技术领域

本发明涉及测量技术领域，具体涉及一种坐标识别器及其使用方法、测量系统。

背景技术

在产品(如汽车)的研发和试制中，通常都需要对对标产品进行点云扫描和关键点
坐标测量以获得产品设计的参考数据，也称产品对标。行业中通常采用三维扫描仪进行点
云扫描，采用坐标测量机进行关键点坐标测量，由于不同的测量设备所测得的数据在不同
的坐标系下，那么扫描得到的点云数据和关键点坐标数据也就还需进行后期拼接从而得到
坐标系统一的数据。通行的处理办法是：在对标产品上找一些规则特征或是预先粘一定数
量的球，在完成点云扫描和关键点坐标测量后，再通过第三方逆向软件利用规则特征或预
先粘上的球特征进行拼接。这一处理方法，不仅存在工作量大、精度差、效率低的问题，而且
还容易出错，甚至还会导致整个数据的失效，因而返工率颇高，且严重影响工作效率。

发明内容

本发明的目的是提供一种能直接拟合统一三维扫描仪坐标系和坐标测量机坐标
系的坐标识别器。还提供一种该坐标识别器的使用方法。另外，还提供一种使用该坐标识别
器的测量系统。

为了实现上述目的，本发明提供了一种坐标识别器，其包括基座和设于基座上的
标准球，所述标准球的中心坐标能由坐标测量机测量得到，所述基座上设有若干个定位标
识，所述定位标识的中心坐标能由三维扫描仪识别得到。

上述的坐标识别器中，所述定位标识设于所述标准球的周围。

上述的坐标识别器中，所述基座呈N棱柱体，所述标准球设于所述基座的上表面，
其中，N大于或等于3。

上述的坐标识别器中，所述定位标识为2*N个，其中，N个所述定位标识分别设于所
述基座的上表面的各个角上，其余N个所述定位标识分别设于所述基座各个侧面的中心处。

上述的坐标识别器中，所述定位标识为一贴纸，其包括位于贴纸中部的圆心区和
位于圆心区四周的外周区。

上述的坐标识别器中，所述圆心区的颜色为白色，所述外周区的颜色为黑色。

上述的坐标识别器中，所述基座上设有用于放置所述标准球的球面槽。

上述的坐标识别器中，所述标准球固定于所述球面槽上。

本发明还提供一种上述坐标识别器的使用方法，其包括如下步骤：

步骤一，确定坐标识别器上的定位标识的中心坐标与标准球的中心坐标之间的位
置关系，得到位置关系函数；

步骤二，在被测量件上至少设置三个坐标识别器，用三维扫描仪扫描被测量件并
自动识别出坐标识别器上的定位标识在三维扫描仪坐标系下的中心坐标；利用位置关系函
数计算出标准球在三维扫描仪坐标系下的理论中心坐标；

步骤三，用坐标测量机测量出标准球在坐标测量机坐标系下的实际中心坐标，然
后将标准球的实际中心坐标与理论中心坐标逐一对应并拟合统一，实现三维扫描仪坐标系
与坐标测量机坐标系的拟合统一。

本发明还提供一种测量系统，其包括三维扫描仪、坐标测量机以及不少于3个上述
任一项内容所述的坐标识别器，所述坐标识别器设于被测量件的表面，所述三维扫描仪用
于扫描被测量件和识别所述定位标识在所述三维扫描仪坐标系下的中心坐标，所述坐标测
量机用于测量被测量件的关键点坐标和测量所述标准球在所述坐标测量机坐标系下的实
际中心坐标。

实施本发明的坐标识别器及其使用方法、测量系统，相对于现有技术具有如下的
优点：

通过坐标识别器上的标准球的中心坐标与定位标识的中心坐标之间的位置关系，
得到标准球在三维扫描仪坐标系下的理论中心坐标，并将该理论中心坐标与标准球在坐标
测量机坐标系下的实际中心坐标逐一对应并拟合统一，使三维扫描仪扫描得到的点云数据
和坐标测量机测得的关键点坐标数据直接统一在同一坐标系下，从而实现三维扫描仪与坐
标测量机的坐标系转换，而无需再用第三方逆向软件进行拼接，可大幅提高产品设计的参
考数据的精确性，有效杜绝返工，提高工作效率；整个坐标识别器的结构非常简单且容易操
作。

