CN113722852B - Component pose calculation method based on multi-intersection point hole constraint - Google Patents
Component pose calculation method based on multi-intersection point hole constraint Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2111/00—Details relating to CAD techniques
- G06F2111/04—Constraint-based CAD
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Abstract
The invention provides a component pose calculation method based on multi-intersection point hole constraint, which is used for carrying out pose calculation on a reference component and a pose adjustment component; the method can convert initial data of each intersection point hole into data of an axis end point or an axis midpoint thereof in a measuring and constructing mode, convert accuracy requirements such as coaxiality of each intersection point hole into point matching tolerance, realize quick pose solving in a virtual auxiliary point constructing mode, and improve the pose solving accuracy.
Description
Technical Field
The invention belongs to the technical field of automatic manufacturing of digital assembly, and particularly relates to a component pose calculation method based on multi-intersection point hole constraint.
Background
In the process of digital assembly of the multi-intersection hole component, the pose adjusting component and the reference component are required to be measured, and the target pose of the pose adjusting component is calculated. After each motion axis adjusts the gesture adjusting part to the target gesture, the assembly precision of the axes of each intersection point hole of the gesture adjusting part and the reference part and the assembly precision of the key intersection point holes in the axial direction meet the precision requirement. In order to meet the assembly requirement of multiple intersection point holes of the attitude adjusting component and the reference component, the existing method is to measure the intersection point holes of the attitude adjusting component and the reference component through a measuring head in a contact mode, fit the axes and the end faces of lugs of the intersection point holes, and calculate the attitude adjusting; the method has more measurement data and lower data fitting efficiency.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides a component pose calculation method based on multi-intersection point hole constraint, which can convert initial data of each intersection point hole into data of an axis end point or an axis midpoint thereof in a measuring and constructing mode, convert accuracy requirements such as coaxiality of each intersection point hole into point matching tolerance, realize quick pose solving in a virtual auxiliary point constructing mode and improve pose solving accuracy.
The invention has the following specific implementation contents:
the invention provides a component pose calculation method based on multi-intersection point hole constraint, which is used for carrying out pose calculation on a reference component and a pose adjustment component; a plurality of groups of corresponding hinged lugs are arranged on the reference component and the gesture adjusting component; the hinge lug has key lug with precision requirement and the coordination lug without precision requirement; the intersection point holes of the key lugs are key intersection point holes, and the key holes of the coordination lugs are coordination intersection point holes; the method specifically comprises the following steps:
step S0: establishing a component assembly coordinate system based on multi-intersection point hole constraint;
step S1: measuring all intersection points on the reference component to obtain a point set data set K of key intersection points of the reference component and a point set data set CO of coordinated intersection points; then setting an auxiliary point F to obtain a calculated data set A of the pose calculation of the reference component, wherein the data set A= { K, CO, F }; the point set data set K comprises two points of which each key intersection point hole on the reference component is coaxially symmetrical about a central point;
step S2: measuring all intersection points on the gesture adjusting component to obtain a point set data set K 'of key intersection points of the gesture adjusting component and a point set data set CO' of coordinated intersection points; then setting an auxiliary point F 'to obtain a calculated data set B of the pose calculation of the pose adjusting component, wherein the data set B= { K', CO ', F' }; the point set data set K' comprises two points, wherein each key intersection point hole on the gesture adjusting part is coaxially symmetrical with respect to a central point;
step S3: according to the assembly precision requirements of the corresponding key lugs on the reference component and the gesture adjusting component, calculating to obtain the matching tolerance of the input data point positions, and forming a point matching tolerance input parameter;
step S4: and carrying out component pose calculation and component pose adjustment according to actual pose requirements according to the data set A= { K, CO and F }, the data set B= { K ', CO ', F ' } and the point matching tolerance input parameters.
