A pose tracking measurement method, device, equipment and storage medium

Abstract

This application relates to the field of pose measurement, and more particularly to a pose tracking measurement method, apparatus, device, and storage medium. This application sets a reflector as a tracking point on the object being measured, establishes a target based on the reflector, and calculates the unit vector of the spatial plane normal vector; obtains a rotation matrix based on the relationship before and after rotation of the target coordinate system, and obtains the target tracking vector based on the rotation matrix and the unit vector; performs relationship matching or fitting on the target coordinate system according to the measurement requirements of the object being measured; and tracks the reflector position based on the target tracking vector and the result of the relationship matching or fitting to perform pose tracking measurement. This solves the practical measurement problems of existing technologies, such as limited pose measurement range, high measurement accuracy requirements, and complex construction of relationships between measured objects.

Description

Technical Field

[0001] This application relates to the field of pose measurement, and more particularly to a pose tracking and measurement method, apparatus, device, and storage medium. Background Technology

[0002] Pose accuracy is one of the key indicators for evaluating the processing capabilities of industrial robots and the docking and assembly processes of components. Pose 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, there is a need to propose higher-precision pose measurement technologies and more convenient and fault-tolerant pose measurement methods.

[0003] Existing pose measurement technologies rely on T-series optical sensors to provide pose information. However, from a single-point measurement perspective, the T-series optical sensors (e.g., T-probe and T-mac) have relatively low measurement accuracy. Summary of the Invention

[0004] The main objective of this application is to provide a pose tracking measurement method, apparatus, device, and storage medium, which aims to solve the technical problem of low measurement accuracy in existing pose measurement technologies.

[0005] To achieve the above objectives, this application provides a pose tracking and measurement method, comprising the following steps:

[0006] Establish an initial coordinate system for the object under test, which is equipped with a reflector.

[0007] Based on the position coordinates of the reflector in the initial coordinate system, the offset vector of the initial coordinate system relative to the reflector is calculated, and the initial coordinate system is translated according to the offset vector to obtain the target coordinate system;

[0008] Based on the position coordinates of the reflector in the target coordinate system, calculate the normal vector of the space plane and convert the normal vector into a unit vector;

[0009] Based on the relationship between the target coordinate system before and after rotation, calculate the rotation matrix, and obtain the target tracking vector based on the rotation matrix and the unit vector;

[0010] Based on the measurement requirements of the object being measured, the target coordinate system is matched or fitted with relationships.

[0011] Based on the target tracking vector and the result of the relationship matching or fitting, the position of the reflector is tracked, and pose tracking measurement is performed.

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

[0013] Establishing the initial coordinate system of the object under test includes:

[0014] When the object under test includes a fixed part and a moving part, a first hole position on the moving part 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 the offset vector of the initial coordinate system relative to the reflector based on the point coordinates of the reflector, and translating the initial coordinate system according to the offset vector to obtain the target coordinate system includes the following steps:

[0016] Based on the offset vector, the origin of the initial coordinate system is translated to the position of the first reflector to obtain the target coordinate system.

[0017] Optionally, the step of calculating the normal vector of the spatial plane based on the point coordinates of the reflector and converting the normal vector into a unit vector includes:

[0018] Based on the position coordinates (x, y) of the first reflector, the second reflector, and the third reflector 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 magnitude yields the unit vector.

[0025] Optionally, the target coordinate system is O, and the rotated coordinate system is A; the step of calculating the rotation matrix based on the mirror coordinate system before and after the rotation of the target coordinate system, and obtaining the target tracking vector based on the rotation matrix and the unit vector, includes:

[0026] Calculate the rotation matrix The expression is:

[0027]

[0028] In the formula: Indicating the target coordinate system O O The projection of the X-axis onto the rotated coordinate system A; Indicating the target coordinate system O O The projection of the Y-axis onto the rotated coordinate system A; Indicating the target coordinate system O O The projection of the Z-axis onto the rotated coordinate system A; In the rotated coordinate system A A Transpose of the projection of the X-axis onto the target coordinate system O; In the rotated coordinate system A A Transpose of the projection of the Y-axis onto the target coordinate system O; In the rotated coordinate system A A Transpose of the projection of the Z-axis onto the target coordinate system O;

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

[0030]

[0031] The This is the target tracking vector.

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

[0033] If the object under test includes a fixed part and a moving part, the alignment state of the object under test is measured, and then the second hole position on the fixed part 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;

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

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

[0036] An initial coordinate system establishment module is used to establish the initial coordinate system of the object being measured, which is equipped with a reflector.

