A method for measuring workpiece spatial posture

Abstract

The present invention discloses a method for measuring the spatial posture of a workpiece, comprising providing a posture measuring device, wherein the posture measuring device comprises a positioning plate, a mounting shell, at least three non-coplanar telescopic rods, at least three non-coplanar first laser emitters, and at least three non-coplanar second laser emitters. The beneficial effect of the workpiece spatial posture measuring method device provided by the present invention is: the laser beams emitted by each of the first laser emitters are respectively aligned with the corresponding reference feature points on the reference device, thereby determining the posture of the mounting shell, and then the laser beams emitted by each of the second laser emitters are respectively aligned with the corresponding feature points on the workpiece, thereby obtaining the posture of the workpiece relative to the mounting shell, and then obtaining the posture of the workpiece relative to the reference device. When this solution is implemented, it is not affected by light, and the operation time is short, which can avoid the interference of intermittent vibration of the machine body, and the operator does not need to leave the workstation to complete all measurement work.

Description

Technical Field

[0001] The present invention relates to the technical field of posture measurement, and in particular to a method for measuring the spatial posture of a workpiece. Background Art

[0002] When a certain type of aircraft is undergoing maintenance, the spatial position and posture of the hatch cover axle seat needs to be measured. The spatial position and posture measurement of existing small and medium-sized workpieces is usually carried out using a photogrammetry system. This measurement solution requires the attachment of fluorescent marking points on the surface of the object to be measured or the installation of a tool with fluorescent markings. It is also necessary to install a photogrammetry reference ruler near the geometric center of the object to be measured. The fixation of the reference ruler is greatly affected by intermittent vibrations, and the shooting angle and lighting have a great impact on the shooting of samples. In terms of operation, the shooting angle of the sample needs to be no less than 90 degrees, and more than 50% of the samples need to include a reference ruler. The whole process takes a long time, and in-situ shooting is difficult in restricted environments such as the interior of an aircraft, resulting in large errors in the measurement of the spatial position and posture of the workpiece. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a method for measuring the spatial posture of a workpiece to solve the technical problems in the prior art that the spatial posture measurement of the workpiece is inconvenient to operate, a reference ruler needs to be installed, the fixation of the reference ruler is subject to intermittent vibration interference, and the shooting angle and lighting have a great influence on the shooting samples, resulting in large errors in the measurement of the spatial posture of the workpiece.

[0004] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0005] The present invention provides a method for measuring the spatial posture of a workpiece, comprising:

[0006] A posture measurement device is provided, comprising a positioning plate, a mounting shell, at least three non-coplanar telescopic rods, at least three non-coplanar first laser emitters, and at least three non-coplanar second laser emitters, wherein a fixed end of each of the telescopic rods is fixed to the mounting shell, and when the mounting shell is in a first preset posture, the laser beams emitted by each of the first laser emitters can be respectively aligned with corresponding reference feature points on a reference device, and when the mounting shell is in a second preset posture, the laser beams emitted by each of the second laser emitters can be respectively aligned with corresponding feature points on a workpiece;

[0007] Placing the movable end of each telescopic rod on the positioning plate, moving the mounting housing and adjusting the extension of each telescopic rod so that the laser beam emitted by each first laser emitter is aligned with the corresponding reference feature point on the reference device, and recording the first position of the movable end of each telescopic rod on the positioning plate and the first extension of each telescopic rod at this time;

[0008] Move the mounting housing and adjust the extension of each telescopic rod so that the laser beam emitted by each second laser emitter is respectively aligned with the corresponding feature point on the workpiece, and record the second position of the movable end of each telescopic rod on the positioning plate and the second extension of each telescopic rod at this time;

[0009] The spatial position of the workpiece relative to the reference device is obtained according to the first position and the second position of the movable end of each telescopic rod on the positioning plate and the first extension and the second extension of each telescopic rod.

