CN114740798A - Method for constructing measurement field of numerical control equipment group collaborative production line - Google Patents
Method for constructing measurement field of numerical control equipment group collaborative production line Download PDFInfo
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Abstract
The invention relates to a method for constructing a measuring field of a numerical control equipment group collaborative production line, which comprises the following steps: arranging a plurality of common measuring points and a plurality of laser tracker measuring stations on different levels at two sides of an on-site production line, and determining on-site reference numerical control equipment; acquiring the pose relation between the global coordinate system of the production line and the coordinate system of the reference numerical control equipment in the digital analogy, and determining the coordinates of a plurality of characteristic points of the reference numerical control equipment in the global coordinate system on site; measuring distances from all characteristic points of the reference numerical control equipment to the tracker at each station by the laser tracker, and calculating coordinates of the origin of each station tracker in a global coordinate system; and the laser tracker measures the distance from all the common measuring points to the tracker at each station, calculates the coordinates of all the common measuring points of the production line under the global coordinate system, and completes the mapping construction of the measurement field of the global coordinate system of the production line. The method and the device can effectively determine the accurate measuring field of the production line, and are used for accurate mapping of the global coordinate system of the numerical control equipment group coordination system.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a method for constructing a measuring field of a collaborative production line of numerical control equipment groups.
Background
At present, with the rapid development of the digital factory technology, a digital equipment system is developed from a previous mode of carrying out part machining by a single numerical control device to a current mode of carrying out large-part posture adjustment, matching and accurate assembly and finish machining by a coordinated production line of a numerical control device group, the coordinate data of part assembly and machining is not based on a device coordinate system of the single numerical control device but is based on a common coordinate system of the production line, namely a global coordinate system, the poses of the numerical control device group and a transfer device are accurately installed, and the pose of part assembly or the pose track of a machining tool is controlled through the coordinated motion of the numerical control device group under the common coordinate system, so that a theoretical global coordinate system is required to be mapped to a fixed common measurement point on site, and therefore, the construction of a high-precision measurement field of the coordinated production line of the numerical control device group is very important.
The traditional numerical control equipment group is constructed in cooperation with a production line measuring field, according to the theoretical position relation of common measuring points at two sides of a production line in a digital model, the distance is measured by a ruler on the spot to determine the installation position of a common measuring point, the common measuring point is arranged on the foundations at the two sides of the production line, then a laser tracker station is determined on the spot, measuring the actual position coordinates of all the common measuring points under the measuring coordinate system of the laser tracker, converting the measuring coordinate system of the laser tracker into a digital-analog global coordinate system by utilizing a coordinate system fitting transformation algorithm based on the common measuring points according to the theoretical position coordinates of the common measuring points in the digital-analog global coordinate system, and (4) carrying out space position coordinate measurement on all the public measuring points again under the global coordinate system, and finishing mapping construction of the production line global coordinate system measuring field by taking the measured position data as a theoretical basis of station construction and station transfer of the measuring system. In the traditional method, because the position relationship of the common measurement point actually installed on site is greatly different from the position relationship of the common measurement point of the digital-analog, mapping the global coordinate system with actually installing the common measurement point on site has a certain accuracy error, moreover, the production line generally has larger span and longer distance, and the measurement accuracy of the laser tracker is reduced along with the increase of the measurement distance, taking the laser tracker Leica AT930 as an example, although the interference distance measurement precision is 0.3um/m, the spatial position measurement precision is only 15um +6um/m, therefore, the calibration of all common measuring points by the space position measuring function of the laser tracker has certain measuring error, the numerical control equipment group cooperative production line measuring field established in the way is difficult to ensure the high precision requirement of the cooperative motion of the numerical control equipment group and the precision requirement of the assembly and processing of products.
Disclosure of Invention
The invention aims to solve the problems in the prior art, provides a method for completely and effectively constructing a high-precision measuring field of a production line, more comprehensively and accurately maps a digital-analog theoretical global coordinate system, is used for accurately positioning the coordinated motion of a numerical control equipment group, and is used for digital high-precision assembly and processing of products based on the theoretical global coordinate system. The method can effectively reduce the problems of poor precision and low reliability of a production line measuring field caused by the arrangement error of the common measuring points and the measuring error of the space position of the laser tracker.
