Measuring head calibration method and device for hidden point measurement target, equipment and storage medium

Abstract

The invention provides a measuring head calibration method and device for a hidden point measurement target, equipment and a storage medium, and can be applied to the technical field of measurement calibration. The method comprises the steps that a measuring head connected with a hidden point measuring target is placed in a standard cone, and the center of the measuring head is kept static relative to the standard cone; taking the center of the measuring head as a rotating point, and rotating the hidden point measuring target to be located at multiple positions; measuring spatial positions and spatial postures of the hidden point measurement target at a plurality of positions by using a laser tracker; according to the spatial positions and the spatial postures at the multiple positions, the coordinates of the measuring head in the hidden point measurement target coordinate system are calculated, and the measuring head calibration efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the field of measurement and calibration, and particularly to a probe calibration method, device, equipment and storage medium for a hidden point measurement target. Background Art

[0002] A laser tracker is a large-scale spatial precision measurement instrument that can measure the spatial coordinates of target points. Limited by the size of the target ball and the characteristic of light traveling in a straight line, it is difficult for a laser tracker to measure hidden points located inside holes, slots, and behind obstacles. With the help of a hidden point measurement target, the laser tracker can achieve the hidden point measurement function. A hidden point measurement target is an accessory of a laser tracker. By installing a probe at the bottom of the hidden point measurement target, the laser tracker can measure the spatial position and spatial attitude of the hidden point measurement target.

[0003] In related hidden point measurement technologies, the probe calibration of the hidden point measurement target is mostly achieved by using spherical constraints. To ensure the accuracy of spherical fitting, a large number of spatial coordinate points need to be collected during the fitting process, thus reducing the calibration efficiency. Summary of the Invention

[0004] In view of the above problems, the present invention provides a probe calibration method, device, equipment and storage medium for a hidden point measurement target.

[0005] According to the first aspect of the present invention, there is provided a probe calibration method for a hidden point measurement target, including:

[0006] Placing the probe connected to the hidden point measurement target into a standard cone and keeping the center of the probe stationary relative to the standard cone;

[0007] Taking the center of the probe as the rotation point, rotating the hidden point measurement target to multiple positions;

[0008] Using a laser tracker to measure the spatial position and spatial attitude of the hidden point measurement target at the multiple positions;

[0009] Calculating the coordinates of the probe in the coordinate system of the hidden point measurement target according to the spatial position and spatial attitude at the multiple positions.

[0010] In some embodiments, the calculating the coordinates of the probe in the coordinate system of the hidden point measurement target according to the spatial position and spatial attitude at the multiple positions includes:

[0011] Calculating the translation parameters from the laser tracker coordinate system to the hidden point measurement target coordinate system at the multiple positions according to the spatial position at the multiple positions;

[0012] Calculate the rotation matrix of the laser tracker coordinate system to the hidden point measurement target coordinate system at the multiple positions according to the spatial postures at the multiple positions;

[0013] Calculate the constraint equations between the spatial positions and spatial postures at the multiple positions according to the translation parameters and rotation matrix at the multiple positions;

[0014] Calculate the coordinates of the probe in the hidden point measurement target coordinate system according to the constraint equations between the spatial positions and spatial postures at the multiple positions.

[0015] In some embodiments, the calculating the coordinates of the probe in the hidden point measurement target coordinate system according to the constraint equations between the spatial positions and spatial postures at the multiple positions includes:

[0016] Arbitrarily combine the constraint equations between the spatial positions and spatial postures at the multiple positions in pairs to obtain a plurality of equations to be solved;

[0017] Calculate the coordinates of the probe in the hidden point measurement target coordinate system according to the plurality of equations to be solved.

[0018] In some embodiments, the calculating the coordinates of the probe in the hidden point measurement target coordinate system according to the plurality of equations to be solved includes:

[0019] Solve the plurality of equations to be solved by using the nonlinear least squares method to obtain the coordinates of the probe in the hidden point measurement target coordinate system.

[0020] In some embodiments, the multiple positions are at least four positions.

[0021] In some embodiments, when the hidden point measurement target is rotated to an arbitrary position with the center of the probe as the rotation point, the feature points on the hidden point measurement target can be imaged in the camera of the laser tracker, and the laser incident on the reflector of the hidden point measurement target can return along the original path.

[0022] In some embodiments, the included angle between two adjacent positions among the multiple positions is within a preset range.