[0010] In some embodiments, when there are three telescopic rods, the spatial pose of the workpiece relative to the reference device is calculated according to the following formula:

[0011] { H1+V1*d1, H2+V2*d2, H3+V3*d3}*M={H4+V1*d4, H5+V2*d5, H6+V3*d6}

[0012] Where M is the spatial pose matrix of the workpiece relative to the reference device, V1, V2, and V3 are the length direction vectors of the three telescopic rods, H1, H2, and H3 are the first positions of the movable ends of the three telescopic rods on the positioning plate, d1, d2, and d3 are the first extensions of the three telescopic rods, H4, H5, and H6 are the second positions of the movable ends of the three telescopic rods on the positioning plate, and d4, d5, and d6 are the second extensions of the three telescopic rods.

[0013] In some embodiments, the mounting shell includes an upper shell and a lower shell that are detachably connected, the upper shell is provided with a plurality of first fixing holes, a plurality of second fixing holes, and a plurality of third fixing holes, and the lower shell is provided with a plurality of clearance holes coaxial with each of the first fixing holes;

[0014] Each of the telescopic rods includes a sleeve and a screw, wherein the sleeve is fixedly inserted into the corresponding first fixing hole, the screw is threadedly inserted into the sleeve, and the screw passes through the clearance hole;

[0015] Each of the first laser emitters is fixedly installed in the corresponding second fixing hole;

[0016] Each of the second laser emitters is fixedly installed in the corresponding third fixing hole.

[0017] In some embodiments, a conductive rubber sleeve is provided on one end of the screw away from the sleeve.

[0018] In some embodiments, each of the telescopic rods further includes a micro camera element, which is fixed to the corresponding sleeve and is used to capture an image of the screw head of the corresponding screw and obtain the amount of movement of the screw relative to the sleeve based on the image of the screw head of the screw.

[0019] In some embodiments, the screw has a laser engraved mark.

[0020] In some embodiments, the lengths of line segments formed by connecting contact points between each telescopic rod and the positioning plate are not equal.

[0021] In some embodiments, the positioning plate is a touch-controlled tablet computer, and the portion where each of the telescopic rods contacts the touch screen of the touch-controlled tablet computer is made of a conductive material.

[0022] In some embodiments, the posture measurement device further includes a hub, one end of which is electrically connected to the touch-controlled tablet computer, and the other end of which is electrically connected to each of the first laser emitters and each of the second laser emitters.

[0023] In some embodiments, one end of the hub is a USB Type C connector, and the touch tablet computer is provided with a USB Type C interface.

[0024] Compared with the prior art, the beneficial effects of the workpiece spatial posture measurement method and device provided by the present invention are: by moving the mounting shell and adjusting the elongation of each telescopic rod, the laser beams emitted by each first laser emitter are respectively aligned with the corresponding reference feature points on the reference device, thereby determining the posture of the mounting shell, and then by moving the mounting shell and adjusting the elongation of each telescopic rod, the laser beams emitted by each second laser emitter are respectively aligned with the corresponding feature points on the workpiece, thereby obtaining the posture of the workpiece relative to the mounting shell, and then obtaining the posture of the workpiece relative to the reference device. This scheme is not affected by light during implementation, and the operation time is short, which can avoid the interference of intermittent vibration of the machine body, and the operator does not have to leave the workstation to complete all measurement work. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 1 is a schematic structural diagram of a workpiece spatial posture measuring device provided by one embodiment of the present invention;

[0026] Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure of the posture measurement device;

[0027] Figure 3 yes Figure 1 Schematic diagram of the three-dimensional structure of the posture measurement device in another perspective;

[0028] Figure 4 yes Figure 2 The three-dimensional structure diagram of the posture measurement device after omitting the installation shell;

[0029] Figure 5 yes Figure 2 Exploded view of the pose measurement device in [1].

[0030] Figure 6 yes Figure 2 Another exploded view of the posture measurement device;

[0031] Figure 7 yes Figure 2 Schematic diagram of the placement of each telescopic rod in;

[0032] Figure 8 yes Figure 2 A schematic diagram of the three-dimensional structure and a schematic diagram of the cross-sectional structure of a telescopic rod;

[0033] Figure 9 1 is a schematic diagram of the principle of workpiece spatial posture measurement provided by one embodiment of the present invention;

[0034] Figure 10 yes Figure 9 The corresponding relationship diagram between the measuring device and the reference feature points;