In order to realize the technical effects, the invention is realized by the following technical scheme:
a method for constructing a measuring field of a collaborative production line of a numerical control equipment group comprises the following steps:
step 1, arranging a plurality of common measuring points and a plurality of laser tracker measuring stations on different levels at two sides of an on-site production line, and determining on-site reference numerical control equipment;
step 4, measuring the distances from all the common measuring points to the tracker at each station by the laser tracker, and calculating the coordinates of all the common measuring points of the production line under a global coordinate system by using the origin coordinates of the tracker;
and 5, taking the coordinates of all the common measuring points as a theoretical basis for station building and station transferring of the measuring system, and completing mapping building of the measuring field of the global coordinate system of the production line.
Further, the specific method for arranging the plurality of common measurement points on site in the step 1 is that according to the effective operation heights of all numerical control equipment on the production line, a plurality (> 3) of common measurement points are uniformly arranged on two sides of the production line in the height space, and the common measurement points envelop the effective operation range of the production line and are statically and stably connected with the foundation of the production line.
Furthermore, the specific method for setting the plurality of laser tracker measuring stations on site in step 1 is that a plurality (> 3) of laser tracker measuring stations with corresponding intervals are set at two sides of the envelope production line according to the precision of distance interference measurement of the laser trackers and by combining the requirement of construction precision of a measuring field, and each common measuring point can be measured by at least more than 3 laser tracker stations, and 2 laser tracker stations are respectively arranged at two sides of the production line.
Furthermore, the specific method for determining the field reference numerical control device in step 1 is that the field reference numerical control device is a three-coordinate numerical control device which is determined in a digital-analog manner and is adjusted on the field, the device has the characteristic of high precision (geometric precision, positioning precision and the like), the execution tail end (main shaft end face, cutter vertex and the like) of the reference numerical control device is provided with a reference point which can be measured by a laser tracker, and the reference point can acquire the position coordinate of the reference point in a device coordinate system when moving along with the reference numerical control device.
Further, the specific method for calculating the coordinates of the plurality of feature points of the reference numerical control device in the global coordinate system through field conversion in the step 2 is that the reference point of the end of the main shaft of the reference numerical control device is moved and positioned to a plurality of (more than 3) positions in space on site, and the space coordinates { P ] of each position are acquired under the reference numerical control device coordinate system CCS1 C，P2 C，…，Pi CDetermine birth in DigitalsPose relation T of global coordinate system GCS of production line and coordinate system CCS of reference numerical control equipmentC GThe rotation matrix R and the translation matrix t of the coordinate system are obtained by a space point rotation transformation operation method, and then are converted into position coordinates { P) under the global coordinate system of the production line1 G，P2 G，…，Pi G}。
Further, the specific method for calculating the coordinates of the origin of each station tracker in the global coordinate system in step 3 is that the laser tracker is located at one station O1Measuring all the positions { P } from the reference point of the numerical control equipment1 G，P2 G，…，Pi GDistance of { L } a distance of { L1 O1，L2 O1，…，Li O1}, using the position coordinates P of pointsi GAnd a distance Li 01Establishing a point of interest O1Space point distance equation f (O)1) And then establishing a mean square equation of the distance square, obtaining a resolving model conforming to a least square method after Taylor expansion, and calculating the laser tracker station position O by adopting least square method fitting1Best position coordinate O of origin under global coordinate system GCS1 GAnd similarly, sequentially calculating the position coordinates { O ] of all the laser tracker station site origins in the global coordinate system1 G，O2 G，…，Oi G}。
Furthermore, the specific method for calculating the coordinates of all the common measurement points in the global coordinate system in the step 4 is that the laser tracker is arranged at each station { O }1 G，O2 G，…，Oi GMeasure it to a common measurement point E1Distance { L }1 E1，L2 E1，…，Li E1Using point Oi GAnd a distance Li E1Establish about point E1Space point distance equation f (E)1) And then establishing an adjustment equation of distance square, obtaining a resolving model conforming to a least square method after Taylor expansion, and fitting sum by adopting the least square methodCalculating a common measurement point E1Best position coordinate E under global coordinate system GCS1 GAnd similarly, sequentially calculating the position coordinates { E ] of all the common measurement points on the two sides of the production line under the global coordinate system1 G，E2 G，…，Ei G}。
Furthermore, the specific method for mapping the measurement field of the global coordinate system of the production line in the step 5 is that coordinates of all the common measurement points are used as a theoretical basis for building and transferring stations of the measurement system, the coordinates are solidified on the site of the cooperative production line of the numerical control equipment group, and when spatial position coordinates of the numerical control equipment group or the product and the like need to be measured under the global coordinate system, the laser tracker only needs to measure more (> 3) common measurement points { E > 3) under the MCS of the measurement coordinate system of the laser tracker1 M，E2 M，…，Ei MAccording to the theoretical position { E } of the common measurement point under the global coordinate system GCS1 G，E2 G，…，Ei GObtaining the pose of the current tracker coordinate system MCS under the global coordinate system GCS by using a coordinate system optimal fitting algorithm based on common points
Thereby mapping the production line global coordinate system and completing the mapping of the measurement field global coordinate system.