附图说明

图1是本发明的坐标识别器的结构透视图；

图2是本发明的坐标识别器的结构示意图；

图3是本发明的坐标识别器的剖视图；

图4是实施本发明的坐标识别器的使用方法的示意图；

其中，1、基座；2、标准球；3、定位标识；100、坐标识别器；200、三维扫描仪；300、坐
标测量机.

具体实施方式

下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施
例用于说明本发明，但不用来限制本发明的范围。

如图1至图4所示，本发明的优选实施例，一种坐标识别器100，其包括基座1和设于
基座1上的标准球2，标准球2的中心坐标能由坐标测量机300测量得到，基座1上设有若干个
定位标识3，定位标识3的中心坐标能由三维扫描仪200识别得到。标准球2的中心坐标和定
位标识3的中心坐标之间具有确定的位置关系，通过利用这一位置关系，可以将三维扫描仪
200和坐标测量机300的坐标系拟合统一，使三维扫描仪200扫描得到的点云数据和坐标测
量机300测得的关键点坐标数据直接统一在同一坐标系下，而无需再用第三方逆向软件进
行拼接，能大幅提高产品设计的参考数据的精确性，有效杜绝返工，提高工作效率；整个坐
标识别器100的结构非常简单且容易操作。

本实施例的定位标识3设于标准球2的周围，这样就可以通过三维扫描仪200从任
何方位和角度所识别的定位标识3的中心坐标都能得到三维扫描仪坐标系下标准球2的理
论中心坐标，而且还可以经过相互对比选取最优的标准球2的理论中心坐标，提高坐标系拟
合统一的精度。

本实施例的基座1呈N棱柱体，标准球2设于基座1的上表面，定位标识3为2*N个，其
中，N个定位标识3分别设于基座1的上表面的各个角上，其余N个定位标识3分别设于基座1
各个侧面的中心处，N大于或等于3。这样的设计，不仅可以降低确定每个定位标识3的中心
坐标与标准球2的中心坐标之间位置关系的难度，而且还能使每个定位标识3的中心坐标与
标准球2的中心坐标之间位置关系更精确，以提高坐标系拟合统一的精度，另外，还可以通
过该坐标识别器100对被测量件进行多角度识别和定位，便于三维扫描仪200从任意角度扫
描被测量件，使扫描的效率和精度都大幅提高。

本实施例的定位标识3为一贴纸，其包括位于贴纸中部的圆心区和位于圆心区四
周的外周区。为了提高点云数据的质量，圆心区的颜色优选为白色，外周区的颜色优选为黑
色，即以黑色的外周区为背景，而这样的背景不会被扫描到点云数据中，减少三维扫描仪
200的识别误差；以白色的圆心区为坐标点的获取位置，能清晰地被扫描到到点云数据中，
达到有效识别。

本实施例的基座1上设有用于放置标准球2的球面槽，以便于标准球2在基座1上安
装时能更好的定位，标准球2固定于球面槽上，如，标准球2可以通过焊接或粘胶固定在球面
槽上。

本发明还提供一种坐标识别器的使用方法，其包括如下步骤：

步骤一，确定坐标识别器100上的定位标识3的中心坐标与标准球2的中心坐标之
间的位置关系，得到位置关系函数；

步骤二，在被测量件上至少设置三个坐标识别器100，用三维扫描仪200扫描被测
量件并自动识别出坐标识别器100上的定位标识3在三维扫描仪坐标系下的中心坐标；利用
位置关系函数计算出标准球2在三维扫描仪坐标系下的理论中心坐标；