The method for calculating the pose of the component based on the multi-intersection hole constraint of claim 1, wherein the specific operation of the step S1 is as follows:
s11: measuring the axis endpoint coordinates of the key intersection hole and the coordination intersection hole on the reference part, and calculating the center point C of the intersection hole of each hinged lug i ＝[C ix ,C iy ,C iz ] T I represents the number of intersection holes;
s12: constructing about a central point C on the axis of the critical-intersection hole j Symmetrical point Da j Sum point Db j And the center point C j The distances are all L j Obtaining point set data K= [ Da ] of key intersection point holes of reference parts 1 ,Db 1 ,Da 2 ,Db 2 ,…,Da j ,Db j ]J represents the number of key intersection holes;
s13: the center points of the coordinated intersection holes constitute point set data co= [ C 1 ,C 2 ,…,C k ]K represents the number of holes of the coordination intersection;
s14: constructing vectors with two initial points coincident according to a specified rule by utilizing the center points of the specified three non-collinear intersection points, and constructing an auxiliary point F from the initial point H along the vector outer product direction;
s15: and forming a pose data set A= { K, CO, F } of the multi-intersection hole of the reference component by utilizing the data of the key intersection hole, the coordinated intersection hole and the auxiliary point F.
In order to better implement the present invention, further, the specific operation of step S2 is as follows:
s21, measuring the coordinates of the axes end points of the key intersection point holes and the coordinated intersection point holes on the gesture adjusting part, and calculating the central point C of each intersection point hole lug i ’＝[C ix ’,C iy ’,C iz ’] T I represents the number of intersection holes;
s22, constructing a central point C on the axis of the key intersection point hole j ' symmetrical two-point Da j ’，Db j ' and center point C j ' the distances are L j Obtaining point set data K' = [ Da ] of key intersection point holes of reference parts 1 ’,Db 1 ’,Da 2 ’,Db 2 ’,…,Da j ’,Db j ’]J represents the number of key intersection holes;
s23, solving a point E on the axis of the hole of the coordination intersection point i Make E i The distance from the part to a certain fixed point is equal to the distance from the center point of the corresponding intersection point hole to the corresponding fixed point on the reference part, and the closest solution to the center point of the intersection point hole is taken, so that point set data CO' = [ C ] of the coordination intersection point hole of the posture adjusting part is formed 1 ’,C 2 ’,…,C k ’]K represents the number of holes of the coordination intersection;
s24, constructing vectors with two coincident starting points according to the same rule in the step S14 by utilizing the center points of three non-collinear intersection point holes corresponding to the reference component, and constructing an auxiliary point F' from the starting point H along the vector outer product direction;
s25, utilizing the data of the key intersection point hole and the coordination intersection point hole to form algorithm input data B= { K ', CO ', F ' } of the multi-intersection point hole of the gesture adjusting component.
In order to better implement the present invention, further, in step S23, specific calculation operations are as follows: knowing the axis end point of the intersection point hole to be solved as P a (x a ,y a ,z a )、P b (x b ,y b ,z b ) Calculating point E on axis of intersection point hole of coordination lug on attitude adjusting component through intersection point hole i (x, y, z) let E i To a certain point P (x) B ,y B ,z B ) Distance of (2)And (3) the distance from the center point of the corresponding intersection point hole on the reference component to the corresponding fixed point is equal to the solution:
||E i -P a ||＝||P b -P a ||；
the parameters in the equation set are all constants obtained by calculation, the simultaneous equations are solved for double solutions, and the distance (P a +P b ) And/2 a closer solution.
In order to better implement the present invention, further, the specific operation of converting the assembly precision of a set of key intersection holes into a point matching tolerance in the step S3 is as follows:
step S3.1: according to the assembly precision of the lug hole shaft, the maximum gaps G1 and G2 of the hole shaft can be obtained by looking up a table;
step S3.2: according to the assembly precision of the lug in the thickness direction, the maximum gap G3 of the lug can be obtained by looking up a table;
step S3.3: taking the axis direction of the intersection point hole of the reference part as a y axis and the plumb line as a z axis, establishing a right-hand system, setting the axial lengths of the two intersection point holes as L, and coinciding the midpoints of the axes;
step S3.4: in a section parallel to the xy plane, the angle α is calculated:
α＝arctan[min((G1/S1+G2/S2),(G3/S3))]；
step S3.5: in the section parallel to the yz plane, the angle alpha 'is calculated by the same formula as the angle alpha, and the angle alpha' is obtained:
step S3.6: summarizing to obtainThe tolerance half-band width of the axis end points of the key intersection point holes of the fuselage and the wing along the coordinate axis is expressed.
