Calibration method and device for three-dimensional coordinate measurement

Abstract

The invention discloses a calibration method and device for three-dimensional coordinate measurement, and the method comprises the steps: determining a plurality of measurement points on a to-be-measured part based on the working range of measurement equipment, and determining a measurement control instruction according to each measurement point; transmitting the measurement control instruction to measurement equipment, so that the measurement equipment acquires three-dimensional measurement data on each measurement point in sequence based on the measurement control instruction and an equipment position coordinate system; acquiring three-dimensional position data of the to-be-measured part at each measurement point; and based on the three-dimensional measurement data and the three-dimensional position data, calibrating an equipment position coordinate system of the measurement equipment. According to the invention, based on the setting of the measuring points of the measuring equipment, the calibration of the equipment coordinate position system is carried out through the three-dimensional measuring data obtained by the measuring points and the actually obtained three-dimensional position data, the calibration automation of the three-dimensional coordinate measurement is realized, and the calibration efficiency of the three-dimensional coordinate is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic digital data processing, and in particular to a calibration method and device for three-dimensional coordinate measurement. Background Art

[0002] The traditional three-dimensional coordinate measurement and calibration method is that the measurement personnel use mechanical measuring equipment to realize the robot's movement of 4 measurement points (the measurement point position is the center of the robot flange). The three-dimensional coordinates need to measure the coordinate value of each point of the robot. The data collection personnel use professional calculation software to process and analyze the three-dimensional coordinate measurement robot coordinate position data to obtain the actual coordinate value of the robot. And compare the deviation with the theoretical value of the robot. If the deviation is less than the specified range value, the actual position of the robot can be directly calibrated. If the deviation value is greater than the specified range value, it needs to be re-measured and calculated. However, the traditional three-dimensional coordinate calibration method requires engineers to have professional knowledge of robot debugging and three-dimensional space. At the same time, there are test errors in manual test calibration, which leads to the problem of low efficiency of three-dimensional coordinate calibration.

[0003] Therefore, a calibration strategy is urgently needed to solve the problem of low efficiency of three-dimensional coordinate calibration. Summary of the invention

[0004] The embodiments of the present invention provide a calibration method and device for three-dimensional coordinate measurement to solve the problem of low efficiency of three-dimensional coordinate calibration.

[0005] In order to solve the above problem, an embodiment of the present invention provides a calibration method for three-dimensional coordinate measurement, comprising:

[0006] Based on the working range of the measuring device, a plurality of measuring points are determined on the part to be measured, and a measuring control instruction is determined according to each of the measuring points;

[0007] Transmitting the measurement control instruction to the measurement device so that the measurement device sequentially acquires three-dimensional measurement data at each measurement point based on the measurement control instruction and the device position coordinate system;

[0008] Obtain the three-dimensional position data of the part to be measured at each measuring point;

[0009] Based on the three-dimensional measurement data and the three-dimensional position data, a device position coordinate system of the measuring device is calibrated.

[0010] As an improvement of the above solution, calibrating the measuring device based on the three-dimensional measurement data and the three-dimensional position data includes:

[0011] The three-dimensional measurement data and the three-dimensional position data are input into a calibration program, and then the measurement device is calibrated through the calibration program.

[0012] As an improvement of the above solution, the method of determining a plurality of measuring points on the part to be measured based on the working range of the measuring device includes:

[0013] Determine the coordinate range interval according to the working range of the measuring equipment;

[0014] According to the component type of the part to be tested, matching is performed in a preset component database to determine the target component; wherein the component database includes a number of component types input by the user;

[0015] Screening the target components once to obtain a first target component whose position is within the coordinate range;

[0016] Based on the number of measurement points and the positions corresponding to the first target components, the first target components are screened twice to obtain second target components, and the positions of the second target components are used as measurement points; wherein the interval distance between each second target component is greater than the interval threshold.