[0023] The second aspect of the present invention provides a probe calibration device for a hidden point measurement target, including:

[0024] A placement module for placing the probe connected to the hidden point measurement target in a standard cone and keeping the center of the probe stationary relative to the standard cone;

[0025] A rotation module, configured to rotate the hidden point measurement target to multiple positions with the center of the probe as the rotation point;

[0026] A measurement module, configured to measure the spatial position and spatial attitude of the hidden point measurement target at the multiple positions by using a laser tracker;

[0027] A calculation module, configured to calculate the coordinates of the probe in the coordinate system of the hidden point measurement target according to the spatial position and spatial attitude at the multiple positions.

[0028] A third aspect of the present invention provides an electronic device, including: one or more processors; a memory, configured to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the above method.

[0029] A fourth aspect of the present invention further provides a computer-readable storage medium, on which executable instructions are stored, and when the instructions are executed by a processor, the processor is caused to execute the above method.

[0030] According to the probe calibration method, device, equipment and medium for the hidden point measurement target provided by the present invention, on the one hand, the operation process is simple, the probe calibration of the hidden point measurement target can be carried out in real time online, and the calibration efficiency is improved. On the other hand, the ill-conditioned problem caused by a small fitting range in the spherical surface fitting process and the measurement error introduced due to problems such as the rigidity of the probe can be avoided, and the probe calibration accuracy is improved. On the still other hand, by using the principle of permutation and combination, all the data collected in the calibration process is maximally utilized, and the influence of individual measurement data anomalies on the overall calibration result is reduced. Description of the Drawings

[0031] Through the following description of the embodiments of the present invention with reference to the drawings, the above content and other objects, features and advantages of the present invention will become clearer. In the drawings:

[0032] Figure 1 Schematically shows a flowchart of the probe calibration method for the hidden point measurement target according to an embodiment of the present invention;

[0033] Figure 2 Schematically shows a schematic diagram of rotating the hidden point measurement target according to an embodiment of the present invention;

[0034] Figure 3 Schematically shows a structural block diagram of the probe calibration device for the hidden point measurement target according to an embodiment of the present invention;

[0035] Figure 4 Schematically shows a block diagram of an electronic device suitable for implementing the probe calibration method for the hidden point measurement target according to an embodiment of the present invention;

[0036] Description of reference numerals:

[0037] 1 - Standard cone; 2 - Hidden point measurement target; 3 - Probe tip. Specific implementation manners

[0038] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In the following detailed description, for the sake of explanation, numerous specific details are set forth to provide a comprehensive understanding of the embodiments of the present invention. However, obviously, one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of well - known structures and technologies are omitted to avoid unnecessarily obscuring the concepts of the present invention.

[0039] The terms used herein are merely for describing specific embodiments and are not intended to limit the present invention. The terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0040] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0041] In the case of using expressions such as "at least one of A, B, and C, etc.", generally, it should be interpreted according to the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but not be limited to a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0042] A laser tracker is a large - scale spatial precision measuring instrument that can measure the spatial coordinates of target points. Limited by the size of the target ball and the property of light traveling in a straight line, it is difficult for a laser tracker to measure hidden points located inside holes, slots, and behind obstacles. With the help of a hidden point measurement target, the laser tracker can achieve the hidden point measurement function. A hidden point measurement target is an accessory of a laser tracker, and a probe tip can be installed at its bottom. The laser tracker can measure the spatial position and spatial attitude of the hidden point measurement target through the probe tip.

[0043] In the related art, the steps of hidden point measurement generally include the following steps 1) - 3):

[0044] Step 1) Hold the hidden point measurement target by hand so that the probe contacts the hidden point to be measured, and use a laser tracker to measure the spatial position and spatial attitude of the hidden point measurement target.

[0045] Step 2) According to the spatial position and spatial attitude measured in Step 1), establish the conversion relationship between the hidden point measurement target coordinate system and the laser tracker coordinate system, and convert the coordinates of the probe in the hidden point measurement target coordinate system to the laser tracker coordinate system.

[0046] Step 3) Through the radius compensation of the probe, obtain the spatial coordinates of the hidden point.

[0047] It can be seen from the above Steps 1)-3) that to ensure the accuracy of the hidden point measurement result, an accurate hidden point measurement target coordinate system needs to be established, and the most important link is the probe calibration, that is, to determine the coordinates of the probe in the hidden point measurement target coordinate system. In actual operation, after long-term non-use, probe replacement, or collision of the probe with other objects, probe calibration should be carried out.