The invention has the advantages that:
1. the invention provides a complete different scheme aiming at the mapping construction of the production line global coordinate system measurement field and provides an optimal measurement field construction and calibration method for accurately and effectively mapping a digital-analog global coordinate system for a numerical control equipment group coordination production line;
2. based on the position and posture relation between the on-site reference numerical control equipment of the production line and the global coordinate system, the invention utilizes the characteristic that the distance interference measurement precision of the laser tracker is higher than the measurement precision of the spatial position, combines the current situation that the numerical control equipment group cooperates with the large measurement domain of the production line, adopts the spatial arrangement of different heights of common measurement points, and carries out distance measurement by the multi-station laser tracker to complete a series of optimal fitting operations of a digital-analog global coordinate system, an on-site numerical control equipment characteristic point coordinate, an on-site laser tracker station origin coordinate, an on-site common measurement point coordinate and the like, so as to obtain high-precision mapping of the digital-analog global coordinate system on the on-site common measurement point, thereby not only effectively improving the use precision of the measurement field, but also reducing the low reliability, low probability, low cost and the like of the production line common measurement point caused by the arrangement error of the common measurement points and the measurement error of the laser tracker spatial position, The credibility of the theoretical data of the measuring field is poor.
3. The method for constructing the measuring field of the coordinated production line of the numerical control equipment group is suitable for various digital equipment production lines, is particularly suitable for constructing the measuring field of the digital high-precision equipment production line with large span, long distance and numerous sub-equipment, and is suitable for wide popularization and application.
Drawings
FIG. 1 is a detailed flow chart of the method of the present invention.
Fig. 2 is a schematic view of an application scenario of the method of the present invention.
FIG. 3 is a schematic diagram of geometric modeling of the method of the present invention.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
It should be noted that all directional indicators (such as two sides, an edge, an upper side, a lower side, a left side, a right side, a front side, a rear side, a middle side, a top side, a bottom side, a tail side, an axial side, and a radial side) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion state, and the like in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicators are changed accordingly.
Example 1
Step 1, arranging a plurality of common measuring points and a plurality of laser tracker measuring stations on different levels at two sides of an on-site production line, and determining on-site reference numerical control equipment;
according to the effective operation height of all numerical control equipment on the production line, a plurality of (more than 3) public measuring points are uniformly distributed on two sides of the production line in the height space, and the public measuring points envelop the effective operation range of the production line and are statically and stably connected with the foundation of the production line. And at the positions at the two sides of the envelope production line, according to the distance interference measurement precision of the laser trackers and in combination with the construction precision requirement of a measurement field, a plurality of (> 3) laser tracker measurement stations with corresponding intervals are arranged, each common measurement point can be measured by at least more than 3 laser tracker stations, and 2 laser tracker stations are respectively arranged at the two sides of the production line. The on-site reference numerical control equipment is determined in a digital analogy and is installed and adjusted on site, the equipment has the characteristic of high precision (geometric precision, positioning precision and the like), the execution tail end (the end face of a main shaft, the vertex of a cutter and the like) of the reference numerical control equipment is provided with a reference point which can be measured by a laser tracker, and the reference point can acquire the position coordinate of the reference point under an equipment coordinate system when moving along with the reference numerical control equipment.
