CN102589430B - Calibrating method for multi-instrument coordinate unification device - Google Patents

Abstract

The invention relates to a calibrating method for a multi-instrument coordinate unification device, which is used for solving the problem that the coordinate unification accuracy is low since a measuring errors are unknown in each coordinate transformation process. The calibrating method is implemented on the basis of the multi-instrument coordinate unification device. The multi-instrument coordinate unification device comprises a datum transformation standard, wherein the datum transformation standard comprises a carbon fiber substrate, a lining and a target ball seat. The calibrating method for multi-instrument coordinate unification comprises the following steps of: measuring the coordinate value of the ball center of the target ball seat on the same datum transformation standard by using an electronic theodolite, a laser tracker and a laser radar; evaluating the gravity center or center of an N-sided structure under the coordinate systems of three instruments respectively according to obtained coordinates of the electronic theodolite, the laser tracker and the laser radar; and translating and rotating the coordinates according to the coordinate value of the evaluated gravity center or center for realizing coordinate transformation to realize coordinate unification. The method is suitable for precision assembly such as aviation, ships, automobiles and the like as well as precision processing industries such as machine tools and the like.

Description

The calibration steps of the unitized device of multiple instruments coordinate

Technical field

The present invention relates to a kind of coordinate measuring method, be specifically related to the calibration steps of the unitized device of multiple instruments coordinate.

Background technology

The multiple instruments coordinate unified approach using is at present: on public viewing position, 3 single target ball seats are set, respectively hemisphere target identical diameter, prism of corner cube target and instrument ball target, be placed on successively on target ball seat, use the sphere centre coordinate of corresponding apparatus measures target simultaneously, through corresponding mathematical computations, and can set up the mutual relationship of each instrument coordinates system, be that coordinate is unitized, wherein, hemisphere target is transit use, and prism of corner cube target is that laser tracker is used, instrument ball target is laser radar use, as shown in Figure 1.Under art methods, take apart from electronic theodolite and laser tracker and the unification of laser radar coordinate under the state of 5 meters of measured points as example, the poor 0.090mm that is about of measurement standard, when laser tracker and laser radar coordinate are unified, the poor 0.061mm that is about of measurement standard.The shortcoming of this method is, each measuring error the unknown, and the unitized precision of coordinate is low.

Summary of the invention

The present invention is in order to solve each measuring error the unknown, the coordinate low problem of precision that unitizes.Thereby provide the calibration steps of the unitized device of multiple instruments coordinate.

The calibration steps of the unitized device of multiple instruments coordinate, this method is based on realizing with the unitized device of multiple instruments coordinate, described device comprises electronic theodolite, laser tracker and laser radar, described device also comprises M benchmark transfer standard device (M >=3), described M benchmark transfer standard device is all at electronic theodolite, the public visual position of laser tracker and laser radar, each benchmark transfer standard device comprises 1 carbon fiber reinforced substrate, N lining and N target ball seat (N >=3), a N limit shape of N target ball seat composition, N the equal interference of lining is assemblied in the bush hole of carbon fiber reinforced substrate, N target ball seat is individually fixed on N lining,

This method comprises the steps:

One, survey the coordinate figure of N the target ball seat centre of sphere on same benchmark transfer standard device with electronic theodolite, laser tracker and laser radar;

The coordinate of electronic theodolite, laser tracker and the laser radar two, obtaining according to step 1, center of gravity or the center of under the coordinate system of electronic theodolite, laser tracker and laser radar, asking for respectively N limit shape;

In like manner, ask for center of gravity or the center of N limit shape under the coordinate system of electronic theodolite, laser tracker and laser radar of other M-1 benchmark transfer standard device;

The center of gravity of three, trying to achieve according to step 2 or the coordinate figure at center, the translation by coordinate, rotation realize coordinate conversion and realize the unification of coordinate.

The advantage of this programme of the present invention is: 1, " repeatability of " center " is higher than the repeatability at single target center; 2, error can be controlled in certain scope: the triangle measuring or quadrilateral can with comparing of demarcating, when finding that error when excessive, can remeasure, until obtain satisfied result.That is to say, carry out coordinate when unitized, have at least 3 standards to be positioned at public visual position, each instrument is measured respectively the target of oneself, and electronic theodolite uses prism of corner cube target for laser radar instrument ball target with hemisphere target and laser tracker, uses by " error controllable type benchmark transfer standard device ", when transit and tracker and laser radar coordinate are unified, standard deviation is for being not more than 0.060mm, and when tracker and laser radar coordinate are unified, standard deviation is for being not more than 0.041mm.

