CN102597896A - 使用测斜仪来改进对便携式关节臂坐标测量机的重定位 - Google Patents
使用测斜仪来改进对便携式关节臂坐标测量机的重定位 Download PDFInfo
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Abstract
一种将便携式关节臂坐标测量机(AACMM)从第一位置重定位到第二位置的方法,其中,该AACMM在第一位置处具有第一原点和第一参照系并且在第二位置处具有第二原点和第二参照系,该方法包括以下步骤:在便携式AACMM分别处于第一位置和第二位置的情况下,测量便携式AACMM沿着两个垂直方向的倾斜量,每个垂直方向都与重力矢量近似垂直;在便携式AACMM处于所述第一位置的情况下测量第一对象和第二对象,以在第一参照系中获得第一组x、y和z坐标以及第二组x、y和z坐标;在便携式AACMM处于第二位置的情况下测量第一对象和第二对象,以在第二参照系中获得第三组x、y和z坐标和第四组x、y和z坐标;以及求出第二原点相对于第一参照系的x、y和z坐标,其中,使用第一组、第二组、第三组和第四组x、y和z坐标来求出第二原点的x、y和z坐标,而不使用在AACMM在第一位置和第二位置处的情况下测量的第三对象的附加的x、y和z坐标。
Description
相关申请的交叉引用
本申请要求2010年1月20日提交的临时申请第61/296,555号的权益,其全部内容通过引用合并于此。
背景技术
本公开内容涉及一种坐标测量机,更具体地,涉及一种具有一个或多个测斜仪的便携式关节臂坐标测量机,这一个或多个测斜仪位于便携式关节臂坐标测量机上或便携式关节臂坐标测量机内,并且可以用于改进便携式关节臂坐标测量机在不同位置之间的重定位的精确度。
已经发现便携式关节臂坐标测量机(AACMM)广泛用于制造或生产零件,其中,在制造或生产(例如,机械加工)零件的各个阶段期间需要快速且精确地检验零件的尺寸。便携式AACMM代表对已知的、静止或固定的、成本高的且相对难以使用的测量装置的巨大改进,特别是在对相对复杂的零件进行尺寸测量所花费的时间量方面。通常,便携式AACMM的用户沿着要测量的零件或物体的表面仅引导探针。然后,测量数据被记录并提供给用户。在一些情况下,将数据以可视形式(例如,计算机屏幕上的三维(3-D)形式)提供给用户。在其他情况下,将数据以数字形式提供该用户,例如,当测量孔的直径时,在计算机屏幕上显示文本“直径=1.0034”。
在共同转让的美国专利第5,402,582号(‘582)中公开了现有技术的便携式关节臂CMM的示例,其全部内容通过引用合并于此。‘582专利公开了一种3-D测量系统,该3-D测量系统包括在一端具有支撑基部(support base)而在另一端具有测量探针的手动操作的关节臂CMM。共同转让的美国专利第5,611,147号(‘147)(其全部内容通过引用合并于此)公开了一种类似的关节臂CMM。在‘147专利中,关节臂CMM包括若干特征,这些特征包括在探针端处的附加旋转轴,由此提供具有二-二-二或者二-二-三轴配置的臂(后一种情况为七轴臂)。
需要一种包括一个或多个测斜仪的便携式AACMM,其中,该一个或多个测斜仪位于便携式AACMM上或便携式AACMM内,并且可以用于改进对便携式AACMM的重定位的精确度,以及/或者可以用于在由便携式AACMM对相对大的零件的测量需要将便携式AACMM在不同的位置之间进行物理移动以完成测量时,减少便携式AACMM完成对自身的重定位所需的对象(例如,槽、座或者固定件)的数量。
发明内容
一种将便携式关节臂坐标测量机(AACMM)从第一位置重定位到第二位置的方法,其中,所述AACMM在所述第一位置处具有第一原点和第一参照系并且在所述第二位置处具有第二原点和第二参照系,所述方法包括以下步骤:在所述便携式AACMM分别处于所述第一位置和所述第二位置的情况下,测量所述便携式AACMM沿着两个垂直方向的倾斜量,所述两个垂直方向中的每个垂直方向均与重力矢量近似垂直;在所述便携式AACMM处于所述第一位置的情况下测量第一对象和第二对象,以在所述第一参照系中获得第一组x坐标、y坐标、z坐标和第二组x坐标、y坐标、z坐标;在所述便携式AACMM处于所述第二位置的情况下测量所述第一对象和所述第二对象,以在所述第二参照系中获得第三组x坐标、y坐标和z坐标和第四组x坐标、y坐标和z坐标;以及求出所述第二原点相对于所述第一参照系的x坐标、y坐标和z坐标,其中,使用所述第一组x坐标、y坐标和z坐标、所述第二组x坐标、y坐标和z坐标、所述第三组x坐标、y坐标和z坐标以及所述第四组x坐标、y坐标和z坐标来求出所述第二原点的x坐标、y坐标和z坐标,而不使用在所述AACMM在所述第一位置处和在所述第二位置处的情况下所测量的第三对象的附加的x坐标、y坐标和z坐标。
附图说明
现在参照附图示出了示例性实施例,这些示例性实施例不应该被解释为对于本公开内容的整体范围的限制,并且其中,在几幅图中以相似的方式对元件标号:
包括图1A和图1B的图1是其中具有本发明的各个方面的实施例的便携式关节臂坐标测量机(AACMM)的透视图;
包括合起来看的图2A至图2D的图2是被用作根据实施例的、图1中的AACMM的一部分的电子装置的框图;
包括合起来看的图3A和图3B的图3是描述根据实施例的、图2中的电子数据处理系统的详细特征的框图;
图4示出了在根据本发明的实施例的在执行使用两个对象来重定位便携式AACMM的方法期间处于第一或初始位置的图1中的便携式AACMM;
图5示出了在根据本发明的实施例的在执行使用两个对象来进行重定位的方法期间处于第二位置的图1中的便携式AACMM;
图6是在根据本发明的实施例的在执行使用两个对象来进行重定位的方法期间处于图4中的第一或初始位置的图1中的便携式AACMM的数学坐标的正视图;
图7是在根据本发明的实施例的在执行使用两个对象来进行重定位的方法期间处于图5中的第二位置的图1中的便携式AACMM的数学坐标的正视图;
图8是在根据本发明的实施例的在执行使用两个对象来进行重定位的方法期间处于图4中的第一或初始位置的图1中的便携式AACMM的数学坐标的顶视图;
