Simple precision positioning coordinate system conversion and unification method and system

Abstract

The invention provides a simple precision positioning coordinate system conversion and unification method and system for visual self-adaption high-precision positioning measurement of a spacecraft structure plate with a complex shape. The method comprises the following steps: S1, constructing a machine vision coordinate system; and S2, on the basis of a machine vision coordinate system, space deflection angle calculation and coordinate system conversion are carried out, and unification between a structural plate coordinate system and an equipment coordinate system is realized. The system comprises a standard visual identification positioning device, a visual positioning system and three common reference positioning points. According to the method, the key technical problems of coordinate system transformation, unification, resolving and processing of positioning points of spacecraft structure plates with complex variable shapes and specifications such as trapezoids, triangles and circles can be solved; and the problem that the visual identification detection calculation amount is large due to the fact that a large amount of invalid accumulation is easily generated due to unfavorable factors such as non-uniform sizes of structural plate positioning threaded holes and surface adhesive residues can be solved, and the spacecraft structural plate positioning processing efficiency can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of spacecraft manufacturing, and in particular to a coordinate system conversion and unification method and system for simple precision positioning of visual adaptive measurement of spacecraft structural plates with complex shapes. Background Art

[0002] After the processing of the spacecraft structural plate is completed, its hole position needs to be inspected to confirm whether it meets the manufacturing requirements. In addition, when the surface of the structural plate is subjected to thermal control treatment, a highly compatible and convenient positioning method is also required. Obtaining the positioning information of the structural plate is a key step in achieving accurate thermal control treatment of the surface of the structural plate. At present, the commonly used positioning method is to use the right angle formed by the two adjacent sides of the structural plate as the positioning reference. However, this method has obvious limitations. It cannot be applied to structural plates that do not contain right-angled edges, and it is often limited by the shape of the structural plate and the processing accuracy of the plate edge during use. The positioning compatibility is poor and large dimensional deviations are prone to occur. In contrast, the positioning using the threaded holes on the structural plate is not limited by the shape of the structural plate and can be compatible with more structural plates. However, in practical applications, unfavorable factors such as the uneven size of the threaded holes of the structural plate, residual glue on the surface, and non-circular skins are prone to produce a large amount of invalid accumulation, which not only increases the storage volume, but also affects the accuracy of visual recognition detection calculations and reduces the performance and efficiency of circle detection.

[0003] Prior art CN114170246A discloses a positioning method for a precision displacement platform, the method comprising: obtaining a plurality of calibration plate images during the movement of the displacement platform from an initial position to a preset position; processing the calibration plate images using a machine vision method to obtain an ordered array of image coordinates of each point on the calibration plate image; establishing a world coordinate system on the calibration plate image with any point in the calibration plate image as the origin to obtain an ordered array of world coordinates of each point on the calibration plate image; using the ordered array and the ordered array to perform camera calibration to establish a conversion relationship between the camera coordinate system and the world coordinate system; calculating the distance between the starting position and the end position of each point on the calibration plate in the world coordinate system, and calculating the average value to obtain the displacement distance of the displacement platform. The method has a relatively single applicable scenario and can only be used in a specific calibration system. It cannot be used for positioning of complex-shaped spacecraft structural plates, and cannot adapt to spacecraft structural plates with complex and variable shapes and specifications such as trapezoids, triangles, and circles.

[0004] In summary, it is necessary to study a simple coordinate system transformation and unification method and system for visual adaptive measurement of complex-shaped spacecraft structural plates to solve existing problems. Summary of the invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a coordinate system conversion and unification method and system for simple precision positioning of visual adaptive measurement of complex-shaped spacecraft structural plates.

[0006] A simple coordinate system conversion and unification method for precision positioning provided by the present invention comprises the following steps:

[0007] Step S1, constructing a machine vision coordinate system;

[0008] Step S2, based on the machine vision coordinate system, calculate the spatial deflection angle and convert the coordinate system to achieve the unification between the structural plate coordinate system and the equipment coordinate system.

