CN108592838A - Scaling method, device and the computer storage media of tool coordinates system - Google Patents
Scaling method, device and the computer storage media of tool coordinates system Download PDFInfo
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- CN108592838A CN108592838A CN201810644149.1A CN201810644149A CN108592838A CN 108592838 A CN108592838 A CN 108592838A CN 201810644149 A CN201810644149 A CN 201810644149A CN 108592838 A CN108592838 A CN 108592838A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
A kind of scaling method of tool coordinates system, device and computer storage media, the method includes：Determine datum mark of the machine system in measurement range；N group measurement data is obtained, the N groups measurement data obtains in the machine system moving process, and each group of measurement data includes：The first preset on the machine system is at a distance from the datum mark, the position of the second preset on the machine system；In the N groups measurement data, the straight line that the position of two first presets is linked to be passes through the datum mark, and the position of at least three second presets constitutes a determining plane；N≥3；The origin for determining tool coordinates system completes the calibration of the tool coordinates system according to the N groups measurement data.Using above-mentioned technical proposal, the process of tool coordinates system calibration is succinct, quickly, uses the accuracy for the measured value that the tool coordinates system obtains high.
Description
Technical field
The present invention relates to a kind of machinery field more particularly to scaling method of tool coordinates system, device and computers to deposit
Storage media.
Background technology
The application of machine system in current industrial production, such as the application of robot in the industrial production, are occupying more
Carry out bigger ratio.Meanwhile warp-wise batch bigger, precision higher, the more complicated direction of structure are developed for the application of machine system.
Therefore, machine system is during actually carrying out commercial Application, need by workpiece measurement and the machine system frame of reference into
Row couples to cope with complicated commercial Application scene.
In the prior art, by the way that laser range sensor is arranged on machine system, machine position assurance Laser Measuring is used
Measurement direction away from sensor is parallel with an axis of machine system known coordinate system, enables the origin of sensor and coordinate system former
Point has fixed position relationship, to be coupled with the machine system frame of reference to workpiece measurement.Alternatively, using robot
Some known tool coordinates system contacts calibration point, obtains the specific location of calibration point, then by by laser range sensor
Hot spot is directed at calibration point, to calculate robot tool coordinate system.
However, when being coupled with the machine system frame of reference to workpiece measurement using the above method, tool is sat
Mark system calibration process is complicated, and the measurement accuracy of obtained workpiece measurement is poor.
Invention content
What the present invention solved is that tool coordinates system calibration process is complicated, and the accuracy of obtained workpiece measurement is poor.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of scaling method of tool coordinates system, including：
Determine datum mark of the machine system in measurement range；N group measurement data is obtained, the N groups measurement data is in institute
It states and is obtained in machine system moving process, and each group of measurement data includes：The first preset on the machine system and institute
State the distance of datum mark, the position of the second preset on the machine system；In the N groups measurement data, two described
The straight line that the position of one preset is linked to be passes through the datum mark, and the position of at least three second presets constitutes one really
Fixed plane；N≥3；
The origin for determining tool coordinates system completes the calibration of the tool coordinates system according to the N groups measurement data.
Optionally, determine that the coordinate origin of the tool coordinates system is first preset.
Optionally, it is based on the corresponding frame of reference of preset machine system, determines spin matrix RLTWith translation matrix PLT
To complete the calibration of the tool coordinates system；
It is based on ZYX Eulerian angles sequences according to following formula and calculates spin matrix RLTWith translation matrix PLT：
P (x, y, z)=[x y z]T,
Wherein, x is the X axis coordinate of the position of the second preset, and y is the Y axis coordinate of the second preset, and z is second default
The Z axis coordinate of point；Second preset and the origin line of the frame of reference are the line of nodes, and a is between the line of nodes and Z axis
Angle, angles of the b between the line of nodes and Y-axis, angles of the c between the line of nodes and X-axis, the transposition of T representing matrixes.