图9是在根据本发明的实施例的在执行使用两个对象来进行重定位的方法期间处于图5中的第二位置的图1中的便携式AACMM的数学坐标的正视图;以及
图10是用于在便携式AACMM测量相对大的零件时在至少两个不同的物理位置之间对便携式AACMM进行重定位的方法中的步骤的流程图。
具体实施方式
本发明的实施例包括一个或多个测斜仪,这一个或多个测斜仪位于便携式AACMM上或便携式AACMM内,并且可以用于改进对便携式AACMM的重定位的精确度,以及/或者可以用于在由便携式AACMM对相对大的零件的测量需要将便携式AACMM在不同的位置之间进行物理移动以完成测量时,减少便携式AACMM完成对便携式AACMM的重定位所需的对象(例如槽、座或者固定件)的数量。
图1A和图1B以立体方式示出了根据本发明的各个实施例的便携式关节臂坐标测量机(AACMM)100,关节臂是一种类型的坐标测量机。如图1A和图1B所示,示例性AACMM 100可以包括六轴或七轴关节测量装置,该测量装置在一端处具有耦接至AACMM 100的臂部分104的测量探针壳体102。臂部分104包括通过第一组轴承盒(bearing cartridge)110(例如,两个轴承盒)而耦接至第二臂段108的第一臂段106。第二组轴承盒112(例如,两个轴承盒)将第二臂段108耦接至测量探针壳体102。第三组轴承盒114(例如,三个轴承盒)将第一臂段106耦接至位于AACMM 100的臂部分104的另一端的基部116。每组轴承盒110、112、114都提供了关节移动的多条轴。此外,测量探针壳体102可以包括AACMM 100的第七轴部分的轴(例如,AACMM 100的第七轴中包括确定测量装置(例如,探针118)的移动的编码器系统的盒)。在使用AACMM100时,基部116通常固定到作业表面。
每个轴承盒组110、112、114内的每个轴承盒典型地包括编码器系统(例如,光学角编码器系统)。编码器系统(即,变换器)提供对各个臂段106、108和对应的轴承盒组110、112、114的位置的指示,所有这些指示一起提供探针118相对于基部116的位置(以及因而由AACMM 100测量的物体在某个参照系中的位置—例如局部参照系或全局参照系)的指示。臂段106和臂段108可以由刚性适当的材料制成,诸如但不限于例如碳复合材料。具有六条或七条轴的关节移动(即,自由度)的便携式AACMM 100提供了下述优点:在提供可以由操作员容易地操纵的臂部分104的同时允许操作员将探针118放置在基部116周围的360°区域内的期望位置。然而,应该认识到,具有两个臂段106、108的臂部分104的图示仅为了示例性目的,而要求保护的本发明应该不限于此。AACMM 100可以具有通过轴承盒耦接在一起的任意数量的臂段(以及因而多于或少于六条或七条轴的关节移动或自由度)。
探针118可拆卸地安装至测量探针壳体102,测量探针壳体102连接到轴承盒组112。柄126可经由例如快速连接接口相对于测量探针壳体102移除。可以用另一种装置(例如,激光线探针、条形码阅读器)来替换柄126,由此提供允许操作员将不同的测量装置与同一AACMM 100一起使用的优点。在示例性实施例中,探针壳体102容纳可移除的探针118,可移除的探针118是接触式测量装置并且可以具有与要测量的物体物理接触的不同尖头118,包括但不限于:球状型探针、触敏型探针、弯曲型探针以及伸缩型探针。在其他实施例中,测量是例如由诸如激光线探针(LLP)的非接触装置来执行的。在实施例中,使用快速连接接口来以LLP替换柄126。其他类型的测量装置可以替换可移除的柄126以提供附加功能。这样的测量装置的示例包括但不限于例如一个或多个照明灯、温度传感器、热扫描仪、条形码扫描仪、投影仪、喷漆器、摄像装置等。
如图1A和图1B所示,AACMM 100包括可移除的柄126,其提供了使得在无需将测量探针壳体102从轴承盒组112移除的情况下改变附件或功能的优点。如以下针对图2更加详细描述的那样,可移除的柄126还可以包括使得能够与柄126交换电功率和数据的电连接器以及位于探针端的相应电子装置。
在各种实施例中,每组轴承盒110、112、114都使得AACMM 100的臂部分104能够绕多条旋转轴移动。如所述的,每个轴承盒组110、112、114都包括相应的编码器系统(诸如,例如光学角编码器),这些编码器系统均与例如臂段106、臂段108的相应旋转轴同轴地布置。光学编码器系统检测例如臂段106、臂段108中的每个臂段绕着相应轴的旋转(转体(swivel))或横向(铰链(hinge))移动,并且将信号传送至AACMM 100内的电子数据处理系统(如在本文中以下更加详细地描述的)。每个单独的原始编码器计数作为信号被分别发送至电子数据处理系统,其中,该计数进一步被处理成测量数据。不需要与AACMM 100自身分离的位置计算器(例如,串行盒(serial box)),如在共同转让的美国专利第5,402,582号(‘582)所公开的那样。
基部116可以包括附接装置或安装装置120。安装装置120使得AACMM 100能够可拆卸地安装至期望位置,诸如,例如检验台、机械加工中心、壁或地面。在一种实施例中,基部116包括柄部分122,该柄部分122提供便于操作员在AACMM 100正移动时保持基部116的位置。在一种实施例中,基部116还包括向下折叠以使用户接口(诸如显示屏)显露的可移动的盖部分124。
根据实施例,便携式AACMM 100的基部116包含或容纳包括以下两个主要部件的电子数据处理系统:基部处理系统,对来自AACMM 100内的各个编码器系统的数据以及用以支持三维(3-D)位置计算的表示其他臂参数的数据进行处理;以及用户接口处理系统,包括板上操作系统、触摸屏显示器以及驻留应用软件,该驻留应用软件使得在无需连接到外部计算机的情况下在AACMM 100内实现相对完整的计量功能。
基部116中的电子数据处理系统可以与编码器系统、传感器以及远离基部116的其他外围硬件(例如,可以安装至AACMM 100上的可移除的柄126的LLP)进行通信。支持这些外围硬件装置或结构元件的电子装置可以位于轴承盒组110、112、114的每一组中,其中这些轴承盒组位于便携式AACMM 100内。