[0037] The target coordinate system establishment module is 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 the target coordinate system;

[0038] The spatial plane calculation module is used to calculate the normal vector of the spatial plane based on the point coordinates of the reflector, and convert the normal vector of the spatial plane into a unit vector.

[0039] The target tracking vector calculation module is used to calculate the rotation matrix based on the relationship between the target coordinate system before and after rotation, and to obtain the target tracking vector based on the rotation matrix and the unit vector.

[0040] The target coordinate system processing module is used to perform relationship matching or fitting on the target coordinate system according to the measurement requirements of the object being measured.

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

[0042] Optionally, the device further includes:

[0043] An adapter is disposed at the end of the object being detected.

[0044] The adapter serves as an intermediate component to stably mount the reflector onto the object under test.

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

[0046] Memory is used to store executable instructions or computer programs.

[0047] The processor, when executing computer-executable instructions or computer programs stored in the memory, implements the above-described pose tracking and measurement method.

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

[0049] This invention discloses a pose tracking and measurement method, apparatus, device, and storage medium. The method constructs an initial coordinate system by collecting data points; sets tracking points using a reflector; establishes a target coordinate system based on the reflector; and obtains a rotation matrix based on the relationship between the target coordinate system before and after rotation. This enables real-time monitoring of the pose changes of the measured object and real-time tracking of the target coordinate system. Using a reflector as the tracking object achieves higher measurement accuracy. The optical components of this invention have a high degree of freedom in installation and can replace existing pose measurement schemes based on optical sensors, solving the problem of limited pose measurement range of optical sensors. Furthermore, by using coordinate system transformation mapping and vector product methods to solve for the pose matrix data from high-precision point data, it can well adapt to scenarios with complex relationships between measured objects. Attached Figure Description

[0050] Figure 1 This is a flowchart illustrating the pose tracking and measurement method according to an embodiment of this application.

[0051] Figure 2 This is a schematic diagram of pose tracking measurement according to an embodiment of this application;

[0052] Figure 3 A schematic diagram illustrating the establishment of the origin of the coordinate axes using the nine-point method in this application;

[0053] Figure 4 This is a schematic diagram of the initial coordinate system translation in an embodiment of this application;

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

[0055] Figure 6 This is a schematic diagram of the measuring tooling structure according to an embodiment of this application.

[0056] Symbol explanation: 1-reflector, 2-industrial robot, 3-laser tracker, 4-measuring fixture, 41-elongated slot, 42-positioning hole.

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

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

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

[0060] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0061] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0062] Pose accuracy is one of the key indicators of the processing capability and component docking and assembly process of industrial robots, and it 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 provide pose information. From the perspective of single-point measurement, the T-series optical sensors have lower measurement accuracy compared to reflectors. At the same time, their application in pose measurement technology is limited by their size, narrow light-receiving angle, and the need for customized tooling for installation.

[0063] To solve the above-mentioned technical problems, refer to Figure 1 The first embodiment of this application provides a pose tracking and measurement method, including the following steps:

[0064] S10. Establish the initial coordinate system of the object under test, wherein the object under test is provided with a reflector 1;

[0065] S20. Based on the position coordinates of the reflector 1 in the initial coordinate system, calculate the offset vector of the initial coordinate system relative to the reflector 1, and translate the initial coordinate system according to the offset vector to obtain the target coordinate system;

[0066] S30. Based on the position coordinates of the reflector 1 in the target coordinate system, calculate the normal vector of the space plane and convert the normal vector into a unit vector;

[0067] S40. Calculate the rotation matrix based on the relationship between the target coordinate system before and after rotation, and obtain the target tracking vector based on the rotation matrix and the unit vector;

[0068] S50. Based on the measurement requirements of the object being measured, perform relationship matching or fitting on the target coordinate system;

[0069] S60. Based on the target tracking vector and the result of the relationship matching or fitting, track the position of the reflector 1 and perform pose tracking measurement.

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

[0071] In this embodiment, the provided pose tracking and measurement method can be applied to the pose measurement of an industrial robot 2. The robotic arm of the industrial robot 2 is equipped with a flange, and the reflector 1 is installed on the end of the flange.

[0072] As an optional implementation, the reflector 1 is a super reflector. The super reflector is made by depositing multiple layers of dielectric reflective films with alternating high and low refractive indices on an ultraviolet fused silica substrate. By increasing the number of film layers, the reflectivity can be improved, and the super reflector can achieve a reflectivity of better than 99.99% at the design wavelength, making it suitable for optical systems with high reflectivity requirements.