[0017] As an improvement of the above solution, the measuring device sequentially acquires three-dimensional measurement data at each measuring point based on the measurement control instruction and the device position coordinate system, including:

[0018] The measuring device selects a measuring point at the part to be measured as a reference point, and establishes a device coordinate system according to the reference point;

[0019] The measuring device moves at each measuring point based on the measuring control instruction and the device coordinate system, and records the three-dimensional spatial coordinates of the current measuring point when reaching each measuring point;

[0020] The measuring device summarizes the three-dimensional spatial coordinates of each measuring point in an EXCEL table format to generate three-dimensional measurement data.

[0021] As an improvement of the above scheme, the acquisition of three-dimensional position data of the part to be measured at each measuring point includes: based on a three-dimensional coordinate measuring device, performing contact measurement at each measuring point of the part to be measured to obtain three-dimensional position data corresponding to each measuring point.

[0022] Accordingly, an embodiment of the present invention further provides a calibration device for three-dimensional coordinate measurement, comprising: a measurement point acquisition module, a measurement data module, a data acquisition module and a calibration module;

[0023] The measuring point acquisition module is used to determine a number of measuring points on the part to be measured based on the working range of the measuring device, and determine the measurement control instruction according to each of the measuring points;

[0024] The measurement data module is used to transmit the measurement control instruction to the measurement device, so that the measurement device sequentially obtains three-dimensional measurement data at each measurement point based on the measurement control instruction and the device position coordinate system;

[0025] The data acquisition module is used to acquire the three-dimensional position data of the part to be measured at each measuring point;

[0026] The calibration module is used to calibrate the device position coordinate system of the measuring device based on the three-dimensional measurement data and the three-dimensional position data.

[0027] As an improvement of the above solution, calibrating the measuring device based on the three-dimensional measurement data and the three-dimensional position data includes:

[0028] The three-dimensional measurement data and the three-dimensional position data are input into a calibration program, and then the measurement device is calibrated through the calibration program.

[0029] As an improvement of the above solution, the method of determining a plurality of measuring points on the part to be measured based on the working range of the measuring device includes:

[0030] Determine the coordinate range interval according to the working range of the measuring equipment;

[0031] According to the component type of the part to be tested, matching is performed in a preset component database to determine the target component; wherein the component database includes a number of component types input by the user;

[0032] Screening the target components once to obtain a first target component whose position is within the coordinate range;

[0033] Based on the number of measurement points and the positions corresponding to the first target components, the first target components are screened twice to obtain second target components, and the positions of the second target components are used as measurement points; wherein the interval distance between each second target component is greater than the interval threshold.

[0034] As an improvement of the above solution, the measuring device sequentially acquires three-dimensional measurement data at each measuring point based on the measurement control instruction and the device position coordinate system, including:

[0035] The measuring device selects a measuring point at the part to be measured as a reference point, and establishes a device coordinate system according to the reference point;

[0036] The measuring device moves at each measuring point based on the measuring control instruction and the device coordinate system, and records the three-dimensional spatial coordinates of the current measuring point when reaching each measuring point;

[0037] The measuring device summarizes the three-dimensional spatial coordinates of each measuring point in an EXCEL table format to generate three-dimensional measurement data.

[0038] As an improvement of the above scheme, the acquisition of three-dimensional position data of the part to be measured at each measuring point includes: based on a three-dimensional coordinate measuring device, performing contact measurement at each measuring point of the part to be measured to obtain three-dimensional position data corresponding to each measuring point.

[0039] As can be seen from the above, the present invention has the following beneficial effects:

[0040] The present invention provides a calibration method for three-dimensional coordinate measurement, which determines a number of measurement points on a part to be measured based on the working range of a measuring device, and determines a measurement control instruction based on each of the measurement points; transmits the measurement control instruction to the measuring device, so that the measuring device sequentially obtains three-dimensional measurement data at each measurement point based on the measurement control instruction and the device position coordinate system; obtains the three-dimensional position data of the part to be measured at each measurement point; and calibrates the device position coordinate system of the measuring device based on the three-dimensional measurement data and the three-dimensional position data. The present invention is based on the setting of the measuring points of the measuring device, and calibrates the device coordinate position system with the three-dimensional measurement data obtained through the measuring points and the three-dimensional position data actually obtained, thereby realizing the automation of the calibration of the three-dimensional coordinate measurement and greatly improving the calibration efficiency of the three-dimensional coordinates. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic flow chart of a calibration method for three-dimensional coordinate measurement provided by an embodiment of the present invention;

[0042] Figure 2 It is a schematic diagram of the structure of a calibration device for three-dimensional coordinate measurement provided by an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of a terminal device provided by an embodiment of the present invention;

[0044] Figure 4 is a schematic diagram of a calibration method provided by an embodiment of the present invention;

[0045] Figure 5 It is a schematic diagram of a calibration method provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0046] 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.