[0009] Preferably, step S1 includes the following sub-steps:

[0010] Step S1.1, setting a common reference positioning point according to the input CAD drawing of the spacecraft structure plate;

[0011] Step S1.2, assembling a standard visual recognition positioning device of appropriate thread diameter to a corresponding position on the spacecraft structure plate;

[0012] Step S1.3, establish the spatial coordinate system of the spacecraft structure plate and the visual camera of the visual positioning system, determine the projection point P of the center of the visual camera on the spacecraft structure plate as the center point of the reference image for obtaining positioning, L represents the pixel deviation distance from the positioning point to point P, and the spatial coordinate of point P is (x p ,y p ), the image coordinates of point P are

[0013] Step S1.4, determining the coordinates of points A, B, and C of the standard visual recognition positioning device in the equipment coordinate system, the image coordinate system, and the spacecraft structure plate coordinate system;

[0014] Step S1.5, calculate the geometric center coordinates of the standard visual recognition positioning devices A, B, and C using a preset formula.

[0015] Preferably, step S2 includes the following sub-steps:

[0016] Step S2.1, calculating the angle θ between the geometric center line of the standard visual recognition positioning devices A and B and the x-axis of the equipment coordinate system, and the angle β between the geometric center line of the two standard visual recognition positioning devices in the structural plate coordinate system and the x-axis of the equipment coordinate system, and judging the deflection direction of the spacecraft structural plate according to the coordinate relationship between the standard visual recognition positioning devices A and B, and determining the corresponding deflection angle;

[0017] Step S2.2, determine that the center of the triangle formed by the three standard visual recognition positioning devices A, B, and C is G, and the coordinates of point G (xg ,y g );

[0018] Step S2.3, determining the coordinates of each point of the spacecraft structure plate under different offset states;

[0019] Step S2.4, using the center point G of the triangle formed by the standard visual recognition positioning devices A, B, and C as the reference point, converts the input graphic coordinates into coordinates in the equipment coordinate system, thereby realizing the conversion and unification between the structural plate coordinate system and the equipment coordinate system.

[0020] Preferably, in step S1.4, the coordinates of point A of the standard visual recognition positioning device in the device coordinate system are (x a ,y a ), the coordinates in the image coordinate system are The coordinates in the spacecraft structure plate coordinate system are The coordinates of point B in the device coordinate system are (x b ,y b ), the coordinates in the image coordinate system are The coordinates in the spacecraft structure plate coordinate system are The coordinates of point C in the device coordinate system are (x c ,y c ), the coordinates in the image coordinate system are The coordinates in the spacecraft structure plate coordinate system are

[0021] Preferably, in step S1.5, the geometric center coordinates of the standard visual recognition positioning device A are (x a ,y a ), determined by the following preset formula:

[0022]

[0023] The same method is used to obtain the geometric center coordinates of the standard visual recognition positioning devices B and C, which are (x b ,y b )、(x c ,y c ).

[0024] Preferably, in step S2.1, according to the coordinates of the standard visual recognition positioning devices A and B, the following formula can be used to calculate:

[0025]

[0026] If θ<β, the spacecraft structure plate deflects clockwise, and the deflection angle is: α AB =β-θ; if θ>β, the spacecraft structure plate deflects counterclockwise, and the deflection angle is: α AB=θ-β;

[0027] Similarly, the same method can be used to obtain the deflection angle α of the line AC and BC connecting the standard visual recognition positioning devices A and C, and the standard visual recognition positioning devices B and C: AC , α BC .

[0028] The arithmetic mean of the deflection angle is:

[0029]

[0030] Preferably, in step S2.2,

[0031] The coordinates of the triangle center point G (x g ,y g ) is determined by the following formula:

[0032]

[0033] Preferably, step S2.3 comprises:

[0034] Point Z is the position of the spacecraft structure plate in the equipment coordinate system when there is no offset, and its coordinates are (x z ,y z );

[0035] η is the angle of point Z relative to the device coordinates, It is the angle of the Z point relative to the device coordinates after deflection;

[0036] Point Z1 is the position of the spacecraft structure plate in the equipment coordinate system after the clockwise offset, and its coordinates are (x 1z ,y 1z )

[0037]

[0038] Among them, AC represents the line segment distance from point A to point C;

[0039] Point Z2 is the position of the spacecraft structure plate in the equipment coordinate system after the clockwise offset, and its coordinates are (x 2z ,y 2z )

[0040]

[0041] Preferably, in step S2.4, the input graphic coordinates are converted into coordinates in the device coordinate system by formulas (8) to (11).