Optionally, the spin matrix RLTIncluding following parameter：
Wherein, in the frame of reference, XP0The position of second preset described in when being placed in first position for the machine system
Set data；The ranging direction between first preset and the datum mark, the machine system is kept to be moved from first position
It moves to the second position, XP1The position data of second preset described in when being placed in the second position for the machine system；The machine
System is moved to the third place, XP from first position or the second positionHDescribed in when being placed in the third place for the machine system
The position data of two presets.
Optionally, the translation matrix PLTIt is calculated according to following formula：
Wherein, PLiWhen to be in the second position or the third place according to the machine system, the first preset and the base
Distance L on scheduleiObtained parameter matrix, n=N.
Optionally, using the ranging direction between first preset and the datum mark as the tool coordinates system
X-axis, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[Li 0 0]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the tool coordinates based on the frame of reference
The calibration of system.
Optionally, using the ranging direction between first preset and the datum mark as the tool coordinates system
Y-axis, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[0 Li 0]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the tool coordinates based on the frame of reference
The calibration of system.
Optionally, using the ranging direction between first preset and the datum mark as the tool coordinates system
Z axis, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[0 0 Li]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the tool coordinates based on the frame of reference
The calibration of system.
Optionally, the calibrated error of the tool coordinates system is calculated according to following formula：
The present invention also provides a kind of caliberating devices of tool coordinates system, including：Datum mark determination unit, for determining machine
Datum mark of the system in measurement range；Measurement data acquiring unit, for obtaining N group measurement data, the N groups measurement data
It is obtained in the machine system moving process, and each group of measurement data includes：The first preset on the machine system
At a distance from the datum mark, the position of the second preset on the machine system；In the N groups measurement data, two institutes
It states the straight line that the position of the first preset is linked to be and passes through the datum mark, the position of at least three second presets constitutes one
The plane of a determination；N≥3；Tool coordinates system demarcates unit, and the origin for determining tool coordinates system is measured according to the N groups
Data complete the calibration of the tool coordinates system.
Optionally, the tool coordinates system demarcates unit, is additionally operable to determine that the coordinate origin of the tool coordinates system is institute
State the first preset.
Optionally, the tool coordinates system demarcates unit, is additionally operable to be based on the corresponding reference coordinate of preset machine system
System, determines spin matrix RLTWith translation matrix PLTTo complete the calibration of the tool coordinates system；
It is based on ZYX Eulerian angles sequences according to following formula and calculates spin matrix RLTWith translation matrix PLT：
P (x, y, z)=[x y z]T,
Wherein, x is the X axis coordinate of the position of the second preset, and y is the Y axis coordinate of the second preset, and z is second default
The Z axis coordinate of point；Second preset and the origin line of the frame of reference are the line of nodes, and a is between the line of nodes and Z axis
Angle, angles of the b between the line of nodes and Y-axis, angles of the c between the line of nodes and X-axis, the transposition of T representing matrixes.
Optionally, the tool coordinates system calibration unit is calculating the spin matrix RLTShi Caiyong or less parameters：
Wherein, in the frame of reference, XP0The position of second preset described in when being placed in first position for the machine system
Set data；The ranging direction between first preset and the datum mark, the machine system is kept to be moved from first position
It moves to the second position, XP1The position data of second preset described in when being placed in the second position for the machine system；The machine
System is moved to the third place, XP from first position or the second positionHDescribed in when being placed in the third place for the machine system
The position data of two presets.
Optionally, the tool coordinates system calibration unit is calculating the translation matrix PLTIt is calculated according to following formula：
Wherein, PLiWhen to be in the second position or the third place according to the machine system, the first preset and the base
Distance L on scheduleiObtained parameter matrix, n=N.
Optionally, the tool coordinates system demarcates unit, is additionally operable to between first preset and the datum mark
X-axis of the ranging direction as the tool coordinates system, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[Li 0 0]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the tool coordinates based on the frame of reference
The calibration of system.
Optionally, the tool coordinates system demarcates unit, is additionally operable to between first preset and the datum mark
Y-axis of the ranging direction as the tool coordinates system, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[0 Li 0]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the tool coordinates based on the frame of reference
The calibration of system.