[0035] Figure 11 yes Figure 9 The corresponding relationship diagram between the measuring device and each characteristic point of the object being measured;

[0036] Explanation of the accompanying drawings: 1-posture measurement device, 11-positioning plate, 12-mounting shell, 121-upper shell, 1211-first fixing hole, 1212-second fixing hole, 1213-third fixing hole, 122-lower shell, 1221-clearance hole, 13-telescopic rod, 131-sleeve, 132-screw, 1321-conductive rubber sleeve, 1322-screw head, 133-micro camera, 14-first laser emitter, 15-second laser emitter, 16-hub, 161-USB Type C connector, 2-reference feature point, 3-workpiece. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] In order to solve the technical problems in the prior art that the spatial posture measurement of the workpiece is inconvenient to operate, a reference ruler needs to be installed, the fixation of the reference ruler is interfered by intermittent vibration, and the shooting angle and lighting have a great influence on the shooting samples, resulting in large errors in the measurement of the spatial posture of the workpiece, the present invention provides a workpiece spatial posture measurement method, which can realize convenient and high-precision measurement of the spatial posture of the workpiece.

[0039] It should be noted that the workpiece spatial posture measurement method described in the present invention is used for but not limited to aircraft parts posture measurement, etc. For the convenience of explanation, in the present invention, only the application of the workpiece spatial posture measurement method to aircraft parts posture measurement is used as an example for explanation. The principle of applying the workpiece spatial posture measurement method to other types of equipment is essentially the same as the principle of applying it to aircraft parts posture measurement, and they will not be elaborated here.

[0040] See also Figure 1 , Figure 1 This is a schematic diagram of the structure of a method for measuring the spatial posture of a workpiece in one embodiment of the present invention. Figures 1-8 , the workpiece spatial posture measurement methods include:

[0041] S1. Provide a posture measurement device 1, the posture measurement device 1 comprising a positioning plate 11, a mounting shell 12, at least three non-coplanar telescopic rods 13, at least three non-coplanar first laser emitters 14, and at least three non-coplanar second laser emitters 15, wherein the fixed ends of the telescopic rods 13 are fixed to the mounting shell 12, and when the mounting shell 12 is in a first preset posture, the laser beams emitted by the first laser emitters 14 can be respectively aligned with the corresponding reference feature points 2 on the reference device; when the mounting shell 12 is in a second preset posture, the laser beams emitted by the second laser emitters 15 can be respectively aligned with the corresponding feature points on the workpiece 3;

[0042] In this embodiment, the reference device is an aircraft body, and the corresponding reference feature point 2 on the reference device can be a reference feature hole on the aircraft body. The reference feature hole on the aircraft body has a high manufacturing accuracy and can be used to locate the global coordinate system; the workpiece 3 is an axle seat on the aircraft cabin cover, and the feature points on the workpiece 3 can be the vertices of the workpiece 3.

[0043] S2. Place the movable end of each telescopic rod 13 on the positioning plate 11, move the mounting housing 12, and adjust the extension of each telescopic rod 13 so that the laser beam emitted by each first laser emitter 14 is aligned with the corresponding reference feature point 2 on the reference device, and record the first position of the movable end of each telescopic rod 13 on the positioning plate 11 and the first extension of each telescopic rod 13 at this time;

[0044] S3. Move the mounting housing 12 and adjust the extension of each telescopic rod 13 so that the laser beam emitted by each second laser emitter 15 is respectively aligned with the corresponding feature point on the workpiece 3. Record the second position of the movable end of each telescopic rod 13 on the positioning plate 11 and the second extension of each telescopic rod 13 at this time.

[0045] S4. Obtain the spatial position of the workpiece 3 relative to the reference device according to the first position and the second position of the movable end of each telescopic rod 13 on the positioning plate 11 and the first extension and the second extension of each telescopic rod 13.

