Pose tracking measurement method, device, equipment and storage medium

Abstract

The invention relates to the field of pose measurement, in particular to a pose tracking measurement method, device and equipment and a storage medium. A reflector is arranged on a measured object as a tracking point, a target is established according to the reflector, and a unit vector of a normal vector of a space plane is calculated; a rotation matrix is obtained according to the relation before and after rotation of the target coordinate system, and a target tracking vector is obtained according to the rotation matrix and the unit vector; performing relation matching or fitting on the target coordinate system according to the measurement requirement of a measured object; according to the target tracking vector and the relation matching or fitting result, the position of the reflector is tracked, pose tracking measurement is carried out, and the actual measurement problems that in the prior art, the pose measurement range is limited, the measurement precision requirement is high, and the incidence relation between measurement objects is complex to construct are solved.

Description

Technical Field

[0001] The present application relates to the field of posture measurement, and in particular to a posture tracking measurement method, device, equipment and storage medium. Background Art

[0002] Posture accuracy is one of the key indicators for evaluating the processing capability of industrial robots and the docking and assembly process of components. Posture accuracy affects the efficiency and quality of product processing and assembly, and determines the manufacturing cost and overall quality of the product. Based on the urgent need for high-quality and high-efficiency development in industrial manufacturing, it is necessary to propose higher-precision posture measurement technology and more convenient and more fault-tolerant posture measurement methods.

[0003] The existing posture measurement technology is based on T-series optical sensors to feedback posture information. From the perspective of single-point measurement, the measurement accuracy of T-series optical sensors (such as T-probe and T-mac) is low. Summary of the invention

[0004] The main purpose of this application is to provide a posture tracking measurement method, device, equipment and storage medium, aiming to solve the technical problem of low measurement accuracy in existing posture measurement technology.

[0005] To achieve the above purpose, the present application provides a posture tracking measurement method, comprising the following steps:

[0006] Establishing an initial coordinate system of a measured object, wherein a reflector is provided on the measured object;

[0007] Based on the point coordinates of the reflector in the initial coordinate system, calculating an offset vector of the initial coordinate system relative to the reflector, and translating the initial coordinate system according to the offset vector to obtain a target coordinate system;

[0008] Calculating the normal vector of the space plane according to the point coordinates of the reflector in the target coordinate system, and converting the normal vector into a unit vector;

[0009] Calculate a rotation matrix according to the relationship between the target coordinate system before and after rotation, and obtain a target tracking vector according to the rotation matrix and the unit vector;

[0010] According to the measurement requirements of the measured object, the target coordinate system is matched or fitted;

[0011] According to the target tracking vector and the result of the relationship matching or fitting, the position of the reflector is tracked to perform posture tracking measurement.

[0012] Optionally, the initial coordinate system includes at least one of an initial tool coordinate system and an initial offset coordinate system;

[0013] The step of establishing an initial coordinate system of the object to be measured comprises:

[0014] When the measured object includes a fixed component and a movable component, a first hole position on the movable component is selected, and the initial offset coordinate system is constructed based on the first hole position.

[0015] Optionally, the reflector includes a first reflector, a second reflector and a third reflector; the step of calculating an offset vector of the initial coordinate system relative to the reflector based on the point coordinates of the reflector, translating the initial coordinate system according to the offset vector to obtain a target coordinate system comprises the following steps:

[0016] According to the offset vector, the origin of the initial coordinate system is translated to the point where the first reflector is located to obtain the target coordinate system.

[0017] Optionally, calculating the normal vector of the space plane according to the point coordinates of the reflector and converting the normal vector into a unit vector includes:

[0018] According to the point coordinates (x A ,y A ,z A ),

[0019] (x B ,y B ,z B ) and (x C ,y C ,z C ), calculate the normal vector of the space plane The calculation formula is:

[0020]

[0021] a=(y B -y A )(z C -z A )-(z B -z A )(y C -y A )

[0022] b=(z B -z A )(x C -x A )-(z C -z A )(x B -x A )

[0023] c=(x B -x A )(y C -y A )-(x C -x A )(y B -y A );