步骤三，用坐标测量机300测量出标准球2在坐标测量机坐标系下的实际中心坐
标，然后将标准球2的实际中心坐标与理论中心坐标逐一对应并拟合统一，实现三维扫描仪
坐标系与坐标测量机坐标系的拟合统一。实际上就是确定坐标测量机坐标系与三维扫描仪
坐标系中的坐标点之间一一映射的关系，使坐标测量机300测得的任何坐标都可以直接对
应到三维扫描仪坐标系中的坐标，从而使三维扫描仪200扫描得到的点云数据和坐标测量
机300测得的关键点坐标数据直接统一在同一坐标系下。

本实施例的定位标识3的中心坐标与标准球2的中心坐标之间的位置关系函数为
极坐标函数。通过利用极坐标函数F(r,θ)实现定位标识3的中心坐标与标准球2的中心坐标
的转换，从而就能计算出标准球2在三维扫描仪坐标系下的理论中心坐标。

由此，实施上述坐标识别器的使用方法，通过坐标识别器100上的标准球2的中心
坐标与定位标识3的中心坐标之间的位置关系，得到标准球2在三维扫描仪坐标系下的理论
中心坐标，并将该理论中心坐标与标准球2在坐标测量机坐标系下的实际中心坐标逐一对
应并拟合统一，使三维扫描仪200扫描得到的点云数据和坐标测量机300测得的关键点坐标
数据直接统一在同一坐标系下，从而实现三维扫描仪200与坐标测量机300的坐标系转换，
而无需再用第三方逆向软件进行拼接，可大幅提高产品设计的参考数据的精确性，有效杜
绝返工，提高工作效率。另外，使用本实施例的坐标识别器100进行坐标系拟合统一时，由于
标准球2的设计，坐标测量机300和三维扫描仪200可以任意布置在坐标识别器的周围，也就
是说坐标识别器100并不会限制到坐标测量机300和三维扫描仪200之间的相对位置。

另外，本发明还提供一种应用上述坐标定位器100的测量系统，其包括三维扫描仪
200、坐标测量机300以及不少于3个上述的坐标识别器100，坐标识别器100设于被测量件的
表面，三维扫描仪200用于扫描被测量件和识别定位标识3在三维扫描仪坐标系下的中心坐
标，坐标测量机300用于测量被测量件的关键点坐标和测量标准球2在坐标测量机坐标系下
的实际中心坐标。

由此，实施上述测量系统，通过坐标识别器100上的标准球2的中心坐标与定位标
识3的中心坐标之间的位置关系，得到标准球2在三维扫描仪坐标系下的理论中心坐标，并
将该理论中心坐标与标准球2在坐标测量机坐标系下的实际中心坐标逐一对应并拟合统
一，使三维扫描仪200扫描得到的点云数据和坐标测量机300测得的关键点坐标数据直接统
一在同一坐标系下，从而实现三维扫描仪200与坐标测量机300的坐标系转换，而无需再用
第三方逆向软件进行拼接，可大幅提高产品设计的参考数据的精确性，有效杜绝返工，提高
工作效率。

以上仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来
说，在不脱离本发明技术原理的前提下，还可以做出若干改进和替换，这些改进和替换也应
视为本发明的保护范围。

Technical Field

The invention relates to the field of measurement technology, in particular to a coordinate recognizer and its method of use, measuring system.

Background Art

In the product (such as automobiles) in the research and development and trial, usually need to be right mark products a crucial point in the point cloud scanning and coordinate measurement in order to obtain product design reference data, also called the product to the mark. In the industry usually adopt the three-dimensional scanner scanning point cloud, the coordinate measuring machine the critical point coordinate measuring, because different measuring device the measured data in different coordinate system, then obtained by scanning point cloud data and key point coordinate data it still needs to be late splice so as to obtain the coordinate system of the uniform data. The prevailing approach is: to mark products found on some rules sticks in advance characteristic or a certain number of ball, the completion of the point cloud scanning and key point coordinate after the measurement, and then through the 3rd party reverse software make use of rule characteristics or pre-pasted characteristic of the ball joint. This processing method, not only has large work load, accuracy is poor, and the efficiency is low, but also prone to error, and will even cause failure of the whole data, therefore the rework rate is quite high, and seriously affects the working efficiency.