Accompanying drawing explanation

Fig. 1 is traditional unitized structural drawing of coordinate, and Fig. 2 is error controllable type benchmark transfer standard device, and Fig. 3 is the structural drawing of the unitized device of multiple instruments coordinate.

Embodiment

Embodiment one, the calibration steps of the unitized device of multiple instruments coordinate, this method is based on realizing with the unitized device of multiple instruments coordinate, described device comprises electronic theodolite 2, laser tracker 3 and laser radar 4, described device also comprises M benchmark transfer standard device 1 (M >=3), described M benchmark transfer standard device 1 is all at electronic theodolite 2, the public visual position of laser tracker 3 and laser radar 4, each benchmark transfer standard device 1 comprises 1 carbon fiber reinforced substrate 1-1, N lining 1-2 and N target ball seat 1-3 (N >=3), a N limit shape of N target ball seat 1-3 composition, N the equal interference of lining 1-2 is assemblied in the bush hole of carbon fiber reinforced substrate 1-1, N target ball seat 1-3 is individually fixed on N lining 1-2,

This method comprises the steps:

One, survey the coordinate figure of N the target ball seat 1-3 centre of sphere on same benchmark transfer standard device 1 with electronic theodolite 2, laser tracker 3 and laser radar 4;

The coordinate of electronic theodolite 2, laser tracker 3 and the laser radar 4 two, obtaining according to step 1, center of gravity or the center of under the coordinate system of electronic theodolite 2, laser tracker 3 and laser radar 4, asking for respectively N limit shape;

In like manner, ask for center of gravity or the center of N limit shape under the coordinate system of electronic theodolite 2, laser tracker 3 and laser radar 4 of other M-1 benchmark transfer standard device 1;

The center of gravity of three, trying to achieve according to step 2 or the coordinate figure at center, the translation by coordinate, rotation realize coordinate conversion and realize the unification of coordinate.

The difference of embodiment two, present embodiment and embodiment one is: it also comprises the precision after step 4, checking coordinate conversion, with the station meter of a known length, measure its two ends coordinate figure with three kinds of instruments after unified coordinate system respectively, according to the consistent degree that obtains data, or obtain its length according to space distance between two points formula, compare and obtain error with known length.

The difference of embodiment three, present embodiment and embodiment two is: step 4, can also appoint and get a kind of instrument mark object staff one end coordinate figure, another kind of instrument mark object staff other end coordinate figure, according to space distance between two points formula, ask this gauge length, can its error of coordinate of inverse.

The difference of embodiment four, present embodiment and embodiment two is: work as M=3, when N=4, there are 1,3 carbon fiber reinforced substrate 1-1 of 3 benchmark transfer standard devices, 4 lining 1-2 and 4 target ball seat 1-3 (N >=3), 4 limit shapes of 4 target ball seat 1-3 compositions, the method for the calibration of the unitized device of its multiple instruments coordinate is:

A, survey the coordinate figure of 4 target ball seat 1-3 on same benchmark transfer standard device 1 with electronic theodolite 2, laser tracker 3 and laser radar 4, obtain three coordinate figures as follows:

Coordinate under electronic theodolite 2 coordinate systems: $\left\{\begin{array}{c}({x^{\′}}_1,{y^{\′}}_1,{z^{\′}}_1)\\ ({x^{\′}}_2,{y^{\′}}_2,{z^{\′}}_2)\\ ({x^{\′}}_3,{y^{\′}}_3,{z^{\′}}_3)\\ ({x^{\′}}_4,{y^{\′}}_4,{z^{\′}}_4)\end{array}\right\},$ Coordinate under laser tracker 3 coordinate systems $\left\{\begin{array}{c}({x^{\′\′}}_1,{y^{\′\′}}_1,{z^{\′\′}}_1)\\ ({x^{\′\′}}_2,{y^{\′\′}}_2,{z^{\′\′}}_2)\\ ({x^{\′\′}}_3,{y^{\′\′}}_3,{z^{\′\′}}_3)\\ ({x^{\′\′}}_4,{y^{\′\′}}_4,{z^{\′\′}}_4)\end{array}\right\},$ Coordinate under laser radar 4 coordinate systems: $\left\{\begin{array}{c}({x^{\′\′\′}}_1,{y^{\′\′\′}}_1,{z^{\′\′\′}}_1)\\ ({x^{\′\′\′}}_2,{y^{\′\′\′}}_2,{z^{\′\′\′}}_2)\\ ({x^{\′\′\′}}_3,{y^{\′\′\′}}_3,{z^{\′\′\′}}_3)\\ ({x^{\′\′\′}}_4,{y^{\′\′\′}}_4,{z^{\′\′\′}}_4)\end{array}\right\};$