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

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

[0075] Establish the initial coordinate system of the object being measured according to the coordinate system construction method of plane-origin-Z-axis; the initial coordinate system includes at least one of the initial tool coordinate system and the initial offset coordinate system;

[0076] The steps for establishing the initial tool coordinate system include: establishing the origin of the initial tool coordinate system using the nine-point method, and establishing the axis of the initial tool coordinate system using the translation method;

[0077] This embodiment proposes a nine-point method, see [link / reference]. Figure 3 This includes the following steps:

[0078] Point P is the location of the first reflector, and point Q is the center point of the end flange of industrial robot 2. Laser tracker 3 can only directly measure the coordinates of the first reflector, but cannot directly obtain the coordinates of the center point Q of the end flange. Therefore, the robotic arm of industrial robot 2 is controlled to rotate, causing point P to rotate sequentially around point Q in three mutually perpendicular directions: +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 the coordinates of a point in each rotation direction, the robot needs to return to its original position before rotating in the next direction, thus obtaining nine points.

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

[0080] The industrial robot 2 moves in the +x and +y directions of the end-tool coordinate system under the base coordinate system, and the laser measuring instrument 3 measures any two points along the way (generally requiring an interval of greater than or equal to 300mm). The industrial robot 2 then 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] Using the above method, the laser tracker 3 establishes an initial tool coordinate system that is consistent with the end-effector coordinate system, thus ensuring that the positional relationship of the points measured by the laser tracker 3 is absolutely consistent with the positional relationship when the robot activates the end-effector coordinate system.

[0083] The base coordinate system is a rectangular coordinate system used to describe the motion of the robot body, with the industrial robot mounting base as the reference.

[0084] The end-effector coordinate system is a default tool coordinate system Tool0, which is located at the center of the flange.

[0085] Figure 3 There are a total of 13 points. Apart from 9 points used to fit the sphere and calculate the center of the sphere, the remaining 4 points are two points measured along the way when moving along the +x and +y directions of the tool coordinate system.

[0086] When the object under test includes a fixed component and a moving component, the initial offset coordinate system is established by the following steps: selecting a reference hole on the moving component as a first hole position, and constructing an initial offset coordinate system based on the first hole position. Additionally, 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 on the fixed component as the second hole. A cylinder is constructed using points measured on the inner wall of the hole, and a plane is constructed using points on the surface of the second hole. The centerline of the second hole and the center of the circumference of the cylinder projected onto the plane are determined. An initial fixed coordinate system is constructed based on the center and the centerline (the direction of another axis is selected using other reference points). The method for constructing the initial offset coordinate system is the same.

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

[0089] The origin of the initial coordinate system is translated to the location of the first reflecting mirror, specifically as follows:

[0090] The mapping method using a translation coordinate system is described in the following document. 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 for the vector after the coordinate system transformation is: A P = O P-O P AORG Based on the offset vector, the origin of the initial coordinate system is translated to the position of the first reflecting mirror to obtain the target coordinate system.

[0091] In addition, as an optional implementation, a position matching relationship of the three reflectors 1 is established based on the position coordinates of the first reflector, the second reflector, and the third reflector, so that the position changes of the first and third reflectors can be tracked according to the position changes of the first reflector.

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

[0093] Based on the position coordinates (x, y) of the first, second, and third reflecting mirrors 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] Normal to the space plane Convert to unit vector That is, in the normal vector Find any point on the vector, divide the vector corresponding to that point by its magnitude, and obtain...

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

[0099] When the pose of the object being measured changes, the target coordinate system also changes (rotates). Based on the relationship between the target coordinate system before and after rotation, the rotation matrix is ​​calculated using the vector product method.

[0100] See Figure 5 Let the target coordinate system before rotation be O, and the coordinate system after rotation be A. Then the rotation matrix is... The expression is:

[0101]

[0102] In the formula: Indicating the target coordinate system O O The projection of the X-axis onto the rotated coordinate system A; Indicating the target coordinate system O O The projection of the Y-axis onto the rotated coordinate system A; Indicating the target coordinate system O O The projection of the Z-axis onto the rotated coordinate system A; In the rotated coordinate system A A Transpose of the projection of the X-axis onto the target coordinate system O; In the rotated coordinate system A A Transpose of the projection of the Y-axis onto the target coordinate system O; In the rotated coordinate system A A Transpose of the projection of the Z-axis onto the target coordinate system O;