[0042] The present invention also provides a simple and accurate positioning coordinate system conversion and unification system, comprising:

[0043] Standard visual recognition positioning device, visual positioning system and 3 public reference positioning points;

[0044] The machine vision coordinate system is constructed through standard visual recognition positioning devices, visual positioning systems and public reference positioning points, and the spatial deflection angle calculation and coordinate system conversion are performed to achieve the unification between the structural plate coordinate system and the equipment coordinate system.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. The present invention proposes a standard visual recognition positioning device with different thread diameters, head sizes, and fixed shapes and sizes. The positioning screw with a fixed head diameter is tightly assembled with the screw hole, which can unify the features recognized by the visual camera and improve the accuracy of the judgment of the recognition features; reduce the interference of visual recognition detection, reduce the calculation consumption caused by invalid points, and improve the recognition and detection efficiency; it is not limited by the changes in the shape of the structural plate and the diameter of the screw hole, and improves the positioning adaptability.

[0047] 2. The present invention can solve the key technical problems of coordinate system transformation, unification, solution and processing of positioning points of spacecraft structural plates with complex and changeable shapes and specifications such as trapezoids, triangles and circles. It can also solve the problem that unfavorable factors such as the non-uniform size of structural plate positioning threaded holes and surface residual glue easily produce a large amount of invalid accumulation, which leads to a large amount of calculation for visual recognition detection, thereby greatly improving the efficiency of spacecraft structural plate positioning processing.

[0048] 3. The present invention proposes a coordinate transformation method based on a standard visual recognition and positioning device. A visual camera is used to obtain the geometric center coordinates of three standard visual recognition and positioning devices. The average placement angle of three groups of structural plates in the equipment coordinate system can be calculated based on the line segment connected by any two centers. The lines connecting the geometric centers of the three standard visual recognition and positioning devices form a triangle, and the coordinates of the center point of the triangle are calculated. Taking the center point of the triangle as the reference point, the coordinates of the graphics and structural plates in the spatial coordinate system can be uniformly converted based on the placement angle and the input CAD graphics relative positioning point coordinate information.

[0049] 4. The present invention overcomes the shortcomings of existing positioning methods, is not affected by changes in the size and shape of the structural plate, and can improve the compatibility and engineering feasibility of the positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0051] Figure 1 A flowchart of a coordinate system conversion and unification method for simplified precision positioning in an embodiment of the present invention;

[0052] Figure 2This is a diagram of a standard visual recognition positioning device in an embodiment of the present invention;

[0053] Figure 3 is a spatial coordinate system diagram in an embodiment of the present invention;

[0054] Figure 4 It is a schematic diagram of a structural plate in an embodiment of the present invention that is not deflected in a spatial coordinate system;

[0055] Figure 5 It is a schematic diagram of the clockwise deflection of the structural plate in the spatial coordinate system in an embodiment of the present invention;

[0056] Figure 6 It is a schematic diagram of the counterclockwise deflection of the structural plate in the spatial coordinate system in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0058] The present invention uses a visual camera to obtain the geometric center coordinates of three standard visual recognition and positioning devices. According to the line segment formed by any two centers, the average placement angle of the three groups of structural plates in the equipment coordinate system can be calculated. The geometric center lines of the three standard visual recognition and positioning devices form a triangle, and then the coordinates of the center point of the triangle can be calculated. Taking the center point of the triangle as the reference point, according to the placement angle and the input CAD graphic relative positioning point coordinate information, the coordinates of the graphics and structural plates in the space coordinate system can be uniformly converted.

[0059] Embodiment 1:

[0060] Figure 1 The present invention is a flowchart of a coordinate system conversion and unification method for simplified precision positioning in an embodiment of the present invention.

[0061] like Figure 1 As shown, this embodiment provides a simple high-precision positioning coordinate system conversion and unification method for visual adaptive high-precision positioning measurement of complex-shaped spacecraft structural plates, including the following steps:

[0062] Step S1, constructing a machine vision coordinate system.

[0063] Specifically, step S1 includes the following sub-steps:

[0064] Step S1.1, setting a common reference positioning point according to the input spacecraft structure plate CAD drawing.

[0065] Figure 2 2 is a diagram of a standard visual recognition positioning device in an embodiment of the present invention.

[0066] Step S1.2, place a standard visual identification positioning device (such as Figure 2 As shown in FIG. 1 ) is assembled to the corresponding position on the spacecraft structure plate.

[0067] Figure 3 2 is a diagram of a spatial coordinate system in an embodiment of the present invention.