moving and positioning the reference point of the tail end of the main shaft of the reference numerical control equipment to more than 3 spatial positions on site, and acquiring spatial coordinates { P ] of each position under a reference numerical control equipment coordinate system CCS1 C，P2 C，…，Pi CDetermining the position and orientation relation T of the global coordinate system GCS of the production line and the coordinate system CCS of the reference numerical control equipment in the digital analogyC GThe rotation matrix R and the translation matrix t of the coordinate system are obtained by a space point rotation transformation operation method, and then are converted into position coordinates { P) under the global coordinate system of the production line1 G，P2 G，…，Pi G}。
laser tracker at a station O1Measuring all the positions { P } from the reference point of the numerical control equipment1 G，P2 G，…，Pi GDistance of { L } a distance of { L1 O1，L2 01，…，Li 01}, using the position coordinates P of pointsi GAnd a distance Li 01Establishing a point of interest O1Space point distance equation f (O)1) And then establishing a mean square equation of the distance square, obtaining a resolving model conforming to a least square method after Taylor expansion, and calculating the laser tracker station position O by adopting least square method fitting1Best position coordinate O of origin under global coordinate system GCS1 GAnd similarly, sequentially calculating the position coordinates { O ] of all the laser tracker station origin points in the global coordinate system1 G，O2 G，…，Oi G}。
Step 4, measuring the distances from all the common measuring points to the tracker at each station by the laser tracker, and calculating the coordinates of all the common measuring points of the production line under a global coordinate system by using the origin coordinates of the tracker;
laser tracker at each station { O }1 G，O2 G，…，Oi GMeasure it to a common measurement point E1Distance { L }1 E1，L2 E1，…，Li E1Using point Oi GAnd a distance Li E1Establish about point E1Space point distance equation f (E)1) And then establishing an adjustment equation of the distance square, obtaining a resolving model conforming to a least square method after Taylor expansion, and calculating a common measurement point E by adopting least square method fitting1Best position coordinate E in global coordinate system GCS1 GAnd similarly, sequentially calculating the position coordinates { E ] of all the common measurement points on the two sides of the production line under the global coordinate system1 G，E2 G，…，Ei G}。
And 5, taking the coordinates of all the common measuring points as a theoretical basis for station building and station transferring of the measuring system, and completing mapping building of the measuring field of the global coordinate system of the production line.
The coordinates of all public measuring points are used as theoretical basis of station building and station transferring of the measuring system, the coordinates are solidified on the site of a coordinated production line of a numerical control equipment group, and when the coordinates of spatial positions of the numerical control equipment group or products and the like need to be measured under a global coordinate system, the laser tracker only needs to measure more (> 3) public measuring points { E & lt 3 & gt) under a measurement coordinate system MCS of the laser tracker1 M，E2 M，…，Ei MAccording to the theoretical position { E) of the common measurement point under the global coordinate system GCS1 G，E2 G，…，Ei GObtaining the pose of the current tracker coordinate system MCS under the global coordinate system GCS by using a coordinate system optimal fitting algorithm based on common points
Thereby mapping the production line global coordinate system and completing the mapping of the measurement field global coordinate system.
Example 2
Referring to fig. 1 to fig. 3, the present embodiment provides a method for constructing a measurement field of a collaborative production line of a digital control device group, and the method takes an application scenario of a production line 1 of a collaborative system of a digital control device group as an embodiment, and a reference digital control device 4 has been installed and adjusted on site in advance. The specific implementation flow of the invention is shown in fig. 1, and comprises the following steps:
(1) arranging a plurality of common measuring points and a plurality of laser tracker measuring stations on different levels at two sides of an on-site production line, and determining on-site reference numerical control equipment;
(2) acquiring the pose relation between a production line global coordinate system and a reference numerical control equipment coordinate system in a digital-analog mode, and calculating the coordinates of a plurality of characteristic points of the reference numerical control equipment in the global coordinate system through field conversion;
(3) the laser tracker measures the distance from all characteristic points of the reference numerical control equipment to the tracker at each station, and the coordinates of the origin of each station tracker under a global coordinate system are calculated by utilizing the coordinates of the characteristic points;
(4) the laser tracker measures the distance from all the public measuring points to the tracker at each station, and the coordinates of all the public measuring points of the production line under a global coordinate system are calculated by using the origin coordinates of the tracker;
(5) and (4) taking the coordinates of all the common measuring points as a theoretical basis for station building and station transferring of the measuring system, and completing mapping building of the measuring field of the global coordinate system of the production line.