[0024] Will Divide by The corresponding modulus length is the unit vector

[0025] Optionally, the target coordinate system is O, and the rotated coordinate system is A; calculating the rotation matrix according to the reflector coordinate system before and after the rotation of the target coordinate system, and obtaining the target tracking vector according to the rotation matrix and the unit vector, includes:

[0026] Calculate the rotation matrix The expression is:

[0027]

[0028] Where: Indicates the target coordinate system O O The projection of the X axis in the rotated coordinate system A; Indicates the target coordinate system O O The projection of the Y axis in the rotated coordinate system A; Indicates the target coordinate system O O The projection of the Z axis in the rotated coordinate system A; Indicates the coordinate system A after rotation A Transpose of the projection of the X axis in the target coordinate system O; Indicates the coordinate system A after rotation A Transpose of the projection of the Y axis in the target coordinate system O; Indicates the coordinate system A after rotation A Transpose of the projection of the Z axis in the target coordinate system O;

[0029] O The unit vector of the Z axis The calculation formula is as follows:

[0030]

[0031] Said is the target tracking vector.

[0032] Optionally, performing relationship matching or fitting on the target coordinate system according to the measurement requirements of the measured object comprises the steps of:

[0033] If the measured object includes a fixed component and a movable component, the alignment state of the measured object is measured, and a second hole position on the fixed component is selected; a fixed coordinate system is constructed based on the second hole position, and the target offset coordinate system is matched with the fixed coordinate system to obtain a relative relationship between the target offset coordinate system and the fixed coordinate system;

[0034] If it is necessary to measure the absolute accuracy of the measured object, the target tool coordinate system is fitted with the base coordinate system to establish a unified coordinate system, and the base coordinate system is a coordinate system established according to the tracking device.

[0035] Based on the same inventive concept, the present application also provides a posture tracking and measuring device, comprising:

[0036] An initial coordinate system establishment module, used to establish an initial coordinate system of a measured object, wherein a reflector is provided on the measured object;

[0037] A target coordinate system establishment module, used to calculate the offset vector of the initial coordinate system relative to the reflector based on the point coordinates of the reflector, and translate the initial coordinate system according to the offset vector to obtain a target coordinate system;

[0038] A space plane calculation module, used to calculate the normal direction of the space plane according to the point coordinates of the reflector, and convert the normal vector of the space plane into a unit vector;

[0039] A target tracking vector solving module is used to calculate a rotation matrix according to the relationship between the target coordinate system before and after rotation, and obtain a target tracking vector according to the rotation matrix and the unit vector;

[0040] A target coordinate system processing module, used for performing relationship matching or fitting on the target coordinate system according to the measurement requirements of the measured object;

[0041] The tracking and measuring module is used to track the position of the reflector and perform posture tracking measurement according to the target tracking vector and the result of the relationship matching or fitting.

[0042] Optionally, the device further comprises:

[0043] The adapter is arranged at the end of the detected object.

[0044] The adapter serves as an intermediate component to stably mount the reflector on the object to be measured.

[0045] Based on the same inventive concept, the present application also provides an electronic device, the electronic device comprising:

[0046] A memory for storing computer executable instructions or computer programs;

[0047] The processor is used to implement the above-mentioned posture tracking and measurement method when executing the computer executable instructions or computer program stored in the memory.

[0048] Based on the same inventive concept, the present application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-mentioned posture tracking and measurement method.

[0049] The present invention discloses a posture tracking measurement method, device, equipment and storage medium. The method constructs an initial coordinate system by collecting points; sets tracking points by a reflector, establishes a target coordinate system according to the reflector, and obtains a rotation matrix according to the relationship before and after the rotation of the target coordinate system, thereby realizing real-time monitoring of posture changes of a measured object and real-time tracking of the target coordinate system of the measured object. Using the reflector as a tracking object can achieve higher measurement accuracy. The optical component of the present invention has a large degree of freedom in installation and can replace the existing posture measurement solution based on optical sensors, thereby solving the problem of limited posture measurement range of optical sensors. The posture matrix data of high-precision point data is solved by a coordinate system conversion mapping method and a vector product method, thereby being well adapted to complex scenes constructed by association relationships between measured objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the flow chart of the posture tracking measurement method according to an embodiment of the present application;

[0051] Figure 2 A schematic diagram of posture tracking measurement according to an embodiment of the present application;

[0052] Figure 3 A schematic diagram of the origin of the coordinate axis is established for the nine-point method of this application;

[0053] Figure 4 A schematic diagram of the translation of the initial coordinate system of an embodiment of the present application;

[0054] Figure 5 This is a schematic diagram of the rotation of the target coordinate system of this application;

[0055] Figure 6 This is a schematic diagram of the measurement tooling structure of an embodiment of the present application.