[0068] Step S1.3, establish the spatial coordinate system of the spacecraft structure plate and the visual camera of the visual positioning system (such as Figure 3 As shown in the figure, the projection point P of the visual camera center on the spacecraft structure plate is determined as the center point of the reference image for obtaining positioning. L represents the pixel deviation distance from the positioning point to point P. The spatial coordinates of point P are set to (x p ,y p ), the image coordinates of point P are

[0069] Step S1.4, determine the coordinates of points A, B, and C of the standard visual recognition positioning device in the equipment coordinate system, image coordinate system, and spacecraft structure plate coordinate system.

[0070] Specifically: The coordinates of point A of the standard visual recognition positioning device in the device coordinate system are (x a ,y a ), the coordinates in the image coordinate system are The coordinates in the spacecraft structure plate coordinate system are The coordinates of point B in the device coordinate system are (x b ,y b ), the coordinates in the image coordinate system are The coordinates in the spacecraft structure plate coordinate system are The coordinates of point C in the device coordinate system are (x c ,y c ), the coordinates in the image coordinate system are The coordinates in the spacecraft structure plate coordinate system are

[0071] Step S1.5, calculate the geometric center coordinates of the standard visual recognition positioning devices A, B, and C using a preset formula.

[0072] In step S1.5, the geometric center coordinates of the standard visual recognition positioning device A are (x a ,y a ), determined by the following preset formula:

[0073]

[0074] The same method is used to obtain the geometric center coordinates of the standard visual recognition positioning devices B and C, which are (x b ,y b )、(x c ,y c ).

[0075] Step S2, based on the machine vision coordinate system, calculate the spatial deflection angle and convert the coordinate system to achieve the unification between the structural plate coordinate system and the equipment coordinate system.

[0076] Specifically, step S2 includes the following sub-steps:

[0077] Step S2.1, calculate the angle θ between the line connecting the geometric centers of the standard visual recognition and positioning devices A and B and the x-axis of the equipment coordinate system, and the angle β between the line connecting the geometric centers of the two standard visual recognition and positioning devices in the structural plate coordinate system and the x-axis of the equipment coordinate system. According to the coordinate relationship between the standard visual recognition and positioning devices A and B, determine the deflection direction of the spacecraft structural plate and determine the corresponding deflection angle.

[0078] More specifically, according to the coordinates of the standard visual recognition positioning devices A and B, the following formula can be used to calculate:

[0079]

[0080]

[0081] Figure 4 is a schematic diagram of a structural plate in an embodiment of the present invention that is not deflected in a spatial coordinate system, Figure 5 Schematic diagram of the clockwise deflection of the structural plate in the spatial coordinate system in an embodiment of the present invention, Figure 6 It is a schematic diagram of the counterclockwise deflection of the structural plate in the spatial coordinate system in an embodiment of the present invention.

[0082] If θ = β, the spacecraft structural plate is in the following position: Figure 4 If θ<β, the spacecraft structure plate deflects clockwise, as shown in Figure 5 As shown, the deflection angle at this time is: α AB =β-θ; if θ>β, the spacecraft structure plate deflects counterclockwise, such as Figure 6 As shown, the deflection angle at this time is: α AB =θ-β.

[0083] Similarly, the same method can be used to obtain the deflection angle α of the line AC and BC connecting the standard visual recognition positioning devices A and C, and the standard visual recognition positioning devices B and C: AC , α BC ;

[0084] The arithmetic mean of the deflection angle is:

[0085]

[0086] Step S2.2, determine that the center of the triangle formed by the three standard visual recognition positioning devices A, B, and C is G, and the coordinates of point G (x g ,y g ).

[0087] The coordinates of the triangle center point G (x g ,y g ) is determined by the following formula:

[0088]

[0089] Step S2.3, determining the coordinates of each point on the spacecraft structure plate under different offset states.

[0090] Specifically, step S2.3 includes:

[0091] Point Z is the position of the spacecraft structure plate in the equipment coordinate system when there is no offset, and its coordinates are (x z ,y z );

[0092] η is the angle of point Z relative to the device coordinates, It is the angle of the Z point relative to the device coordinates after deflection;

[0093] Point Z1 is the position of the spacecraft structure plate in the equipment coordinate system after the clockwise offset, and its coordinates are (x 1z ,y 1z )

[0094]

[0095] Among them, AC represents the line segment distance from point A to point C;

[0096] Point Z2 is the position of the spacecraft structure plate in the equipment coordinate system after the clockwise offset, and its coordinates are (x 2z ,y 2z )

[0097]

[0098] Step S2.4, using the center point G of the triangle formed by the standard visual recognition positioning devices A, B, and C as the reference point, converts the input graphic coordinates into coordinates in the equipment coordinate system, thereby realizing the conversion and unification between the structural plate coordinate system and the equipment coordinate system.

