A method and apparatus for calibrating three-dimensional coordinate measurements

Abstract

The application discloses a kind of three-dimensional coordinate measurement calibration method and device, based on the working range of measuring equipment, determine several measurement points on the part to be measured, and according to each measurement point, determine measurement control instruction;The measurement control instruction is transmitted to measuring equipment, so that the measuring equipment is based on the measurement control instruction and equipment position coordinate system sequentially in each measurement point obtains three-dimensional measurement data;Obtain the three-dimensional position data of the part to be measured in each measurement point;Based on the three-dimensional measurement data and the three-dimensional position data, the equipment position coordinate system of the measuring equipment is calibrated.The present application is based on the setting of measuring equipment measurement point, and the three-dimensional measurement data obtained by measurement point is calibrated with the actual three-dimensional position data Equipment coordinate position system calibration, realizes the calibration automation of three-dimensional coordinate measurement, greatly improves the calibration efficiency of three-dimensional coordinate.

Description

TECHNICAL FIELD

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

[0002] A traditional three-dimensional coordinate measurement and calibration method is that a measurement personnel realizes measurement of four measurement points (measurement point positions are flange centers of a robot) of a robot by using a mechanical measurement device, three-dimensional coordinates of the robot are measured at each point, professional calculation software is used to process and analyze three-dimensional coordinate measurement robot coordinate position data collected by a data collection personnel to obtain actual coordinate values of the robot, and a deviation from theoretical values of the robot is compared. If the deviation is less than a specified range value, the actual position of the robot can be directly calibrated, and if the deviation value is greater than the specified range value, the robot needs to be measured and calculated again. However, the traditional three-dimensional coordinate calibration method requires an engineer to have professional knowledge of robot debugging and three-dimensional space, and there is a test error in manual test calibration, which leads to a low three-dimensional coordinate calibration efficiency.

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

[0004] Embodiments of the present application provide a three-dimensional coordinate measurement calibration method and device to solve the problem of low three-dimensional coordinate calibration efficiency.

[0005] To solve the above problem, an embodiment of the present application provides a three-dimensional coordinate measurement calibration method, comprising:

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

[0007] The measurement control instruction is transmitted to the measurement device, so that the measurement device acquires three-dimensional measurement data at each measurement point based on the measurement control instruction and a device position coordinate system in sequence;

[0008] Three-dimensional position data of the part to be measured at each measurement point is acquired;

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

[0010] As an improvement of the above scheme, the calibration of the measurement device based on the three-dimensional measurement data and the three-dimensional position data comprises:

[0011] Input the three-dimensional measurement data and the three-dimensional position data into a calibration program, and calibrate the measurement device through the calibration program.

[0012] As an improvement of the above scheme, the working range of the measurement device determines a plurality of measurement points on the part to be measured, comprising:

[0013] According to the working range of the measurement device, a coordinate range interval is determined.

[0014] According to the component type of the part to be measured, a target component is determined by matching in a preset component database, wherein the component database includes a plurality of component types input by a user.

[0015] The target component is screened once to obtain a first target component whose position is located in the coordinate range interval.

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

[0017] As an improvement of the above scheme, 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, comprising:

[0018] The measurement device selects a measurement point on the part to be measured as a reference point, and establishes a device coordinate system based on the reference point.

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

[0020] The measurement device generates three-dimensional measurement data in the format of an EXCEL table by summarizing the three-dimensional space coordinates of each measurement point.

[0021] As an improvement of the above scheme, the three-dimensional position data of the part to be measured at each measurement point is obtained by contact measurement at each measurement point of the part to be measured based on a three-dimensional coordinate measurement device.

[0022] Correspondingly, an embodiment of the present application also 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 measurement point acquisition module is configured to determine a plurality of measurement points on the part to be measured based on the working range of the measurement device, and determine a measurement control instruction according to each measurement point;

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

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

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

[0027] As an improvement of the above-mentioned scheme, the calibration of the measurement device based on the three-dimensional measurement data and the three-dimensional position data comprises:

[0028] The three-dimensional measurement data and the three-dimensional position data are input into a calibration program, and the calibration program is used to calibrate the measurement device.

[0029] As an improvement of the above-mentioned scheme, the determination of a plurality of measurement points on the part to be measured based on the working range of the measurement device comprises:

[0030] A coordinate range interval is determined according to the working range of the measurement device;

[0031] A target component is determined by matching in a preset component database according to the component type of the part to be measured, wherein the component database comprises a plurality of component types input by a user;

[0032] A first target component whose position is located in the coordinate range interval is obtained by performing a first screening on the target component;

[0033] A second target component is obtained by performing a second screening on the first target component based on the number of measurement points and the position corresponding to the first target component, and the position of the second target component is used as a measurement point; wherein the interval distance between each second target component is greater than an interval threshold.