Optionally, the tool coordinates system demarcates unit, be additionally operable to first preset and the datum mark it
Between Z axis of the ranging direction as the tool coordinates system, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[0 0 Li]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the tool coordinates based on the frame of reference
The calibration of system.
Optionally, the tool coordinates system demarcates unit, is additionally operable to calculate the tool coordinates system according to following formula
Calibrated error：
The present invention also provides a kind of computer readable storage mediums, are stored thereon with computer instruction, and the computer refers to
The step of enabling the scaling method that the tool coordinates system described in any of the above-described kind is executed when operation.
The present invention also provides a kind of caliberating device of tool coordinates system, including memory and processor, on the memory
It is stored with computer instruction, when computer instruction operation, the processor executed the tool coordinates system described in any of the above-described kind
Scaling method the step of.
Compared with prior art, technical scheme of the present invention has the following advantages：It is originated by self-defined datum mark, ranging
Point records point with position, records related data, and the frame of reference carried based on machine system according to the related data of record
The calibration process of calibration tool coordinate system, the tool coordinates system is succinct, quick, the measurement obtained using the tool coordinates system
The accuracy of value is high.
Further, according to the related data of record, the error of the tool coordinates system of calibration is calculated, is further increased using institute
State the accuracy for the measured value that tool coordinates system obtains.
Description of the drawings
Fig. 1 is a kind of flow chart of the scaling method of tool coordinates system in the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of machine system in the embodiment of the present invention；
Fig. 3 is a kind of machine system movement schematic diagram in the embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of the caliberating device of tool coordinates system in the embodiment of the present invention.
Specific implementation mode
In the prior art, the technical solution one workpiece measured：It is passed by the way that laser ranging is arranged on machine system
Sensor is flat using the measurement direction of machine position assurance laser range sensor and an axis of machine system known coordinate system
Row enables the origin of sensor and coordinate origin have fixed position relationship, is sat to workpiece measurement and machine system benchmark
Mark system is coupled.
Technical solution two：Using robot, some known tool coordinates system contacts calibration point, obtains the specific of calibration point
Position, then by the way that the hot spot of laser range sensor is directed at calibration point, to calculate robot tool coordinate system.
However, above-mentioned technical proposal one the problem is that, simple machinery positioning will appear error, but error can not be by
Quantization and compensation, cause precision poor.Technical solution two the problem is that, need use some known machine system coordinate
System, cumulative errors are will appear when the calibration of the coordinate system is inaccurate.
The present invention records point by self-defined datum mark, ranging starting point and position, records related data, and according to record
Related data based on machine system carry frame of reference calibration tool coordinate system, the calibration process of the tool coordinates system
Succinctly, quickly, the accuracy of the measured value obtained using the tool coordinates system is high, further, according to the related data of record,
The error for calculating the tool coordinates system of calibration, further increases the accuracy of the measured value obtained using the tool coordinates system.
It is understandable to enable above-mentioned purpose, feature and the advantageous effect of the present invention to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of invention is described in detail.
The present invention provides a kind of scaling method of tool coordinates system, refering to fig. 1, is illustrated by step in detail below
Step S101 determines datum mark of the machine system in measurement range.
In embodiments of the present invention, the frame of reference calibration tool coordinate system that can be carried based on machine system.Wherein,
The calibration of tool coordinates system needs gathered data, and the acquisition of data needs one datum mark of setting to be used as with reference to object to determine acquisition
Data physical significance.
In embodiments of the present invention, the acquisition of data can be complete by machine system itself or other tool assist systems
At therefore, the datum mark needs in the measurement range for the sensor for being set in machine system or the sensor of other tools
Measurement range in.
Step S102 obtains N group measurement data.
In specific implementation, the N groups measurement data obtains in the machine system moving process, and each group of measurement
Data include：The first preset on the machine system is at a distance from the datum mark, and second is default on the machine system
The position of point；In the N groups measurement data, the straight line that the position of two first presets is linked to be passes through the benchmark
The position of point, at least three second presets constitutes a determining plane；N≥3.