[0048] In the related art, the probe calibration of the hidden point measurement target is mostly realized by using spherical constraints. During calibration, first fix the standard cone firmly. After the probe stably contacts the inner surface of the standard cone and the center of the probe no longer moves, move the hidden point measurement target forward and backward and left and right. Use a laser tracker to record the spatial position of the hidden point measurement target, perform spherical fitting, and take the center of the fitting sphere as the spatial coordinates of the standard cone. Then use a laser tracker to record the spatial positions and spatial attitudes of several hidden point measurement targets, and convert the solved center coordinates of the fitting sphere from the laser tracker coordinate system to the hidden point measurement target coordinate system to complete the probe calibration.

[0049] However, in the above related art, on the one hand, to ensure the accuracy of spherical fitting, a large number of spatial coordinate points need to be collected during the fitting process, thus reducing the calibration efficiency. On the other hand, limited by the cone angle of the standard cone, the spatial coordinate points collected by spherical fitting are limited to a small range on the sphere, resulting in large fluctuations in the spatial coordinates of the fitting sphere center due to the influence of random errors. On the other hand, during the process of moving the hidden point measurement target forward and backward and left and right, the hidden point measurement target may undergo microscopic deformations that are difficult to distinguish by the naked eye due to rigidity problems, affecting the result of spherical fitting.

[0050] Figure 1 The flowchart of the probe calibration method for the hidden point measurement target according to an embodiment of the present invention is schematically shown.

[0051] As Figure 1 shown, the probe calibration method for the hidden point measurement target of this embodiment includes operations S110 to S140.

[0052] In operation S110, the probe 3 connected to the hidden point measurement target 2 is placed inside the standard cone 1, and the center of the probe 3 is kept stationary relative to the standard cone 1.

[0053] In one embodiment, the standard cone 1 is fixed so that after the probe 3 of the hidden point measurement target 2 stably contacts the inner surface of the standard cone 1, the center of the probe 3 no longer moves, and when the probe 3 rotates to any position in the standard cone 1, the feature points on the target can be clearly imaged in the camera of the laser tracker, and at the same time, the laser incident on the mirror of the hidden point measurement target 2 can return along the original path.

[0054] In operation S120, with the center of the probe 3 as the rotation point, the hidden point measurement target 2 is rotated to multiple positions.

[0055] As Figure 2 shown, two positions are schematically shown. First, with the center of the probe 3 as the rotation point, the hidden point measurement target 2 is rotated to position 1, and then the hidden point measurement target 2 is continuously rotated to position 2. In some embodiments, the angle between two adjacent positions among the multiple positions is within a preset range. The preset range can be greater than 30 degrees, greater than 40 degrees, etc., and the present disclosure does not make specific limitations thereon, as long as two adjacent positions are relatively dispersed. Exemplarily, referring to Figure 2 , position 1 and position 2 are two adjacent positions, and it is ensured that the angle between position 1 and position 2 is within the above preset range.

[0056] In operation S130, the laser tracker is used to measure the spatial position and spatial attitude of the hidden point measurement target 2 at the multiple positions.

[0057] The spatial position P i (x i , y i , z i ) and the spatial attitude A i (α i , β i , γ i ) of the hidden point measurement target 2 are measured and recorded by the laser tracker, where i represents the i-th position, and there is a one-to-one correspondence between P i and A i , and i = 1, 2, 3,....

[0058] In operation S140, according to the spatial position and spatial attitude at the multiple positions, the coordinates of the probe 3 in the coordinate system of the hidden point measurement target 2 are calculated.

[0059] In some embodiments, the multiple positions are at least four positions to accurately calculate the coordinates of the probe 3 in the coordinate system of the hidden point measurement target 2.

[0060] In some embodiments, calculating the coordinates of the probe 3 in the coordinate system of the hidden point measurement target 2 according to the spatial positions and spatial postures at the multiple positions includes: calculating the translation parameters of the laser tracker coordinate system to the coordinate system of the hidden point measurement target 2 at the multiple positions according to the spatial positions at the multiple positions; calculating the rotation matrix of the laser tracker coordinate system to the coordinate system of the hidden point measurement target 2 at the multiple positions according to the spatial postures at the multiple positions; calculating the constraint equations between the spatial positions and spatial postures at the multiple positions according to the translation parameters and rotation matrix at the multiple positions; and calculating the coordinates of the probe 3 in the coordinate system of the hidden point measurement target 2 according to the constraint equations between the spatial positions and spatial postures at the multiple positions.