[0056] Explanation of symbols: 1-reflector, 2-industrial robot, 3-laser tracker, 4-measuring tooling, 41-long slot, 42-positioning hole.

[0057] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0059] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0060] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0062] Pose accuracy is one of the key indicators of industrial robot 2 processing capability and component docking and assembly process, which has a significant impact on product processing, assembly efficiency and quality. Existing pose measurement technology is based on T-series optical sensors (e.g., T-probe and T-mac) to feedback pose information. From the perspective of single-point measurement, the measurement accuracy of T-series optical sensors is lower than that of reflectors 1. At the same time, due to their own volume, narrow light receiving angle, and the need for customized tooling for installation, their application in pose measurement technology is limited.

[0063] In order to solve the above technical problems, refer to Figure 1 The first embodiment of the present application provides a posture tracking measurement method, comprising the steps of:

[0064] S10, establishing an initial coordinate system of the object to be measured, wherein the object to be measured is provided with a reflector 1;

[0065] S20, based on the point coordinates of the reflector 1 in the initial coordinate system, calculating the offset vector of the initial coordinate system relative to the reflector 1, and translating the initial coordinate system according to the offset vector to obtain a target coordinate system;

[0066] S30, calculating a normal vector of a space plane according to the point coordinates of the reflector 1 in the target coordinate system, and converting the normal vector into a unit vector;

[0067] S40, calculating a rotation matrix according to the relationship between the target coordinate system before and after rotation, and obtaining a target tracking vector according to the rotation matrix and the unit vector;

[0068] S50, performing relationship matching or fitting on the target coordinate system according to the measurement requirements of the measured object;

[0069] S60, tracking the position of the reflector 1 according to the target tracking vector and the result of the relationship matching or fitting, and performing posture tracking measurement.

[0070] The posture tracking measurement method of this embodiment solves the posture matrix data of high-precision point data through the coordinate system conversion mapping method and the vector product method, which solves the practical measurement problems in the prior art such as limited measurement range, high measurement accuracy requirements, and complex relationship construction between measurement objects.

[0071] In this embodiment, the provided posture tracking measurement method can be applied to the posture measurement of an industrial robot 2 . A flange is provided on the mechanical arm of the industrial robot 2 , and the reflector 1 is installed on the end of the flange.

[0072] As an optional embodiment, the reflector 1 is a super reflector, which is made by coating a plurality of dielectric reflective films with alternating high and low refractive indices on a UV fused quartz substrate. The reflectivity is increased by increasing the number of film layers, so that the reflectivity of the super reflector at the design wavelength can be better than 99.99%, which is suitable for optical systems with very high reflectivity requirements.

[0073] As an optional implementation, see Figure 2The reflector 1 includes a first reflector, a second reflector, and a third reflector. The three reflectors 1 are three tracking points, which are distributed in a triangle. A laser tracker 3 is generally used as a tracking device. The laser tracker 3 is a high-precision three-dimensional measurement system based on laser and automatic control technology. It transmits and receives lasers returned by the reflector 1, based on the measurement principle of the spherical coordinate method, and realizes precise measurement of three-dimensional coordinates by measuring angles and distances.