[0099] Specifically, the input graphic coordinates are converted into coordinates in the device coordinate system by formulas (8) to (11).

[0100] Embodiment 2:

[0101] An embodiment of the present invention provides a coordinate system conversion and unification system for a simple type of precision positioning. The coordinate system conversion and unification system for a simple type of precision positioning can be implemented by executing the process steps of the coordinate system conversion and unification method for a simple type of precision positioning. That is, those skilled in the art can understand the coordinate system conversion and unification method for a simple type of precision positioning as a preferred implementation of the coordinate system conversion and unification system for a simple type of precision positioning.

[0102] The coordinate system conversion and unification system for simple precision positioning includes:

[0103] Standard visual recognition positioning device, visual positioning system and 3 public reference positioning points;

[0104] The machine vision coordinate system is constructed through standard visual recognition positioning devices, visual positioning systems and public reference positioning points, and the spatial deflection angle calculation and coordinate system conversion are performed to achieve the unification between the structural plate coordinate system and the equipment coordinate system.

[0105] Specifically, the head of the standard visual recognition and positioning device has a geometric center that is easy for the visual camera to recognize and fit, such as the geometric center of a circle, rectangle, etc. The space coordinate system of the spacecraft structural plate is measured and established by the visual system. The input CAD drawing of the spacecraft structural plate can set a common reference positioning point, and the standard visual recognition and positioning device can be assembled at the corresponding position on the actual spacecraft structural plate, which can reduce the impact of the size change of the positioning threaded hole and the residual glue on the visual inspection.

[0106] The standard vision system is used to collect the geometric center coordinates of the standard vision recognition and positioning device, and solve the placement angle and coordinate system of the spacecraft structural plate in the spatial coordinate system, so as to convert and unify the structural plate CAD graphic coordinates and the structural plate spatial coordinates.

[0107] A standard visual recognition positioning device with different thread diameters, head sizes, and fixed shapes and sizes can avoid visual recognition detection interference caused by different screw hole diameters and changes in the surface state of the screw hole. The positioning screw with a fixed head diameter is tightly assembled with the screw hole to unify the features recognized by the visual camera and improve the accuracy of the recognition feature judgment. At the same time, it can also reduce visual recognition detection interference and the computational consumption caused by invalid points, and improve recognition detection efficiency. In addition, the device is not limited by the changes in the shape of the structural plate and the screw hole diameter, which improves the positioning adaptability.

[0108] In summary, by using standard visual recognition positioning devices to provide common reference positioning points and reduce the computational difficulty of visual recognition, the spacecraft structural plate coordinate system and the design input graphic coordinate system are converted and unified into one coordinate system, thereby achieving the requirements for fast and precise positioning of spacecraft structural plates of various sizes and shapes.

[0109] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0110] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A simple method for high-precision positioning coordinate system conversion and unification, used for visual adaptive high-precision positioning measurement of complex-shaped spacecraft structural plates, characterized in that: The steps include: Step S1, constructing a machine vision coordinate system; Step S2, based on the machine vision coordinate system, calculate the spatial deflection angle and convert the coordinate system to achieve the unification between the structural plate coordinate system and the equipment coordinate system.

2. According to the simplified coordinate system conversion and unification method of precision positioning according to claim 1, it is characterized in that: The step S1 includes the following sub-steps: Step S1.1, setting a common reference positioning point according to the input CAD drawing of the spacecraft structure plate; Step S1.2, assembling a standard visual recognition positioning device of appropriate thread diameter to a corresponding position on the spacecraft structure plate; Step S1.3, establish the spatial coordinate system of the spacecraft structure plate and the visual camera of the visual positioning system, determine the projection point P of the center of the visual camera on the spacecraft structure plate as the center point of the reference image for obtaining positioning, L represents the pixel deviation distance from the positioning point to point P, and the spatial coordinate of point P is (x p ,y p ), the image coordinates of point P are Step S1.4, determining the coordinates of points A, B, and C of the standard visual recognition positioning device in the equipment coordinate system, the image coordinate system, and the spacecraft structure plate coordinate system; Step S1.5, calculate the geometric center coordinates of the standard visual recognition positioning devices A, B, and C using a preset formula.