In order to better realize the invention, further, the pose calculation operation of two points which are coaxially symmetrical about the center point for each key intersection point hole on the reference component and the pose adjusting component is specifically as follows: the adjustable measuring rod with the port provided with the laser tracker measuring target ball is coaxially arranged on the hole of the key intersection point to be measured, the laser tracker measuring target ball is fixed at a fixed distance from the center point, and the pose of two points which are coaxially symmetrical with respect to the center point is measured by the laser tracker measuring target ball.
Compared with the prior art, the invention has the following advantages:
the coaxial assembly of the holes is replaced by the matching of the end points of the axis of the intersection point holes, so that the assembly model of the intersection point holes is simplified; by converting coaxiality tolerance into position tolerance of the axis endpoint, the data can be used as constraint parameters of an optimization algorithm. Through the two data conversions, the assembly process of the multi-intersection hole component is simplified, the number of data measurement is reduced, the algorithm structure is compact, and the pose calculation of the pose adjusting component is more efficient.
Drawings
FIG. 1 is a schematic illustration of the operation of a coaxial two-point measurement of critical hole sites of a single ear;
FIG. 2 is a schematic illustration of the operation of on-axis two-point measurement of key hole sites of a binaural tile;
FIG. 3 is a schematic view of a set of reference and attitude adjustment components.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only some embodiments of the present invention, but not all embodiments, and therefore should not be considered as limiting the scope of protection. All other embodiments, which are obtained by a worker of ordinary skill in the art without creative efforts, are within the protection scope of the present invention based on the embodiments of the present invention.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; or may be directly connected, or may be indirectly connected through an intermediate medium, or may be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1:
the embodiment provides a component pose calculation method based on multi-intersection point hole constraint, which is used for carrying out pose calculation on a reference component and a pose adjustment component as shown in fig. 1, 2 and 3; a plurality of groups of corresponding hinged lugs are arranged on the reference component and the gesture adjusting component; the hinge lug has key lug with precision requirement and the coordination lug without precision requirement; the intersection point holes of the key lugs are key intersection point holes, and the key holes of the coordination lugs are coordination intersection point holes; the method specifically comprises the following steps:
s0, establishing a component assembly coordinate system based on multi-intersection hole constraint;
s1, referring to fig. 1 and 2, by turning a measuring rod A2 and measuring a target ball P by a laser tracker, coordinates of two end points of an intersection hole axis on a reference component can be measured, algorithm input data of the reference component can be calculated and constructed, and the method comprises the following steps:
s11, measuring the coordinates of the axes end points of the key intersection point holes and the coordinated intersection point holes on the reference component, and calculating the central point C of each intersection point hole lug i ＝[C ix ,C iy ,C iz ] T I represents the number of intersection holes;
s12, referring to FIG. 3, a center point C is constructed on the critical intersection hole axis j Symmetrical two-point Da j ，Db j (e.g., 11A, 11B), and a center point C j The distances are all L j Obtaining point set data K= [ Da ] of key intersection point holes of reference parts 1 ,Db 1 ,Da 2 ,Db 2 ,…,Da j ,Db j ]J represents the number of key intersection holes;
s13, the central points of the coordinated intersection holes (such as the intersection hole 13) form point set data CO= [ C 1 ,C 2 ,…,C k ]K represents the number of holes of the coordination intersection;
s14, constructing vectors with two initial points coincident according to a specified rule by utilizing specified three non-collinear points (such as 11A, 11B and the center point of the intersection point hole 12), and constructing an auxiliary point F (such as 11E) from the initial point H along the vector outer product direction;