Content of the invention

The purpose of this invention is to provide a can be directly fitting the uniform three-dimensional scanner coordinate system and the coordinate measuring machine coordinate system the coordinates of the recognizer. The invention also provides a method of use of the coordinate recognizer. In addition, the invention also provides an identifier of the coordinate measuring system.

In order to achieve the above object, the present invention provides a coordinate recognizer, including a base and is arranged on the base of the standard ball, the standard ball the center coordinate can be measured by the coordinate measuring machine, wherein the base is provided with a plurality of positioning mark, the positioning mark by the center coordinate of the three-dimensional scanner can be identified.

In the above coordinate recognizer, the positioning mark is arranged on the periphery of the standard ball.

In the above coordinate recognizer, the base are in the N prism, the standard ball is arranged on the upper surface of the base, wherein N is greater than or equal to 3.

In the above coordinate recognizer, the positioning mark is 2 * N a, wherein N of said locating mark are respectively arranged on the upper surface of the base of each of the corners, the remaining N of said locating mark are respectively arranged at each side of the center of the base.

In the above coordinate recognizer, the positioning mark is a sticker, it includes the paster center of circle area and located at the middle part of the periphery of the center of circle areacircumference area.

In the above coordinate recognizer, the center of circle area color is white, the color of the circumference area is black.

In the above coordinate recognizer, the base is provided with a for placing the standard ball of the spherical groove.

In the above coordinate recognizer, the standard ball is fixed to the spherical groove.

The invention also provides a method of using the above coordinate recognizer, comprising the following steps:

Step one, determining coordinate identifier on the center coordinate of the positioning mark with the standard ball of the positional relationship between the center coordinate, by the position of the function;

Make stated, the measured member at least three coordinate recognizer, three-dimensional scanner for scanning is the measurement element and automatically identified coordinate identifier on the locating mark in the center of the three-dimensional scanner coordinate system coordinate; utilize the position relations function to calculate the standard ball in the three-dimensional scanner coordinate system the center coordinate of the theory;

Step three, for coordinate measuring machine to measure the standard ball in the coordinate measuring machine coordinate system the actual center of the coordinate, then the actual standard ball with the center coordinate of the center coordinate of the theory to one by one and fitting should be uniform, three-dimensional scanner coordinate system with the coordinate measuring machine coordinate system of the unification of the fitting.

The invention also provides a measuring system, which comprises a three-dimensional scanner, coordinate measuring machine and not less than 3 the above any of the contents of the coordinate recognizer, the coordinate identifier which is set on the surface of the measurement element, the three-dimensional scanner for scanning is the measurement element and identify the location mark in the three-dimensional scanner coordinate system the coordinates of the center of the, the coordinate measuring machine is used for the measurement of the measurement element of the key point coordinate and measuring the standard ball in the coordinate measuring machine coordinate system the coordinates of the actual center.

The embodiment of the invention coordinate recognizer and its method of use, measuring system, compared with the prior art has the following advantages:

By coordinate identifier on the center coordinate standard ball with the positioning mark of the positional relationship between the center coordinate, by the standard ball in the three-dimensional scanner coordinate system the center coordinate of the theory, and the theory with the standard ball in the center coordinate of the coordinate measuring machine coordinate system to the coordinate should be the actual center and fitting unity one by one, of the three-dimensional scanner scanning the obtained point cloud data and coordinate measuring the magnets to be a crucial point in the coordinate data directly unified in the same coordinate system, thereby realizing the three-dimensional scanner with the coordinate system of the coordinate measuring machine conversion, without need of 3rd party reverse software for splicing, can greatly increase the product design reference data for accuracy, effectively prevent the rework, and improve the work efficiency; the entire coordinate identifier of a very simple structure and easy to operate.

Description of drawings

Figure 1 is the structure perspective view of the invention coordinate recognizer;

Figure 2 is the structure diagram of the invention coordinate recognizer;

Figure 3 is the cutaway view of the invention coordinate recognizer;

Figure 4 is the schematic view of the embodiment of the invention of the method of use of the coordinate identifier;

Wherein 1, base; 2, standard ball; 3, positioning mark; 100, coordinate recognizer; 200, three-dimensional scanner; 300, coordinate measuring machine.