[0047] Embodiment 1

[0048] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a calibration method for three-dimensional coordinate measurement provided by an embodiment of the present invention. Figure 1 As shown, this embodiment includes steps 101 to 104, and each step is specifically as follows:

[0049] Step 101: Based on the working range of the measuring device, a plurality of measuring points are determined on the part to be measured, and a measurement control instruction is determined according to each of the measuring points.

[0050] In this embodiment, the method of determining a plurality of measuring points on the part to be measured based on the working range of the measuring device includes:

[0051] Determine the coordinate range interval according to the working range of the measuring equipment;

[0052] According to the component type of the part to be tested, matching is performed in a preset component database to determine the target component; wherein the component database includes a number of component types input by the user;

[0053] Screening the target components once to obtain a first target component whose position is within the coordinate range;

[0054] Based on the number of measurement points and the positions corresponding to the first target components, the first target components are screened twice to obtain second target components, and the positions of the second target components are used as measurement points; wherein the interval distance between each second target component is greater than the interval threshold.

[0055] In a specific embodiment, the component type input by the user may be: flange edge, bolt hole center, etc. It can be understood that the user considers these components to be more important. Based on the component type input by the user in advance, the component type of the part to be measured is identified, and the first target component is determined, so that the measurement point can be determined in the important component;

[0056] Then, according to our measurement requirements, we select 6 to 12 measurement points (i.e., the number of measurement points described in the present invention) within the working range of the fixture. The positions of these measurement points should be dispersed and uniform, and the interval distance of each measurement point can be set to the same as the device width / number of measurement points to ensure the stability and accuracy of the coordinate system. There are no restrictions on the brand of the measuring equipment and robot and the location of the measurement points, which makes our solution more widely applicable and flexible.

[0057] It should be noted that the interval threshold can be adaptively adjusted according to the user's settings.

[0058] Step 103: Obtain the three-dimensional position data of the part to be measured at each measuring point.

[0059] Step 102: Transmit the measurement control instruction to the measurement device, so that the measurement device sequentially acquires three-dimensional measurement data at each measurement point based on the measurement control instruction and the device position coordinate system.

[0060] In this embodiment, the measuring device sequentially acquires three-dimensional measurement data at each measuring point based on the measurement control instruction and the device position coordinate system, including:

[0061] The measuring device selects a measuring point at the part to be measured as a reference point, and establishes a device coordinate system according to the reference point;

[0062] The measuring device moves at each measuring point based on the measuring control instruction and the device coordinate system, and records the three-dimensional spatial coordinates of the current measuring point when reaching each measuring point;

[0063] The measuring device summarizes the three-dimensional spatial coordinates of each measuring point in an EXCEL table format to generate three-dimensional measurement data.

[0064] In a specific embodiment, the reference point of the device coordinate system is usually a fixed point in the robot workspace or a feature point on the workpiece.

[0065] Alternatively, in actual applications, the teach pendant can be used to manually teach points as the robot's position coordinates, or the position coordinates can be automatically determined through simulation programming.

[0066] In a specific embodiment, after the robot position coordinate system is established, the measuring device enters the step of outputting the measurement result file. After the measurement is completed, the system computer automatically generates the coordinate system position data of the current three-dimensional coordinate measurement point and exports it in an Excel format. This format of file facilitates subsequent data processing and analysis, and improves work efficiency.

[0067] It is understandable that the measurement control instructions include the planned measurement path, and the motion controller of the coordinate measuring machine is used to move the probe to each measurement point according to the measurement path, and measure according to the set measurement parameters. During the measurement process, pay attention to monitoring the changes in the measurement data to ensure the accuracy of the measurement results. It is usually necessary to measure key positions such as the edge of the robot flange and the center of the bolt hole.