In order to better implement the method of the present invention, refer to a scene model of fig. 2 and a geometric model of fig. 3, further describe the step (1) in detail, the specific method for arranging a plurality of common measurement points on site is to evenly arrange a plurality (> 3) of common measurement points 2 on both sides of a production line in a height space according to the effective operating heights of all numerical control devices on the production line, one part of the common measurement points is fixed on the foundation of the production line, the other part of the common measurement points is fixed on racks with different heights according to the heights of the numerical control devices adjacent to the common measurement points, and the arrangement of the common measurement points envelops the effective operating range of the production line and is statically and stably connected with the foundation of the production line;
further describing the step (1) in detail, the specific method for setting the plurality of laser tracker measuring stations on site is that a plurality of (> 3) laser tracker measuring stations 3 with corresponding intervals are set at two sides of the envelope production line according to the precision of laser tracker distance interference measurement and by combining the requirement of construction precision of a measuring field, and each common measuring point can be measured by at least more than 3 laser tracker stations, and 2 laser tracker stations are respectively arranged at two sides of the production line.
Further, the step (1) is described in detail, and the specific method for determining the field reference numerical control device is that the field reference numerical control device is a three-coordinate numerical control device which is determined in a digital-analog manner and is adjusted on the field, the device has the characteristic of high precision (geometric precision, positioning precision and the like), the execution tail end (a main shaft end face, a cutter vertex and the like) of the reference numerical control device is provided with a reference point which can be measured by a laser tracker, and the reference point can acquire the position coordinate of the reference point under a device coordinate system when moving along with the reference numerical control device.
Further describing the step (2) in detail, the specific method for calculating the coordinates of the plurality of feature points of the reference numerical control equipment in the global coordinate system through field conversion is that the reference point of the tail end of the main shaft of the reference numerical control equipment is moved and positioned to a plurality of (more than 3) positions 5 in space on site, and the space coordinates { P ] of each position are obtained in the reference numerical control equipment coordinate system CCS1 C，P2 C，…，Pi CThe expression of the matrix is shown in formula 1, and a global coordinate system GCS matrix T is setGThe expression is shown as formula 2, wherein i, j and k are unit vectors in three coordinate directions of a coordinate system respectively, and the position and posture relation T between a global coordinate system GCS of the production line and a coordinate system CCS of the reference numerical control equipment is determined in a digital modelC G(formula 3) wherein, in the above formula,
as the coordinate of the origin of the coordinate system of the reference numerical control equipment under the global coordinate system GCS,
as shown in formula 4, direction vectors of three coordinate axes of a reference numerical control equipment coordinate system in a global coordinate system GCS, namely a translation matrix t and a rotation matrix R between two coordinate systems are converted into position coordinates { P (P, t) in a production line global coordinate system by using a space point-to-point rotation transformation operation method P (R, t)1 G，P2 G，…，Pi G}；
TG＝[0,0,0,i,j,k]T i＝[1,0,0]T；j＝[0,1,0]T；k＝[0,0,1]TFormula (2)
Further describing the step (3) in detail, the specific method for calculating the coordinates of the origins of the station trackers in the global coordinate system is that, as shown in the geometric model of fig. 3, the laser tracker 3 is located at a station O1To all the positions { P } of the numerical control device reference point 51 G，P2 G，…，Pi GDistance of { L } a distance of { L1 01，L2 O1，…，Li 01As shown in equation 5, using the coordinates of the point location
And a distance Li O1Establishing points of interest
Space point distance equation f (O)1) Then, the equation of mean square of the distance (equation 6) is established, equation 7 is obtained by taylor expansion, the solution model (equation 8) of the least square method is satisfied, the model (equation 9) is estimated by the multiple linear regression least square method and the optimal solution matrix algorithm (equation 10) is used, and the optimal parameter b (b) of the equation of mean square of the spatial distance is solved0、b1、b2) I.e. laser tracker station O1Best position coordinate O of origin under global coordinate system GCS1 G(xo1,yo1,zo1). And similarly, sequentially calculating the position coordinates { O ] of all the laser tracker station position original points in the global coordinate system1 G，O2 G，…，Oi G}；
minb‖Ab-Y‖2，b＝[b0,b1,b2]T，A＝[xi,yi,zi]TY ═ L formula (9)