[0061] Specifically, according to the spatial position P i (x i , y i , z i ) of the hidden point measurement target 2, the translation parameter T i from the laser tracker coordinate system to the coordinate system of the hidden point measurement target 2 can be derived as:

[0062]

[0063] According to the spatial posture A i (α i , β i , γ i ) of the hidden point measurement target 2, the rotation matrix R i from the laser tracker coordinate system to the coordinate system of the hidden point measurement target 2 can be derived as:

[0064]

[0065] Taking the spatial coordinates P1(x1, y1, z1) of the first position as an example, the constraint equation of the hidden point measurement target 2 at the first spatial position and spatial posture is:

[0066]

[0067] Where, x c , y c , z c are the coordinates of the probe 3 in the standard cone 1 in the laser tracker coordinate system.

[0068] Then, the constraint equations of the hidden point measurement target 2 at the 2nd, 3rd, 4th, …, i-th spatial positions and spatial postures are respectively:

[0069]

[0070]

[0071]

[0072] …

[0073]

[0074] In some embodiments, calculating the coordinates of the probe 3 in the coordinate system of the hidden point measurement target 2 according to the constraint equations between the spatial positions and spatial postures at the multiple positions includes: arbitrarily combining the constraint equations between the spatial positions and spatial postures at the multiple positions in pairs to obtain a plurality of equations to be solved; and calculating the coordinates of the probe 3 in the coordinate system of the hidden point measurement target 2 according to the plurality of equations to be solved.

[0075] Specifically, for equations (1) to (i), combining them in pairs forms equations. Taking the equation formed by equation (i) and equation (i - 1) as an example, simplifying by using equation (i) - equation (i - 1) gives:

[0076]

[0077]

[0078] Combining equations in the form of equation (II) and simplifying gives:

[0079]

[0080] Among them,

[0081] In some embodiments, calculating the coordinates of the probe 3 in the coordinate system of the hidden point measurement target 2 according to the plurality of equations to be solved includes: using the nonlinear least squares method to solve the plurality of equations to be solved, and obtaining the coordinates P0(x0, y0, z0) of the probe 3 in the coordinate system of the hidden point measurement target 2.

[0082] Based on the above probe calibration method for the hidden point measurement target, the present invention also provides a probe calibration device for the hidden point measurement target. The following will be combined with Figure 3 to describe this device in detail.

[0083] Figure 3 Schematically shows a structural block diagram of a probe calibration device for a hidden point measurement target according to an embodiment of the present invention.

[0084] As Figure 3 shown, the probe calibration device 300 for the hidden point measurement target in this embodiment includes a placement module 310, a rotation module 320, a measurement module 330, and a calculation module 340.

[0085] A placement module 310 is configured to place a probe connected to a hidden point measurement target within a standard cone and keep the center of the probe stationary relative to the standard cone. In one embodiment, the placement module 310 can be used to perform the operation S110 described above, which will not be elaborated here.

[0086] A rotation module 320 is configured to rotate the hidden point measurement target to multiple positions with the center of the probe as the rotation point. In one embodiment, the rotation module 320 can be used to perform the operation S120 described above, which will not be elaborated here.

[0087] A measurement module 330 is configured to measure the spatial position and spatial attitude of the hidden point measurement target at the multiple positions by using a laser tracker. In one embodiment, the measurement module 330 can be used to perform the operation S120 described above, which will not be elaborated here.

[0088] A calculation module 340 is configured to calculate the coordinates of the probe in the coordinate system of the hidden point measurement target according to the spatial position and spatial attitude at the multiple positions. In one embodiment, the calculation module 340 can be used to perform the operation S140 described above, which will not be elaborated here.

[0089] According to an embodiment of the present invention, calculating the coordinates of the probe in the coordinate system of the hidden point measurement target according to the spatial position and spatial attitude at the multiple positions includes:

[0090] Calculating the translation parameters of the laser tracker coordinate system to the hidden point measurement target coordinate system at the multiple positions according to the spatial position at the multiple positions;

[0091] Calculating the rotation matrix of the laser tracker coordinate system to the hidden point measurement target coordinate system at the multiple positions according to the spatial attitude at the multiple positions;

[0092] Calculating the constraint equations between the spatial position and spatial attitude at the multiple positions according to the translation parameters and rotation matrix at the multiple positions;

[0093] Calculating the coordinates of the probe in the coordinate system of the hidden point measurement target according to the constraint equations between the spatial position and spatial attitude at the multiple positions.