In embodiments of the present invention, it for calibration tool coordinate system, at least needs to obtain three groups of measurement data.Every group of measurement
Data include length data and coordinate data.The length data is the first preset and the benchmark on the machine system
The distance of point, first preset can be any point on the machine system.The acquisition of the length data can lead to
It crosses extraneous tool and assists acquisition, can also be acquired by the laser range sensor on the machine system.
In practical applications, referring to Fig.2, giving a kind of structural schematic diagram of machine system in the embodiment of the present invention.
In fig. 2, length data acquisition is carried out using the laser range sensor of the machine system flange extremity.It is appreciated that
It is that laser range sensor can be arranged in any position of the machine system.This using laser range sensor
In the case of, the laser emission point of laser range sensor is the first preset.
In embodiments of the present invention, the coordinate data is the coordinate data of the position of the second preset, and described second is pre-
It can be any point on the machine system to set up an office.The coordinate data of the second all presets adopts in the measurement data
Collection standard needs unanimously, i.e. the acquisition needs of measurement data are completed under the same coordinate system, for acquiring the measurement data
Coordinate system can be assisted to set by extraneous tool；The frame of reference that the machine system carries can also be used to complete.
In embodiments of the present invention, in the N groups measurement data, it is linked to be there are the position of two first presets
Straight line passes through the datum mark, and the position of at least three second presets constitutes a determining plane.I.e. in mobile institute
During stating machine system, after a moving process, the position of first preset in measurement data some first
On the line of preset and the datum mark.After moving process, there are three second presets in measurement data
Position is not on the same line.
Refering to Fig. 3, wherein position 31, position 32 and position 33 meets the requirement of the measurement data.Wherein, 32 phase of position
Pair with position 31 without change machine system posture, i.e., during being moved to position 32 from position 31, keep described first
Ranging direction between preset and the datum mark；Position 33 changes the appearance of machine system relative to position 31 or position 32
State.
It is understood that the value of N is bigger, the meaningful data amount of acquisition is more, and the precision of tool coordinates system calibration is high,
And in the measurement data, can there is only the straight line that the position of two first presets is linked to be pass through the datum mark,
The posture of the machine system only is kept in once machine system described in movement, in the moving process of machine system later
In, change the posture of the machine system.
Step S103 determines the origin of tool coordinates system, according to the N groups measurement data, completes the tool coordinates system
Calibration.
In embodiments of the present invention, after obtaining N group measurement data, the calibration of tool coordinates system can be carried out.Carry out work
The first step for having the calibration of coordinate system is to determine the origin of tool coordinates system, and the origin of the tool coordinates system, which may be set in, appoints
Meaning position.After determining coordinate origin, the calibration for completing the tool coordinates system, the work are calculated according to N group measurement data
Have the calibration of coordinate system based on coordinate system be coordinate system for measuring second preset position.
In embodiments of the present invention, for convenience to the measurement of workpiece and the calibration of tool coordinates system, tool coordinates system
Origin can be set in the position of the first preset, referring to Fig.2, using laser range sensor, tool coordinates
It is that one of calibration result is as shown in the figure.
In embodiments of the present invention, in order to complete the calibration for tool coordinates system, need to be calculated spin matrix and
Translation matrix, the calibration of tool coordinates system is completed by spin matrix and translation matrix, and the calibration of the tool coordinates system is based on
Measure the coordinate system of second preset position.In order to facilitate calculating, the frame of reference of machine system can be used, is used
The frame of reference measures second preset position, and in these cases, the calibration of the tool coordinates system is based on institute
State the frame of reference.
In embodiments of the present invention, it is based on frame of reference calibration tool coordinate system, it can be according to following formula according to ZYX
Eulerian angles sequence calculates spin matrix RLTWith translation matrix PLT：
P (x, y, z)=[x y z]T,
Wherein, x is the X axis coordinate of the position of the second preset, and y is the Y axis coordinate of the second preset, and z is second default
The Z axis coordinate of point；Second preset and the origin line of the frame of reference are the line of nodes, and a is between the line of nodes and Z axis
Angle, angles of the b between the line of nodes and Y-axis, angles of the c between the line of nodes and X-axis, the transposition of T representing matrixes.
