CN103673976A - Method and system for converting and unifying composite type precision measuring coordinate system - Google Patents

Abstract

The invention provides a system and method for converting and unifying a composite type precision measuring coordinate system, wherein the method comprises: building a theodolite measurement coordinate system by intersection measurement of theodolite space point coordinates; building a machine tool measurement coordinate system; calculating a coordinate of a common reference point; converting the theodolite measurement coordinate system into the machine tool measurement coordinate system. The invention further provides a relative system. The method and system combine the coordinate systems of the machine tool and the theodolite measurement system coordinate systems, build a fusion measurement system, and successfully solve the measurement demand in a product assembling stage, wherein the measurement precision and measurement performance all well satisfy requirements; by introduce a high precisionreference ball to provide a common reference point, the machine tool measurement coordinate system and the theodolite coordinate system are converted and unified one coordinate system, thereby implementing data operation and process under a same coordinate system; and by system error correction, the measurement precision is obviously raised, and the method and system has good applications under special conditions.

Description

The conversion of combined type precision measure coordinate system and unified approach and system

Technical field

The invention belongs to commercial measurement technical field, specifically, the present invention relates to a kind of conversion and unified approach and system of combined type precision measure coordinate system.

Background technology

The volume coordinate of Aeronautics and Astronautics device large-size workpiece is measured the main measurement means adopting contact and contactless two kinds.Contact type measurement equipment be take and detected online trimming device or three-dimensional is representative; Non-contact measurement be take optical electron transit as representative.But these two kinds of measuring equipments are when working alone separately, because the restriction of equipment self inherent function all exists some unavoidable shortcoming:

(1) contact measurement method

Take that to detect online trimming device (or three-dimensional) be representative, advantage is that measurement range is large, highly versatile, can generate in real time nc program according to measurement result and carry out workpiece correction, but has following shortcoming:

1. due to the position limitation of gauge head, the workpiece with form surface of particular configuration is as implemented to measure in hole, hole etc.;

2. gage beam is subject to the mechanical interference of machining shaft size restrictions and space structure, cannot implement the measurement to truss inside or platform cabin inner structure.

(2) contactless measurement

Take optical electron transit as representative, and advantage is that measuring accuracy is high, it is flexible to measure orientation angles, can measure truss or platform cabin internal implementation, but have following shortcoming:

1. be subject to the restriction of transit intersection measuring principle, measured object point position must be pasted target or prism;

2. survey space length dimensional accuracy not as the online corrective (or three-dimensional) that detects;

3. cannot be according to measurement result in real time to workpiece processing correction.

In view of above realistic problem, must current contact and contactless measurement be carried out compound, farthest bring into play technical advantage separately, learn from other's strong points to offset one's weaknesses, to obtain the more comprehensive and accurate accuracy data of measured workpiece, this is for guaranteeing that the precision measure of large scale frock, product has great importance from now on.

Summary of the invention

For defect of the prior art, the object of this invention is to provide a kind of conversion and unified approach and system of combined type precision measure coordinate system.

In order to realize duplex measurement object, the gordian techniquies such as fusion of the resolving of the coordinate system conversion that must break through electronic theodolite intersection measurement and machine tool measuring and unified, spatial data, duplex measurement system.

The present invention relates to the calculation method for contact and contactless measuring system, comprises that machine tool measuring coordinate system builds, theodolite system is built mark, 3 common reference points introducing and conversion, spatial data transmission and spatial data resolve etc.

Technical matters to be solved by this invention is the requirement that contact type measurement system (being three-dimensional) and non-contact measurement system (being transit) cannot meet Point Measurement under the same coordinate system.And the coordinate system that the present invention is directed to this problem proposition combined type precision measure is changed and unified approach, the method can be brought into play each measuring system technical advantage, learn from other's strong points to offset one's weaknesses, both solve the measurement problem under each coordinate system, solved again the measurement problem of the common coordinate system conversion bringing due to combined type precision measure.