[0103] O Unit vector of the Z-axis The calculation method is to project the vector onto the target coordinate system O in the direction of the unit vector, using the vector product method, as shown in the following formula:

[0104]

[0105] In the formula: o Z x Represents the unit vector in coordinate system O Components on the X-axis; o Z y Denotes the unit vector in coordinate system O. Components on the Y-axis; o Z zDenotes the unit vector in coordinate system O. Components along the Z-axis; This represents the projection of the AX axis in the rotated coordinate system A onto the target coordinate system O; This represents the projection of the AY axis in the rotated coordinate system A onto the target coordinate system O; This represents the projection of the AZ axis in the rotated coordinate system A onto the target coordinate system O; A a e Indicates the normal to the spatial plane in coordinate system A after rotation. Unit vector along the AX axis; A b e Indicates the normal to the spatial plane in coordinate system A after rotation. Unit vector along the AY axis; A c e Indicates the normal to the spatial plane in coordinate system A after rotation. Unit vector along the AZ axis;

[0106] Based on the rotation matrix calculated above and the unit normal of measurement Solve O Z-axis unit vector This is the target tracking vector.

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

[0108] If the object under test includes a fixed part and a moving part, and it is necessary to measure the mating state of the object under test (fixed part and moving part), then select the second hole position on the fixed part, construct a fixed coordinate system based on the second hole position, match the target offset coordinate system with the fixed coordinate system, and 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 being measured, the target tool coordinate system and the base coordinate system are best fitted. The best fitting is specifically achieved by selecting the corresponding measurement data set, including the point set under 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 between the target tool coordinate system and the base coordinate system, and establishing a unified coordinate system through the best fitting. The base coordinate system is the coordinate system established according to the tracking device, with the origin of the tracking point coordinate system.

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

[0111] Open the monitoring window for coordinate system to coordinate system relationship matching or pose status on the industrial control system to view the data in real time. The relative positional relationship between the target offset coordinate system and the fixed coordinate system, as well as the pose status of the robot, are displayed in real time. For each step the robot moves, the laser tracker 3 measures the super cat's eye reflector 1 point by point to achieve data acquisition.

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

[0113] A reflector 1 and an adapter, wherein the reflector and the adapter are disposed at the end of the object being detected.

[0114] As an optional implementation, the reflector 1 is mounted on the end of the flange of the industrial robot 2 via a measuring fixture 4, which is described in [reference needed]. Figure 6 It has an elongated hole and at least one positioning hole 42, and the installation method is as follows:

[0115] Step 1: Remove the screws from the end flange 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 fixture 4 with one of the screw holes, align the elongated slot 41 with the other screw hole, and fix the measuring fixture 4 to the flange with the mounting 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 adapter serves as an intermediate component to stably mount the reflector onto the object being measured. As an example, the adapter is fixed to the measuring fixture 4 with screws. The adapter is a precision metal component made of magnetic material, and the reflector has magnetic material on its back, allowing it to be magnetically attached to the adapter. Using the adapter as an intermediate connecting component facilitates adjusting the reflector's mounting position according to the measurement environment, ensuring the most suitable light-receiving angle.

[0119] In another embodiment, the reflector and adapter can be connected by screws, inlays, adhesives, or other means.

[0120] As an optional implementation, the pose tracking and measurement device further includes:

[0121] Initial coordinate system establishment module: used to establish the initial coordinate system of the object being 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 to translate the initial coordinate system according to the offset vector to obtain the target coordinate system.

[0123] The spatial plane calculation module is used to calculate the normal of the spatial plane based on the point coordinates of the reflector 1, and convert the normal of the spatial plane into a unit vector.

[0124] The target tracking vector calculation module is used to calculate the rotation matrix based on the relationship between the target coordinate system before and after rotation, and to obtain the target tracking vector based on the rotation matrix and the unit vector.

[0125] The target coordinate system processing module is used to perform relationship matching or fitting on the target coordinate system according to the measurement requirements of the object being measured.

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

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

[0128] Memory is used to store executable instructions or computer programs.

[0129] The processor, when executing computer-executable instructions or computer programs stored in the memory, implements the above-described pose tracking and measurement method.