Formula XP is converted according to Z-Y-X Eulerian angles sequences.It is understood that the present invention equally can according to other Eulerian angles or
Person's yaw angle calculates, and does not repeat herein.
In embodiments of the present invention, the spin matrix RLTIncluding following parameter：
Wherein, the frame of reference can be the included coordinate system of machine system, the formula used for
XP0The coordinate data of substitution be when the machine system is placed in first position described in the second preset positional number
According to the ranging direction between holding first preset and the datum mark, the machine system is moved to from first position
The second position, XP1The coordinate of substitution be when the machine system is placed in the second position described in the second preset position data, institute
It states machine system and is moved to the third place, XP from first position or the second positionHThe coordinate of substitution is that the machine system is placed in
The position data of second preset described in when the third place.
In embodiments of the present invention, the ranging direction between first preset and the datum mark, the machine are kept
Device system is moved to the second position from first position, it can be understood as after being moved through, the position of first preset is in movement
On the line of preceding first preset and the datum mark.The machine system is respectively in first position, the second position and
The position of three second presets when three positions may be constructed a determining plane.
In embodiments of the present invention, the translation matrix PLTIt is calculated according to following formula：
Wherein, PLiWhen to be in the second position or the third place according to the machine system, the first preset and the base
Distance L on scheduleiObtained parameter matrix, you can first is default described in when not using the machine system to be in first position
Point is at a distance from the datum mark, n=N, RiTo pass through formula
The position data for substituting into corresponding second preset obtains, PiTo pass through formula P (x, y, z)=[x y z]T
The position data for substituting into corresponding second preset obtains.
In embodiments of the present invention, the origin of tool coordinates system can be set in the position of the first preset, with described
X-axis of the ranging direction as the tool coordinates system between one preset and the datum mark, the spin matrix RLTAccording to
Following formula calculates：
Or
Wherein, using the ranging direction between first preset and the datum mark as the tool coordinates system
After X-axis, other two axis of the tool coordinates system do not determine, therefore spin matrix RLTThere are two optional.
In embodiments of the present invention, after determining the X-axis of tool coordinates system, the translation matrix PLTIn parameter PLiIt can
With determination, the parameter matrix PLi=[Li 0 0]T。
In embodiments of the present invention, the origin of tool coordinates system can be set in the position of the first preset, with described
Y-axis of the ranging direction as the tool coordinates system between one preset and the datum mark, the spin matrix RLTAccording to
Following formula calculates：
Or
Wherein, using the ranging direction between first preset and the datum mark as the tool coordinates system
After Y-axis, other two axis of the tool coordinates system do not determine, therefore spin matrix RLTThere are two optional.
In embodiments of the present invention, the origin of tool coordinates system can be set in the position of the first preset, determine work
After the Y-axis for having coordinate system, the translation matrix PLTIn parameter PLiIt was determined that the parameter matrix PLi=[0 Li 0]T。
In embodiments of the present invention, using the ranging direction between first preset and the datum mark as the work
Have the Z axis of coordinate system, the spin matrix RLTIt is calculated according to following formula：
Or
Wherein, using the ranging direction between first preset and the datum mark as the tool coordinates system
After Z axis, other two axis of the tool coordinates system do not determine, therefore spin matrix RLTThere are two optional.
In embodiments of the present invention, after determining the Z axis of tool coordinates system, the translation matrix PLTIn parameter PLiIt can
With determination, the parameter matrix PLi=[0 0 Li]T。
In embodiments of the present invention, pass through the spin matrix RLTWith translation matrix PLT, complete to be based on the reference coordinate
The calibration of the tool coordinates system of system.
In embodiments of the present invention, after the calibration for completing tool coordinates system, the calibrated error of the tool coordinates system is pressed
It is calculated according to following formula：
The error of tool coordinates system can be calculated according to the formula, therefore can further hoisting tool coordinate system mark
Fixed accuracy.