According to an aspect of the present invention, provide a kind of conversion and unified approach of combined type precision measure coordinate system,

Comprise the steps:

Step 1: the intersection measurement by transit spatial point coordinate is to set up transit survey coordinate system;

Step 2: set up machine tool measuring coordinate system;

Step 3: the coordinate that obtains a plurality of common reference points of transit survey coordinate system and machine tool measuring coordinate system;

Step 4: utilize the coordinate of a plurality of common reference points that transit survey coordinate system and machine tool measuring coordinate system are transformed and unified;

Described step 1 comprises the steps:

Step 1.1: determine transit survey coordinate system, be specially, the X-axis that is projected as with transit A, transit B line at surface level, the vertical line at the center of crossing transit A of take is Z axis in the other direction, with right-hand rule, determines Y-axis, forms thus transit survey coordinate system;

Step 1.2: read the horizontal direction observed reading γ taking aim at mutually between transit A and transit B _aB, γ _bAwith vertical direction observed reading α _aB, α _bA, read horizontal direction observed reading and the vertical direction observed reading γ of transit A observed object point P _aP, α _aPand the horizontal direction observed reading of transit B observed object point P and vertical direction observed reading γ _bP, α _bP;

Step 1.3: calculate the three-dimensional coordinate of impact point P, be specially, establish horizontal angle α, β and be

$\left.\begin{array}{c}\mathrm{\α}={\mathrm{\γ}}_{\mathrm{AB}}-{\mathrm{\γ}}_{\mathrm{AP}}\\ \mathrm{\β}={\mathrm{\γ}}_{\mathrm{BP}}-{\mathrm{\γ}}_{\mathrm{BA}}\end{array}\right\}$

The three-dimensional coordinate of impact point P (x, y, z) is

$x=\frac{\sin \mathrm{\β}\cos \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$y=\frac{\sin \mathrm{\β}\sin \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$z=\frac{1}{2}[\frac{\sin \mathrm{\β}\cot {\mathrm{\α}}_{\mathrm{AP}}+\sin \mathrm{\α}\cot {\mathrm{\α}}_{\mathrm{BP}}}{\sin (\mathrm{\α}+\mathrm{\β})}b+h]$

Wherein b is base length, i.e. the level interval of transit A and transit B, and h is the difference in height of transit A and transit B.

Preferably, described step 3 comprises the steps:

Step 3.1: the longitude and latitude coordinate that calculates common reference point in transit survey coordinate system;

Step 3.2: the machine coordinates of calculating common reference point in machine tool measuring coordinate system;

Wherein, repeating step 3.1 to step 3.2 to obtain at least three common reference point coordinate.

Preferably, described step 4 comprises the steps:

Step 4.1: be machine tool measuring coordinate by transit survey coordinate conversion, be specially, establish the first translation (X of transit survey coordinate system O-XYZ ₀, Y ₀, Z ₀) rotate again (ε _x, ε _y, ε _z), last convergent-divergent k doubly after, be transformed into machine tool measuring coordinate system O '-X ' Y ' Z ', the coordinate of common reference point in O-XYZ is (X, Y, Z), the coordinate in O '-X ' Y ' Z ' is (X ', Y ', Z ');

Step 4.2: the matrix equation after coordinates computed conversion,

$\left(\begin{array}{c}{X}^{\′}\\ Y^{\′}\\ Z^{\′}\end{array}\right)=k{\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)}^T\left(\begin{array}{c}X-X_0\\ Y-Y_0\\ Z-Z_0\end{array}\right)$

Wherein, $\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)$ For transition matrix parameter;

Step 4.3: by the matrix equation in three common reference point coordinate substitution steps 4.2, calculate the parameters relationship of transit survey coordinate system and machine tool measuring coordinate system.

Preferably, in step 3, adopt target ball as primary standard substance, to obtain the coordinate of common reference point.