[0046] The technical solution provided by the present invention is to move the mounting shell 12 and adjust the elongation of each telescopic rod 13 so that the laser beams emitted by each first laser emitter 14 are respectively aligned with the corresponding reference feature points 2 on the reference device, thereby determining the position and posture of the mounting shell 12. Then, by moving the mounting shell 12 and adjusting the elongation of each telescopic rod 13, the laser beams emitted by each second laser emitter 15 are respectively aligned with the corresponding feature points on the workpiece 3, thereby obtaining the position and posture of the workpiece 3 relative to the mounting shell 12, and then obtaining the position and posture of the workpiece 3 relative to the reference device. When implemented, this solution is not affected by light, has a short operation time, and can avoid interference from intermittent vibration of the machine body. The operator does not have to leave the workstation to complete all measurement work.

[0047] In one embodiment, see Figure 1-Figure 5 When there are three telescopic rods 13, the spatial position of the workpiece 3 relative to the reference device is calculated according to the following formula:

[0048] { H1+V1*d1, H2+V2*d2, H3+V3*d3}*M={H4+V1*d4, H5+V2*d5, H6+V3*d6}

[0049] Where M is the spatial pose matrix of the workpiece relative to the reference device, V1, V2, and V3 are the length vectors of the three telescopic rods, H1, H2, and H3 are the first positions of the movable ends of the three telescopic rods on the positioning plate, d1, d2, and d3 are the first extensions of the three telescopic rods, H4, H5, and H6 are the second positions of the movable ends of the three telescopic rods on the positioning plate, and d4, d5, and d6 are the second extensions of the three telescopic rods. The derivation of this formula is described later.

[0050] In one embodiment, see Figure 1-Figure 5The mounting shell 12 includes an upper shell 121 and a lower shell 122 that are detachably connected. The upper shell 121 is provided with a plurality of first fixing holes 1211, a plurality of second fixing holes 1212 and a plurality of third fixing holes 1213. The lower shell 122 is provided with a plurality of clearance holes 1221 coaxial with each of the first fixing holes 1211; each of the telescopic rods 13 includes a sleeve 131 and a screw 132, the sleeve 131 is fixedly inserted into the corresponding first fixing hole 1211, the screw 132 is threadedly inserted into the sleeve 131, and the screw 132 passes through the clearance hole 1221; each of the first laser emitters 14 is fixedly installed in the corresponding second fixing hole 1212; each of the second laser emitters 15 is fixedly installed in the corresponding third fixing hole 1213. When in use, the screw rod 132 is rotated, and the screw rod 132 moves along the length direction while rotating, thereby adjusting the downward extension of the screw rod 132 relative to the mounting shell 12.

[0051] In one embodiment, see Figure 3 and Figure 8 The end of the screw 132 away from the sleeve 131 is provided with a conductive rubber sleeve 1321. By providing the conductive rubber sleeve 1321, the conductive rubber sleeve is used to record the moving position of the device on the touch screen of the tablet computer.

[0052] In one embodiment, see Figure 3 and Figure 8 Each telescopic rod 13 further includes a micro-camera 133, which is fixed to the corresponding sleeve 131 and is used to capture an image of the screw head 1322 of the corresponding screw 132, and obtain the movement of the screw 132 relative to the sleeve 131 based on the image of the screw head 1322 of the screw 132. Preferably, the screw 132 is laser-engraved with a plurality of marking lines evenly distributed along the length of the screw 132, each marking line having a different length or thickness, so that each marking line can be identified by image. By identifying the corresponding specific marking line on the end face of the sleeve 131, the number of screw rotations can be determined, and then the movement distance of the screw 132 can be converted. By using a micro-camera to capture the marking lines, the accuracy of distance measurement can be greatly improved.

[0053] In one embodiment, see Figure 2 and Figure 7 The lengths of the line segments formed by connecting the contact points of each telescopic rod 13 with the positioning plate 11 are not equal. In this embodiment, the number of telescopic rods 13 is three, and the spatial positions of the three telescopic rods 13 are Figure 7The contact points of the three telescopic rods 13 and the positioning plate 11 are staggered. The triangle formed by the contact points of the three telescopic rods 13 and the positioning plate 11 is not an isosceles triangle, but a triangle with interior angles of 55 degrees, 60 degrees, and 65 degrees, respectively. This is used to distinguish and identify the order of the three telescopic rods 13. Similarly, when the number of telescopic rods 13 is more than three, as long as the lengths of the line segments connecting the contact points of each telescopic rod 13 with the positioning plate 11 are not equal, the pattern formed by the contact points of the telescopic rods 13 and the positioning plate 11 is not a regular pattern. This pattern can be used to distinguish and identify the order of the telescopic rods 13 and prevent the telescopic rods 13 from being mixed up, resulting in inaccurate calculation results.

