Three-dimensional structure form and position precision measuring method based on laser tracker, medium and device

Abstract

The invention provides a three-dimensional structure form and position precision measurement method based on a laser tracker, a medium and a device. The method comprises the following steps: selecting a plurality of laser tracker measurement reference points according to the complexity of a three-dimensional structure station setting space environment; selecting a positioning reference point from the measurement reference points; sequentially setting stations at each measurement reference point, and measuring, classifying and recording coordinate point cloud data of the feature plane in a measurable range of the measurement reference point and space coordinate data of the positioning reference point; establishing and solving a rotation transformation matrix of the coordinate point cloud data under different coordinate systems according to the space coordinate data of the positioning reference point, and converting the coordinate point cloud data into the same coordinate system; and fitting the coordinate point cloud data of the feature planes under the same coordinate system to obtain a plane equation, and further obtaining the azimuth precision and the horizontal precision between the feature planes of the to-be-measured three-dimensional structure. According to the invention, measurement of the form and position precision of the three-dimensional structure of the electronic equipment in a complex environment can be simply and effectively realized.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional structure shape and position accuracy measurement, and in particular to a three-dimensional structure shape and position accuracy measurement method, medium and device based on a laser tracker suitable for complex visual environment. Background Art

[0002] As the performance requirements of modern electronic equipment become higher and higher, in order to adapt to the situation where the equipment has limited sight distance at a single position on the installation platform, the equipment is often split into multiple sections and installed in multiple positions on the platform to form a three-dimensional structure to achieve a larger range of action. At the same time, the relative installation accuracy between each section of the equipment is required to be high. Therefore, after the installation of each section of the equipment, the azimuth accuracy and horizontal accuracy of the three-dimensional structure need to be measured, which is used as the installation shape and position reference, and then adjusted through internal calibration or installation calibration to ensure that the electronic equipment meets the requirements of use.

[0003] At present, there are few studies on the measurement methods of the shape and position accuracy of the three-dimensional structure of electronic equipment in complex environments. After the three-dimensional structure is installed and fixed on a platform in a complex installation environment such as an airborne or shipborne platform, when using a laser tracker or other measuring equipment to measure and calibrate the shape and position accuracy of each three-dimensional structure surface, there are often difficulties such as limited platform station location and measurement line of sight being blocked by other equipment, which leads to the dilemma that conventional detection methods cannot obtain high-precision and complete shape and position feature data. Summary of the invention

[0004] The present invention aims to provide a method, medium and device for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker, so as to solve the problem that the shape and position accuracy of the three-dimensional structure of electronic equipment in a complex environment is difficult to measure.

[0005] The present invention provides a method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker, comprising the following steps:

[0006] Select multiple laser tracker measurement reference points according to the complexity of the spatial environment of the three-dimensional structure station;

[0007] Select the positioning reference point from the measurement reference points;

[0008] Set up stations at each measurement reference point in turn, measure and classify and record the coordinate point cloud data of the characteristic plane within the measurable range of the measurement reference point and the spatial coordinate data of the positioning reference point;

[0009] According to the spatial coordinate data of the positioning reference point, the rotation transformation matrix of the coordinate point cloud data in different coordinate systems is established and solved, and the coordinate point cloud data is converted to the same coordinate system;

[0010] The plane equation is obtained by fitting the characteristic plane coordinate point cloud data in the same coordinate system, and then the azimuth accuracy and horizontal accuracy between the characteristic planes of the three-dimensional structure to be measured are obtained.

[0011] Furthermore, the measurable range set of each measurement reference point covers all characteristic planes to be measured of the three-dimensional structure to eliminate measurement blind spots and can adapt to measurement needs in complex environments.

[0012] Furthermore, the measurement reference points are as few as possible under the premise of eliminating the measurement blind area to reduce the processing amount;

[0013] Further, the selecting of the positioning reference points from the measurement reference points includes: selecting two measurable positioning reference points for two adjacent measurement reference points as repeated measurement points, and selecting two measurable positioning reference points for the first measurement reference point and the last measurement reference point as repeated measurement points.

[0014] Furthermore, different measurement reference points are moved to a different station, and a laser tracker is used to complete the plane coordinate point cloud data of all the features to be measured.

[0015] Furthermore, the laser tracker was horizontally zeroed before each measurement.

[0016] Furthermore, the coordinate systems of adjacent measurement reference points are only transformed by translation and rotation around the vertical axis of the earth; the coordinate systems of non-adjacent measurement reference points are transformed multiple times until all coordinate point cloud data are converted into the same coordinate system.