[0034] As an improvement of the above-mentioned scheme, the acquisition of three-dimensional measurement data at each measurement point by the measurement device based on the measurement control instruction and a device position coordinate system comprises:

[0035] The measurement device selects a measurement point on 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 space coordinates of the current measuring point when reaching each measuring point;

[0037] The measuring device generates three-dimensional measurement data in the form of an EXCEL table by summarizing the three-dimensional space coordinates of each measuring point.

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

[0039] From the above, the present application has the following beneficial effects:

[0040] The present application provides a calibration method for three-dimensional coordinate measurement, determines a plurality of measuring points on a measured part based on the working range of a measuring device, and determines a measuring control instruction according to each measuring point; transmits the measuring control instruction to the measuring device to enable the measuring device to obtain three-dimensional measurement data at each measuring point based on the measuring control instruction and a device position coordinate system; obtains three-dimensional position data of the measured part 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 application calibrates the device coordinate position system by comparing the three-dimensional measurement data obtained by the measuring point with the actual three-dimensional position data based on the setting of the measuring point of the measuring device, realizes calibration automation of three-dimensional coordinate measurement, and greatly improves the calibration efficiency of three-dimensional coordinates. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a flowchart of the calibration method for three-dimensional coordinate measurement provided by an embodiment of the present application;

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

[0043] Figure 3 is a structural schematic diagram of a terminal device provided by an embodiment of the present application;

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

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

[0046] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Example 1

[0048] See Figure 1 , Figure 1 This is a flowchart illustrating a calibration method for three-dimensional coordinate measurement according to an embodiment of the present invention, as shown below. Figure 1 As shown, this embodiment includes steps 101 to 104, and the specific steps are as follows:

[0049] Step 101: Based on the working range of the measuring equipment, determine several measuring points on the part to be measured, and determine the measuring control command according to each measuring point.

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

[0051] Determine the coordinate range interval based on the operating range of the measuring equipment;

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

[0053] The target components are filtered once to obtain the first target component whose position is located within the coordinate range;

[0054] Based on the number of measurement points and the location of the first target component, the first target component is further filtered to obtain the second target component, and the location of the second target component is used as the measurement point; wherein, the interval between each second target component is greater than the interval threshold.

[0055] In one specific embodiment, the component types input by the user can be: flange edge, bolt hole center, etc., which can be understood as the user considering these components to be important. Based on the component types input by the user in advance, the component types of the part to be measured are identified, and the first target component is determined. In this way, the measurement point can be determined in the important components.

[0056] Then determine according to our measurement requirements, in the working range of the clamp to select 6-12 (i.e. the number of measurement points described in the application) measurement points. The position of these measurement points should be scattered and uniform, the interval distance of each measurement point can be set as the device width / number of measurement points to ensure the stability and accuracy of the coordinate system. The measurement device and the robot brand and the measurement point position have no limit requirements, which makes our solution have more extensive applicability and flexibility.

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

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

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

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

[0062] The measurement device moves at each measurement point based on the measurement control instruction and the device coordinate system, and records the three-dimensional space coordinates of the current measurement point when it reaches each measurement point;

[0063] The measurement device summarizes and generates three-dimensional measurement data in the format of an EXCEL table for each measurement point.

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

[0065] Alternatively, in actual application, the teaching point can be manually taught by a teach pendant as the robot position coordinate, or the position coordinate can be automatically determined by simulation programming.

[0066] In a specific embodiment, after the robot position coordinate system is established, the measurement 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 the format of an Excel table. This format of file is convenient for subsequent data processing and analysis, and improves the work efficiency.

[0067] It can be understood that the measurement control instruction includes a planned measurement path, and a motion controller of the three-coordinate measuring instrument moves the measuring head to each measurement point according to the measurement path and measures according to the set measurement parameters. During the measurement process, attention is paid to monitoring the change of the measurement data to ensure the accuracy of the measurement result, and it is usually necessary to measure the edge of the robot flange, the center of the bolt hole and other key positions.

[0068] In the embodiment, the three-dimensional position data of the part to be measured at each measurement point is obtained by performing contact measurement at each measurement point of the part to be measured based on the three-dimensional coordinate measuring device to obtain the three-dimensional position data corresponding to each measurement point.

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

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

[0071] In the embodiment, the calibration of 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 simulation personnel receive the three-dimensional coordinate measurement result file and the robot measurement point position program, and import them 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 position of the robot, and provide reliable basis for subsequent calibration work.