According to another aspect of the present invention, provide a kind of conversion and integrated system of combined type precision measure coordinate system, comprise as lower device:

Transit survey coordinate system data acquisition facility, for obtaining the data under the transit survey coordinate system of setting up by the intersection measurement of transit spatial point coordinate;

Machine tool measuring coordinate system data acquisition facility, for obtaining the data under machine tool measuring coordinate system;

Coordinate calculation element, for obtaining the coordinate of a plurality of common reference points from transit survey coordinate system data acquisition facility and machine tool measuring coordinate system data acquisition facility;

Coordinate system conversion equipment, for utilizing the coordinate of a plurality of common reference points that transit survey coordinate system and machine tool measuring coordinate system are transformed and unified;

The foundation of described transit survey coordinate system, is specially, the X-axis that is projected as with transit A, transit B line at surface level, and the vertical line at the center of crossing transit A of take is Z axis in the other direction, with right-hand rule, determines Y-axis, forms thus transit survey coordinate system;

Transit survey coordinate system data acquisition facility comprises as lower module:

Impact point observed reading is read module, for gathering the horizontal direction observed reading γ taking aim at mutually between transit A and transit B _aB, γ _bAwith vertical direction observed reading α _aB, α _bA, read horizontal direction observed reading and the vertical direction observed reading γ of transit A observed object point P _aP, α _aPand the horizontal direction observed reading of transit B observed object point P and vertical direction observed reading γ _bP, α _bP;

Three-dimensional coordinate computing module, for calculating the three-dimensional coordinate of impact point P, is specially, and establishes horizontal angle α, β to be

$\left.\begin{array}{c}\mathrm{\α}={\mathrm{\γ}}_{\mathrm{AB}}-{\mathrm{\γ}}_{\mathrm{AP}}\\ \mathrm{\β}={\mathrm{\γ}}_{\mathrm{BP}}-{\mathrm{\γ}}_{\mathrm{BA}}\end{array}\right\}$

The three-dimensional coordinate of impact point P is

$x=\frac{\sin \mathrm{\β}\cos \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$y=\frac{\sin \mathrm{\β}\sin \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$z=\frac{1}{2}[\frac{\sin \mathrm{\β}\cot {\mathrm{\α}}_{\mathrm{AP}}+\sin \mathrm{\α}\cot {\mathrm{\α}}_{\mathrm{BP}}}{\sin (\mathrm{\α}+\mathrm{\β})}b+h]$

Wherein b is base length, i.e. the level interval of transit A and transit B, and h is the difference in height of transit A and transit B.

Preferably, coordinate calculation element comprises as lower module:

Longitude and latitude coordinate computing module, for calculating the longitude and latitude coordinate of common reference point at transit survey coordinate system;

Machine coordinates computing module, for calculating the machine coordinates of common reference point at machine tool measuring coordinate system.

Preferably, coordinate system conversion equipment comprises as lower module:

Coordinate transferring, for being machine tool measuring coordinate by transit survey coordinate conversion, is specially, and establishes the first translation (X of transit survey coordinate system O-XYZ ₀, Y ₀, Z ₀) rotate again (ε _x, ε _y, ε _z), last convergent-divergent k doubly after, be transformed into machine tool measuring coordinate system O '-X ' Y ' Z ', the coordinate of common reference point in O-XYZ is (X, Y, Z), the coordinate in O '-X ' Y ' Z ' is (X ', Y ', Z ');

Matrix equation computing module, for matrix equation after coordinates computed conversion,

$\left(\begin{array}{c}{X}^{\′}\\ Y^{\′}\\ Z^{\′}\end{array}\right)=k{\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)}^T\left(\begin{array}{c}X-X_0\\ Y-Y_0\\ Z-Z_0\end{array}\right)$

Wherein, $\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)$ For transition matrix parameter;

Parameters relationship computing module, for by three common reference point coordinate substitution matrix equations, calculates the parameters relationship of transit survey coordinate system and machine tool measuring coordinate system.

Preferably, in coordinate calculation element, adopt target ball as primary standard substance, to calculate the coordinate of common reference point.

Compared with prior art, the present invention has following beneficial effect:

1. the present invention combines lathe and transit survey system coordinate system, builds Fusion Measurement System, has successfully solved the measurement demand in Product Assembly stage, and measuring accuracy and measurement performance have all met requirement preferably;

2. the present invention provides common reference point by introducing high precision reference ball, by machine tool measuring coordinate system and transit coordinate system conversion and unified under a coordinate system, data solver and the processing of the same coordinate system have been realized, through system error correction, its measuring accuracy obviously improves, and has good application under specific condition;

3. the coordinate system in the present invention conversion and unified approach, can promote, derive compound to contact in commercial measurement and contactless measuring system.