What x, y, z represented is 4 coordinate figures that point records under different instruments on benchmark transfer standard device 1, first point of benchmark transfer standard device 1, it at the measured coordinate of the coordinate system of electronic theodolite 2 be (x ' ₁, y ' ₁, z ' ₁), the coordinate measured in the coordinate system of laser tracker 3 be (x " ₁, y " ₁, z " ₁), the coordinate measured in the coordinate system of laser radar 4 be (x " ' ₁, y " ' ₁, z " ' ₁); In like manner the meaning of other 3 points is identical;

The coordinate of b, the electronic theodolite 2 that obtains according to step a is asked for respectively two cornerwise straight-line equation l ' under the coordinate system of electronic theodolite 2 ₁, l ' ₂, ask two straight line common vertical line section mid point D ' ₁;

The coordinate of the laser tracker 3 obtaining according to step a, at laser tracker 3 is under coordinate, to ask for respectively two cornerwise straight-line equation l " ₁, l " ₂, ask two straight line common vertical line section mid point D " ₁;

The coordinate of the laser radar 4 obtaining according to step a is asked for respectively two cornerwise straight-line equation l under the coordinate system of laser radar 4 " ' ₁, l " ' ₂, ask two straight line common vertical line section mid point D " ' ₁;

In like manner, measure the common vertical line section mid point D ' of second on-gauge plate, two straight lines under the coordinate system of electronic theodolite 2 ₂, be the common vertical line section mid point D of two straight lines under coordinate at laser tracker 3 " ₂common vertical line section mid point D with two straight lines under coordinate system at laser radar 4 " ' ₂; The common vertical line section mid point D ' of the 3rd on-gauge plate two straight lines under the coordinate system of electronic theodolite 2 ₃, be the common vertical line section mid point D of two straight lines under coordinate at laser tracker 3 " ₃common vertical line section mid point D with two straight lines under coordinate system at laser radar 4 " ' ₃;

Three, known according to step b, D ' _i, D " _i, D " ' _i(i=1,2,3) be same coordinate under different coordinates, take the true origin of electronic theodolite 2 as work true origin, take the coordinate under the coordinate system of transit as work coordinate, so just can realize by the translation of coordinate, rotation is under transit coordinate system the coordinate conversion under other two kinds of instruments, has realized the unification of coordinate, and its coordinate conversion fundamental formular is:

$\left[\begin{array}{c}{X}_B\\ Y_B\\ Z_B\end{array}\right]=\left[\begin{array}{c}{X}_A\\ Y_A\\ Z_A\end{array}\right]+\left[\begin{array}{ccccccc}1& 0& 0& 0& -Z_A& Y_A& X_A\\ 0& 1& 0& Z_A& 0& {-X}_A& Y_A\\ 0& 0& 1& -Y_A& X_A& 0& Z_A\end{array}\right]\left[\begin{array}{c}{T}_X\\ T_Y\\ T_Z\\ {\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\\ m\end{array}\right]$

In formula, $\left[\begin{array}{c}{X}_B\\ Y_B\\ Z_B\end{array}\right]$ For the lower three-dimensional coordinate of required instrument B instrument coordinates system; $\left[\begin{array}{c}{X}_A\\ Y_A\\ Z_A\end{array}\right]$ For three-dimensional coordinate under common point A instrument coordinates; M is the dimension scale factor; ω _x, ω _y, ω _zthe rotation angle that is three coordinate axis is called again Eulerian angle; What X, Y, Z explained is to change between coordinate, and the coordinate figure more recording under A instrument coordinates system is $\left[\begin{array}{c}{X}_A\\ Y_A\\ Z_A\end{array}\right],$ It is converted to coordinate under B coordinate system, application of formula $\left[\begin{array}{c}{X}_B\\ Y_B\\ Z_B\end{array}\right]=\left[\begin{array}{c}{X}_A\\ Y_A\\ Z_A\end{array}\right]+\left[\begin{array}{ccccccc}1& 0& 0& 0& -Z_A& Y_A& X_A\\ 0& 1& 0& Z_A& 0& {-X}_A& Y_A\\ 0& 0& 1& -Y_A& X_A& 0& Z_A\end{array}\right]\left[\begin{array}{c}{T}_X\\ T_Y\\ T_Z\\ {\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\\ m\end{array}\right],$ Wherein, $\left[\begin{array}{c}{T}_X\\ T_Y\\ T_Z\end{array}\right]$ Be by A coordinate to B coordinate the translational movement in X, Y, Z axis.

The difference of embodiment five, present embodiment and embodiment four is: have 2 electronic theodolites 2, the method for its calibration is identical with embodiment four.