s15, utilizing the data of the key intersection point hole, the coordinated intersection point hole and the auxiliary points to form algorithm input data A= { K, CO, F } of the multi-intersection point hole of the reference component;
s2, measuring the coordinates of the axis end points of the intersection point hole on the gesture adjusting part, calculating and constructing algorithm input data of the gesture adjusting part, and comprising the following steps:
s21, referring to fig. 1 and 2, by turning the measuring rod B2 and measuring the target ball P by using a laser tracker, the coordinates of the axes of the key intersection hole and the coordination intersection hole on the posture-adjusting component can be measured and measured, and the central point C of each intersection hole lug is calculated i ’＝[C ix ’,C iy ’,C iz ’] T I represents the number of intersection holes;
s22, referring to FIG. 3, a center point C is constructed on the critical intersection hole axis j ' symmetrical two-point Da j ’，Db j ' (e.g., 21A, 21B), and a center point C j ' the distances are L j Obtaining point set data K' = [ Da ] of key intersection point holes of reference parts 1 ’,Db 1 ’,Da 2 ’,Db 2 ’,…,Da j ’,Db j ’]J represents the number of key intersection holes;
s23, solving a point E on the axis of the hole of the coordination intersection point i Make E i The distance to a certain fixed point on the component is equal to the distance from the center point of the corresponding intersection hole on the reference component to the corresponding fixed point, and the closest solution to the center point of the intersection hole is taken (referring to fig. 3, the distance from the target point solved in the intersection hole 23 of the posture adjusting component to the center point of the intersection hole 21 is equal to the distance from the center point of the intersection hole 13 of the reference component to the center point of the intersection hole 11), thereby forming the point set data CO' = [ C ] of the coordination intersection hole of the posture adjusting component 1 ’,C 2 ’,…,C k ’]K represents the number of holes of the coordination intersection;
s24, referring to FIG. 3, using three non-collinear points corresponding to the reference component (such as 21A, 11B and the center point of the intersection hole 22 correspond to the center points of 11A, 11B and the intersection hole 12), constructing a vector with two coincident starting points according to the same rule of the step S14, and constructing an auxiliary point F '(such as 21E) at a position away from the starting point H' (such as the center point of the intersection hole 21) along the vector outer product direction;
s25, utilizing the data of the key intersection point holes and the coordinated intersection point holes to form algorithm input data B= { K ', CO ', F ' } of the multi-intersection point holes of the gesture adjusting part;
s3, calculating to obtain matching tolerance of input data points according to the assembly precision requirements of corresponding fork lugs on the reference component and the gesture adjusting component, and forming point matching tolerance input parameters;
and S4, calculating the target pose of the pose adjusting component according to the input parameters, so that the assembled pose adjusting component meets the precision requirement of each fork ear.
Example 2:
in this embodiment, in order to better implement the present invention based on the above embodiment 1, further, in step S23, specific calculation operations are as follows: knowing the axis end point of the intersection point hole to be solved as P a (x a ,y a ,z a )、P b (x b ,y b ,z b ) Calculating point E on axis of intersection point hole of coordination lug on attitude adjusting component through intersection point hole i (x, y, z) let E i To a certain point P (x) B ,y B ,z B ) The distance from the center point of the corresponding intersection point hole on the reference component to the corresponding fixed point is equal to the distance, and the solution is that:
||E i -P a ||＝||P b -P a ||；
the parameters in the equation set are all constants obtained by calculation, the simultaneous equations are solved for double solutions, and the distance (P a +P b ) And/2 a closer solution.
Other portions of this embodiment are the same as those of embodiment 1 described above, and thus will not be described again.