图2是根据实施例的用在AACMM 100中的电子装置的框图。图2所示的实施例包括电子数据处理系统210,该电子数据处理系统210包括用于实现基部处理系统的基部处理器板204、用户接口板202、用于提供功率的基部电源板206、蓝牙模块232以及基部倾斜板208。用户接口板202包括计算机处理器,该计算机处理器用于执行应用软件以实现此处描述的用户接口、显示和其他功能。
如图2所示,电子数据处理系统210经由一条或多条臂总线218与前述的多个编码器系统通信。在图2所描绘的实施例中,每个编码器系统均生成编码器数据,并且包括:编码器臂总线接口214、编码器数字信号处理器(DSP)216、编码器读取头接口234以及温度传感器212。诸如应变传感器的其他装置可以附接到臂总线218。
图2中还示出了与臂总线218通信的探针端电子装置230。探针端电子装置230包括探针端DSP 228、温度传感器212、柄/LLP接口总线240以及探针接口226,其中,在实施例中,该柄/LLP接口总线240经由快速连接接口与柄126或LLP 242连接。快速连接接口使得能够通过柄126对由LLP 242和其他附件使用的数据总线、控制线以及电源总线进行访问。在实施例中,探针端电子装置230位于AACMM 100上的测量探针壳体102中。在实施例中,可以从快速连接接口移除柄126,并且测量可以由经由柄/LLP接口总线240与AACMM 100的探针端电子装置230进行通信的激光线探针(LLP)242来执行。在实施例中,电子数据处理系统210位于AACMM 100的基部116中,探针端电子装置239位于AACMM 100的测量探针壳体102中,以及编码器系统位于轴承盒组110、112、114中。探针接口226可以通过任何适合的通信协议与探针端DSP 228连接,通信协议包括可从Maxim Integrated Products有限公司商业购得的、实施通信协议236的产品。
图3是描述根据实施例的AACMM 100的电子数据处理系统210的详细特征的框图。在实施例中,电子数据处理系统210位于AACMM 100的基部116中,并且包括基部处理器板204、用户接口板202、基部电源板206、蓝牙模块232以及基部倾斜模块208。
在图3所示的实施例中,基部处理器板204包括其中所示的各个功能块。例如,基部处理器功能302被用来支持对来自AACMM 100的测量数据的收集,并且经由臂总线218和总线控制模块功能308来接收原始臂数据(例如,编码器系统数据)。存储器功能304存储程序和静态臂配置数据。基部处理器板204还包括用于与任何外部硬件装置或附件(诸如LLP 242)通信的外部硬件选项端口功能310。在图3所描绘的基部处理器板204的实施例中的功能中还包括实时时钟(RTC)与日志306、电池组接口(IF)316以及诊断端口318。
基部处理器板204还对与外部(主计算机)装置和内部(显示处理器202)装置的所有有线和无线数据通信进行管理。基部处理器板204具有下述能力:经由以太网功能320(例如,使用时钟同步标准(诸如,电气和电子工程师协会(IEEE)1588))与以太网通信,经由LAN功能322与无线局域网(WLAN)通信,以及经由并行-串行通信(PSC)功能314与蓝牙模块232通信。基部处理器板204还包括到通用串行总线(USB)装置312的连接。
基部处理器板204传送并收集原始测量数据(例如,编码器系统计数、温度读数)以处理成测量数据而无需任何预处理,如在前述‘582专利的串行盒中所公开的那样。基部处理器204经由RS485接口(IF)326将处理后的数据发送至用户接口板202上的显示处理器328。在实施例中,基部处理器204还将原始测量数据发送至外部计算机。
现在转向图3中的用户接口板202,在显示处理器328上执行的应用程序利用由基部处理器接收到的角度和位置数据以提供AACMM 100内的自治计量系统。应用程序可以在显示处理器328上执行以支持下述功能,功能诸如但不限于:结构元件的测量、引导和训练图形、远程诊断、温度校正、各个操作结构元件的控制、连接至各个网络以及显示所测量的物体。连同显示处理器328和液晶显示器(LCD)338(例如,触摸屏LCD)用户接口一起,用户接口板202还包括几种接口选项,这些接口选项包括安全数字(SD)卡接口330、存储器332、USB主机接口334、诊断端口336、摄像装置端口340、音频/视频接口342、拨号/单元调制解调器344以及全球定位系统(GPS)端口346。
图3所示的电子数据处理系统210还包括具有用于记录环境数据的环境记录器362的基部电源板206。基部电源板206还使用交流/直流(AC/DC)转换器358和电池充电器控制器360来向电子数据处理系统210提供功率。基部电源板206使用内部集成电路(I2C)串行单端总线354以及经由DMA串行外围接口(DSPI)356来与基部处理器板204通信。基部电源板206经由在基部电源板206中实现的输入/输出(I/O)扩展功能364连接至倾斜传感器与射频识别(RFID)模块208。
尽管示为分离部件,但在其他实施例中,全部部件或部件中的子集可以物理地位于不同位置和/或可以是以与图3所示的方式不同的方式结合的功能。例如,在一个实施例中,基部处理器板204和用户接口板202结合到一个物理板(physical board)中。
参照图4至图10,本发明的实施例包括:将一个或多个测斜仪并入图1A和图1B中的便携式AACMM 100中,以例如在对相对大的零件或物体(例如,汽车)进行测量期间更精确地对该便携式AACMM 100物理地进行重定位,上述测量需要将便携式AACMM 100在不同的位置之间进行移动以充分完成零件测量。在图4至图5中以简化形式示出图1A和图1B中的便携式AACMM 100。测斜仪可以用于改进对便携式AACMM 100的重定位的精确度,以及/或者可以用于在对相对大的零件的测量需要将便携式AACMM 100相对于便携式AACMM 100正测量的零件在两个或更多个不同的位置之间进行物理移动时,减少便携式AACMM 100完成对自身的重定位所需的对象(例如,槽、座或者固定件)的数量。