Claims (4)

1. the calibration steps of the unitized device of multiple instruments coordinate, this method is based on realizing with the unitized device of multiple instruments coordinate, described device comprises electronic theodolite (2), laser tracker (3) and laser radar (4), it is characterized in that: described device also comprises M benchmark transfer standard device (1), described M benchmark transfer standard device (1) is all in electronic theodolite (2), laser tracker (3) and the public visual position of laser radar (4), each benchmark transfer standard device (1) comprises 1 carbon fiber reinforced substrate (1-1), N lining (1-2) and N target ball seat (1-3), a N limit shape of N target ball seat (1-3) composition, N lining (1-2) all interference is assemblied in the bush hole of carbon fiber reinforced substrate (1-1), N target ball seat (1-3) is individually fixed on N lining (1-2), wherein: M >=3, N >=3,

This method comprises the steps:

One, survey the coordinate figure of N target ball seat (1-3) centre of sphere on same benchmark transfer standard device (1) with electronic theodolite (2), laser tracker (3) and laser radar (4);

The coordinate of electronic theodolite (2), laser tracker (3) and the laser radar (4) two, obtaining according to step 1, center of gravity or the center of under the coordinate system of electronic theodolite (2), laser tracker (3) and laser radar (4), asking for N limit shape respectively;

In like manner, ask for center of gravity or the center of N limit shape under the coordinate system of electronic theodolite (2), laser tracker (3) and laser radar (4) of other M-1 benchmark transfer standard device (1);

The center of gravity of three, trying to achieve according to step 2 or the coordinate figure at center, the translation by coordinate, rotation realize coordinate conversion and realize the unification of coordinate.

2. the calibration steps of the unitized device of multiple instruments coordinate according to claim 1, it is characterized in that: the calibration steps of the unitized device of multiple instruments coordinate also comprises the precision after step 4, checking coordinate conversion, with the station meter of a known length, measure its two ends coordinate figure with three kinds of instruments after unified coordinate system respectively, according to the consistent degree that obtains data, or obtain its length according to space distance between two points formula, compare and obtain error with known length.

3. the calibration steps of the unitized device of multiple instruments coordinate according to claim 1, it is characterized in that: the calibration steps of the unitized device of multiple instruments coordinate also comprises the precision after step 4, checking coordinate conversion, appoint and get a kind of instrument mark object staff one end coordinate figure, another kind of instrument mark object staff other end coordinate figure, according to space distance between two points formula, ask this gauge length, can its error of coordinate of inverse.

4. the calibration steps of the unitized device of multiple instruments coordinate according to claim 1, it is characterized in that: work as M=3, when N=4, there are 3 benchmark transfer standard devices (1), 3 carbon fiber reinforced substrates (1-1), 4 linings (1-2) and 4 target ball seats (1-3), 4 limit shapes of 4 target ball seats (1-3) composition, the method for the calibration of the unitized device of its multiple instruments coordinate is:

A, survey the coordinate figure of 4 the target ball seats (1-3) on same benchmark transfer standard device (1) with electronic theodolite (2), laser tracker (3) and laser radar (4), obtain three coordinate figures as follows:

Coordinate under electronic theodolite (2) coordinate system: $\left\{\begin{array}{c}({x^{\′}}_1,{y^{\′}}_1,{z^{\′}}_1)\\ ({x^{\′}}_2,{y^{\′}}_2,{z^{\′}}_2)\\ ({x^{\′}}_3,{y^{\′}}_3,{z^{\′}}_3)\\ ({x^{\′}}_4,{y^{\′}}_4,{z^{\′}}_4)\end{array}\right\},$ Coordinate under laser tracker (3) coordinate system $\left\{\begin{array}{c}({x^{\′\′}}_1,{y^{\′\′}}_1,{z^{\′\′}}_1)\\ ({x^{\′\′}}_2,{y^{\′\′}}_2,{z^{\′\′}}_2)\\ ({x^{\′\′}}_3,{y^{\′\′}}_3,{z^{\′\′}}_3)\\ ({z^{\′\′}}_4,{y^{\′\′}}_4,{z^{\′\′}}_4)\end{array}\right\},$ Coordinate under laser radar (4) coordinate system: $\left\{\begin{array}{c}({x^{\′\′\′}}_1,{y^{\′\′\′}}_1,{z^{\′\′\′}}_1)\\ ({x^{\′\′\′}}_2,{y^{\′\′\′}}_2,{z^{\′\′\′}}_2)\\ ({x^{\′\′\′}}_3,{y^{\′\′\′}}_3,{z^{\′\′\′}}_3)\\ ({x^{\′\′\′}}_4,{y^{\′\′\′}}_4,{z^{\′\′\′}}_4)\end{array}\right\};$