Example 3:
in this embodiment, in order to better implement the present invention on the basis of any one of the above embodiments 1-2, further, in the step S3, the specific operation of converting the assembly precision of a set of critical intersection holes into a point matching tolerance is as follows:
step S3.1: according to the assembly precision of the lug hole shaft, the maximum gaps G1 and G2 of the hole shaft can be obtained by looking up a table;
step S3.2: according to the assembly precision of the lug in the thickness direction, the maximum gap G3 of the lug can be obtained by looking up a table;
step S3.3: taking the axis direction of the intersection point hole of the reference part as a y axis and the plumb line as a z axis, establishing a right-hand system, setting the axial lengths of the two intersection point holes as L, and coinciding the midpoints of the axes;
step S3.4: in a section parallel to the xy plane, the angle α is calculated:
α＝arctan[min((G1/S1+G2/S2),(G3/S3))]；
step S3.5: in the section parallel to the yz plane, the angle alpha 'is calculated by the same formula as the angle alpha, and the angle alpha' is obtained:
step S3.6: summarizing to obtainThe tolerance half-band width of the axis end points of the key intersection point holes of the fuselage and the wing along the coordinate axis is expressed.
Other portions of this embodiment are the same as any of embodiments 1-2 described above, and thus will not be described again.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.
Claims (3)
1. A component pose calculation method based on multi-intersection point hole constraint is used for carrying out pose calculation on a reference component and a pose adjustment component; a plurality of groups of corresponding hinged lugs are arranged on the reference component and the gesture adjusting component; the hinge lug has key lug with precision requirement and the coordination lug without precision requirement; the intersection point holes of the key lugs are key intersection point holes, and the key holes of the coordination lugs are coordination intersection point holes; the method is characterized by comprising the following steps:
step S0: establishing a component assembly coordinate system based on multi-intersection point hole constraint;
step S1: measuring all intersection points on the reference component to obtain a point set data set K of key intersection points of the reference component and a point set data set CO of coordinated intersection points; then setting an auxiliary point F to obtain a calculated data set A of the pose calculation of the reference component, wherein the data set A= { K, CO, F }; the point set data set K comprises two points of which each key intersection point hole on the reference component is coaxially symmetrical about a central point;
step S2: measuring all intersection points on the gesture adjusting component to obtain a point set data set K 'of key intersection points of the gesture adjusting component and a point set data set CO' of coordinated intersection points; then setting an auxiliary point F 'to obtain a calculated data set B of the pose calculation of the pose adjusting component, wherein the data set B= { K', CO ', F' }; the point set data set K' comprises two points, wherein each key intersection point hole on the gesture adjusting part is coaxially symmetrical with respect to a central point;
step S3: according to the assembly precision requirements of the corresponding key lugs on the reference component and the gesture adjusting component, calculating to obtain the matching tolerance of the input data point positions, and forming a point matching tolerance input parameter;
step S4: performing component pose calculation and component pose adjustment according to actual pose requirements according to the data set A= { K, CO, F }, the data set B= { K ', CO ', F ' } and the point matching tolerance input parameters;
the specific operation of the step S1 is as follows:
s11: measuring critical intersection holes on a datum partAdjusting the axis endpoint coordinates of the intersection point holes, and calculating the center point C of the intersection point holes of all the hinged lugs i ＝[C ix ,C iy ,C iz ] T I represents the number of intersection holes; s12: constructing about a central point C on the axis of the critical-intersection hole j Symmetrical point Da j Sum point Db j And the center point C j The distances are all L j Obtaining point set data K= [ Da ] of key intersection point holes of reference parts 1 ,Db 1 ,Da 2 ,Db 2 ,…,Da j ,Db j ]J represents the number of key intersection holes;
s13: the center points of the coordinated intersection holes constitute point set data co= [ C 1 ,C 2 ,…,C k ]K represents the number of holes of the coordination intersection;
s14: constructing vectors with two initial points coincident according to a specified rule by utilizing the center points of the specified three non-collinear intersection points, and constructing an auxiliary point F from the initial point H along the vector outer product direction;