[0054] In one embodiment, see Figure 2-Figure 5 The positioning plate 11 is a touch tablet computer, and the parts where each telescopic rod 13 contacts the touch screen of the touch tablet computer are made of conductive material (conductive rubber sleeves in this embodiment). In this way, the position of the contact point between the telescopic rod 13 and the touch screen can be directly obtained through the touch tablet computer, greatly improving the measurement convenience.

[0055] In one embodiment, see Figure 4-Figure 6 The posture measurement device 1 also includes a hub 16, one end of which is electrically connected to the touch tablet computer, and the other end of the hub 16 is electrically connected to each of the first laser emitters 14, each of the second laser emitters 15, and each of the micro cameras 133, so that it is convenient to power each of the first laser emitters 14, each of the second laser emitters 15, and each of the micro cameras 133. On the other hand, it can also directly receive images taken by the micro camera 133, so as to automatically calculate the moving distance of each screw 132 through the program in the touch tablet computer.

[0056] In one embodiment, see Figure 4-Figure 6 One end of the hub 16 is a USB Type C connector 161, and the touch tablet computer is provided with a USB Type C interface.

[0057] The principle of the technical solution provided by the present invention is derived as follows:

[0058] (1) Explanation of terms:

[0059] Position: specifically refers to the coordinates of a three-dimensional point in space, usually represented mathematically by a 4*1 matrix.

[0060] Vector: specifically refers to a space vector, usually represented mathematically by a 4*1 matrix.

[0061] Pose: The position and attitude of a rigid body, usually represented mathematically by a 4*4 homogeneous transformation matrix.

[0062] Fix: A set of at least 2 points whose relative positions remain unchanged and can only be translated or rotated as a whole.

[0063] (2) Principle of the invention

[0064] Figure 9 This is a simplified diagram of the measurement environment. A, B, C, and D are four fiducial features (e.g., characteristic holes) on the aircraft structure. These features are manufactured with high precision and can be used to locate the global coordinate system. The cubes at positions E and F represent two parts. Their assembly positions are offset relative to features A, B, C, and D, requiring pose measurement. G represents the location of the measurement tool, located on the same structural frame as features A, B, C, and D.

[0065] like Figure 10 As shown, the measuring device G is equivalent to a spatial triangle G1, G2, and G3. G1, G2, G3 and A, B, C, and D are set to a fixed connection state. This connection can be achieved by constructing a jig with rigid material to detect the four coordinate points A, B, C, and D; or by emitting a laser at a fixed angle from the measuring device and aiming the light spot at the coordinate positions A, B, C, and D. This invention adopts a laser aiming solution.

[0066] like Figure 11 As shown, the theoretical installation positions E1, E2, E3, and E4 of the shaft seat E and the theoretical installation positions E1, E2, E3, and E4 of the object E are fixedly connected to G1, G2, and G3, and this is also achieved through laser irradiation. Taking a measured part E as an example, the measurement process uses E1, E2, E3, and E4 as theoretical positions, and E5, E6, E7, and E8 as the actual spatial positions of the object. Because E5, E6, E7, and E8 are fixedly connected, G1, G2, and G3, which represent the measuring tool, are also fixedly connected. The measuring tool can be sighted at E5, E6, E7, and E8. After sighting, the new positions of the measuring tool are G4, G5, and G6. This gives the following equations:

[0067] {E1, E2, E3, E4}*M={E5, E6, E7, E8}

[0068] {G1, G2, G3}*M={G4, G5, G6}

[0069] Where M is the homogeneous transformation matrix. The coordinates of points E1, E2, E3, and E4 are known from the theoretical drawings. The coordinates of points G1, G2, and G3 can be obtained by sighting A, B, C, and D using the fixed-link relationship. Only the coordinates of points G4, G5, and G6 are required to calculate M using the Kabsch algorithm. M is the pose matrix of the object E, from which the specific coordinates of E5, E6, E7, and E8 can be calculated.