在示例性实施例中,可以将测斜仪放置在便携式AACMM 100内或便携式AACMM 100上,其中,该测斜仪可具有至少一条测量轴,而在示例性实施例中具有两条测量轴。测斜仪可以放置在便携式AACMM 100中或便携式AACMM 100上的任何地方,但也可以放置在位于基部116上方的轴承盒组114内。另一种替选实施例是将测斜仪放置在便携式AACMM 100的基部116内。因此,在这些示例性实施例中,测斜仪在图4或图5中是看不见的。测斜仪可以用于改进对便携式AACMM的重定位的精确度和/或用于减少便携式AACMM 100完成对自身的重定位所需的对象的数量。
重定位通常被定义为下述过程:将便携式AACMM 100从相对于正测量的零件的初始或第一物理位置移动至相对于正测量的零件的一个或多个随后的不同物理位置,同时在测量过程期间保持同一全局参照系。为了测量的目的,通过执行重定位,便携式AACMM 100可以接近相对大的物体(例如,汽车)的更大部分(优选地,为全部或整体)。在不执行重定位的情况下,保持在唯一一个物理位置处的便携式AACMM 100可能无法接近并由此测量整个零件或物体,这是因为如现代的便携式AACMM 100一样,在臂段106、108完全延伸的情况下便携式AACMM100的测量探针118与基部116之间的总距离通常仅为几英尺,这可能不足以测量整个零件。此外,使用先前的重定位方法,需要最少三个对象来执行重定位。通过使用利用此处描述的根据本发明实施例的方法的双轴测斜仪,可以仅使用两个对象来实现对便携式AACMM 100的重定位。
通常将对便携式AACMM 100进行重定位的一般方法称为“蛙跳(leapfrog)”方法。利用这种方法,将三个或更多个对象放置在静止物体上。使用位于第一或初始位置的便携式AACMM 100来测量这三个或更多个对象的坐标。然后,将便携式AACMM 100移动到第二位置,再次使用便携式AACMM 100来测量这三个或更多个对象的坐标。使用数学方法来将便携式AACMM 100在第二位置430处的参照系调整为便携式AACMM 100在第一位置处的参照系或者某个其他的全局参照系。
一种对便携式AACMM 100重定位的相关方法使用永久附接至在使用便携式AACMM 100的附近处的栅格的对象。然而,地面通常会遭受热膨胀以及其他缺陷。另一种相关方法使得便携式AACMM 100测量小棱锥的顶点,小棱锥可以由热膨胀系数(CTE)相对低的材料制成。这样的人工制品具有小且昂贵的不理想特性。上述全部方法都具有每次执行蛙跳操作时都会增加误差的缺点。由于每次执行重定位时都必须获得六个自由度(三个平移自由度和三个取向自由度)的事实(即,对于六轴便携式AACMM 100),因此由此引起的全局参照系的误差通常与便携式AACMM 100自身的误差差不多大。随着接连的每次蛙跳操作,全局参照系的误差增加。上述方法的另一个缺点在于这些方法易于耗费时间。通常,必须测量许多对象以获得单次重定位所需的信息。
在本发明的实施例中,益处包括改进了精确度并减少了测量时间。在示例性实施例中,可以使用双轴测斜仪。在这种情况下,测斜仪的两条轴都处于与便携式AACMM 100安装在其上或安装至其的地面或者其他表面(例如,台面)近似平行的平面内。测斜仪可以放置在位于便携式AACMM 100的基部116上方的轴承盒组114内。然后,通过旋转该轴,可以根据旋转角度得到测斜仪的读数。通过使用该信息,可以补偿测斜仪传感器的系统误差。在进行该补偿之后,即使利用一些相对便宜的测斜仪,通常也可以将测斜仪读数的误差限制为小于一个弧秒。
通过使用双轴测斜仪,可以从重定位计算中排除六个自由度中的两个自由度。存在可以用于执行重定位的许多已知的数学方法。最普遍的方法将所收集的数据拟合于与所测量出的坐标相关的方程。这种类型的计算被称为优化或最佳拟合计算,而对于将便携式AACMM 100移动至两个或更多个不同位置的具体情况来说,这种类型的计算通常被称为“集束调整(bundle adjustment)”。
根据本发明的实施例,对于便携式AACMM 100配备有双轴测斜仪的情况,相对简单的数学方法示范了使用两个对象来对便携式AACMM100执行重定位,而不是如以上在此所描述的那样使用通常的三个(或更多个)对象。图4示出了处于初始物理位置(在此称为“第一位置”400)的便携式AACMM 100。便携式AACMM 100正测量在此称为“槽A”410的对象,并且在便携式AACMM 100移动至“第二位置”430(如图5所示)之前还将测量在此称为“槽B”420的另一个对象。应该理解,此处所使用的“第一位置”和“第二位置”指的是便携式AACMM 100的整体的不同物理位置,或者指的是便携式AACMM 100的进行常规零件测量处理的部分的不同物理位置(例如,臂自身被重定位到不同的物理位置但是膝上型计算机始终仍处于同一位置)。即,“第一位置”和“第二位置”不是指在用户将便携式AACMM 100的一个或多个部分(例如,臂部分104、探针118等)移动至不同位置的同时便携式AACMM 100保持处于单个物理位置。
对象410、对象420均可以包括相对固定的装置,如槽、座或者固定件。在执行本发明的实施例的方法期间,可以以相对牢固的方式将便携式AACMM 100的探针头(probe tip)118放置在各个槽、座或者固定件(槽A 410,槽B 420)内。当便携式AACMM 100处于第一位置400而探针118首先装在槽A 410内、然后装在槽B 420内时,AACMM 100测量探针118相对于AACMM 100的原点(例如,可以位于基部116中)的位置。
在便携式AACMM 100被移动至第二位置430之后,如图5所示,便携式AACMM 100将测量探针118在槽A 410内的位置、然后测量探针118在槽B 420内的位置。便携式AACMM 100将使用从便携式AACMM 100处于第一位置和第二位置所测量的这两个被测量的槽410、420的坐标以及来自双轴测斜仪的信息,以将在第二位置430处进行的AACMM测量置于全局参照系内,该全局参照系在这种情况下是便携式AACMM 100在第一位置400处的参照系。