Mode of execution

Combined with drawings and embodiments below, the specific embodiment of the present invention is further described in detail. The following of the embodiment of the present invention, but not used to limit the scope of the invention.

As shown in Figure 1 to Figure 4 is shown, the preferred embodiment of the invention, a coordinate recognizer 100, which comprises a base 1 and arranged on the base 1 on the standard ball 2, standard ball 2 center coordinate by coordinate measuring machine 300 is measured, the base 1 is provided with a plurality of positioning mark 3, positioning mark 3 by the three-dimensional coordinate of the center of the scanner 200 can be identified. Standard ball 2 the center coordinate and the positioning mark 3 of determining the center coordinate of the position of the between the relations, by utilizing such a positional relationship, can be a three-dimensional scanner 200 and coordinate measuring machine 300 of fitting a unified coordinate system, the three-dimensional scanner 200 is obtained through scanning of the point cloud data and coordinate measuring machine 300 measured key point coordinate data directly unified in the same coordinate system, without the need for splicing 3rd party reverse software, can greatly improve the product design reference data for accuracy, effectively prevent the rework, the work efficiency is improved; the entire coordinate recognizer 100 of a very simple structure and easy to operate.

The embodiment of the positioning mark 3 arranged on the standard ball 2 around, this can be through a three-dimensional scanner 200 from any position and angle the identified location mark 3 of the center coordinate of the three-dimensional scanner coordinate system can be obtained under standard ball 2 theoretical center coordinate, but also can be through the mutual contrast of selecting the optimal standard ball 2 theoretical center coordinate, improve the precision of fitting a unified coordinate system.

This embodiment of the base 1 is N prism, standard ball 2 arranged on the base 1 of the upper surface, the positioning mark 3 is 2 * N a, wherein N positioning mark 3 are respectively arranged on the base 1 and the upper surface of each of the corners, the remaining N positioning mark 3 are respectively arranged on the base 1 each side of the center, N greater than or equal to 3. Such a design, not only can reduce the in each of the positioning mark 3 the center coordinate with the standard ball 2 the center coordinate position relationship between the difficulty of, but also enables the each positioning mark 3 the center coordinate with the standard ball 2 the center coordinate position relationship between more accurately, in order to improve the precision of the coordinate system of the fitting unity, in addition, can also be through the coordinate identifier 100 to be measured out in the multi-angle identification and location, convenient for the three-dimensional scanner 200 from any angle scanning is the measurement element, so that the scanning efficiency and accuracy of the greatly increased.

The embodiment of the positioning mark 3 is an adhesive paper, it includes the paster center of circle area and located at the middle part of the periphery of the center of circle areacircumference area. In order to improve the quality of the point cloud data, center of circle area color is preferably white, the color of the circumference area is preferably black, namely in order to black circumference area as background, and this kind of background will not be scanned in point cloud data, reducing the three-dimensional scanner 200 identification error of; to white center of circle area for obtaining position of the coordinate points, can clearly be scanned onto the data in to a cloud, achieve the effective identification.

This embodiment of the base 1 is provided with a is used for placing the standard ball 2 of the sphere, so that the standard ball 2 in the base 1 when it is installed can be better positioning, standard ball 2 fixed on the sphere, such as, standard ball 2 can be welded or viscose is fixed on the spherical groove.

The invention also provides a method of use of the coordinate recognizer, comprising the following steps:

Step one, determining coordinate recognizer 100 on the positioning mark 3 the center coordinate with the standard ball 2 of the positional relationship between the center coordinate, by the position of the function;

Make stated, the measured member at least three coordinate recognizer 100, for the three-dimensional scanner 200 scanning is the measurement element and automatically identified coordinate recognizer 100 on the positioning mark 3 in the center of the three-dimensional scanner coordinate system coordinate; utilize the position relations function to calculate the standard ball 2 in the three-dimensional scanner coordinate system the center coordinate of the theory;