What x, y, z represented is 4 coordinate figures that point records under different instruments on benchmark transfer standard device (1), first point of benchmark transfer standard device (1), it at the measured coordinate of the coordinate system of electronic theodolite (2) be (x ' ₁, y ' ₁, z ' ₁), the coordinate measured in the coordinate system of laser tracker (3) be (x " ₁, y " ₁, z " ₁), the coordinate measured in the coordinate system of laser radar (4) be (x " ' ₁, y " ' ₁, z " ' ₁); In like manner the meaning of other 3 points is identical;

The coordinate of b, the electronic theodolite (2) that obtains according to step a is asked for respectively two cornerwise straight-line equation l ' under the coordinate system of electronic theodolite (2) ₁, l ' ₂, ask two straight line common vertical line section mid point D ' ₁;

The coordinate of the laser tracker (3) obtaining according to step a, at laser tracker (3) is under coordinate, to ask for respectively two cornerwise straight-line equation l " ₁, l " ₂, ask two straight line common vertical line section mid point D " ₁;

The coordinate of the laser radar (4) obtaining according to step a is asked for respectively two cornerwise straight-line equation l under the coordinate system of laser radar (4) " ' ₁, l " ' ₂, ask two straight line common vertical line section mid point D " ' ₁;

In like manner, measure the common vertical line section mid point D ' of second on-gauge plate, two straight lines under the coordinate system of electronic theodolite (2) ₂, be the common vertical line section mid point D of two straight lines under coordinate at laser tracker (3) " ₂common vertical line section mid point D with two straight lines under coordinate system in laser radar (4) " ' ₂; The common vertical line section mid point D ' of the 3rd on-gauge plate two straight lines under the coordinate system of electronic theodolite (2) ₃, be the common vertical line section mid point D of two straight lines under coordinate at laser tracker (3) " ₃common vertical line section mid point D with two straight lines under coordinate system in laser radar (4) " ' ₃;

According to step, b is known, D ' _i, D " _i, D " ' _ifor same coordinate under different coordinates, i=1,2,3, take the true origin of electronic theodolite (2) as work true origin, take the coordinate under the coordinate system of transit as work coordinate, so just can realize by the translation of coordinate, rotation be under transit coordinate system the coordinate conversion under other two kinds of instruments, realized the unification of coordinate, its coordinate conversion fundamental formular is:

$\left[\begin{array}{c}{X}_B\\ Y_B\\ Z_B\end{array}\right]=\left[\begin{array}{c}{X}_A\\ Y_A\\ Z_A\end{array}\right]+\left[\begin{array}{ccccccc}1& 0& 0& 0& -Z_A& Y_A& X_A\\ 0& 1& 0& Z_A& 0& -X_A& Y_A\\ 0& 0& 1& -Y_A& X_A& 0& Z_A\end{array}\right]\left[\begin{array}{c}{T}_X\\ T_Y\\ T_Z\\ {\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\\ m\end{array}\right]$

In formula, $\left[\begin{array}{c}{X}_B\\ Y_B\\ Z_B\end{array}\right]$ For the lower three-dimensional coordinate of required instrument B instrument coordinates system; $\left[\begin{array}{c}{X}_A\\ Y_A\\ Z_A\end{array}\right]$ For three-dimensional coordinate under common point A instrument coordinates; M is the dimension scale factor; ω _x, ω _y, ω _zthe rotation angle that is three coordinate axis is called again Eulerian angle; What X, Y, Z explained is to change between coordinate, and the coordinate figure more recording under A instrument coordinates system is $\left[\begin{array}{c}{X}_A\\ Y_A\\ Z_A\end{array}\right],$ It is converted to coordinate under B coordinate system, application of formula $\left[\begin{array}{c}{X}_B\\ Y_B\\ Z_B\end{array}\right]=\left[\begin{array}{c}{X}_A\\ Y_A\\ Z_A\end{array}\right]+\left[\begin{array}{ccccccc}1& 0& 0& 0& -Z_A& Y_A& X_A\\ 0& 1& 0& Z_A& 0& -X_A& Y_A\\ 0& 0& 1& -Y_A& X_A& 0& Z_A\end{array}\right]\left[\begin{array}{c}{T}_X\\ T_Y\\ T_Z\\ {\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\\ m\end{array}\right],$ Wherein, $\left[\begin{array}{c}{T}_X\\ T_Y\\ T_Z\end{array}\right]$ Be by A coordinate to B coordinate the translational movement in X, Y, Z axis.

Images