Describing the step (4) in detail, the specific method for calculating the coordinates of all the common measurement points in the global coordinate system is that the laser tracker is arranged at each station { O }1 G，O2 G，…，Oi GOn to a common measurement point E1Distance { L }1 E1，L2 E1，…，Li E1}, as shown in equation 11, using point other Oi GAnd a distance Li E1Establish about point E1Space point distance equation f (E)1) Then, the equation of squared distance (equation 12) is established, and the same as the above calculation process, i.e. equation 13 is obtained by taylor expansion, which conforms to the solution model of least square method (equation 14), and the model is estimated by using the multiple linear regression least square method (equation 15) andsolving the optimal solution matrix algorithm (equation 16) to solve the optimal space distance adjustment equation parameter b (b)0、b1、b2) I.e. a common measuring point E1Best position coordinate E in global coordinate system GCS1 G(xE1,yE1,zE1) And similarly, sequentially calculating the position coordinates { E) of all the common measuring points on the two sides of the production line in the global coordinate system1 G，E2 G，…，Ei G}；
minb‖Ab-Y‖2Formula (15)
Describing the step (5) in detail, the specific method of mapping the measurement field of the production line global coordinate system is to map the coordinate P of all the common measurement points in the global coordinate system GCSEi GAs a theoretical basis for station building and station transferring of a measuring system, when the coordinates of spatial positions of a numerical control equipment group or a product and the like need to be measured in a global coordinate system (formula 17) solidified on the site of a cooperative production line of the numerical control equipment group, the laser tracker only needs to measure a plurality of (more than 3) public measuring points { E) in a measuring coordinate system MCS of the laser tracker1 M，E2 M，…，Ei MPosition coordinate P ofEi M(equation 18), based on the theoretical positions { E } of the common measurement points in the global coordinate system GCS1 G，E2 G，…，Ei GPosition coordinate P ofEi G(formula 19), establishing a variance model (formula 20) after the translation and rotation transformation of the common point, and obtaining the pose of the current tracker coordinate system MCS under the global coordinate system GCS by using a coordinate system optimal fitting algorithm (such as SVD singular value decomposition method) model based on the common point
(formula 21) in which
For the coordinate of the origin of the tracker coordinate system in the global coordinate system GCS, VX,VY,VZIs the direction vector of three coordinate axes of the tracker coordinate system under the global coordinate system GCS, namely a translation matrix t and a rotation matrix R between the two coordinate systems, and further is the position coordinate P measured under the tracker coordinate systemi MI.e. convertible to position P in the global coordinate systemi G(equation 22), thereby mapping the production line global coordinate system, and completing the mapping of the measurement field global coordinate system.
TG＝[0,0,0,i,j,k]T i＝[1,0,0]T；j＝[0,1,0]T；k＝[0,0,1]TFormula (17)
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all equivalent structures or equivalent processes, which can be directly or indirectly applied to other related technical fields by using the contents of the specification and the drawings of the present application, are also included in the scope of the present application.
Claims (8)
1. A method for constructing a measuring field of a numerical control equipment group collaborative production line is characterized by comprising the following steps: the method comprises the following steps:
step 1, arranging a plurality of common measuring points and a plurality of laser tracker measuring stations on different levels at two sides of an on-site production line, and determining on-site reference numerical control equipment;
step 2, acquiring the pose relation between the production line global coordinate system and the reference numerical control equipment coordinate system in a digital-analog mode, and calculating the coordinates of a plurality of characteristic points of the reference numerical control equipment in the global coordinate system through field conversion;
step 3, the laser tracker measures the distances from all the characteristic points of the reference numerical control equipment to the tracker at each station, and the coordinates of the origin of each station tracker under a global coordinate system are calculated by using the coordinates of the characteristic points;
step 4, measuring the distances from all the common measuring points to the tracker at each station by the laser tracker, and calculating the coordinates of all the common measuring points of the production line under a global coordinate system by using the origin coordinates of the tracker;
and 5, taking the coordinates of all the public measuring points as a theoretical basis for station building and station transferring of the measuring system, and completing mapping building of a measuring field of a global coordinate system of the production line.
2. The method for constructing the measuring field of the numerical control equipment group collaborative production line according to claim 1, characterized in that: the specific method for arranging the plurality of common measuring points on site in the step 1 is that a plurality of common measuring points are uniformly arranged on two sides of the production line in the height space according to the effective operating height of all numerical control equipment on the production line, and the common measuring points envelop the effective operating range of the production line and are statically and stably connected with the foundation of the production line.