Step three, for coordinate measuring machine 300 to measure the standard ball 2 in the coordinate measuring machine coordinate system the actual center of the coordinate, then the standard ball 2 the actual central coordinates with the center coordinate of the corresponding to the theory and fitting unity one by one, three-dimensional scanner coordinate system with the coordinate measuring machine coordinate system of the unification of the fitting. In fact it is to determine the coordinate measuring machine coordinate system with the coordinate in the coordinate system of the three-dimensional scanner-to-one mapping between the coordinate relationship, so that the coordinate measuring machine 300 measured in any coordinate can be directly corresponding to the coordinates of the three-dimensional scanner coordinate in the coordinate system, so that the three-dimensional scanner 200 is obtained through scanning of the point cloud data and coordinate measuring machine 300 key point coordinate data measured directly with a unified coordinate system in the lower.

The embodiment of the positioning mark 3 the center coordinate with the standard ball 2 the center coordinate of the position relationship between the function for the polar coordinate function. Through the use of the polar coordinate function F (r, θ) realize the positioning mark 3 the center coordinate with the standard ball 2 the center coordinate conversion, thus it can calculate the standard ball 2 in the three-dimensional scanner coordinate system the center coordinate of the theory.

Therefore, the implementation of the above coordinate recognizer using method, by coordinate recognizer 100 on the standard ball 2 the center coordinate with the positioning mark 3 of the positional relationship between the center coordinate, by the standard ball 2 in the three-dimensional scanner coordinate system the center coordinate of the theory, and the theoretical centre coordinate with the standard ball 2 in the coordinate measuring machine coordinate system to the coordinate one by one the actual center should be unity and fitting, of the three-dimensional scanner 200 is obtained through scanning of the point cloud data and coordinate measuring machine 300 measured key point coordinate data directly unified in the same coordinate system, thereby realizing the three-dimensional scanner 200 with the coordinate measuring machine 300 of the coordinate system conversion, without the need for splicing 3rd party reverse software, can greatly increase the product design reference data for accuracy, effectively prevent the rework, the work efficiency is improved. In addition, the use of the embodiment of the coordinate identifier 100 to coordinate system fitting unity, because the standard ball 2 design, coordinate measuring machine 300 and the three-dimensional scanner 200 can be optionally arranged around the coordinate identifier, that is to say coordinate recognizer 100 will not be limited to the coordinate measuring machine 300 and the three-dimensional scanner 200 relative position between.

In addition, the invention also provides a application above-mentioned coordinate locator 100 of the measuring system, which comprises a three-dimensional scanner 200, coordinate measuring machine 300 and not less than 3 of the above-mentioned coordinate recognizer 100, coordinate recognizer 100 is arranged on the surface of the measurement element, three-dimensional scanner 200 is the measurement element for scanning and identifying and positioning mark 3 in the three-dimensional scanner coordinate system the coordinates of the center of the, coordinate measuring machine 300 is the measurement element for measuring the key point coordinate and measuring standard ball 2 in the coordinate measuring machine coordinate system the coordinates of the actual center.

Therefore, the implementation of the above measuring system, by coordinate recognizer 100 on the standard ball 2 the center coordinate with the positioning mark 3 of the positional relationship between the center coordinate, by the standard ball 2 in the three-dimensional scanner coordinate system the center coordinate of the theory, and the theoretical centre coordinate with the standard ball 2 in the coordinate measuring machine coordinate system to the coordinate one by one the actual center should be unity and fitting, of the three-dimensional scanner 200 is obtained through scanning of the point cloud data and coordinate measuring machine 300 measured key point coordinate data directly unified in the same coordinate system, thereby realizing the three-dimensional scanner 200 with the coordinate measuring machine 300 of the coordinate system conversion, without the need for splicing 3rd party reverse software, can greatly increase the product design reference data for accuracy, effectively prevent the rework, the work efficiency is improved.

The above is merely a preferred embodiment of the present invention, it should be noted that, for the technical field for the ordinary technical personnel, in principle not breaking away from the premise of the technology of this invention, can also be made a number of improvements and replacement, these improvements and replacement should also be regarded as the scope of protection of the present invention.