[0070] A specific embodiment of the present invention is as follows:

[0071] The overall structure includes an upper shell 121, a lower shell 122, four first laser emitters 14, four second laser emitters 15, three telescopic rods 13, a hub 16, a main control, and a tablet computer. The upper shell 121 is where the laser emitters and the telescopic rods 13 are fixed, and the lower shell 122 fixes the hub 16. The main control uses a 32-bit ARM single-chip microcomputer solution with USB peripherals. It has a USB Type-C interface welded on it and can be directly plugged into the USB port of a tablet computer to communicate with the tablet. It also obtains power from the tablet and inputs it to the main control chip, the miniature camera on the support foot, and the miniature laser head. The hub has a circular appearance and a straight pin header inside. The hub needs to be installed in the lower shell after all the wires are connected. The tablet computer has a corresponding driver program. In addition to communicating with the main control and adjusting the output current, the program also calculates and measures the results.

[0072] It should be noted that the mounting positions of each first laser emitter 14 and each second laser emitter 15 must be preset based on the geometric positions of the reference feature points 2 and the workpiece 3 being measured. Therefore, different mounting housings 12 must be customized for different measurement requirements (the second fixing holes 1212 and third fixing holes 1213 on the mounting housing 12 must be specifically designed) to ensure that the laser beams emitted by each first laser emitter 14 can be simultaneously aligned with each reference feature point 2, and the laser beams emitted by each second laser emitter 15 can be simultaneously aligned with each feature point on the workpiece 3. The mounting housing 12 can be manufactured by 3D printing or by machining on a machining center.

[0073] The measurement steps are as follows:

[0074] (1) Use each first laser emitter 14 to aim at each reference feature point A, B, C, and D respectively. The tablet computer automatically records the contact positions (H1, H2, and H3) of the three telescopic rods 13 and the touch screen and the telescopic values ​​d1, d2, and d3 of the telescopic rods 13 (such as Figure 2 );

[0075] (2) Use each second laser emitter 15 to aim at each feature point of the workpiece 3. The tablet computer automatically records the contact positions (H4, H5, H6) of the three telescopic rods 13 and the touch screen and the telescopic values ​​d4, d5, d6 of the telescopic rods 13 (such as Figure 3 );

[0076] (3) The homogeneous transformation matrix M can be calculated according to the following formula.

[0077] { H1+V1*d1, H2+V2*d2, H3+V3*d3}*M={H4+V1*d4, H5+V2*d5, H6+V3*d6}

[0078] Where V1, V2, and V3 are the lengthwise vectors of the three telescopic rods 13, representing their installation posture. Compensation can be performed based on the calibration results of the actual object to obtain relatively accurate values. This equation is calculated by the tablet driver and directly outputs the pose matrix of workpiece 3.

[0079] (4) Measure object 2 using the methods of steps 2 and 3, and output the pose matrix of object 2.

[0080] Measurement accuracy control:

[0081] (1) The extension length of the telescopic rod 13 must be accurate to no more than 0.02 mm. This requirement can be met by engraving at least 50 scale marks on the lower surface of the screw head 1322 for visual identification.

[0082] (2) The error between the installation angle of the telescopic rod 13 and the calculated input value is no greater than arctan (0.1 mm / installation angle length). Because it is an interference fit installation, a high-precision scanner can be used for calibration after installation to meet this requirement after compensation.

[0083] (3) The touch recognition accuracy is no more than 0.2mm. The touch accuracy of a touch screen is generally within a few pixel resolutions. Since the difference between two placement positions is to be calculated, only the touch difference needs to be considered. A high ppi touch screen can meet this requirement.

[0084] (4) The aiming accuracy includes human error, and the total error is no more than 0.1 mm. Theoretically, this error can be reduced by increasing the number of aiming points. The environment used in this invention contains six reference features, and theoretically, using only four can meet this error requirement.