Refering to Fig. 4, another aspect of the present invention also provides a kind of caliberating device 40 of tool coordinates system, the tool coordinates system
Caliberating device 40 include：Datum mark determination unit 401, for determining datum mark of the machine system in measurement range；It measures
Data capture unit 402, for obtaining N group measurement data, the N groups measurement data obtains in the machine system moving process
It arrives, and each group of measurement data includes：The first preset on the machine system is at a distance from the datum mark, the machine
The position of second preset in system；In the N groups measurement data, straight line that the positions of two first presets is linked to be
By the datum mark, the position of at least three second presets constitutes a determining plane；N≥3；Tool coordinates system
Unit 403 is demarcated, the origin for determining tool coordinates system completes the tool coordinates system according to the N groups measurement data
Calibration.
The tool coordinates system demarcates unit 403, is additionally operable to be based on the frame of reference, determines spin matrix RLTPeace
Move matrix PLTTo complete the calibration of the tool coordinates system；
It is based on ZYX Eulerian angles sequences according to following formula and calculates spin matrix RLTWith translation matrix PLT：
P (x, y, z)=[x y z]T,
Wherein, x is the X axis coordinate of the position of the second preset, and y is the Y axis coordinate of the second preset, and z is second default
The Z axis coordinate of point；Second preset and the origin line of the frame of reference are the line of nodes, and a is between the line of nodes and Z axis
Angle, angles of the b between the line of nodes and Y-axis, angles of the c between the line of nodes and X-axis.
The tool coordinates system calibration unit 403 is calculating the spin matrix RLTShi Caiyong or less parameters：
Wherein, the frame of reference, XP are based on0The coordinate data of substitution be when the machine system is placed in first position described in
The position data of second preset keeps the ranging direction between first preset and the datum mark, the machine system
System is moved to the second position, XP from first position1The coordinate of substitution be when the machine system is placed in the second position described in second
The position data of preset, the machine system are moved to the third place, XP from first position or the second positionHThe coordinate of substitution
The position data of second preset described in when being placed in the third place for the machine system.
The tool coordinates system calibration unit 403 is calculating the translation matrix PLTIt is calculated according to following formula：
Wherein, PLiWhen to be in the second position or the third place according to the machine system, the first preset and the base
Distance L on scheduleiObtained parameter matrix, n=N.
The tool coordinates system demarcates unit 403, is additionally operable to the survey between first preset and the datum mark
X-axis away from direction as the tool coordinates system, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[Li 0 0]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the tool coordinates based on the frame of reference
The calibration of system.
The tool coordinates system demarcates unit 403, is additionally operable to the survey between first preset and the datum mark
Y-axis away from direction as the tool coordinates system, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[0 Li 0]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the tool coordinates based on the frame of reference
The calibration of system.
The tool coordinates system demarcates unit 403, is additionally operable to between first preset and the datum mark
Z axis of the ranging direction as the tool coordinates system, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[0 0 Li]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the tool coordinates based on the frame of reference
The calibration of system.
The tool coordinates system demarcates unit 403, is additionally operable to calculate the calibration of the tool coordinates system according to following formula
Error：
The present invention also provides a kind of computer readable storage mediums, are stored thereon with computer instruction, which is characterized in that institute
The step of stating the scaling method that the tool coordinates system described in any of the above-described kind is executed when computer instruction operation.
The present invention also provides a kind of caliberating device of tool coordinates system, including memory and processor, on the memory
It is stored with computer instruction, when computer instruction operation, the processor executed the tool coordinates system described in any of the above-described kind
Scaling method the step of.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with indicating relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Any those skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (20)
1. a kind of scaling method of tool coordinates system, which is characterized in that including：
Determine datum mark of the machine system in measurement range；
N group measurement data is obtained, the N groups measurement data obtains in the machine system moving process, and each group of measurement
Data include：The first preset on the machine system is at a distance from the datum mark, and second is default on the machine system
The position of point；In the N groups measurement data, the straight line that the position of two first presets is linked to be passes through the benchmark
The position of point, at least three second presets constitutes a determining plane；N≥3；
The origin for determining tool coordinates system completes the calibration of the tool coordinates system according to the N groups measurement data.