参照图6至图9描述根据本发明的这方面的实施例的用于获得该结果的方法。计算的目的是获得如下四个量:便携式AACMM 100在第二位置430处的原点相对于第一位置400的坐标[坐标X、坐标Y和坐标Z]以及便携式AACMM 100在第二位置430处的偏航角θ。偏航角是便携式AACMM 100在第二位置430处(在重力参照系中)的x轴和y轴的、用以使得这些轴与第一位置400处的x轴和y轴平行放置的角度或旋转。在本发明的实施例中,Z轴沿着与便携式AACMM 100的基部116垂直的方向。典型地,便携式AACMM 100在使用期间(以及由此在本发明的实施例的重定位方法期间)处于竖直位置。因而,Z轴与重力矢量近似对应。还可以在图6和图7的正视图中以及在图8和图9的顶视图中看到x轴矢量、y轴矢量和z轴矢量。
AACMM 100具有局部参照系,该局部参照系是关节臂的测量所参照的参照系。例如,在局部参照系中,简单的选择(对于AACMM,在图6和图8以第一位置400示出)是局部参照系具有为(0,0,0)的x坐标、y坐标和z坐标。如以上所述,在大多数情况下,AACMM 100被竖直地安装,以使得局部参照系的z轴与重力矢量近似对准,而x轴和y轴处于近似水平的平面内。AACMM 100的x轴和y轴将随着臂绕着垂直方向旋转而旋转。
当AACMM 100移动至第二位置430时,新的局部参照系中的z轴将再次与重力矢量近似对准,而x轴和y轴将再次处于近似水平的平面内。第二位置430处的局部参照系中的x轴和y轴将不太可能与第一位置400处的局部参照系中的相应x轴和y轴平行。为了转换由AACMM 100在位置1和位置2处收集的坐标数据,需要在同一参照系中显示所测量出的数据的方法。换句话说,需要将所收集的坐标数据变换到公共的参照系中。
存在进行这样的变换的多种方式。一种简单的方式是首先将AACMM 100在第一位置400处的局部参照系转换成在第一位置400处的重力参照系。这通过以使得z轴与重力矢量对准的方式旋转z轴来实现。执行这样的数学旋转所需的信息由2轴测斜仪提供。类似地,可以通过使用由测斜仪提供的信息来将AACMM 100在第二位置430处的局部参照系转换成在第二位置430处的重力参照系。用于将AACMM 100在第一位置400处的局部参照系转换成在第一位置400处的重力参照系的旋转矩阵还可以应用于由AACMM 100在第一位置400处测量出的所有坐标。结果是在AACMM 100在第一位置400处的重力参照系中给出了所有测量点。
用于将AACMM 100在第二位置430处的局部参照系旋转为在第二位置430处的重力参照系的旋转矩阵还可以应用于由AACMM 100在第二位置430处测量的所有点。结果是在AACMM 100在第二位置430处的重力参照系中给出了所有测量点。为了将由AACMM 100在第二位置430处测量出的数据移动到AACMM 100在第一位置400处的参照系中,需要两次另外的变换。首先,需要将由AACMM 100在第二位置430处收集的全部坐标数据沿着AACMM 100在第一位置400处的重力参照系的x方向、y方向和z方向平移或偏移一定量,该一定量会使得AACMM100在第二位置430处的原点与在第一位置400处的原点一致。其次,需要将全部坐标数据绕着重力矢量旋转一定量,该一定量会使得AACMM100在第二位置430处的重力参照系中的x轴和y轴与AACMM 100在第一位置400处的重力参照系中的相应x轴和y轴平行。绕着重力矢量旋转的旋转量被称为偏航角。
总之,一种变换数据以使得可以在公共参照系中对数据进行比较的方式是首先使用由测斜仪测量出的倾斜角度来将坐标数据旋转到第一位置400的重力参照系中,该重力参照系是关于所结合的数据的公共参照系。接下来,使用由测斜仪测量出的倾斜角度来将坐标数据旋转到第二位置430的重力参照系中。数据在x方向、y方向和z方向上平移了适当的量,并且x数据和y数据绕着z轴旋转。
用于对坐标数据进行旋转和平移的方法对于本领域的普通技术人员来说是公知的。可以通过将3×3旋转矩阵乘以3元素坐标矢量来实现三维空间中的旋转。在单个4×4矩阵中可以将平移步骤和旋转步骤结合。因为这些方法也是公知的,因此此处不对其进行进一步讨论。
还可以通过使用不同类型的变换来移动在AACMM 100处于两个不同位置的情况下所收集的数据。例如,可以将由AACMM 100在第二位置430处收集的数据与AACMM 100在第一位置400处的局部参照系进行比较,而不是与AACMM 100在第一位置400处的重力参照系进行比较。单次矩阵旋转足以将重力参照系中的数据变换到局部参照系中。类似地,可以将坐标数据转换到任意的全局参照系中。在这种情况下,将适当的附加旋转和平移应用于由AACMM 100在第一位置处和第二位置处而得到的坐标数据。同理,本领域的普通技术人员显而易见的是,可以另外重定位到第三位置、第四位置等。同样的数学方法用于每次相继的重定位。
本发明的方法的实施例可以以存储在AACMM 100内部的软件或固件(例如,如存储在用户接口板202上的存储器332(图3)内或者存储于在AACMM 100内部或外部的一些其他存储器或其他装置内的指令)的形式体现。然后,软件可以由例如显示处理器328或另一处理器来执行,而用户指令连同本方法的结果一起可以经由AACMM 100板上的彩色LCD 338在视觉上向用户显示,或者可以通过一些其他手段(视觉或其他方式)来传达给用户。可替选地,如现有技术中公知的那样,该方法可以由与AACMM 100连接的外部计算机(例如,膝上型计算机)作为软件存储和执行,并且指令和结果可以显示在膝上型计算机的屏幕上。在任一种情况下,都可以将实现本发明的方法的软件实现为用户可调用以执行本发明实施例的方法的用于AACMM 100的实用应用程序。
此外,参照图10,根据本发明的实施例,方法1000包括以下步骤:
在步骤1010中,使用测斜仪来测量便携式AACMM 100在第一位置处和在第二位置处沿着x方向和y方向的倾斜。然后,在步骤1020中,将AACMM 100读数中的每个读数均校正成处于重力参照系中,其中,新的AACMM参照系中的z与重力矢量一致。新的x矢量和y矢量与重力矢量垂直。
在这种情况下,使用倾斜传感器来测量在相对于重力矢量的两个方向上的倾斜。这可以通过使用基部中的双轴倾斜传感器来实现。可替选地,单轴倾斜传感器可以位于轴承盒组114的旋转部分。在后一种情况下,使用测斜仪来在操作员以适当方式旋转臂时测量两个或更多个位置处的倾斜角度。
接下来,在步骤1030中,在便携式AACMM 100处于第一位置400的情况下读出槽A 410和槽B 420(在重力参照系中)的坐标。这些坐标可以被称为(xA,yA,zA)以及(xB,yB,zB)。在步骤1040中,在便携式AACMM100处于第二位置430的情况下重复步骤1030,以获得坐标(xA’,yA’,zA’)以及(xB’,yB’,zB’)。
便携式AACMM 100在第一位置400处的原点的坐标是(0,0,0)。接下来,在步骤1050中,如图5和图6所示,可以使用槽A 420连同公式Z=zA’-zA一起或者可替选地使用槽B 420连同公式Z=zB’-zB一起来计算便携式AACMM 100在第二位置430处的原点在全局参照系中的坐标Z。为了得到更加的精确度,可以取这两个量的平均。
如图8和图9中的顶视图所示,从便携式AACMM 100在第一位置处和第二位置处的原点到槽A 410或槽B 420的位移可以被表示为二维矢量。在步骤1060中,可以通过求解以下两个联立方程来求出矢量分量X和Y,这是直接根据图8和图9得出的:
(X–xA)2+(Y–yA)2=(xA’)2+(yA’)2 (方程1)
(X–xB)2+(Y–yB)2=(xB’)2+(yB’)2 (方程2)
对方程1和方程2的解析解包含许多项。用于对这些方程进行求解的数值法相对快且是优选的。根据这些方程存在X和Y的两种可能解,但是这些解中仅有一种会是合理的,而且可以排除另一种可能解。
从槽B 420至槽A 410的矢量的x分量和y分量分别是xA–xB和yA–yB。接下来,在步骤1070中,选择便携式AACMM 100在第二位置430处的偏航角θ以与这些矢量的x分量和y分量匹配。通过以下方程给出x分量和y分量的误差:
Ex=(xA’–xB’)cosθ+(yA’–yB’)sinθ-(xA–xB) (方程3)
Ey=(xA’–xB’)(–sinθ)+(yA’–yB’)cosθ-(yA–yB)(方程4)
为了求出对于θ相对最佳的值,可以在步骤1070中使用使这两项的均方误差最小化的标准方法。换句话说,可以通过使Ex 2+Ey 2的误差最小化来求出θ。
应该注意,可以改变图10中的动作顺序。例如,步骤1010是测量便携式AACMM 100在第一位置处和在第二位置处沿着x方向和y方向的倾斜。然而,可以将步骤1010修改为仅针对第一位置400来测量AACMM100沿着x方向和y方向的倾斜。然后,可以在步骤1030与步骤1040之间执行在第二位置430处的x方向和y方向的测量。
尽管以上在此给出了详细的过程,以说明根据本发明的实施例将测斜仪用在便携式AACMM 100中使得可以仅使用两个对象来对便携式AACMM 100重定位,但是此处所阐述的具体计算方法仅是示例性的,这是因为其他方法可以用于以数学的方式提取针对便携式AACMM 100在第二位置430处的坐标的以及针对偏航角的四个相关参数。此外,等效的方法可以用于将便携式AACMM 100移动或重定位至第三不同位置、第四不同位置等,尽管没有对此给出详细步骤,但是对本领域的普通技术人员来说,这些步骤应该是明显的。本发明的这方面的实施例具有下述效用:这些实施例改进了重定位处理的精确度并且这些实施例减少了进行重定位过程所需的时间量。
以上描述的数学方法提供了用于求出四个量X、Y、Z和θ的快速且精确的方法。然而,可以利用其他数学方法来求出这四个量。例如,可以针对全部四个变量写出能够使用迭代优化过程求解的方程。因此,数学计算不应限于由方程(1)至(4)描述的数学计算。
技术效果和益处包括:包括一个或多个测斜仪,这一个或多个测斜仪位于便携式AACMM上或便携式AACMM内,并且可以用于改进对便携式AACMM的重定位的精确度,以及/或者可以用于在由便携式AACMM100对大零件的测量需要将便携式AACMM 100在不同的位置之间进行物理移动时,减少便携式AACMM 100完成对自身的重定位所需的对象(例如,槽、座或者固定件)的数量。
本领域技术人员将理解,本发明的各方面可以被实施为系统、方法或计算机程序产品。因此,本发明的各方面可以采取完全硬件实施例的形式、完全软件实施例(包括固件、驻留软件、微代码等)的形式或者结合软件方面和硬件方面(在此全部通常可以称为“电路”、“模块”或“系统”)的实施例的形式。此外,本发明的各方面还可以采取以一个或多个包括计算机可读程序代码的计算机可读介质实现的计算机程序产品的形式。
可以采用一个或多个计算机可读介质的任何组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质可以是例如但不限于电子、磁、光学、电磁、红外线或半导体系统、设备或装置、或者前述的任何适当组合。计算机可读介质的更具体的示例(非详尽的列表)可以包括以下各项:具有一条或多条导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或闪存)、光纤、便携式致密盘只读存储器(CD-ROM)、光存储装置、磁存储装置或前述的任何适当组合。在本文档的上下文中,计算机可读存储介质可以是任何有形媒体,该有形媒体可以包含或存储供指令执行系统、设备或装置使用的或者与指令执行系统、设备或装置结合的程序。
计算机可读信号介质可以包括包含有计算机可读程序代码的传播数据信号,例如,在基带中或者作为载波的一部分。这样的传播信号可以采用各种形式,包括但不限于电磁、光学或其任何适当的组合。计算机可读信号介质可以是任何计算机可读介质,其不是计算机可读存储介质并且可以传递、传播或传输供指令执行系统、设备或装置使用的或者与指令执行系统、设备或装置结合的程序。