[0073] The calibration function of the PDPS software is used to call the calibration program to accurately calibrate the position of the robot. By comparing the three-coordinate measurement result with the actual position of the robot, we can find the deviation of the position of the robot, and adjust the coordinate system of the robot accordingly. This process ensures the accuracy and stability of the robot, and improves the working performance and accuracy of the robot. When a position deviates and other positions do not deviate, such as a point deviating more than other points, the 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 three-coordinate measurement actual point. The 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 and the three-coordinate measurement point.

[0075] Meanwhile, the second calibration method is as follows Figure 5 The three-coordinate measurement base surface position (since the flange is blocked by the transition plate, the three-coordinate measurement transition plate base surface), and the three-coordinate actual measurement point position. Other base surface calibration methods are as follows:

[0076] ① Reverse the robot measurement program;

[0077] ② Establish a 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] Referring to Figure 2 , Figure 2 is a structural schematic diagram of a calibration device for three-dimensional coordinate measurement provided by an embodiment of the present application, comprising: a measurement point acquisition module 201, a measurement data module 202, a data acquisition module 203, and a calibration module 204;

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

[0082] The measurement data module is configured to transmit the measurement control instruction to the measurement device, so that the measurement device acquires three-dimensional measurement data at each measurement point based on the measurement control instruction and a device position coordinate system.

[0083] The data acquisition module is configured to acquire three-dimensional position data of the part to be measured at each measurement point.

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

[0085] As an improvement of the above-mentioned scheme, the calibration of the measuring device based on the three-dimensional measurement data and the three-dimensional position data comprises:

[0086] The three-dimensional measurement data and the three-dimensional position data are input into a calibration program, and the calibration of the measuring device is further performed by the calibration program.

[0087] As an improvement of the above-mentioned scheme, the determination of the measurement points on the part to be measured based on the working range of the measuring device comprises:

[0088] The coordinate range interval is determined according to the working range of the measuring device.

[0089] The target component is determined by matching in a preset component database according to the component type of the part to be measured, wherein the component database comprises a plurality of component types input by a user.

[0090] The first target component whose position is located in the coordinate range interval is obtained by performing a primary screening on the target component.

[0091] The second target component is obtained by performing a secondary screening on the first target component based on the number of measurement points and the positions corresponding to the first target component, and the position of the second target component is used as the measurement point; wherein the interval distance between each second target component is greater than an interval threshold.

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

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

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

[0095] The measuring device generates the three-dimensional measurement data in the format of an EXCEL table by summarizing the three-dimensional spatial coordinates of each measurement point.

[0096] As an improvement of the above-mentioned scheme, the obtaining of the three-dimensional position data of the part to be measured at each measurement point comprises: performing contact measurement at each measurement 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 measurement point.

[0097] The embodiment is based on the working range of the measuring device, determines a plurality of measuring points on the part to be measured, and determines a measurement control instruction according to each measuring point; the measurement control instruction is transmitted to the measuring device, so 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; three-dimensional position data of the part to be measured at each measuring point is acquired; and the device position coordinate system of the measuring device is calibrated based on the three-dimensional measurement data and the three-dimensional position data. The present application is based on the setting of the measuring point of the measuring device, and the calibration of the device coordinate position system is realized by the three-dimensional measurement data acquired by the measuring point and the actual acquired three-dimensional position data, which realizes the calibration automation of the three-dimensional coordinate measurement, and greatly improves the calibration efficiency of the three-dimensional coordinate.

[0098] Embodiment two

[0099] Reference Figure 3 , Figure 3 is a terminal device structure schematic diagram provided by an embodiment of the present application.

[0100] The terminal device of the embodiment includes a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. The processor 301 implements the steps of the three-dimensional coordinate measurement calibration method in the embodiment when executing the computer program, for example, all steps of the three-dimensional coordinate measurement calibration method shown in the embodiment. Figure 1 Or, the processor implements the functions of the modules in the device embodiment when executing the computer program, for example, all modules of the three-dimensional coordinate measurement calibration device shown in the embodiment. Figure 2

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

[0102] Those skilled in the art can understand that the schematic diagram is only an example of the terminal device and does not constitute a limitation on the terminal device, and can include more or fewer components than the diagram, or combine certain components, or different components, for example, the terminal device can also include an input and output device, a network access device, a bus, etc.

[0103] ​The processor 301 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The processor 301 is a control center of the terminal device, and is connected with various parts of the terminal device through various interfaces and lines.

[0104] The memory 302 can be used to store computer programs and / or modules, and the processor 301 realizes various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling 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, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data created according to use of the terminal device (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 nonvolatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash storage device, or other volatile solid-state storage device.