[0068] In this embodiment, obtaining the three-dimensional position data of the part to be measured at each measuring point includes: performing contact measurement at each measuring point of the part to be measured based on a three-dimensional coordinate measuring device to obtain the three-dimensional position data corresponding to each measuring point.

[0069] In a specific embodiment, a mechanical, optical or trigger-type three-dimensional coordinate measuring device is used to accurately measure the measured part. The device works based on three mutually perpendicular axes (X, Y, Z), performs contact measurement on the surface of the object by moving the probe, and records the coordinate values ​​of each point. This measurement method can obtain accurate position information on the surface of the measured part, providing an accurate data basis for subsequent steps.

[0070] Step 104: Calibrate the device position coordinate system of the measuring device based on the three-dimensional measurement data and the three-dimensional position data.

[0071] In this embodiment, calibrating the measuring device based on the three-dimensional measurement data and the three-dimensional position data includes: inputting the three-dimensional measurement data and the three-dimensional position data into a calibration program, and then calibrating the measuring device through the calibration program.

[0072] In a specific embodiment, the simulator receives the 3D coordinate measurement result file and the robot measurement point position program and imports it into PDPS (or other applicable simulation software). At this stage, it is crucial to ensure the accuracy and integrity of the data. By importing the data, we can accurately simulate and analyze the robot's position, providing a reliable basis for subsequent calibration work.

[0073] Use the calibration function of the PDPS software to call the calibration program to accurately calibrate the robot position. By comparing the three-coordinate measurement results with the actual position of the robot, we can find the deviation of the robot position and adjust the robot's coordinate system accordingly. This process ensures the accuracy and stability of the robot and improves the robot's working performance and accuracy. When a deviation occurs at a certain position and no deviation occurs at other positions, if the deviation value of a certain point is greater than that of other points, this point can be cancelled and not measured, without affecting the accuracy of other positions.

[0074] To better illustrate the calibration procedure, the first calibration method is as follows Figure 4 In the figure, the yellow arrow is the robot measurement program point, and the pink arrow is the actual point of the three-coordinate measurement. Flange base surface calibration method: the source position is the robot measurement point (yellow), and the target position is the three-coordinate measurement point (pink). The calibration is completed by associating the robot measurement point with the three-coordinate measurement point.

[0075] At the same time, the second calibration method is as follows Figure 5 , three-coordinate measurement of base surface position (because the flange is blocked by the transition plate, the three-coordinate measurement of the transition plate base surface), three-coordinate measurement of point position. Other base surface calibration methods are:

[0076] ①Reverse the robot measurement procedure;

[0077] ②Establish three-coordinate measurement position TCP;

[0078] ③ Use the Shift Locations by TCP Offset function to perform coordinate conversion (convert tool 0 of the robot measurement program to three-coordinate measurement position T);

[0079] ④ Use the calibration program to calibrate.

[0080] See also Figure 2 , Figure 2 It is a structural schematic diagram of a calibration device for three-dimensional coordinate measurement provided by an embodiment of the present invention, comprising: a measurement point acquisition module 201, a measurement data module 202, a data acquisition module 203 and a calibration module 204;

[0081] The measuring point acquisition module is used to determine a number of measuring points on the part to be measured based on the working range of the measuring device, and determine the measurement control instruction according to each of the measuring points;

[0082] The measurement data module is used to transmit the measurement control instruction to the measurement device, so that the measurement device sequentially obtains three-dimensional measurement data at each measurement point based on the measurement control instruction and the device position coordinate system;

[0083] The data acquisition module is used to acquire the three-dimensional position data of the part to be measured at each measuring point;

[0084] The calibration module is used to calibrate the device position coordinate system of the measuring device based on the three-dimensional measurement data and the three-dimensional position data.

[0085] As an improvement of the above solution, calibrating the measuring device based on the three-dimensional measurement data and the three-dimensional position data includes:

[0086] The three-dimensional measurement data and the three-dimensional position data are input into a calibration program, and then the measurement device is calibrated through the calibration program.

