the process also includes: returning each axis of the robot to zero position.

6. A component measurement and processing system, used to control a robot, a scanner, a tracker and a processing tool to measure and process the component, characterized in that: include: A coordinate system construction module is used to divide the processing area of ​​the component into multiple sub-processing areas, and respectively construct a robot coordinate system, a scanner coordinate system, a processing tool coordinate system, and a tracker coordinate system; A component model acquisition module is used to measure the spatial position of each of the sub-processing areas to obtain data points in the scanner coordinate system, and reconstruct the data points in the tracker coordinate system to obtain a component model; A processing module is used to plan the trajectory of the robot according to the component model in combination with the robot coordinate system and the processing tool coordinate system, and to process the component according to the trajectory.

7. A component measuring and processing system as claimed in claim 6, characterized in that: Reconstructing the data points in the tracker coordinate system includes: The coordinates of the data point are the coordinates p in the scanner coordinate system. 3 , the coordinate p 3 Transformed into the coordinate p of the tracker coordinate system 1 , the formula is: T 3-1 ·p 3 =p 1 Where T 3-1 For p 3 To p 1 The transformation matrix for the conversion.

8. A component measuring and processing system as claimed in claim 7, characterized in that: Also includes: The coordinate p 1 Transformed into the trajectory point coordinates p in the machining tool coordinate system 4 , the formula is: T 1-4 ·p 1 =p 4 Where T 1-4 For p 1 To p 4 The transformation matrix for the conversion.

9. A component measuring and processing system as claimed in claim 8, characterized in that: Performing trajectory planning for the robot includes: The coordinate p 4 Transformed into the robot coordinate system to obtain the robot end coordinate point p 2 , the formula is: T 4-2 ·p 4 =p 2 Where T 4-2 For p 4 To p 2 The transformation matrix of the conversion; During the processing, the trajectory point coordinates of the robot are (x, y, z), the actual coordinates measured by the tracker are (x', y', z'), and the coordinate error value is (Δx, Δy, Δz). The formula is: The trajectory of the robot is corrected according to the coordinate error values ​​(Δx, Δy, Δz).

10. A component measuring and processing system as claimed in claim 6, characterized in that: Before constructing the robot coordinate system, the process also includes: returning each axis of the robot to zero position.

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