Accompanying drawing explanation

By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:

Fig. 1 is transit spatial point coordinate intersection measurement principle in the present invention;

Fig. 2 is combined type measuring system coordinate system transfer principle figure in the present invention;

Fig. 3 is combined type measuring system data transmission and processing configuration diagram in the present invention;

Fig. 4 is flow chart of steps of the present invention.

Embodiment

Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.

The present invention mainly comprises transit and builds mark, the structure of machine tool measuring coordinate system, the conversion of the matching of common reference point, coordinate system and spatial data and resolve etc.Wherein, transit is built mark and is adopted transit spatial intersection measuring technique, by transit on-line communication, measuring basis chi and software, is resolved and is set up transit survey coordinate system, and the target dot information that then gathers detected part stickup solves three-dimensional point coordinate; In lathe coordinate system is measured, often need to generate workpiece coordinate system so that measure, by axle, aims at the contact type measurement with two kinds of model realization space tested points of spatial fit.Common reference point is the common parameter of transit coordinate system and lathe coordinate system conversion, and reference coordinate point requires more than 3, by introducing high precision reference ball, simulates common reference point; The conversion of coordinate system is on the basis of setting up in above coordinate system, by rectangular coordinate system in space translation, rotation, convergent-divergent are changed with unification.

Below in conjunction with Fig. 1, Fig. 2 and Fig. 4, of the present invention mainly resolving and transfer process is described.

Step 1: the intersection measurement by transit spatial point coordinate is to set up transit survey coordinate system.Be specially, the measuring principle of transit survey system is space intersection, and the system that two transits of take now form is explained as example.As shown in Figure 1, two transits are A and B, and the central shaft of transit A of take is that intersection point is true origin, A, B line are in the X-axis that is projected as of surface level, the vertical line at the center of transit A excessively of take is Z axis in the other direction, with right-hand rule, determines Y-axis, forms thus and measures coordinate system.

Read the horizontal direction observed reading γ taking aim at mutually between transit A and transit B _aB, γ _bAwith vertical direction observed reading α _aB, α _bA, read horizontal direction observed reading and the vertical direction observed reading γ of transit A observed object point P _aP, α _aPand the horizontal direction observed reading of transit B observed object point P and vertical direction observed reading γ _bP, α _bP;

The three-dimensional coordinate that calculates impact point P, is specially, and establishes horizontal angle α, β and is

$\left.\begin{array}{c}\mathrm{\α}={\mathrm{\γ}}_{\mathrm{AB}}-{\mathrm{\γ}}_{\mathrm{AP}}\\ \mathrm{\β}={\mathrm{\γ}}_{\mathrm{BP}}-{\mathrm{\γ}}_{\mathrm{BA}}\end{array}\right\}$

The three-dimensional coordinate (x, y, z) that P is ordered is

$x=\frac{\sin \mathrm{\β}\cos \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$y=\frac{\sin \mathrm{\β}\sin \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$z=\frac{1}{2}[\frac{\sin \mathrm{\β}\cot {\mathrm{\α}}_{\mathrm{AP}}+\sin \mathrm{\α}\cot {\mathrm{\α}}_{\mathrm{BP}}}{\sin (\mathrm{\α}+\mathrm{\β})}b+h]$

In formula, b is base length, i.e. the level interval of transit A and B can be by coming inverse to try to achieve with two transits to a certain benchmark measurement, and also available high-precision range measurement system is directly measured, and h is the discrepancy in elevation of two transits:

$h=\frac{1}{2}(\cot {\mathrm{\α}}_{\mathrm{AB}}-\cot {\mathrm{\α}}_{\mathrm{BA}})b$

Known, as long as carry out theodolite system orientation, set up and measure coordinate system, obtain the coordinate figure of A, B survey station, just can get the D coordinates value of arbitrfary point, space.

Step 2: set up machine tool measuring coordinate system.