[0074] As an optional implementation, based on the above embodiment, step S10 includes:

[0075] According to the coordinate system construction method of plane-origin-Z axis, an initial coordinate system of the object to be measured is established; the initial coordinate system includes at least one of an initial tool coordinate system and an initial offset coordinate system;

[0076] The steps of establishing the initial tool coordinate system include: using a nine-point method to establish the origin of the initial tool coordinate system, and using a translation method to establish the axial direction of the initial tool coordinate system;

[0077] This embodiment proposes a nine-point method, see Figure 3 , including the following steps:

[0078] The point where the first reflector is located is point P, and the center point of the end flange of industrial robot 2 is point Q; laser tracker 3 can only directly measure the coordinates of the first reflector, but cannot directly obtain the coordinates of point Q, the center of the end flange. Therefore, the mechanical arm of industrial robot 2 is controlled to rotate, so that point P rotates around point Q in three mutually perpendicular directions in sequence +Rx, +Ry, and +Rz. Laser tracker 3 records the coordinates of three points in each rotation direction. As an example, each direction rotates 30°. After recording each point in a rotation direction, it is necessary to return to the original position and then rotate in the next direction, thereby obtaining nine points;

[0079] The laser tracker 3 fits a sphere through nine points, which are distributed on the surface of the sphere. The center of the sphere (the rotation center of the coordinate system) is the position Q of the center of the flange at the end of the industrial robot 2, and the radius is the distance between point P and point Q, the center of the flange. The laser tracker 3 establishes the initial tool coordinate system origin O, and also obtains the deviation value (i.e., the radius of the sphere) between the measurement point of the laser tracker 3 and the theoretical origin Q of the tool coordinate system at the end of the industrial robot 2;

[0080] Make the industrial robot 2 move in the +x and +y directions of the tool coordinate system at the end of the industrial robot 2 under the condition of the base coordinate system, and let the laser measuring instrument 3 measure any two points along the way (generally the interval is required to be greater than or equal to 300mm), and then the industrial robot 2 returns to the origin of the initial tool coordinate system;

[0081] With the center of the sphere as the origin and the four measured points in the +x and +y directions as coordinate axis reference points, the laser tracker can establish the initial tool coordinate system O of the industrial robot 2.

[0082] Through the above method, the laser tracker 3 establishes an initial tool coordinate system consistent with the end tool coordinate system, thus ensuring that the position relationship of the points measured by the laser tracker 3 is absolutely consistent with the position relationship when the robot activates the end tool coordinate system.

[0083] The base coordinate system is a rectangular coordinate system based on the installation base of the industrial robot and used to describe the movement of the robot body.

[0084] The end tool coordinate system is a default tool coordinate system Tool0 that the robot arm has when it leaves the factory: the position is at the center of the flange.

[0085] Figure 3 There are 13 points in total, excluding 9 points used to fit the sphere and calculate the center of the sphere, the remaining 4 points are two points measured along the +x and +y directions of the tool coordinate system respectively.

[0086] When the measured object includes a fixed component and a movable component, the initial offset coordinate system is established, including the steps of: selecting a reference hole position on the movable component as a first hole position, and constructing an initial offset coordinate system based on the first hole position. In addition, selecting a second hole position on the fixed component, and constructing a fixed coordinate system based on the second hole position.

[0087] Specifically, a reference hole is selected as the second hole on the fixed component, a cylinder is constructed through the points measured on the inner wall of the hole, a plane is constructed through the points on the surface of the second hole, the center axis of the second hole and the center of the circumference of the cylinder projected on the plane are obtained, and an initial fixed coordinate system is constructed based on the center and the center axis (the direction of another axis is selected with the help of other reference points). The method for constructing the initial offset coordinate system is the same.

[0088] As an optional implementation, based on the above embodiment, step S20 includes:

[0089] The origin of the initial coordinate system is translated to the point where the first reflector is located, specifically:

[0090] The mapping method using the translation coordinate system is shown in Figure 4 , that is, the vector before the coordinate system transformation is O P, the vector after coordinate system transformation is A P, the superposition vector of the translation coordinate system is O P AORG , then the expression of the vector after the coordinate system transformation is A P= O P-O P AORG , according to the offset vector, the origin of the initial coordinate system is translated to the point where the first reflector is located to obtain the target coordinate system.

[0091] In addition, as an optional implementation, a position matching relationship among the first reflector, the second reflector, and the third reflector is established based on their point coordinates, so that the position changes of the first and third reflectors can be tracked based on the position changes of the first reflector.