2. the scaling method of tool coordinates system according to claim 1, which is characterized in that the determining tool coordinates system
Origin, including：
Determine that the coordinate origin of the tool coordinates system is first preset.
3. the scaling method of tool coordinates system according to claim 2, which is characterized in that described to be measured according to the N groups
Data complete the calibration of the tool coordinates system, including：
Based on the corresponding frame of reference of preset machine system, spin matrix R is determinedLTWith translation matrix PLTTo complete the work
Has the calibration of coordinate system；
It is based on ZYX Eulerian angles sequences according to following formula and calculates spin matrix RLTWith translation matrix PLT：
P (x, y, z)=[x y z]T,
Wherein, x is the X axis coordinate of the position of the second preset, and y is the Y axis coordinate of the second preset, and z is the Z of the second preset
Axial coordinate；The origin line of second preset and the frame of reference is the line of nodes, folders of a between the line of nodes and Z axis
Angle, angles of the b between the line of nodes and Y-axis, angles of the c between the line of nodes and X-axis, the transposition of T representing matrixes.
4. the scaling method of tool coordinates system according to claim 3, which is characterized in that described to be measured according to the N groups
Data complete the calibration of the tool coordinates system, including：
The spin matrix RLTIncluding following parameter：
Wherein, in the frame of reference, XP0The positional number of second preset described in when being placed in first position for the machine system
According to；The ranging direction between first preset and the datum mark, the machine system is kept to be moved to from first position
The second position, XP1The position data of second preset described in when being placed in the second position for the machine system；The machine system
It is moved to the third place, XP from first position or the second positionHSecond is pre- described in when being placed in the third place for the machine system
The position data to set up an office.
5. the scaling method of tool coordinates system according to claim 4, which is characterized in that described to be measured according to the N groups
Data complete the calibration of the tool coordinates system, including：
The translation matrix PLTIt is calculated according to following formula：
Wherein, PLiWhen to be in the second position or the third place according to the machine system, the first preset and the datum mark
Distance LiObtained parameter matrix, n=N.
6. the scaling method of tool coordinates system according to claim 5, which is characterized in that described to be measured according to the N groups
Data complete the calibration of the tool coordinates system, including：
Using the ranging direction between first preset and the datum mark as the X-axis of the tool coordinates system, the rotation
Torque battle array RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[Li 0 0]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the mark of the tool coordinates system based on the frame of reference
It is fixed.
7. the scaling method of tool coordinates system according to claim 5, which is characterized in that described to be measured according to the N groups
Data complete the calibration of the tool coordinates system, including：
Using the ranging direction between first preset and the datum mark as the Y-axis of the tool coordinates system, the rotation
Torque battle array RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[0 Li 0]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the mark of the tool coordinates system based on the frame of reference
It is fixed.
8. the scaling method of tool coordinates system according to claim 5, which is characterized in that described to be measured according to the N groups
Data complete the calibration of the tool coordinates system, including：
Using the ranging direction between first preset and the datum mark as the Z axis of the tool coordinates system, the rotation
Torque battle array RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[0 0 Li]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the mark of the tool coordinates system based on the frame of reference
It is fixed.
9. the scaling method of the tool coordinates system according to claim 6-8 any one, which is characterized in that described according to institute
N group measurement data is stated, the calibration of the tool coordinates system is completed, including：
The calibrated error of the tool coordinates system is calculated according to following formula：
10. a kind of caliberating device of tool coordinates system, which is characterized in that including：
Datum mark determination unit, for determining datum mark of the machine system in measurement range；
Measurement data acquiring unit, for obtaining N group measurement data, the N groups measurement data is moved through in the machine system
It is obtained in journey, and each group of measurement data includes：The first preset on the machine system is at a distance from the datum mark, institute
State the position of the second preset on machine system；In the N groups measurement data, the position of two first presets is linked to be
Straight line pass through the datum mark, the positions of at least three second presets constitutes a determining plane；N≥3；
Tool coordinates system demarcates unit, the origin for determining tool coordinates system, according to the N groups measurement data, described in completion
The calibration of tool coordinates system.