[0094] In an embodiment of the present invention, calculating the coordinates of the probe in the coordinate system of the hidden point measurement target according to the constraint equations between the spatial position and spatial attitude at the multiple positions includes:

[0095] Arbitrarily combining the constraint equations between the spatial position and spatial attitude at the multiple positions pairwise to obtain a plurality of equations to be solved;

[0096] Based on the multiple equations to be solved, calculate the coordinates of the probe in the target coordinate system of the hidden point measurement.

[0097] In an embodiment of the present invention, the calculating the coordinates of the probe in the target coordinate system of the hidden point measurement based on the multiple equations to be solved includes:

[0098] Use the non - linear least - squares method to solve the multiple equations to be solved, and obtain the coordinates of the probe in the target coordinate system of the hidden point measurement.

[0099] In an embodiment of the present invention, the multiple positions are at least four positions.

[0100] In an embodiment of the present invention, when taking the center of the probe as the rotation point and rotating the hidden point measurement target to any position, the feature points on the hidden point measurement target can be imaged in the camera of the laser tracker, and the laser incident on the reflector of the hidden point measurement target can return along the original path.

[0101] In an embodiment of the present invention, the angle between two adjacent positions among the multiple positions is within a preset range.

[0102] According to an embodiment of the present invention, any multiple of the placement module 310, the rotation module 320, the measurement module 330, and the calculation module 340 can be combined and implemented in one module, or any one of them can be split into multiple modules. Or, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present invention, at least one of the placement module 310, the rotation module 320, the measurement module 330, and the calculation module 340 can be at least partially implemented as a hardware circuit, such as a field - programmable gate array (FPGA), a programmable logic array (PLA), a system - on - chip, a system - on - substrate, a system - on - package, an application - specific integrated circuit (ASIC), or can be implemented by any other reasonable way of integrating or packaging circuits and other hardware or firmware, or can be implemented in any one of the three implementation ways of software, hardware, and firmware or in any appropriate combination of several of them. Or, at least one of the placement module 310, the rotation module 320, the measurement module 330, and the calculation module 340 can be at least partially implemented as a computer program module, and when the computer program module is run, it can execute the corresponding functions.

[0103] Figure 4 Schematically shows a block diagram of an electronic device suitable for implementing the probe calibration method of the hidden point measurement target according to an embodiment of the present invention.

[0104] As Figure 4As shown, an electronic device 400 according to an embodiment of the present invention includes a processor 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage section 408 into a random access memory (RAM) 403. The processor 401 may include, for example, a general-purpose microprocessor (e.g., CPU), an instruction set processor, and / or a related chipset, and / or a dedicated microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 401 may also include on-board memory for caching purposes. The processor 401 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0105] In the RAM 403, various programs and data required for the operation of the electronic device 400 are stored. The processor 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. The processor 401 performs various operations of the method flow according to an embodiment of the present invention by executing the program in the ROM 402 and / or the RAM 403. It should be noted that the program may also be stored in one or more memories other than the ROM 402 and the RAM 403. The processor 401 may also perform various operations of the method flow according to an embodiment of the present invention by executing the program stored in the one or more memories.

[0106] According to an embodiment of the present invention, the electronic device 400 may further include an input / output (I / O) interface 405, and the input / output (I / O) interface 405 is also connected to the bus 404. The electronic device 400 may further include one or more of the following components connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A driver 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the driver 410 as needed so that a computer program read from it can be installed into the storage section 408 as needed.

[0107] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist separately without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the one or more programs are executed, the method according to an embodiment of the present invention is implemented.

[0108] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: portable computer disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, device, or apparatus. For example, according to an embodiment of the present invention, the computer-readable storage medium may include the above-described ROM 402 and / or RAM 403 and / or one or more memories other than ROM 402 and RAM 403.

[0109] An embodiment of the present invention also includes a computer program product, which includes a computer program that contains program code for executing the method shown in the flowchart. When the computer program product runs in a computer system, the program code is used to enable the computer system to implement the method provided by the embodiment of the present invention.

[0110] When the computer program is executed by the processor 401, it executes the above-mentioned functions defined in the system / apparatus of the embodiment of the present invention. According to an embodiment of the present invention, the above-described systems, apparatuses, modules, units, etc. can be implemented by computer program modules.