[0017] Furthermore, the relative horizontal accuracy between the installation feature planes is obtained by calculating the angle between the normal vectors of each installation feature plane in the three-dimensional structure and the normal vector of the relative horizontal plane; the relative orientation accuracy between the functional feature planes is obtained by calculating the angle between the projections of the normal vectors of each functional feature plane in the three-dimensional structure on the relative horizontal plane.

[0018] The present invention also provides a computer terminal storage medium storing computer terminal executable instructions, wherein the computer terminal executable instructions are used to execute the above-mentioned three-dimensional structure shape and position accuracy measurement method based on the laser tracker.

[0019] The present invention also provides a computing device, comprising:

[0020] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned three-dimensional structure shape and position accuracy measurement method based on the laser tracker.

[0021] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0022] 1. The present invention has flexible station setting, sets multiple laser tracker measurement reference points, eliminates measurement blind spots, and can adapt to measurement needs in complex environments.

[0023] 2. Compared with traditional multi-station measurement, the laser tracker of the present invention is reduced from multiple stations to one, and the repeated measurement points are reduced from at least three to at least two, which is simple to implement. It should be noted that the laser tracker is only an option of the present invention, and the measurement equipment that can obtain the coordinate point cloud data of the feature plane and the spatial coordinate data of the positioning reference point can be replaced.

[0024] 3. The coordinate transformation and shape and position accuracy solution method of the present invention is highly versatile and can meet different shape and position accuracy measurement requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of a method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker in an embodiment of the present invention.

[0026] Figure 2 It is a characteristic plane schematic diagram of the three-dimensional structure in an embodiment of the present invention.

[0027] Figure 3 yes Figure 2 The following is a schematic diagram showing the arrangement of various measurement reference points and positioning reference points. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Example

[0031] like Figure 1 As shown, this embodiment proposes a method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker, comprising the following steps:

[0032] S1: Determine the feature plane to be measured and the shape and position accuracy target to be measured, such as Figure 2As shown, the three-dimensional structure includes 6 installation feature planes 1 to 6 and 6 functional feature planes 1 to 6, and the relative horizontal accuracy between the installation feature planes and the relative orientation accuracy between the functional feature planes need to be measured;

[0033] S2: Select three measurement reference points as the laser tracker station positions, covering 12 feature planes, that is, there are three coordinate systems;

[0034] S3: For two adjacent measurement reference points, two measurable positioning reference points are selected as repeated measurement points. For the first measurement reference point and the last measurement reference point, two measurable positioning reference points are selected as repeated measurement points to determine positioning reference points 1 to 4.

[0035] S4: Set up the laser tracker at the measurement reference point 1 and set it to zero horizontally, measure and record the four characteristic plane coordinate point cloud data in directions 2 and 3, and measure and record the spatial coordinate data of positioning reference points 1, 2, 3, and 4;

[0036] S5: Set up the laser tracker at the measurement reference point 2 and set it to zero horizontally, measure and record the four characteristic plane coordinate point cloud data in directions 4 and 5, and measure and record the spatial coordinate data of the positioning reference points 1 and 2;

[0037] S6: Set up the laser tracker at the measurement reference point 3 and set it to zero horizontally, measure and record the four characteristic plane coordinate point cloud data in directions 6 and 1, and measure and record the spatial coordinate data of the positioning reference points 3 and 4;

[0038] S7: establishing and solving the rotation transformation matrix of the coordinate point cloud data of adjacent measuring reference points in different coordinate systems according to the spatial coordinate data of the positioning reference points, converting the coordinate point cloud data into the same coordinate system, and converting the coordinate systems of non-adjacent measuring reference points multiple times until all the coordinate point cloud data are converted into the same coordinate system;

[0039] S8: The plane equation is obtained by fitting the characteristic plane coordinate point cloud data in the same coordinate system, and then the angle between the normal vector of each installation bottom surface and the normal vector of the relative horizontal plane is calculated to obtain the relative horizontal accuracy between the installation characteristic planes. The angle between the projections of the normal vector of each antenna array surface on the relative horizontal plane is calculated to obtain the relative azimuth accuracy between the functional characteristic planes.

[0040] The rotation transformation matrix of S7 in the above step has a common point 1 and a common point 2 for the coordinate system A and the coordinate system B where two adjacent measurement reference points are set. The transformation relationship between the two common points in the two coordinate systems is:

[0041]

[0042] in, and are the coordinate values ​​of common point 1 and common point 2 in coordinate system A, and are the coordinate values ​​of common point 1 and common point 2 in coordinate system B, is the rotation transformation matrix between coordinate system A and coordinate system B, is the translation transformation matrix between coordinate system A and coordinate system B.