11. the caliberating device of tool coordinates system according to claim 10, which is characterized in that
The tool coordinates system demarcates unit, is additionally operable to determine that the coordinate origin of the tool coordinates system is described first default
Point.
12. the caliberating device of tool coordinates system according to claim 11, which is characterized in that
The tool coordinates system demarcates unit, is additionally operable to be based on the corresponding frame of reference of preset machine system, determines rotation
Matrix RLTWith translation matrix PLTTo complete the calibration of the tool coordinates system；
It is based on Z Y X Eulerian angles sequences according to following formula and calculates spin matrix RLTWith translation matrix PLT：
P (x, y, z)=[x y z]T,
Wherein, x is the X axis coordinate of the position of the second preset, and y is the Y axis coordinate of the second preset, and z is the Z of the second preset
Axial coordinate；The origin line of second preset and the frame of reference is the line of nodes, folders of a between the line of nodes and Z axis
Angle, angles of the b between the line of nodes and Y-axis, angles of the c between the line of nodes and X-axis, the transposition of T representing matrixes.
13. the caliberating device of tool coordinates system according to claim 12, which is characterized in that
The tool coordinates system calibration unit is calculating the spin matrix RLTShi Caiyong or less parameters：
Wherein, in the frame of reference, XP0The positional number of second preset described in when being placed in first position for the machine system
According to；The ranging direction between first preset and the datum mark, the machine system is kept to be moved to from first position
The second position, XP1The position data of second preset described in when being placed in the second position for the machine system；The machine system
It is moved to the third place, XP from first position or the second positionHSecond is pre- described in when being placed in the third place for the machine system
The position data to set up an office.
14. the caliberating device of tool coordinates system according to claim 13, which is characterized in that
The tool coordinates system calibration unit is calculating the translation matrix PLTIt is calculated according to following formula：
Wherein, PLiWhen to be in the second position or the third place according to the machine system, the first preset and the datum mark
Distance LiObtained parameter matrix, n=N.
15. the caliberating device of tool coordinates system according to claim 14, which is characterized in that
The tool coordinates system demarcates unit, is additionally operable to make with the ranging direction between first preset and the datum mark
For the X-axis of the tool coordinates system, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[Li 0 0]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the mark of the tool coordinates system based on the frame of reference
It is fixed.
16. the caliberating device of tool coordinates system according to claim 14, which is characterized in that
The tool coordinates system demarcates unit, is additionally operable to make with the ranging direction between first preset and the datum mark
For the Y-axis of the tool coordinates system, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[0 Li 0]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the mark of the tool coordinates system based on the frame of reference
It is fixed.
17. the caliberating device of tool coordinates system according to claim 14, which is characterized in that
The tool coordinates system demarcates unit, is additionally operable to make with the ranging direction between first preset and the datum mark
For the Z axis of the tool coordinates system, the spin matrix RLTIt is calculated according to following formula：
Or
The parameter matrix PLi=[0 0 Li]T；
Pass through the spin matrix RLTWith translation matrix PLT, complete the mark of the tool coordinates system based on the frame of reference
It is fixed.
18. the caliberating device of the tool coordinates system according to claim 15-17 any one, which is characterized in that the work
Have coordinate system and demarcate unit, is additionally operable to calculate the calibrated error of the tool coordinates system according to following formula：
19. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the computer instruction
Perform claim requires the step of scaling method of 1~9 any one of them tool coordinates system when operation.
Computer is stored with 20. a kind of caliberating device of tool coordinates system, including memory and processor, on the memory to refer to
It enables, which is characterized in that the processor perform claim requires 1~9 any one of them tool when the computer instruction operation
The step of scaling method of coordinate system.
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