[0130] Based on the same inventive concept, this application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described pose 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 embodied in any computer-readable medium for use by, or for the purposes of, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, or for the purposes of, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or for the purposes of, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0132] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0133] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A pose tracking and measurement method, characterized in that, Includes the following steps: Establish an initial coordinate system for the object under test, which is equipped with a reflector. Based on the position coordinates of the reflector in the initial coordinate system, the offset vector of the initial coordinate system relative to the reflector is calculated, and the initial coordinate system is translated according to the offset vector to obtain the target coordinate system; Based on the position coordinates of the reflector in the target coordinate system, calculate the normal vector of the space plane and convert the normal vector into a unit vector; Based on the relationship between the target coordinate system before and after rotation, calculate the rotation matrix, and obtain the target tracking vector based on the rotation matrix and the unit vector; Based on the measurement requirements of the object being measured, the target coordinate system is matched or fitted with relationships. Based on the target tracking vector and the result of the relationship matching or fitting, the position of the reflector is tracked, and pose tracking measurement is performed.

2. The pose tracking and measurement method as described in claim 1, characterized in that, The initial coordinate system includes at least one of the initial tool coordinate system and the initial offset coordinate system; Establishing the initial coordinate system of the object under test includes: When the object under test includes a fixed part and a moving part, a first hole position on the moving part is selected, and the initial offset coordinate system is constructed based on the first hole position.

3. The pose tracking and measurement method as described in claim 1, characterized in that, The reflector includes a first reflector, a second reflector, and a third reflector; the step of translating the initial coordinate system according to the offset vector to obtain the target coordinate system includes the following steps: Based on the offset vector, the origin of the initial coordinate system is translated to the position of the first reflector to obtain the target coordinate system.

4. The pose tracking and measurement method as described in claim 3, characterized in that, The step of calculating the normal vector of the spatial plane based on the coordinates of the reflector and converting the normal vector into a unit vector includes: Based on the point coordinates of the first reflector, the second reflector, and the third reflector ( 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 )( y C - y A )-( x C - x A )( y B - y A )； Will Divide by The corresponding magnitude yields the unit vector. .

5. The pose tracking and measurement method as described in claim 4, characterized in that, The target coordinate system is O, and the rotated coordinate system is A; The step of calculating the rotation matrix based on the relationship between the target coordinate system before and after rotation, and obtaining the target tracking vector based on the rotation matrix and the unit vector, includes: Calculate the rotation matrix The expression is: In the formula: Indicating the target coordinate system O O The projection of the X-axis onto the rotated coordinate system A; Indicating the target coordinate system O O The projection of the Y-axis onto the rotated coordinate system A; Indicating the target coordinate system O O The projection of the Z-axis onto the rotated coordinate system A; In the rotated coordinate system A A Transpose of the projection of the X-axis onto the target coordinate system O; In the rotated coordinate system A A Transpose of the projection of the Y-axis onto the target coordinate system O; In the rotated coordinate system A A Transpose of the projection of the Z-axis onto the target coordinate system O; O Unit vector of the Z-axis The calculation formula is as follows: The This is the target tracking vector.

6. The pose tracking and measurement method as described in claim 2, characterized in that, The target coordinate system includes at least one of the target tool coordinate system and the target offset coordinate system; The step of matching or fitting the target coordinate system according to the measurement requirements of the object being measured includes the following steps: If the object under test includes a fixed part and a moving part, the alignment state of the object under test is measured, and then a second hole position on the fixed part 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; If it is necessary to measure the absolute accuracy of the object being measured, the target coordinate system is fitted with the base coordinate system to establish a unified coordinate system, wherein the base coordinate system is the coordinate system established based on the tracking device.

7. A pose tracking and measuring device, characterized in that, include: An initial coordinate system establishment module is used to establish the initial coordinate system of the object being measured, which is equipped with a reflector. The target coordinate system establishment module is used to calculate the 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 translate the initial coordinate system according to the offset vector to obtain the target coordinate system; The spatial plane calculation module is used to calculate the normal vector of the spatial plane based on the point coordinates of the reflector, and convert the normal vector of the spatial plane into a unit vector; The target tracking vector calculation module is used to calculate the rotation matrix based on the relationship between the target coordinate system before and after rotation, and to obtain the target tracking vector based on the rotation matrix and the unit vector. The target coordinate system processing module is used to perform relationship matching or fitting on the target coordinate system according to the measurement requirements of the object being measured. The tracking and measurement module is used to track the position of the reflector and perform pose tracking measurement based on the target tracking vector and the result of the relationship matching or fitting.

8. The pose tracking and measuring device as described in claim 7, characterized in that, Also includes: An adapter, which is disposed at the end of the object being tested.

9. An electronic device, characterized in that, The electronic device includes: Memory is used to store executable instructions or computer programs. A processor, when executing computer-executable instructions or computer programs stored in the memory, implements the pose tracking and measurement method according to any one of claims 1 to 6.

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

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