[0085] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A method for measuring the spatial posture of a workpiece, characterized in that: include: A posture measurement device is provided, comprising a positioning plate, a mounting shell, at least three non-coplanar telescopic rods, at least three non-coplanar first laser emitters, and at least three non-coplanar second laser emitters, wherein a fixed end of each of the telescopic rods is fixed to the mounting shell, and when the mounting shell is in a first preset posture, the laser beams emitted by each of the first laser emitters can be respectively aligned with corresponding reference feature points on a reference device, and when the mounting shell is in a second preset posture, the laser beams emitted by each of the second laser emitters can be respectively aligned with corresponding feature points on a workpiece; Placing the movable end of each telescopic rod on the positioning plate, moving the mounting housing and adjusting the extension of each telescopic rod so that the laser beam emitted by each first laser emitter is aligned with the corresponding reference feature point on the reference device, and recording the first position of the movable end of each telescopic rod on the positioning plate and the first extension of each telescopic rod at this time; Move the mounting housing and adjust the extension of each telescopic rod so that the laser beam emitted by each second laser emitter is respectively aligned with the corresponding feature point on the workpiece, and record the second position of the movable end of each telescopic rod on the positioning plate and the second extension of each telescopic rod at this time; The spatial position of the workpiece relative to the reference device is obtained according to the first position and the second position of the movable end of each telescopic rod on the positioning plate and the first extension and the second extension of each telescopic rod.

2. The method for measuring the spatial posture of a workpiece according to claim 1, wherein: When there are three telescopic rods, the spatial pose of the workpiece relative to the reference device is calculated according to the following formula: { H1+V1*d1, H2+V2*d2, H3+V3*d3}*M={H4+V1*d4, H5+V2*d5, H6+V3*d6} Among them, M is the spatial pose matrix of the workpiece relative to the reference device, V1, V2, and V3 are the length direction vectors of the three telescopic rods respectively, H1, H2, and H3 are the first positions of the movable ends of the three telescopic rods on the positioning plate respectively, d1, d2, and d3 are the first extensions of the three telescopic rods respectively, H4, H5, and H6 are the second positions of the movable ends of the three telescopic rods on the positioning plate respectively, and d4, d5, and d6 are the second extensions of the three telescopic rods respectively.

3. The method for measuring the spatial posture of a workpiece according to claim 1, wherein: The mounting shell includes an upper shell and a lower shell that are detachably connected, the upper shell is provided with a plurality of first fixing holes, a plurality of second fixing holes, and a plurality of third fixing holes, and the lower shell is provided with a plurality of clearance holes coaxial with each of the first fixing holes; Each of the telescopic rods includes a sleeve and a screw, wherein the sleeve is fixedly inserted into the corresponding first fixing hole, the screw is threadedly inserted into the sleeve, and the screw passes through the clearance hole; Each of the first laser emitters is fixedly installed in the corresponding second fixing hole; Each of the second laser emitters is fixedly installed in the corresponding third fixing hole.

4. The method for measuring the spatial posture of a workpiece according to claim 3, wherein: One end of the screw away from the sleeve is sleeved with a conductive rubber sleeve.

5. The method for measuring the spatial posture of a workpiece according to claim 3, wherein: Each of the telescopic rods further includes a micro camera element, which is fixed to the corresponding sleeve and is used to capture an image of the screw head of the corresponding screw and obtain the movement amount of the screw relative to the sleeve based on the image of the screw head of the screw.

6. The method for measuring the spatial posture of a workpiece according to claim 3, wherein: There are laser engraved marks on the screw.

7. The method for measuring the spatial posture of a workpiece according to claim 1, wherein: The lengths of the line segments formed by connecting the contact points of each telescopic rod with the positioning plate are not equal.

8. The method for measuring the spatial posture of a workpiece according to claim 1, wherein: The positioning plate is a touch-control tablet computer, and the portion where each of the telescopic rods contacts the touch screen of the touch-control tablet computer is made of conductive material.

9. The method for measuring the spatial posture of a workpiece according to claim 8, wherein: The posture measurement device further includes a hub, one end of which is electrically connected to the touch-controlled tablet computer, and the other end of which is electrically connected to each of the first laser emitters and each of the second laser emitters.

10. The method for measuring the spatial posture of a workpiece according to claim 9, wherein: One end of the hub is a USB Type C connector, and the touch tablet computer is provided with a USB Type C interface.

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