s15: forming a pose data set A = { K, CO, F } of the multi-intersection hole of the reference component by utilizing the data of the key intersection hole, the coordinated intersection hole and the auxiliary point F;
the specific operation of the step S2 is as follows:
s21, measuring the coordinates of the axes end points of the key intersection point holes and the coordinated intersection point holes on the gesture adjusting part, and calculating the central point C of each intersection point hole lug i ’＝[C ix ’,C iy ’,C iz ’] T I represents the number of intersection holes;
s22, constructing a central point C on the axis of the key intersection point hole j ' symmetrical two-point Da j ’，Db j ' and center point C j ' the distances are L j Obtaining point set data K' = [ Da ] of key intersection point holes of reference parts 1 ’,Db 1 ’,Da 2 ’,Db 2 ’,…,Da j ’,Db j ’]J represents the number of key intersection holes;
s23, solving a point E on the axis of the hole of the coordination intersection point i Make E i The distance from the center point of the corresponding intersection point hole on the reference component to a certain fixed point on the component is equal to the distance from the center point of the corresponding intersection point hole on the reference component to the corresponding fixed pointThe distance between the points is the solution closest to the center point of the intersection hole, so that the point set data CO' = [ C ] of the coordination intersection hole of the posture adjusting component is formed 1 ’,C 2 ’,…,C k ’]K represents the number of holes of the coordination intersection;
s24, constructing vectors with two coincident starting points according to the same rule in the step S14 by utilizing the center points of three non-collinear intersection point holes corresponding to the reference component, and constructing an auxiliary point F' from the starting point H along the vector outer product direction;
s25, utilizing the data of the key intersection point holes and the coordinated intersection point holes to form algorithm input data B= { K ', CO ', F ' } of the multi-intersection point holes of the gesture adjusting part;
in the step S3, the specific operation of converting the assembly accuracy of a group of key intersection point holes into a point matching tolerance is as follows:
step S3.1: according to the assembly precision of the lug hole shaft, the maximum gaps G1 and G2 of the hole shaft can be obtained by looking up a table;
step S3.2: according to the assembly precision of the lug in the thickness direction, the maximum gap G3 of the lug can be obtained by looking up a table;
step S3.3: taking the axis direction of the intersection point hole of the reference part as a y axis and the plumb line as a z axis, establishing a right-hand system, setting the axial lengths of the two intersection point holes as L, and coinciding the midpoints of the axes;
step S3.4: in a section parallel to the xy plane, the angle α is calculated:
α＝arctan[min((G1/S1+G2/S2),(G3/S3))]；
step S3.5: in the section parallel to the yz plane, the angle alpha 'is calculated by the same formula as the angle alpha, and the angle alpha' is obtained:
step S3.6: summarizing to obtainThe tolerance half-band width of the axis end points of the key intersection point holes of the fuselage and the wing along the coordinate axis is expressed.
2. The method for calculating the pose of a component based on multi-intersection hole constraint according to claim 1, wherein in step S23, the specific calculation operation is: knowing the axis end point of the intersection point hole to be solved as P a (x a ,y a ,z a )、P b (x b ,y b ,z b ) Calculating point E on axis of intersection point hole of coordination lug on attitude adjusting component through intersection point hole i (x, y, z) let E i To a certain point P (x) B ,y B ,z B ) The distance from the center point of the corresponding intersection point hole on the reference component to the corresponding fixed point is equal to the distance, and the solution is that:
||E i -P a ||＝||P b -P a ||；
the parameters in the equation set are all constants obtained by calculation, the simultaneous equations are solved for double solutions, and the distance (P a +P b ) And/2 a closer solution.
3. The component pose calculation method based on multi-intersection hole constraint according to claim 1, wherein pose calculation operations of two points coaxially symmetric about a center point for each key intersection hole on a reference component and a pose adjustment component are specifically: the adjustable measuring rod with the port provided with the laser tracker measuring target ball is coaxially arranged on the hole of the key intersection point to be measured, the laser tracker measuring target ball is fixed at a fixed distance from the center point, and the pose of two points which are coaxially symmetrical with respect to the center point is measured by the laser tracker measuring target ball.
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