[0043] Subtracting the above two equations gives:

[0044]

[0045] Before each station measurement, the laser tracker is set to zero horizontally. Therefore, when moving the station, coordinate system A and coordinate system B only undergo translation transformation and rotation transformation around the z axis. The rotation transformation angle is set to θ, and the rotation transformation matrix can be obtained: for:

[0046]

[0047] Assumptions:

[0048]

[0049] Among them, d, e, f are and The coordinate difference of a, b, c is and The coordinate difference of .

[0050] Then we have:

[0051]

[0052] From the above formula, we can conclude that:

[0053]

[0054] Thus, the relevant parameters in the coordinate transformation can be solved.

[0055] In addition, in some embodiments, a computer terminal storage medium is provided, which stores computer terminal executable instructions, and the computer terminal executable instructions are used to execute the three-dimensional structure shape and position accuracy measurement method based on the laser tracker as described in the above embodiments. Examples of computer storage media include magnetic storage media (e.g., floppy disks, hard disks, etc.), optical recording media (e.g., CD-ROMs, DVDs, etc.) or memories, such as memory cards, ROMs or RAMs, etc. Computer storage media can also be distributed on network-connected computer systems, such as application stores.

[0056] In addition, in some embodiments, a computing device is proposed, comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the three-dimensional structure shape and position accuracy measurement method based on the laser tracker as described in the above embodiments. Examples of computing devices include PCs, tablet computers, smart phones, or PDAs.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker, characterized in that: The steps include: Select multiple laser tracker measurement reference points according to the complexity of the spatial environment of the three-dimensional structure station; Select the positioning reference point from the measurement reference points; Set up stations at each measurement reference point in turn, measure and classify and record the coordinate point cloud data of the characteristic plane within the measurable range of the measurement reference point and the spatial coordinate data of the positioning reference point; According to the spatial coordinate data of the positioning reference point, the rotation transformation matrix of the coordinate point cloud data in different coordinate systems is established and solved, and the coordinate point cloud data is converted to the same coordinate system; The plane equation is obtained by fitting the characteristic plane coordinate point cloud data in the same coordinate system, and then the azimuth accuracy and horizontal accuracy between the characteristic planes of the three-dimensional structure to be measured are obtained.

2. The method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker according to claim 1, characterized in that: The measurable range of each measurement reference point covers all the characteristic planes to be measured of the three-dimensional structure.

3. The method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker according to claim 2, characterized in that: The number of measurement reference points is as small as possible while eliminating measurement blind areas.

4. The method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker according to claim 1, characterized in that: The selecting of the positioning reference points from the measurement reference points includes: selecting two measurable positioning reference points for two adjacent measurement reference points as repeated measurement points, and selecting two measurable positioning reference points for the first measurement reference point and the last measurement reference point as repeated measurement points.

5. The method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker according to claim 1, characterized in that: Different measurement reference points are measured by moving stations, and a laser tracker is used to complete the plane coordinate point cloud data of all features to be measured.

6. The method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker according to claim 5, characterized in that: Before each measurement, the laser tracker was zeroed horizontally.

7. The method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker according to claim 1, characterized in that: The coordinate systems of adjacent measurement reference points only undergo translation transformation and rotation transformation around the vertical axis of the earth; the coordinate systems of non-adjacent measurement reference points undergo multiple transformations until all coordinate point cloud data are converted to the same coordinate system.

8. The method for measuring the shape and position accuracy of a three-dimensional structure based on a laser tracker according to claim 1, characterized in that: The relative horizontal accuracy between the installation feature planes is obtained by calculating the angle between the normal vectors of each installation feature plane in the three-dimensional structure and the normal vector of the relative horizontal plane; the relative orientation accuracy between the functional feature planes is obtained by calculating the angle between the projections of the normal vectors of each functional feature plane in the three-dimensional structure on the relative horizontal plane.

9. A computer terminal storage medium storing computer terminal executable instructions, characterized in that: The computer terminal executable instructions are used to execute the three-dimensional structure shape and position accuracy measurement method based on a laser tracker as described in any one of claims 1 to 8.

10. A computing device, characterized in that: include: at least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the three-dimensional structure shape and position accuracy measurement method based on the laser tracker as described in any one of claims 1-8.

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