[0092] As an optional implementation, based on the above embodiment, step S30 includes:

[0093] According to the point coordinates (x A ,y A ,z A )、(x B ,y B ,z B ) and (x C ,y C ,z C ), calculate the normal vector of the space plane Normal vector of a space plane The calculation formula is:

[0094] a=(y B -y A )(z C -z A )-(z B -z A )(y C -y A )

[0095] b=(z B -z A )(x C -x A )-(z C -z A )(x B -x A )

[0096] c=(x B -x A )(y C -y A )-(x C -x A )(y B -y A )

[0097] The normal of the space plane Convert to unit vector That is, in the normal vector Find any point on the graph, divide the vector corresponding to the point by its corresponding modulus, and we get

[0098] As an optional implementation, based on the above embodiment, step S40 includes:

[0099] When the position and posture of the object being measured changes, the target coordinate system changes (rotates) accordingly. According to the relationship between the target coordinate system before and after rotation, the rotation matrix is ​​calculated using the vector product method.

[0100] See also Figure 5 , the target coordinate system before rotation is O, and the coordinate system after rotation is A, then the rotation matrix The expression is:

[0101]

[0102] Where: Indicates the target coordinate system O O The projection of the X axis in the rotated coordinate system A; Indicates the target coordinate system O O The projection of the Y axis in the rotated coordinate system A; Indicates the target coordinate system O O The projection of the Z axis in the rotated coordinate system A; Indicates the coordinate system A after rotation A Transpose of the projection of the X axis in the target coordinate system O; Indicates the coordinate system A after rotation A Transpose of the projection of the Y axis in the target coordinate system O; Indicates the coordinate system A after rotation A Transpose of the projection of the Z axis in the target coordinate system O;

[0103] O The unit vector of the Z axis The calculation method is to project the vector in the direction of the unit vector of the target coordinate system O, and calculate it by the vector product method. The formula is as follows:

[0104]

[0105] Where: o Z x represents the unit vector in coordinate system O The component on the X axis; o Z y represents the unit vector in the coordinate system O The component on the Y axis; o Z zrepresents the unit vector in the coordinate system O Component in the Z axis; Represents the projection of the AX axis in the coordinate system A in the target coordinate system O after rotation; Represents the projection of the AY axis in the coordinate system A in the target coordinate system O after rotation; It represents the projection of the AZ axis in the rotated coordinate system A in the target coordinate system O; A a e Represents the normal direction of the space plane in the coordinate system A after rotation Unit vector on the AX axis; A b e Represents the normal direction of the space plane in the coordinate system A after rotation Unit vector on the AY axis; A c e Represents the normal direction of the space plane in the coordinate system A after rotation Unit vector on the AZ axis;

[0106] According to the rotation matrix calculated above and the unit normal measured Solve O Z-axis unit vector is the target tracking vector.

[0107] As an optional implementation, based on the above embodiment, step S50 includes:

[0108] If the measured object includes a fixed component and a movable component, and the alignment state of the (fixed component and the movable component) of the measured object needs to be measured, a second hole position on the fixed component is selected, a fixed coordinate system is constructed based on the second hole position, and the target offset coordinate system is matched with the fixed coordinate system to obtain the relative relationship between the target offset coordinate system and the fixed coordinate system;

[0109] If it is necessary to measure the absolute accuracy of the object to be measured, the target tool coordinate system and the base coordinate system are optimally fitted. The best fit is specifically as follows: by selecting the corresponding measurement data group, including the point group in the target tool coordinate system and the base coordinate system, as input, selecting the least squares method as the fitting algorithm, setting the fitting parameters, including the number of iterations and the tolerance, to achieve the best fit of the target tool coordinate system and the base coordinate system, and establishing a unified coordinate system through the best fit. The base coordinate system is a coordinate system established according to the tracking device to track the origin of the point coordinate system.

[0110] As an optional implementation, based on the above embodiment, step S60 includes:

[0111] A monitoring window for coordinate system to coordinate system relationship matching or a monitoring window for posture status is opened on the industrial control system to view data in real time. The relative position relationship between the above-mentioned target offset coordinate system and the fixed coordinate system, as well as the posture status of the robot are displayed in real time; every time the robot moves a step, the laser tracker 3 measures the super cat's eye reflector 1 point by point to realize data collection.