Step 3: the coordinate that obtains a plurality of common reference points of transit survey coordinate system and machine tool measuring coordinate system; .Be specially, in duplex measurement software, during transit survey target ball, the pattern of single-point measurement of coordinates is set to " center of circle measurement ", the left edge of cutting accurate benchmark target ball with the crosshair of the fourth quadrant of the 1st transit, recording level angle value and zenith distance are respectively (Hz ₁₁, V ₁₁), then the bottom right edge of cutting accurate benchmark target ball with the second quadrant of this transit, recording level angle value and zenith distance are respectively (Hz ₁₂, V ₁₂), observed reading is averaged, and order;

Hz ₁=(Hz ₁₁+Hz ₁₂)/2

V ₁=(V ₁₁+V ₁₂)/2

Angle value (Hz ₁, V ₁) cross the centre of sphere, in like manner can obtaining second transit, to cross the angular observation value of the centre of sphere be (Hz ₂, V ₂), utilize spatial point coordinate intersection measurement principle, get final product the coordinate that intersection obtains the target centre of sphere, the longitude and latitude coordinate of common reference point is (x, y, z).

During machine tool measuring reference sphere, by several points on measurement target drone ball surface, utilize the method for least square fitting, indirectly obtain the target centre of sphere.At the individual measurement point of measurement target drone ball surface n (n>=4), its coordinate figure is P _i(x _i, y _i, z _i), i=1 wherein, 2,3 ..., n.Can matching obtain the three-dimensional coordinate of the target centre of sphere in machine tool measuring system, the i.e. machine coordinates of common reference point.

By above-mentioned steps, gather respectively the coordinate of three above common reference points.

Step 4: utilize the coordinate of a plurality of common reference points that transit survey coordinate system and machine tool measuring coordinate system are transformed and unified.Be specially, establish the first translation (X of transit survey coordinate system O-XYZ ₀, Y ₀, Z ₀) rotate again (ε _x, ε _y, ε _z), last convergent-divergent k doubly after, be transformed into machine tool measuring coordinate system O '-X ' Y ' Z '.The coordinate of some P in O-XYZ is (X, Y, Z), coordinate in O '-X ' Y ' Z ' is (X ', Y ', Z '), pass through matrix equation, when the number of acquisition common reference point coordinate is more than or equal to 3, can obtain the parameters relationship of transit coordinate system and machine tool measuring coordinate system, namely realized the conversion between transit survey coordinate system and machine tool measuring coordinate system.

$\left(\begin{array}{c}{X}^{\′}\\ Y^{\′}\\ Z^{\′}\end{array}\right)=k{\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)}^T\left(\begin{array}{c}X-X_0\\ Y-Y_0\\ Z-Z_0\end{array}\right),$

Wherein, $\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)$ For transition matrix parameter.

In this example, a kind of combined type provided by the invention is measured conversion and the integrated system of coordinate system, comprises as lower device:

Transit survey coordinate system data acquisition facility, for obtaining the data under the transit survey coordinate system of setting up by the intersection measurement of transit spatial point coordinate;

Machine tool measuring coordinate system data acquisition facility, for obtaining the data under machine tool measuring coordinate system;

Coordinate calculation element, for obtaining the coordinate of a plurality of common reference points from transit survey coordinate system data acquisition facility and machine tool measuring coordinate system data acquisition facility;

Coordinate system conversion equipment, for from utilizing the coordinate of a plurality of common reference points that transit survey coordinate system and machine tool measuring coordinate system are transformed and unified.

The foundation of described transit survey coordinate system, is specially, the X-axis that is projected as with transit A, transit B line at surface level, and the vertical line at the center of crossing transit A of take is Z axis in the other direction, with right-hand rule, determines Y-axis, forms thus transit survey coordinate system.

Transit survey coordinate system data acquisition facility comprises as lower module:

Impact point observed reading is read module, for gathering the horizontal direction observed reading γ taking aim at mutually between transit A and transit B _aB, γ _bAwith vertical direction observed reading α _aB, α _bA, read horizontal direction observed reading and the vertical direction observed reading γ of transit A observed object point P _aP, α _aPand the horizontal direction observed reading of transit B observed object point P and vertical direction observed reading γ _bP, α _bP.