3. The coordinate system conversion and unification method for simplified precision positioning according to claim 1, characterized in that: The step S2 includes the following sub-steps: Step S2.1, calculating the angle θ between the geometric center line of the standard visual recognition positioning devices A and B and the x-axis of the equipment coordinate system, and the angle β between the geometric center line of the two standard visual recognition positioning devices in the structural plate coordinate system and the x-axis of the equipment coordinate system, and judging the deflection direction of the spacecraft structural plate according to the coordinate relationship between the standard visual recognition positioning devices A and B, and determining the corresponding deflection angle; Step S2.2, determine that the center of the triangle formed by the three standard visual recognition positioning devices A, B, and C is G, and the coordinates of point G (x g ,y g ); Step S2.3, determining the coordinates of each point of the spacecraft structure plate under different offset states; Step S2.4, using the center point G of the triangle formed by the standard visual recognition positioning devices A, B, and C as the reference point, converts the input graphic coordinates into coordinates in the equipment coordinate system, thereby realizing the conversion and unification between the structural plate coordinate system and the equipment coordinate system.

4. The coordinate system conversion and unification method for simplified precision positioning according to claim 2, characterized in that: In step S1.4, the coordinates of point A of the standard visual recognition positioning device in the device coordinate system are (x a ,y a ), the coordinates in the image coordinate system are The coordinates in the spacecraft structure plate coordinate system are The coordinates of point B in the device coordinate system are (x b ,y n ), the coordinates in the image coordinate system are The coordinates in the spacecraft structure plate coordinate system are The coordinates of point C in the device coordinate system are (x c ,y c ), the coordinates in the image coordinate system are The coordinates in the spacecraft structure plate coordinate system are 5. The coordinate system conversion and unification method for simplified precision positioning according to claim 2, characterized in that: In step S1.5, the geometric center coordinates of the standard visual recognition positioning device A are (x a ,y a ), determined by the following preset formula: The same method is used to obtain the geometric center coordinates of the standard visual recognition positioning devices B and C, which are (x b ,y b )、(x c ,y c ).

6. The coordinate system conversion and unification method for simplified precision positioning according to claim 3, characterized in that: In step S2.1, according to the coordinates of the standard visual recognition positioning devices A and B, the following formula can be used to calculate: If θ<β, the spacecraft structure plate deflects clockwise, and the deflection angle is: α AB =β-θ; if θ>β, the spacecraft structure plate deflects counterclockwise, and the deflection angle is: α AB =θ-β; Similarly, the same method can be used to obtain the deflection angle α of the line AC and BC connecting the standard visual recognition positioning devices A and C, and the standard visual recognition positioning devices B and C: AC , α BC ; The arithmetic mean of the deflection angle is:

7. The coordinate system conversion and unification method for simplified precision positioning according to claim 3, characterized in that: In the step S2.2, The coordinates of the triangle center point G (x g ,y g ) is determined by the following formula:

8. The coordinate system conversion and unification method for simplified precision positioning according to claim 3, characterized in that: The step S2.3 comprises: Point Z is the position of the spacecraft structure plate in the equipment coordinate system when there is no offset, and its coordinates are (x z ,y z ); η is the angle of point Z relative to the device coordinates, It is the angle of the Z point relative to the device coordinates after deflection; Point Z1 is the position of the spacecraft structure plate in the equipment coordinate system after the clockwise offset, and its coordinates are (x 1z ,y 1z ) Among them, AC represents the line segment distance from point A to point C; Point Z2 is the position of the spacecraft structure plate in the equipment coordinate system after the clockwise offset, and its coordinates are (x 2z ,y 2z ) 9. The coordinate system conversion and unification method for simplified precision positioning according to claim 3, characterized in that: In step S2.4, the input graphic coordinates are converted into coordinates in the device coordinate system by formulas (8) to (11).

10. A simple coordinate system conversion and unification system for precision positioning, characterized in that: include: Standard visual recognition positioning device, visual positioning system and 3 public reference positioning points; A machine vision coordinate system is constructed by using the standard visual recognition positioning device, the visual positioning system and the common reference positioning point, and spatial deflection angle calculation and coordinate system conversion are performed to achieve unification between the structural plate coordinate system and the equipment coordinate system.

Images