[0112] Based on the same inventive concept, the present application also provides a posture tracking and measuring device, the device comprising:

[0113] A reflector 1 and an adapter, wherein the reflector and the adapter are arranged at the end of the object to be detected.

[0114] As an optional embodiment, the reflector 1 is mounted on the flange end of the industrial robot 2 through a measuring tool 4. Figure 6 , which is provided with a long strip hole and at least one positioning hole 42, and the installation method is as follows:

[0115] Step 1: Remove the screws from the flange at the end of the industrial robot 2. The screw holes are symmetrically distributed and there are 2 of them.

[0116] Step 2: Align the positioning hole 42 of the measuring tool 4 with one of the screw holes, align the long strip hole slot 41 with the other screw hole, and fix the measuring tool 4 to the flange by installing screws;

[0117] Step 3: Fix the adapters on both sides of the measuring fixture 4 and install the reflector 1 on the adapters.

[0118] The role of the adapter is to act as an intermediate component to stably mount the reflector on the object to be measured. As an example, the adapter is fixed to the measuring fixture 4 by screws. The adapter is a precision metal component made of magnetic material. A magnetic material is arranged behind the reflector so that the reflector can be fixed to the adapter by magnetic attraction. Using the adapter as an intermediate connection component is conducive to adjusting the installation position of the reflector according to the measurement environment to ensure the most suitable light receiving angle.

[0119] In other embodiments, the reflector and the adapter may be connected by screws, inlaying, bonding, etc.

[0120] As an optional implementation, the posture tracking and measuring device further includes:

[0121] Initial coordinate system establishment module: used to establish the initial coordinate system of the object to be measured;

[0122] The target coordinate system establishment module is used to calculate the offset vector of the initial coordinate system relative to the reflector 1 based on the point coordinates of the reflector 1, and translate the initial coordinate system according to the offset vector to obtain the target coordinate system

[0123] A space plane calculation module, used to calculate the normal direction of the space plane according to the point coordinates of the reflector 1, and convert the normal direction of the space plane into a unit vector;

[0124] A target tracking vector solving module is used to calculate a rotation matrix according to the relationship between the target coordinate system before and after rotation, and obtain a target tracking vector according to the rotation matrix and the unit vector;

[0125] A target coordinate system processing module, used for performing relationship matching or fitting on the target coordinate system according to the measurement requirements of the measured object;

[0126] The tracking and measuring module is used to track the position of the reflector 1 and perform posture tracking measurement according to the target tracking vector and the result of the relationship matching or fitting.

[0127] Based on the same inventive concept, the present application also provides an electronic device, the electronic device comprising:

[0128] A memory for storing computer executable instructions or computer programs;

[0129] The processor is used to implement the above-mentioned posture tracking and measurement method when executing the computer executable instructions or computer program stored in the memory.

[0130] Based on the same inventive concept, the present application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-mentioned posture tracking and measurement method.

[0131] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or for use with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0132] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0133] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A posture tracking measurement method, characterized in that: The following steps are involved: Establishing an initial coordinate system of a measured object, wherein a reflector is provided on the measured object; Based on the point coordinates of the reflector in the initial coordinate system, calculating an offset vector of the initial coordinate system relative to the reflector, and translating the initial coordinate system according to the offset vector to obtain a target coordinate system; Calculating the normal vector of the space plane according to the point coordinates of the reflector in the target coordinate system, and converting the normal vector into a unit vector; Calculate a rotation matrix according to the relationship between the target coordinate system before and after rotation, and obtain a target tracking vector according to the rotation matrix and the unit vector; According to the measurement requirements of the measured object, the target coordinate system is matched or fitted; According to the target tracking vector and the result of the relationship matching or fitting, the position of the reflector is tracked to perform posture tracking measurement.

2. The posture tracking measurement method according to claim 1, characterized in that: The initial coordinate system includes at least one of an initial tool coordinate system and an initial offset coordinate system; The step of establishing an initial coordinate system of the object to be measured comprises: When the measured object includes a fixed component and a movable component, a first hole position on the movable component is selected, and the initial offset coordinate system is constructed based on the first hole position.