Three-dimensional coordinate computing module, for calculating the three-dimensional coordinate of impact point P, is specially, and establishes horizontal angle α, β to be

$\left.\begin{array}{c}\mathrm{\α}={\mathrm{\γ}}_{\mathrm{AB}}-{\mathrm{\γ}}_{\mathrm{AP}}\\ \mathrm{\β}={\mathrm{\γ}}_{\mathrm{BP}}-{\mathrm{\γ}}_{\mathrm{BA}}\end{array}\right\}$

The three-dimensional coordinate of impact point P is

$x=\frac{\sin \mathrm{\β}\cos \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$y=\frac{\sin \mathrm{\β}\sin \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$z=\frac{1}{2}[\frac{\sin \mathrm{\β}\cot {\mathrm{\α}}_{\mathrm{AP}}+\sin \mathrm{\α}\cot {\mathrm{\α}}_{\mathrm{BP}}}{\sin (\mathrm{\α}+\mathrm{\β})}b+h]$

Wherein b is base length, i.e. the level interval of transit A and transit B, and h is the difference in height of transit A and transit B.

Preferably, coordinate calculation element comprises as lower module:

Longitude and latitude coordinate computing module, for calculating the longitude and latitude coordinate of common reference point at transit survey coordinate system;

Machine coordinates computing module, for calculating the machine coordinates of common reference point at machine tool measuring coordinate system.

Wherein, adopt target ball as primary standard substance, to calculate the coordinate of common reference point.

Preferably,, coordinate system conversion equipment comprises as lower module:

Coordinate transferring, for being machine tool measuring coordinate by transit survey coordinate conversion, is specially, and establishes the first translation (X of transit survey coordinate system O-XYZ ₀, Y ₀, Z ₀) rotate again (ε _x, ε _y, ε _z), last convergent-divergent k doubly after, be transformed into machine tool measuring coordinate system O '-X ' Y ' Z ', the coordinate of common reference point in O-XYZ is (X, Y, Z), the coordinate in O '-X ' Y ' Z ' is (X ', Y ', Z ');

Matrix equation computing module, for matrix equation after coordinates computed conversion,

$\left(\begin{array}{c}{X}^{\′}\\ Y^{\′}\\ Z^{\′}\end{array}\right)=k{\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)}^T\left(\begin{array}{c}X-X_0\\ Y-Y_0\\ Z-Z_0\end{array}\right),$

Wherein, $\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)$ For transition matrix parameter.

Parameters relationship computing module, for by three common reference point coordinate substitution matrix equations, calculates the parameters relationship of transit survey coordinate system and machine tool measuring coordinate system.

As shown in Figure 3, transit 1 measurement data passes to T-LINK controller by communication serial port 1 and transit n measurement data by communication serial port n to data transmission of the present invention, then passes to computing machine.Machine tool measuring data are stored in data-carrier store, then by usb communication interface, pass to data link, by data link, are transferred to computing machine.By computing machine, by the intersection of transit raw measurement data process triangle, resolved, obtain common reference ball, the longitude and latitude coordinate of target ball, calculates machine coordinates by lathe raw measurement data.Then carry out unification and the conversion of coordinate, finally by crossing data processing and resolving, data are saved to angle and coordinate database.

The coordinate system that the present invention not only can solve in machine tool measuring and transit survey compound operation transforms, unifies, resolves and processing problem, the key technical problem that can also solve in commercial measurement coordinate system computing in measuring about contact and contactless fusion, the method mainly comprises: conversion, the spatial data that machine tool measuring coordinate system builds, theodolite system is built mark, common reference point such as resolves at the step.Wherein, transit survey coordinate system is set up by transit survey device; Machine tool measuring coordinate system is set up by lathe or three-dimensional; The common reference ball that common reference point is introduced by matching obtains, and for resolving transit survey coordinate system and machine tool measuring coordinate system, transforms and unified common parameter; Finally measurement data is offered to combined type special measurement software, implementation space data solver and processing by data link and power-supply controller of electric

In sum, this method, by contactless and contact type measurement technological incorporation, utilizes reference sphere that common reference point is provided, and by machine tool measuring coordinate system and transit coordinate system conversion and unified under a coordinate system, has realized the combined type of product needed and has measured requirement.For solving a precision measure difficult problem for the processes such as Aero-Space large-scale component assembling, provide strong support.

Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.