3. The method for constructing the measuring field of the numerical control equipment group collaborative production line according to claim 2, characterized in that: the specific method for setting the plurality of laser tracker measuring stations on site in the step 1 is that a plurality of laser tracker measuring stations with corresponding intervals are set at the positions on two sides of the envelope production line according to the precision of distance interference measurement of the laser trackers and by combining the requirement of construction precision of a measuring field, each common measuring point can be measured by at least more than 3 laser tracker stations, and 2 laser tracker stations are respectively arranged on two sides of the production line.
4. The method for constructing the measuring field of the numerical control equipment group collaborative production line according to claim 3, characterized in that: the specific method for determining the field reference numerical control device in the step 1 is that the field reference numerical control device is a three-coordinate numerical control device which is determined in a digital-analog mode and is adjusted on the field, a reference point which can be measured by a laser tracker is arranged at the execution tail end of the reference numerical control device, and the reference point can acquire the lower position coordinates of the reference point in a device coordinate system when moving along with the reference numerical control device.
5. The method for constructing the measuring field of the numerical control equipment group collaborative production line according to claim 4, characterized in that: the specific method for calculating the coordinates of a plurality of characteristic points of the reference numerical control equipment in the global coordinate system through field conversion in the step 2 comprises the steps of moving and positioning the reference point at the tail end of the main shaft of the reference numerical control equipment to a plurality of spatial positions on the spot, and acquiring the coordinates under the reference numerical control equipment coordinate system CCSSpatial coordinates of each position { P1 C，P2 C，…，Pi CDetermining the position and orientation relation T of the global coordinate system GCS of the production line and the coordinate system CCS of the reference numerical control equipment in the digital analogyC GConverting the space point location into a position coordinate { P) under a global coordinate system GCS of the production line by using a space point location rotation transformation operation method1 G，P2 G，…，Pi G}。
6. The method for constructing the measuring field of the numerical control equipment group collaborative production line according to claim 5, characterized in that: the specific method for calculating the coordinates of the origin of each station tracker in the global coordinate system in the step 3 is that the laser tracker is positioned at a station O1Measuring all the positions { P } from the reference point of the numerical control equipment1 G，P2 G，…，Pi GDistance of { L } or1 O1，L2 01，…，Li 01}, using the position coordinates P of pointsi GAnd a distance Li 01Establishing a point of interest O1Space point distance equation f (O)1) And then establishing a mean square equation of the distance square, obtaining a resolving model conforming to a least square method after Taylor expansion, and calculating the laser tracker station position O by adopting least square method fitting1Best position coordinate O of origin under global coordinate system GCS1 GAnd similarly, sequentially calculating the position coordinates { O ] of all the laser tracker station site origins in the global coordinate system1 G，O2 G，…，Oi G}。
7. The method for constructing the measurement field of the numerical control equipment group cooperative production line according to claim 6, characterized in that: the specific method for calculating the coordinates of all the common measurement points in the step 4 under the global coordinate system is that the laser tracker is positioned at each station position { O }1 G，O2 G，…，Oi GMeasure it to a common measurement point E1Distance { L }1 E1，L2 E1，…，Li E1Using point Oi GAnd a distance Li E1Establish about point E1Space point distance equation f (E)1) And then establishing an adjustment equation of the distance square, obtaining a resolving model conforming to a least square method after Taylor expansion, and calculating a common measurement point E by adopting least square method fitting1Best position coordinate E in global coordinate system GCS1 GAnd similarly, sequentially calculating the position coordinates { E ] of all the common measurement points on the two sides of the production line under the global coordinate system GCS1 G，E2 G，…，Ei G}。
8. The method for constructing the measuring field of the numerical control equipment group collaborative production line according to claim 7, characterized in that: the specific method for mapping the measurement field of the global coordinate system of the production line in the step 5 is that coordinates of all public measurement points are used as a theoretical basis for building and transferring stations of the measurement system, the coordinates are solidified on the site of the cooperative production line of the numerical control equipment group, and when the coordinates of spatial positions of the numerical control equipment group or products and the like need to be measured under the global coordinate system, the laser tracker only needs to measure a plurality of public measurement points { E } under the measurement coordinate system MCS thereof1 M，E2 M，…，Ei MAccording to the theoretical position { E) of the common measurement point under the global coordinate system GCS1 G，E2 G，…，Ei GObtaining the pose T of the current tracker coordinate system MCS under the global coordinate system GCS by using a coordinate system optimal fitting algorithm based on common pointsM GThereby mapping the production line global coordinate system and completing the mapping of the measurement field global coordinate system.
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