3. The posture tracking measurement method according to claim 1, characterized in that: The reflector includes a first reflector, a second reflector and a third reflector; the initial coordinate system is translated according to the offset vector to obtain a target coordinate system, comprising the steps of: According to the offset vector, the origin of the initial coordinate system is translated to the point where the first reflector is located to obtain the target coordinate system.

4. The posture tracking measurement method according to claim 3, characterized in that: The step of calculating the normal vector of the space plane according to the point coordinates of the reflector and converting the normal vector into a unit vector includes: According to the point coordinates (x A ,y A ,z A )、(x B ,y B ,z B ) and (x C ,y C ,z C ), calculate the normal vector of the space plane The calculation formula is: a=(y B -y A )(z C -z A )-(z B -z A )(y C -y A ) b=(z B -z A )(x C -x A )-(z C -z A )(x B -x A ) c=(x B -x A )(and C -and A )-(x C -x A )(and B -and A ); Will Divide by The corresponding modulus length is the unit vector 5. The posture tracking measurement method according to claim 4, characterized in that: The target coordinate system is O, and the rotated coordinate system is A; The step of calculating a rotation matrix according to the reflector coordinate system before and after the target coordinate system is rotated, and obtaining a target tracking vector according to the rotation matrix and the unit vector includes: Calculate the rotation matrix The expression is: Where: Indicates the target coordinate system O O The projection of the X axis in the rotated coordinate system A; Indicates the target coordinate system O O The projection of the Y axis in the rotated coordinate system A; Indicates the target coordinate system O O The projection of the Z axis in the rotated coordinate system A; Indicates the coordinate system A after rotation A Transpose of the projection of the X axis in the target coordinate system O; Indicates the coordinate system A after rotation A Transpose of the projection of the Y axis in the target coordinate system O; Indicates the coordinate system A after rotation A Transpose of the projection of the Z axis in the target coordinate system O; O The unit vector of the Z axis The calculation formula is as follows: Said is the target tracking vector.

6. The posture tracking measurement method according to claim 2, characterized in that: The method of performing relationship matching or fitting on the target coordinate system according to the measurement requirements of the measured object comprises the steps of: If the measured object includes a fixed component and a movable component, the alignment state of the measured object is measured, and a second hole position on the fixed component is selected; a fixed coordinate system is constructed based on the second hole position, and the target offset coordinate system is matched with the fixed coordinate system to obtain a relative relationship between the target offset coordinate system and the fixed coordinate system; If it is necessary to measure the absolute accuracy of the measured object, the target coordinate system is fitted with the base coordinate system to establish a unified coordinate system, and the base coordinate system is a coordinate system established according to the tracking device.

7. A posture tracking and measuring device, characterized in that: include: An initial coordinate system establishment module, used to establish an initial coordinate system of a measured object, wherein a reflector is provided on the measured object; a target coordinate system establishing module, for calculating an offset vector of the initial coordinate system relative to the reflector based on the point coordinates of the reflector in the initial coordinate system, and translating the initial coordinate system according to the offset vector to obtain a target coordinate system; A space plane calculation module, used to calculate the normal direction of the space plane according to the point coordinates of the reflector, and convert the normal vector of the space plane into a unit vector; A target tracking vector solving module is used to calculate a rotation matrix according to the relationship between the target coordinate system before and after rotation, and obtain a target tracking vector according to the rotation matrix and the unit vector; A target coordinate system processing module, used for performing relationship matching or fitting on the target coordinate system according to the measurement requirements of the measured object; The tracking and measuring module is used to track the position of the reflector and perform posture tracking measurement according to the target tracking vector and the result of the relationship matching or fitting.

8. The posture tracking and measuring device according to claim 7, characterized in that: Also includes: The adapter is arranged at the end of the object to be measured.

9. An electronic device, characterized in that: The electronic device comprises: A memory for storing computer executable instructions or computer programs; The processor is used to implement the posture tracking and measurement method described in any one of claims 1 to 6 when executing the computer executable instructions or computer programs stored in the memory.

10. A computer-readable storage medium storing computer-executable instructions, characterized in that: When the computer executable instructions are executed by a processor, the posture tracking and measurement method according to any one of claims 1 to 6 is implemented.

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