Claims (8)

1. the conversion of combined type precision measure coordinate system and a unified approach, is characterized in that, comprises the steps:

Step 1: the intersection measurement by transit spatial point coordinate is to set up transit survey coordinate system;

Step 2: set up machine tool measuring coordinate system;

Step 3: the coordinate that obtains a plurality of common reference points of transit survey coordinate system and machine tool measuring coordinate system;

Step 4: utilize the coordinate of a plurality of common reference points that transit survey coordinate system and machine tool measuring coordinate system are transformed and unified;

Described step 1 comprises the steps:

Step 1.1: determine transit survey coordinate system, be specially, the X-axis that is projected as with transit A, transit B line at surface level, the vertical line at the center of crossing transit A of take is Z axis in the other direction, with right-hand rule, determines Y-axis, forms thus transit survey coordinate system;

Step 1.2: read the horizontal direction observed reading γ taking aim at mutually between transit A and transit B _aB, γ _bAwith vertical direction observed reading α _aB, α _bA, read horizontal direction observed reading and the vertical direction observed reading γ of transit A observed object point P _aP, α _aPand the horizontal direction observed reading of transit B observed object point P and vertical direction observed reading γ _bP, α _bP;

Step 1.3: calculate the three-dimensional coordinate of impact point P, be specially, establish horizontal angle α, β and be

$\left.\begin{array}{c}\mathrm{\α}={\mathrm{\γ}}_{\mathrm{AB}}-{\mathrm{\γ}}_{\mathrm{AP}}\\ \mathrm{\β}={\mathrm{\γ}}_{\mathrm{BP}}-{\mathrm{\γ}}_{\mathrm{BA}}\end{array}\right\}$

The three-dimensional coordinate of impact point P (x, y, z) is

$x=\frac{\sin \mathrm{\β}\cos \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$y=\frac{\sin \mathrm{\β}\sin \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$z=\frac{1}{2}[\frac{\sin \mathrm{\β}\cot {\mathrm{\α}}_{\mathrm{AP}}+\sin \mathrm{\α}\cot {\mathrm{\α}}_{\mathrm{BP}}}{\sin (\mathrm{\α}+\mathrm{\β})}b+h]$

Wherein b is base length, i.e. the level interval of transit A and transit B, and h is the difference in height of transit A and transit B.

2. conversion and the unified approach of combined type precision measure coordinate system according to claim 1, is characterized in that, described step 3 comprises the steps:

Step 3.1: the longitude and latitude coordinate that calculates common reference point in transit survey coordinate system;

Step 3.2: the machine coordinates of calculating common reference point in machine tool measuring coordinate system;

Wherein, repeating step 3.1 to step 3.2 to obtain at least three common reference point coordinate.

3. conversion and the unified approach of combined type precision measure coordinate system according to claim 1, is characterized in that, described step 4 comprises the steps:

Step 4.1: be machine tool measuring coordinate by transit survey coordinate conversion, be specially, establish the first translation (X of transit survey coordinate system O-XYZ ₀, Y ₀, Z ₀) rotate again (ε _x, ε _y, ε _z), last convergent-divergent k doubly after, be transformed into machine tool measuring coordinate system O '-X ' Y ' Z ', the coordinate of common reference point in O-XYZ is (X, Y, Z), the coordinate in O '-X ' Y ' Z ' is (X ', Y ', Z ');

Step 4.2: the matrix equation after coordinates computed conversion,

$\left(\begin{array}{c}{X}^{\′}\\ Y^{\′}\\ Z^{\′}\end{array}\right)=k{\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)}^T\left(\begin{array}{c}X-X_0\\ Y-Y_0\\ Z-Z_0\end{array}\right)$

Wherein, $\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)$ For transition matrix parameter;

Step 4.3: by the matrix equation in three common reference point coordinate substitution steps 4.2, calculate the parameters relationship of transit survey coordinate system and machine tool measuring coordinate system.

4. conversion and the unified approach of combined type precision measure coordinate system according to claim 1, is characterized in that, adopts target ball as primary standard substance, to obtain the coordinate of common reference point in step 3.