[0105] The modules / units integrated in the terminal device, if in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on this understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer readable medium can 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), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0106] It should be noted that the above-described device embodiments are only schematic, and the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. In addition, the connection relationship between the modules in the device embodiment provided by the present application indicates that there is a communication connection between them, which can be realized as one or more communication buses or signal lines. Those skilled in the art can understand and implement it without creative labor.

[0107] The above is the preferred embodiment of the present application. It should be noted that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which are also considered within the scope of protection of the present application.

Claims

1. A calibration method for three-dimensional coordinate measurement, characterized in that, include: Based on the working range of the measuring equipment, several measuring points are determined on the part to be measured, and a measuring control command is determined according to each measuring point. The method of determining several measurement points on the part to be measured based on the working range of the measuring equipment includes: determining a coordinate range interval according to the working range of the measuring equipment; matching the component types of the part to be measured in a preset component database to determine target components; wherein, the component database includes several component types input by the user; performing a first screening of the target components to obtain a first target component whose position is located within the coordinate range interval; performing a second screening of the first target component based on the number of measurement points and the position corresponding to the first target component to obtain a second target component, and using the position of the second target component as a measurement point; wherein, the interval distance between each second target component is greater than an interval threshold. The measurement control command is transmitted to the measurement device so that the measurement device can acquire three-dimensional measurement data at each measurement point in sequence based on the measurement control command and the device position coordinate system. Acquire the three-dimensional position data of the part under test at each measurement point; Based on the three-dimensional measurement data and the three-dimensional position data, the device position coordinate system of the measuring device is calibrated; wherein, if a deviation occurs at a certain position but other positions do not deviate, the position where the deviation occurs is not measured.

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

3. The calibration method for three-dimensional coordinate measurement according to claim 2, characterized in that, The measuring device acquires three-dimensional measurement data sequentially at each measuring point based on the measurement control command 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 based on the reference point; The measuring device moves at each measuring point based on the measuring control command and the device coordinate system, and records the three-dimensional spatial coordinates of the current measuring point upon arrival at each measuring point. The measuring device will generate three-dimensional measurement data by summarizing the three-dimensional spatial coordinates of each measuring point in the format of an EXCEL spreadsheet.

4. The calibration method for three-dimensional coordinate measurement according to claim 3, characterized in that, The step of obtaining the three-dimensional position data of the part under test at each measurement point includes: performing contact measurement at each measurement point of the part under test based on a three-dimensional coordinate measuring device to obtain the three-dimensional position data corresponding to each measurement point.

5. A calibration device for three-dimensional coordinate measurement, characterized in that, include: The system includes a measurement point acquisition module, a measurement data module, a data acquisition module, and a calibration module. The measurement point acquisition module is used to determine a number of measurement points on the part to be measured based on the working range of the measuring device, and to determine a measurement control command based on each measurement point. Determining a number of measurement points on the part to be measured based on the working range of the measuring device includes: determining a coordinate range interval based on the working range of the measuring device; matching the component types of the part to be measured in a preset component database to determine a target component; wherein the component database includes a number of component types input by the user; performing a first-order filtering on the target components to obtain a first target component whose position is within the coordinate range interval; performing a second-order filtering on the first target component based on the number of measurement points and the position corresponding to the first target component to obtain a second target component, and using the position of the second target component as a measurement point; wherein the interval between each second target component is greater than an interval threshold. The measurement data module is used to transmit the measurement control command to the measurement device, so that the measurement device can acquire three-dimensional measurement data at each measurement point sequentially based on the measurement control command and the device position coordinate system. The data acquisition module is used to acquire the three-dimensional position data of the part under test at each measurement 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; wherein, if a deviation occurs at a certain position but other positions do not deviate, the position where the deviation occurs will not be measured.

6. The calibration device for three-dimensional coordinate measurement according to claim 5, characterized in that, The calibration of the measuring device based on the three-dimensional measurement data and the three-dimensional position data includes: The three-dimensional measurement data and the three-dimensional position data are input into the calibration program, and then the measuring device is calibrated through the calibration program.

7. The calibration device for three-dimensional coordinate measurement according to claim 6, characterized in that, The measuring device acquires three-dimensional measurement data sequentially at each measuring point based on the measurement control command 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 based on the reference point; The measuring device moves at each measuring point based on the measuring control command and the device coordinate system, and records the three-dimensional spatial coordinates of the current measuring point upon arrival at each measuring point. The measuring device will generate three-dimensional measurement data by summarizing the three-dimensional spatial coordinates of each measuring point in the format of an EXCEL spreadsheet.

8. The calibration device for three-dimensional coordinate measurement according to claim 7, characterized in that, The step of obtaining the three-dimensional position data of the part under test at each measurement point includes: performing contact measurement at each measurement point of the part under test based on a three-dimensional coordinate measuring device to obtain the three-dimensional position data corresponding to each measurement point.

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