[0087] As an improvement of the above solution, the method of determining a plurality of measuring points on the part to be measured based on the working range of the measuring device includes:

[0088] Determine the coordinate range interval according to the working range of the measuring equipment;

[0089] According to the component type of the part to be tested, matching is performed in a preset component database to determine the target component; wherein the component database includes a number of component types input by the user;

[0090] Screening the target components once to obtain a first target component whose position is within the coordinate range;

[0091] Based on the number of measurement points and the positions corresponding to the first target components, the first target components are screened twice to obtain second target components, and the positions of the second target components are used as measurement points; wherein the interval distance between each second target component is greater than the interval threshold.

[0092] As an improvement of the above solution, the measuring device sequentially acquires three-dimensional measurement data at each measuring point based on the measurement control instruction and the device position coordinate system, including:

[0093] The measuring device selects a measuring point at the part to be measured as a reference point, and establishes a device coordinate system according to the reference point;

[0094] The measuring device moves at each measuring point based on the measuring control instruction and the device coordinate system, and records the three-dimensional spatial coordinates of the current measuring point when reaching each measuring point;

[0095] The measuring device summarizes the three-dimensional spatial coordinates of each measuring point in an EXCEL table format to generate three-dimensional measurement data.

[0096] As an improvement of the above scheme, the acquisition of three-dimensional position data of the part to be measured at each measuring point includes: based on a three-dimensional coordinate measuring device, performing contact measurement at each measuring point of the part to be measured to obtain three-dimensional position data corresponding to each measuring point.

[0097] This embodiment determines a number of measuring points on the part to be measured based on the working range of the measuring device, and determines a measurement control instruction based on each of the measuring points; transmits the measurement control instruction to the measuring device so that the measuring device sequentially obtains three-dimensional measurement data at each measuring point based on the measurement control instruction and the device position coordinate system; obtains the three-dimensional position data of the part to be measured at each measuring point; and calibrates the device position coordinate system of the measuring device based on the three-dimensional measurement data and the three-dimensional position data. The present invention is based on the setting of the measuring points of the measuring device, and calibrates the device coordinate position system by using the three-dimensional measurement data obtained through the measuring points and the three-dimensional position data actually obtained, thereby realizing the automation of the calibration of the three-dimensional coordinate measurement and greatly improving the calibration efficiency of the three-dimensional coordinates.

[0098] Embodiment 2

[0099] See also Figure 3 , Figure 3 It is a schematic diagram of the structure of a terminal device provided in one embodiment of the present invention.

[0100] A terminal device of this embodiment includes: a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program, the steps of the above-mentioned calibration method for three-dimensional coordinate measurement in the embodiment are implemented, for example Figure 1 Alternatively, when the processor executes the computer program, the functions of each module in the above-mentioned device embodiments are realized, for example: Figure 2 All modules of the calibration device for three-dimensional coordinate measurement are shown.

[0101] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the calibration method of three-dimensional coordinate measurement as described in any of the above embodiments.

[0102] Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0103] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 301 is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0104] The memory 302 can be used to store the computer program and / or module. The processor 301 implements various functions of the terminal device by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0105] Wherein, if the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0106] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0107] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A calibration method for three-dimensional coordinate measurement, characterized in that: include: Based on the working range of the measuring device, a plurality of measuring points are determined on the part to be measured, and a measuring control instruction is determined according to each of the measuring points; Transmitting the measurement control instruction to the measurement device so that the measurement device sequentially acquires three-dimensional measurement data at each measurement point based on the measurement control instruction and the device position coordinate system; Obtain the three-dimensional position data of the part to be tested at each measuring point; Based on the three-dimensional measurement data and the three-dimensional position data, a device position coordinate system of the measuring device is calibrated.

2. The calibration method for three-dimensional coordinate measurement according to claim 1, characterized in that: The calibrating the measuring device based on the three-dimensional measurement data and the three-dimensional position data comprises: The three-dimensional measurement data and the three-dimensional position data are input into a calibration program, and then the measurement device is calibrated through the calibration program.