[0111] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices and magnetic storage devices. In another embodiment, the computer program may also be transmitted and distributed in the form of a signal on a network medium, and be downloaded and installed through the communication part 409, and / or be installed from the removable medium 411. The program code contained in the computer program can be transmitted by any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0112] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 409, and / or be installed from the removable medium 411. When the computer program is executed by the processor 401, it executes the above-mentioned functions defined in the system of the embodiment of the present invention. According to an embodiment of the present invention, the above-described systems, devices, apparatuses, modules, units, etc. can be implemented by computer program modules.

[0113] According to an embodiment of the present invention, program code for executing the computer program provided by the embodiments of the present invention can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages include, but are not limited to, such as Java, C++, Python, the "C" language, or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (for example, by connecting through the Internet using an Internet service provider).

[0114] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0115] Those skilled in the art can understand that the features described in the various embodiments and / or claims of the present invention can be combined or / and combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments and / or claims of the present invention can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present invention.

[0116] The above describes the embodiments of the present invention. However, these embodiments are only for illustrative purposes and not for limiting the scope of the present invention. Although the embodiments are described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. Without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present invention.

Claims

1. A probe calibration method for a hidden point measurement target, characterized in that, Including: Place the probe connected to the hidden point measurement target inside the standard cone, and keep the center of the probe stationary relative to the standard cone; Taking the center of the probe as the rotation point, rotate the hidden point measurement target to multiple positions; Use a laser tracker to measure the spatial position and spatial attitude of the hidden point measurement target at the multiple positions; Calculate the coordinates of the probe in the coordinate system of the hidden point measurement target according to the spatial position and spatial attitude at the multiple positions.

2. The probe calibration method of the hidden point measurement target according to claim 1, wherein The calculating the coordinates of the probe in the coordinate system of the hidden point measurement target according to the spatial position and spatial attitude at the multiple positions includes: Calculate the translation parameters from the laser tracker coordinate system to the hidden point measurement target coordinate system at the multiple positions according to the spatial positions at the multiple positions; Calculate the rotation matrix from the laser tracker coordinate system to the hidden point measurement target coordinate system at the multiple positions according to the spatial attitudes at the multiple positions; Calculate the constraint equations between the spatial positions and spatial attitudes at the multiple positions according to the translation parameters and rotation matrix at the multiple positions; Calculate the coordinates of the probe in the coordinate system of the hidden point measurement target according to the constraint equations between the spatial positions and spatial attitudes at the multiple positions.

3. The probe calibration method of the hidden point measurement target according to claim 2, wherein, The calculating the coordinates of the probe in the coordinate system of the hidden point measurement target according to the constraint equations between the spatial positions and spatial attitudes at the multiple positions includes: Arbitrarily combine the constraint equations between the spatial positions and spatial attitudes at the multiple positions in pairs to obtain multiple equations to be solved; Calculate the coordinates of the probe in the coordinate system of the hidden point measurement target according to the multiple equations to be solved.

4. The probe calibration method of the hidden point measurement target according to claim 3, characterized in that, The calculating the coordinates of the probe in the coordinate system of the hidden point measurement target according to the multiple equations to be solved includes: Use the nonlinear least squares method to solve the multiple equations to be solved to obtain the coordinates of the probe in the coordinate system of the hidden point measurement target.

5. The probe calibration method of the hidden point measurement target according to any one of claims 1 to 4, characterized in that, The multiple positions are at least four positions.

6. The probe calibration method of the hidden point measurement target according to claim 1, characterized in that When the hidden point measurement target is rotated to any position with the center of the probe as the rotation point, the feature points on the hidden point measurement target can be imaged in the camera of the laser tracker, and the laser incident on the reflector of the hidden point measurement target can return along the original path.

7. The probe calibration method of the hidden point measurement target according to claim 1, characterized in that, The included angle between two adjacent positions among the multiple positions is within a preset range.

8. A probe calibration device for a hidden point measurement target, characterized in that, Including: A placement module for placing the probe connected to the hidden point measurement target inside the standard cone and keeping the center of the probe stationary relative to the standard cone; A rotation module for rotating the hidden point measurement target to multiple positions with the center of the probe as the rotation point; A measurement module for using a laser tracker to measure the spatial position and spatial attitude of the hidden point measurement target at the multiple positions; A calculation module for calculating the coordinates of the probe in the coordinate system of the hidden point measurement target according to the spatial position and spatial attitude at the multiple positions.

9. An electronic device, including: One or more processors; And A storage device for storing one or more programs, Wherein, when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having executable instructions stored thereon, which when executed by a processor cause the processor to execute the method according to any one of claims 1 to 7.

Images