5. the conversion of combined type precision measure coordinate system and an integrated system, is characterized in that, comprises as lower device:

Transit survey coordinate system data acquisition facility, for obtaining the data under the transit survey coordinate system of setting up by the intersection measurement of transit spatial point coordinate;

Machine tool measuring coordinate system data acquisition facility, for obtaining the data under machine tool measuring coordinate system;

Coordinate calculation element, for obtaining the coordinate of a plurality of common reference points from transit survey coordinate system data acquisition facility and machine tool measuring coordinate system data acquisition facility;

Coordinate system conversion equipment, for utilizing the coordinate of a plurality of common reference points that transit survey coordinate system and machine tool measuring coordinate system are transformed and unified;

The foundation of described transit survey coordinate system, is specially, the X-axis that is projected as with transit A, transit B line at surface level, and the vertical line at the center of crossing transit A of take is Z axis in the other direction, with right-hand rule, determines Y-axis, forms thus transit survey coordinate system;

Transit survey coordinate system data acquisition facility comprises as lower module:

Impact point observed reading is read module, for gathering the horizontal direction observed reading γ taking aim at mutually between transit A and transit B _aB, γ _bAwith vertical direction observed reading α _aB, α _bA, read horizontal direction observed reading and the vertical direction observed reading γ of transit A observed object point P _aP, α _aPand the horizontal direction observed reading of transit B observed object point P and vertical direction observed reading γ _bP, α _bP;

Three-dimensional coordinate computing module, for calculating the three-dimensional coordinate of impact point P, is specially, and establishes horizontal angle α, β to be

$\left.\begin{array}{c}\mathrm{\α}={\mathrm{\γ}}_{\mathrm{AB}}-{\mathrm{\γ}}_{\mathrm{AP}}\\ \mathrm{\β}={\mathrm{\γ}}_{\mathrm{BP}}-{\mathrm{\γ}}_{\mathrm{BA}}\end{array}\right\}$

The three-dimensional coordinate of impact point P is

$x=\frac{\sin \mathrm{\β}\cos \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$y=\frac{\sin \mathrm{\β}\sin \mathrm{\α}}{\sin (\mathrm{\α}+\mathrm{\β})}b$

$z=\frac{1}{2}[\frac{\sin \mathrm{\β}\cot {\mathrm{\α}}_{\mathrm{AP}}+\sin \mathrm{\α}\cot {\mathrm{\α}}_{\mathrm{BP}}}{\sin (\mathrm{\α}+\mathrm{\β})}b+h]$

Wherein b is base length, i.e. the level interval of transit A and transit B, and h is the difference in height of transit A and transit B.

6. conversion and the integrated system of combined type precision measure coordinate system according to claim 5, is characterized in that, coordinate calculation element comprises as lower module:

Longitude and latitude coordinate computing module, for calculating the longitude and latitude coordinate of common reference point at transit survey coordinate system;

Machine coordinates computing module, for calculating the machine coordinates of common reference point at machine tool measuring coordinate system.

7. conversion and the integrated system of combined type precision measure coordinate system according to claim 5, is characterized in that, coordinate system conversion equipment comprises as lower module:

Coordinate transferring, for being machine tool measuring coordinate by transit survey coordinate conversion, is specially, and establishes the first translation (X of transit survey coordinate system O-XYZ ₀, Y ₀, Z ₀) rotate again (ε _x, ε _y, ε _z), last convergent-divergent k doubly after, be transformed into machine tool measuring coordinate system O '-X ' Y ' Z ', the coordinate of common reference point in O-XYZ is (X, Y, Z), the coordinate in O '-X ' Y ' Z ' is (X ', Y ', Z ');

Matrix equation computing module, for matrix equation after coordinates computed conversion,

$\left(\begin{array}{c}{X}^{\′}\\ Y^{\′}\\ Z^{\′}\end{array}\right)=k{\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)}^T\left(\begin{array}{c}X-X_0\\ Y-Y_0\\ Z-Z_0\end{array}\right)$

Wherein, $\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)$ For transition matrix parameter;

Parameters relationship computing module, for by three common reference point coordinate substitution matrix equations, calculates the parameters relationship of transit survey coordinate system and machine tool measuring coordinate system.

8. conversion and the integrated system of combined type precision measure coordinate system according to claim 5, is characterized in that, adopts target ball as primary standard substance, to calculate the coordinate of common reference point in coordinate calculation element.

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