可以使用任何适当的介质来传送在计算机可读介质上实现的程序代码,这些适当的介质包括但不限于无线、有线、光纤线缆、RF等或前述的任何适当组合。
用于实现本发明的各方面的操作的计算机程序代码可以以一种或多种编程语言的任何组合来编写,这些编程语言包括面向对象编程语言(诸如,Java、Smalltalk、C++、C#等)以及传统的过程化编程语言(诸如,“C”编程语言或者类似的编程语言)。程序代码可以完全在用户的计算机上运行、部分在用户的计算机上运行、作为独立的软件包运行、部分在用户的计算机上而部分在远程计算机上运行、或者完全在远程计算机或服务器上运行。在后者的情况下,远程计算机可以通过任何类型的网络(包括局域网(LAN)或广域网(WAN))连接到用户的计算机,或者可以(例如,利用因特网服务提供方、通过因特网)连接到外部计算机。
参照根据本发明的实施例的方法、设备(系统)和计算机程序产品的流程图和/或框图描述本发明的各方面。将理解的是,流程图和/或框图中的每个框以及流程图和/或框图中的框的组合可以通过计算机程序指令来实现。
可以将这些计算机程序指令提供给通用计算机、专用计算机的或其他可编程数据处理设备的处理器以制造机器,以使得经由计算机或其他可编程数据处理设备的处理器执行的指令创建用于实现流程图和/或一个或多个框图的框中所指定的功能/动作的装置。这些计算机程序指令还可以存储在计算机可读介质中,其中该计算机可读介质可以引导计算机、其他可编程数据处理设备或其他装置以特定方式运行,以使得存储在计算机可读介质中的指令产生包括实现流程图和/或一个或多个框图的框中所指定的功能/动作的指令的制品。
计算机程序指令还还可以加载到计算机、其他可编程数据处理设备或其他装置上,以使得在计算机、其他可编程设备或其他装置上执行一系列操作步骤从而产生计算机实现的处理,以使得在计算机或其他可编程设备上运行的指令提供用于实现流程图和/或一个或多个框图的框中所指定的功能/动作的处理。
附图中的流程图和框图示出了根据本发明的各个实施例的系统、方法和计算机程序产品的可能实施的体系结构、功能和操作。在这点上,流程图或框图中的每个框都可以表示代码的模块、段或部分,其中代码包括用于实现所指定的逻辑功能的一条或多条可执行指令。还应该注意,在一些可替选实施中,框中所提到的功能可以不按照图中所提到的顺序来发生。例如,根据所涉及的功能,实际上可以基本同时实现相继示出的两个框,或者有时可以按倒序实现框。还将注意的是,框图和/或流程图中的每个框以及框图和/或流程图中的框的组合可以通过执行特定功能或动作的基于专用硬件的系统或者专用硬件与计算机指令的组合来实现。
尽管已经参照示例实施例描述了本发明,但是本领域技术人员将理解的是,在不背离本发明的范围的情况下可以进行各种改变并且等效物可以替代本发明的要素。此外,在不背离本发明的基本范围的情况下可以进行许多修改以使具体情况或材料适于本发明的教导。因此,本发明不限于作为实施本发明所预期的最佳模式所公开的特定实施例,而是本发明将包括落入在所附权利要求的范围内的全部实施例。此外,术语第一、第二等的使用不表示任何顺序或重要性,而是术语第一、第二等用于将一个要素与另一个要素相区分。此外,术语一个(a、an)等的使用不表示对数量的限制,而是表示存在至少一个所提及的项目。
Claims (16)
1.一种将便携式关节臂坐标测量机AACMM从第一位置重定位到第二位置的方法,其中,所述关节臂坐标测量机AACMM在所述第一位置处具有第一原点和第一参照系,并且在所述第二位置处具有第二原点和第二参照系,所述方法包括以下步骤:
在所述便携式关节臂坐标测量机AACMM处于所述第一位置的情况下,测量所述便携式关节臂坐标测量机AACMM沿着第一组的两个垂直方向的倾斜量,所述第一组的两个垂直方向中的每个垂直方向均与重力矢量近似垂直;
在所述便携式关节臂坐标测量机AACMM处于所述第二位置的情况下,测量所述便携式关节臂坐标测量机AACMM沿着第二组的两个垂直方向的倾斜量,所述第二组的两个垂直方向中的每个垂直方向均与所述重力矢量近似垂直;
在所述便携式关节臂坐标测量机AACMM处于所述第一位置的情况下测量第一对象和第二对象,以在所述第一参照系中获得第一组x坐标、y坐标和z坐标以及第二组x坐标、y坐标和z坐标;
在所述便携式关节臂坐标测量机AACMM处于所述第二位置的情况下测量所述第一对象和所述第二对象,以在所述第二参照系中获得第三组x坐标、y坐标和z坐标以及第四组x坐标、y坐标和z坐标;以及,
求出所述第二原点相对于所述第一参照系的x坐标、y坐标和z坐标,其中,使用所述第一组x坐标、y坐标和z坐标、所述第二组x坐标、y坐标和z坐标、所述第三组x坐标、y坐标和z坐标以及所述第四组x、y和z坐标来求出所述第二原点的x坐标、y坐标和z坐标,而不使用在所述关节臂坐标测量机AACMM在所述第一位置处和在所述第二位置处的情况下所测量的第三对象的附加的x坐标、y坐标和z坐标。
2.根据权利要求1所述的方法,还包括以下步骤:
将所述关节臂坐标测量机AACMM在所述第一位置处的第一重力参照系识别为通过下述操作而得到的参照系:应用所测量出的沿着所述第一组的两个垂直方向的倾斜量,以将所述第一参照系的x轴、y轴和z轴以使得所述第一重力参照系的变换后的z轴与所述重力矢量对准的方式旋转成所述第一重力参照系的变换后的x轴、y轴和z轴。
3.根据权利要求2所述的方法,还包括以下步骤:
将所述关节臂坐标测量机AACMM在所述第二位置处的第二重力参照系识别为通过下述操作而得到的参照系:应用所测量出的沿着所述第二组的两个垂直方向的倾斜量,以将所述第二参照系的x轴、y轴和z轴以使得所述第二重力参照系的变换后的z轴与所述重力矢量对准的方式旋转成所述第二重力参照系的变换后的x轴、y轴和z轴。
4.根据权利要求3所述的方法,还包括以下步骤:
确定所述便携式关节臂坐标测量机AACMM在所述第二位置处的偏航角,其中,所确定的偏航角包括绕着所述第二重力参照系的变换后的z轴旋转以使得所述第二重力参照系的变换后的x轴和y轴与所述第一重力参照系的变换后的x轴和y轴平行的旋转量。
5.根据权利要求3所述的方法,还包括以下步骤:
将所述第一组x坐标、y坐标和z坐标转换成所述第一重力参照系中的第一组变换后的x坐标、y坐标和z坐标;
将所述第二组x坐标、y坐标和z坐标转换成所述第一重力参照系中的第二组变换后的x坐标、y坐标和z坐标;
将所述第三组x坐标、y坐标和z坐标转换成所述第二重力参照系中的第三组变换后的x坐标、y坐标和z坐标;以及
将所述第四组x坐标、y坐标和z坐标转换成所述第二重力参照系中的第四组变换后的x坐标、y坐标和z坐标。
6.根据权利要求5所述的方法,还包括以下步骤:
使用来自所述第一组变换后的x坐标、y坐标和z坐标以及所述第三组变换后的x坐标、y坐标和z坐标中的变换后的z坐标来计算所述第二原点在所述第一参照系中的z坐标。
7.根据权利要求6所述的方法,还包括以下步骤:
使用来自所述第二组变换后的x坐标、y坐标和z坐标以及所述第四组变换后的x坐标、y坐标和z坐标中的变换后的z坐标来计算所述第二原点在所述第一参照系中的z坐标。
8.根据权利要求7所述的方法,还包括以下步骤:
通过对权利要求6中所计算出的z坐标和权利要求7中所计算出的z坐标取平均来计算所述第二原点在所述第一参照系中的z坐标。
9.根据权利要求5所述的方法,还包括以下步骤:
通过联立求解两个方程来求出所述第二原点在所述第一参照系中的x坐标和y坐标,其中,第一方程包括来自所述第一组变换后的x坐标、y坐标和z坐标以及所述第三组变换后的x坐标、y坐标和z坐标中的变换后的x坐标和y坐标,而第二方程包括来自所述第二组变换后的x坐标、y坐标和z坐标以及所述第四组变换后的x坐标、y坐标和z坐标中的变换后的x坐标和y坐标。
10.根据权利要求4所述的方法,还包括以下步骤:
将由所述关节臂坐标测量机AACMM在所述第一位置处和所述第二位置处所收集的坐标数据变换到公共的全局参照系中。
11.一种计算机程序产品,包括其上包含有计算机可读程序代码的存储介质,所述计算机可读程序代码在由计算机执行时,使得所述计算机实现将便携式关节臂坐标测量机AACMM从第一位置重定位到第二位置的方法,其中,所述关节臂坐标测量机AACMM在所述第一位置处具有第一原点和第一参照系并且在所述第二位置处具有第二原点和第二参照系,所述方法包括以下步骤:
在所述便携式关节臂坐标测量机AACMM处于所述第一位置的情况下,测量所述便携式关节臂坐标测量机AACMM沿着第一组的两个垂直方向的倾斜量,所述第一组的两个垂直方向中的每个垂直方向均与重力矢量近似垂直;
在所述便携式关节臂坐标测量机AACMM处于所述第二位置的情况下,测量所述便携式关节臂坐标测量机AACMM沿着第二组的两个垂直方向的倾斜量,所述第二组的两个垂直方向中的每个垂直方向均与所述重力矢量近似垂直;
将所述关节臂坐标测量机AACMM在所述第一位置处的第一重力参照系识别为通过下述操作而得到的参照系:应用所测量出的沿着所述第一组的两个垂直方向的倾斜量,以将所述第一参照系的x轴、y轴和z轴以使得所述第一重力参照系的变换后的z轴与所述重力矢量对准的方式旋转成所述第一重力参照系的变换后的x轴、y轴和z轴;
将所述关节臂坐标测量机AACMM在所述第二位置处的第二重力参照系识别为通过下述操作而得到的参照系:应用所测量出的沿着所述第二组的两个垂直方向的倾斜量,以将所述第二参照系的x轴、y轴和z轴以使得所述第二重力参照系的变换后的z轴与所述重力矢量对准的方式旋转成所述第二重力参照系的变换后的x轴、y轴和z轴;
在所述便携式关节臂坐标测量机AACMM处于所述第一位置的情况下测量第一对象和第二对象,以在所述第一参照系中获得第一组x坐标、y坐标、和z坐标以及第二组x坐标、y坐标和z坐标;
在所述便携式关节臂坐标测量机AACMM处于所述第二位置的情况下测量所述第一对象和所述第二对象,以在所述第二参照系中获得第三组x坐标、y坐标和z坐标以及第四组x坐标、y坐标和z坐标;
求出所述第二原点相对于所述第一参照系的x坐标、y坐标和z坐标,其中,使用所述第一组x坐标、y坐标和z坐标、所述第二组x坐标、y坐标和z坐标、所述第三组x坐标、y坐标和z坐标以及所述第四组x、y和z坐标来求出所述第二原点的x坐标、y坐标和z坐标,而不使用在所述关节臂坐标测量机AACMM在所述第一位置处和在所述第二位置处的情况下所测量的第三对象的附加的x坐标、y坐标和z坐标;以及
确定所述便携式关节臂坐标测量机AACMM在所述第二位置处的偏航角,其中,所确定的偏航角包括绕着所述第二重力参照系的变换后的z轴旋转以使得所述第二重力参照系的变换后的x轴和y轴与所述第一重力参照系的变换后的x轴和y轴平行的旋转量。
12.根据权利要求11所述的计算机程序产品,其中,所述方法还包括以下步骤:
使用来自所述第一组变换后的x坐标、y坐标和z坐标以及所述第三组变换后的x坐标、y坐标和z坐标中的变换后的z坐标来计算所述第二原点在所述第一参照系中的z坐标。
13.根据权利要求12所述的计算机程序产品,其中,所述方法还包括以下步骤:
使用来自所述第二组变换后的x坐标、y坐标和z坐标以及所述第四组变换后的x坐标、y坐标和z坐标中的变换后的z坐标来计算所述第二原点在所述第一参照系中的z坐标。
14.根据权利要求13所述的计算机程序产品,其中,所述方法还包括以下步骤:
通过对权利要求12中所计算出的z坐标和权利要求13中所计算出的z坐标取平均来计算所述第二原点在所述第一参照系中的z坐标。
15.根据权利要求11所述的计算机程序产品,其中,所述方法还包括以下步骤:
通过联立求解两个方程来求出所述第二原点在所述第一参照系中的x坐标和y坐标,其中,第一方程包括来自所述第一组变换后的x坐标、y坐标和z坐标以及所述第三组变换后的x坐标、y坐标和z坐标中的变换后的x坐标和y坐标,而第二方程包括来自所述第二组变换后的x坐标、y坐标和z坐标以及所述第四组变换后的x坐标、y坐标和z坐标中的变换后的x坐标和y坐标。
16.根据权利要求11所述的计算机程序产品,其中,所述方法还包括以下步骤:
将由所述关节臂坐标测量机AACMM在所述第一位置处和所述第二位置处收集的坐标数据变换到公共的全局参照系中。
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