3. The calibration method for three-dimensional coordinate measurement according to claim 2, characterized in that: Based on the working range of the measuring device, several measuring points are determined on the part to be measured, including: Determine the coordinate range interval according to the working range of the measuring equipment; According to the component type of the part to be tested, matching is performed in a preset component database to determine the target component; wherein the component database includes a number of component types input by the user; Screening the target components once to obtain a first target component whose position is within the coordinate range; Based on the number of measurement points and the positions corresponding to the first target components, the first target components are screened twice to obtain second target components, and the positions of the second target components are used as measurement points; wherein the interval distance between each second target component is greater than the interval threshold.

4. The calibration method for three-dimensional coordinate measurement according to claim 3, characterized in that: The measuring device sequentially acquires three-dimensional measurement data at each measuring point based on the measurement control instruction and the device position coordinate system, including: The measuring device selects a measuring point at the part to be measured as a reference point, and establishes a device coordinate system according to the reference point; The measuring device moves at each measuring point based on the measuring control instruction and the device coordinate system, and records the three-dimensional spatial coordinates of the current measuring point when reaching each measuring point; The measuring device summarizes the three-dimensional spatial coordinates of each measuring point in an EXCEL table format to generate three-dimensional measurement data.

5. The calibration method for three-dimensional coordinate measurement according to claim 4, characterized in that: The obtaining of the three-dimensional position data of the part to be measured at each measuring point includes: performing contact measurement at each measuring point of the part to be measured based on a three-dimensional coordinate measuring device to obtain the three-dimensional position data corresponding to each measuring point.

6. A calibration device for three-dimensional coordinate measurement, characterized in that: include: Measuring point acquisition module, measuring data module, data acquisition module and calibration module; The measuring point acquisition module is used to determine a number of measuring points on the part to be measured based on the working range of the measuring device, and determine the measurement control instruction according to each of the measuring points; The measurement data module is used to transmit the measurement control instruction to the measurement device, so that the measurement device sequentially obtains three-dimensional measurement data at each measurement point based on the measurement control instruction and the device position coordinate system; The data acquisition module is used to acquire the three-dimensional position data of the part to be measured at each measuring point; The calibration module is used to calibrate the device position coordinate system of the measuring device based on the three-dimensional measurement data and the three-dimensional position data.

7. The three-dimensional coordinate measurement calibration device according to claim 6, characterized in that: The calibrating the measuring device based on the three-dimensional measurement data and the three-dimensional position data comprises: The three-dimensional measurement data and the three-dimensional position data are input into a calibration program, and then the measurement device is calibrated through the calibration program.

8. The three-dimensional coordinate measurement calibration device according to claim 7, characterized in that: Based on the working range of the measuring device, several measuring points are determined on the part to be measured, including: Determine the coordinate range interval according to the working range of the measuring equipment; According to the component type of the part to be tested, matching is performed in a preset component database to determine the target component; wherein the component database includes a number of component types input by the user; Screening the target components once to obtain a first target component whose position is within the coordinate range; Based on the number of measurement points and the positions corresponding to the first target components, the first target components are screened twice to obtain second target components, and the positions of the second target components are used as measurement points; wherein the interval distance between each second target component is greater than the interval threshold.

9. The three-dimensional coordinate measurement calibration device according to claim 8, characterized in that: The measuring device sequentially acquires three-dimensional measurement data at each measuring point based on the measurement control instruction and the device position coordinate system, including: The measuring device selects a measuring point on the part to be measured as a reference point, and establishes a device coordinate system according to the reference point; The measuring device moves at each measuring point based on the measuring control instruction and the device coordinate system, and records the three-dimensional spatial coordinates of the current measuring point when reaching each measuring point; The measuring device summarizes the three-dimensional spatial coordinates of each measuring point in an EXCEL table format to generate three-dimensional measurement data.

10. The three-dimensional coordinate measurement calibration device according to claim 9, characterized in that: The obtaining of the three-dimensional position data of the part to be measured at each measuring point includes: performing contact measurement at each measuring point of the part to be measured based on a three-dimensional coordinate measuring device to obtain the three-dimensional position data corresponding to each measuring point.

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